CN113136721B - Automatic deviation rectifying method of clothes stacking machine - Google Patents
Automatic deviation rectifying method of clothes stacking machine Download PDFInfo
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- CN113136721B CN113136721B CN202010051407.2A CN202010051407A CN113136721B CN 113136721 B CN113136721 B CN 113136721B CN 202010051407 A CN202010051407 A CN 202010051407A CN 113136721 B CN113136721 B CN 113136721B
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- 238000012937 correction Methods 0.000 abstract description 8
- 230000000694 effects Effects 0.000 description 5
- 238000000926 separation method Methods 0.000 description 3
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- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 238000012958 reprocessing Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
Classifications
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F89/00—Apparatus for folding textile articles with or without stapling
- D06F89/02—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0229—Clothes, clothes hangers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0225—Orientation of the article
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Textile Engineering (AREA)
- Treatment Of Fiber Materials (AREA)
Abstract
The invention discloses an automatic deviation rectifying method of a clothes stacking machine, which comprises the following steps: s1, image acquisition is carried out in the process that clothes are conveyed to a clothes hanger separating unit by a clothes hanger conveying unit; s2, obtaining a reference line of a clothes datum line and a reference object according to the acquired image, and comparing the clothes datum line with the reference line to obtain a relative position offset delta f; s3, correcting the deviation of the clothes according to the relative position deviation delta f. According to the automatic correction device, through image acquisition, images of clothes and a reference object can be acquired, the images are analyzed and processed to obtain relative position deviation between the clothes and the reference object, then based on the acquired position deviation, the clamping mechanism is controlled to compensate and adjust the clothes, so that automatic correction is completed.
Description
Technical Field
The invention belongs to the technical field of clothes stacking equipment, and particularly relates to an automatic deviation correcting method of a clothes stacking machine and the clothes stacking machine.
Background
In daily household life, the dried clothes or the manufactured clothes are required to be folded and stored, people fold the clothes in life generally by manual folding, due to the fact that the time for doing housework is reduced due to the acceleration of the development and life rhythm of society, increasingly heavy work and pursuit of quality of life are the biggest contradiction in life of current-generation consumers, so that the clothes folding machine is seen as the appearance of the clothes folding machine, the clothes folding is a very simple logic, but the machine is required to complete the work quickly and well, and a plurality of programs are needed to cooperate. Small errors and unpredictable variations in any one loop can cause problems in the product, such as uneven clothing folded by the folding machine, or manual reprocessing of the clothing before the folding process begins, which can be cumbersome and inconvenient, and violates the user's convenience.
For the above situation, if the deviation of the hung clothes is not corrected, the final clothes folding effect is affected. However, there is no method for correcting the deviation of the clothes before the clothes stacking starts in the prior art.
Therefore, it is necessary to provide a method for hanging the clothes before the start of folding the clothes, so that the folded clothes are tidy, and the user experience is not affected.
The present invention has been made in view of this.
Disclosure of Invention
The invention aims to solve the technical problems and overcome the defects of the prior art, and provides an automatic deviation rectifying method of a clothes stacking machine, which is used for solving the technical problems.
In order to solve the technical problems, the invention adopts the basic conception of the technical scheme that:
an automatic deviation rectifying method of a clothes stacking machine comprises
S1, image acquisition is carried out in the process that clothes are conveyed to a clothes hanger separating unit by a clothes hanger conveying unit;
s2, obtaining a reference line of a clothes datum line and a reference object according to the acquired image, and comparing the clothes datum line with the reference line to obtain a relative position offset delta f;
S3, correcting the deviation of the clothes according to the relative position deviation delta f.
Further, in step S2, the method for determining the reference line of the reference object includes: calculating a center line C of the reference object in the horizontal direction according to the positions of the left edge and the right edge of the reference object in the horizontal direction, and taking the center line C as a reference line;
Preferably, the projection of the reference object on the folding platform of the clothes folding machine is positioned at the middle position of the width direction of the folding platform.
Further, in step S2, the method of determining the laundry reference line position includes: detecting the area where the clothes are located, determining the position A of the left edge of the clothes in the horizontal direction, determining the position A 'of the right edge of the clothes in the horizontal direction, and taking the positions A and A' as datum line positions.
Further, in step S2, calculating the relative position offset Δf from the reference line of the reference object and the laundry reference line includes: the horizontal distance Δh 1 between the position a of the left edge of the laundry in the horizontal direction and the reference line of the reference object is calculated, and the horizontal distance Δh 2 between the position a' of the left edge of the laundry in the horizontal direction and the reference line of the reference object is calculated, wherein Δf=Δh 1—ΔH2 or Δf=Δh 2—ΔH1.
Further, in step S2, the method for determining the position of the laundry reference line further includes: and determining a center position B of the clothes in the horizontal direction according to the position A of the left edge of the clothes in the horizontal direction and the position A' of the right edge of the clothes in the horizontal direction, and taking the B as a datum line position.
Further, in step S2, calculating the relative position offset Δf from the reference line of the reference object and the laundry reference line includes: the Δf is a horizontal distance between a center position B of the laundry in the horizontal direction and a reference line of the reference object, i.e., Δf=b-C or Δf=c-B.
Further, in step S3, correcting the laundry according to the relative position offset Δf specifically includes: the control unit of the clothes stacking machine controls the motion trail of the clothes clamping unit to rectify the clothes according to the acquired relative position offset delta f;
Preferably, the clothes clamping unit comprises a moving mechanism and a clamping mechanism, wherein the clamping mechanism is arranged on the moving mechanism, and the moving mechanism can drive the clamping mechanism to move so as to rectify the clothes;
preferably, the moving mechanism at least comprises an X-direction moving mechanism, and the X-direction moving mechanism drives the clamping mechanism to move in the horizontal direction so as to rectify the clothes.
Further, the relative position offset Δf has a preset section (S 1,S2), and when Δf is within the preset section (S 1,S2), the laundry is not corrected.
Further, when Δf is smaller than S 1, the control unit controls the clamping mechanism to clamp the clothes, and controls the moving mechanism to drive the clamping mechanism to move in a direction close to the left edge of the clothes or far from the right edge of the clothes.
Further, when Δf is greater than S 2, the control unit controls the clamping mechanism to clamp the clothes, and controls the moving mechanism to drive the clamping mechanism to move in a direction close to the right edge of the clothes or far from the left edge of the clothes
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects: according to the invention, through image acquisition, a state image of clothes and a reference object can be acquired, the image is analyzed and processed to obtain a relative position deviation between the clothes and the reference object, and then the clamping mechanism is controlled to compensate and adjust the clothes based on the acquired position deviation, so that correction is completed.
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort. In the drawings:
FIG. 1 is a schematic flow chart of an automatic deviation rectifying method of a clothes stacking machine;
FIG. 2 is a front view of the garment stacker of the present invention;
Fig. 3 is a side view of the garment stacker of the present invention.
It should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The prior art clothes folding machine comprises a clothes hanger conveying unit, a folding unit and a storage unit. The clothes treatment process of the clothes stacking machine is as follows: the user hangs the clothing behind on clothes hanger at clothes hanger conveying unit, clothes hanger conveying unit carries clothes hanger and clothing to clothes hanger separation unit, clothes hanger separation unit carries out the centre gripping to clothes hanger, control clothing clamping unit centre gripping clothing simultaneously, after clothes hanger folding up, clothing and clothes hanger separation, the clothing is carried to folding unit inside the folding machine, folding unit is provided with folding platform, folding platform has horizontal surface to be used for placing the clothing to fold through folding platform's folding board turns over many times and realizes folding the clothing of tiling, get into the receiving element after folding is accomplished and accomodates.
However, if the clothes are conveyed to the folding platform, the clothes deviate from the folding platform, or some parts of the clothes are not on the folding platform, and the clothes are folded at the moment, the folded clothes are not orderly or the clothes need to be manually reprocessed, so that the clothes folding efficiency is complicated, and the original purpose of bringing convenience to users is overcome.
Therefore, the invention provides an automatic correction method of the clothes stacking machine, which can automatically correct random errors caused by hanging clothes by a user or other factors such as shaking of a conveying device in the clothes conveying process, finish automatic correction of the clothes, improve the clothes stacking effect of the clothes stacking machine and further improve user experience.
The following detailed description of the present invention is made by way of specific examples;
as shown in fig. 1, the method comprises the following steps:
s1, image acquisition is carried out in the process that clothes are conveyed to a clothes hanger separating unit by a clothes hanger conveying unit;
The clothes are hung on the clothes rack and then hung on the clothes rack conveying unit, the clothes rack conveying unit conveys the clothes rack and the clothes to the clothes rack separating unit, in the process, the information acquisition unit is started to acquire images of the current clothes, and the acquired image data are analyzed to acquire required information.
The information acquisition unit may be installed in a casing of the clothes stacking machine or on the hanger conveying unit, so long as the purpose of the present invention can be achieved to acquire image information of clothes and a reference object, and those skilled in the art can understand that the description is omitted herein.
The information acquisition unit comprises an image acquisition device, the image acquisition device can shoot clothes after the clothes reach an information acquisition position, the image acquisition device comprises a camera, the clothes are shot when the clothes are hung, and the information of the clothes required by the clothes folding machine, such as the size, type, color, material and the like of the clothes, is finally obtained through analysis of image data obtained through shooting.
Preferably, the image acquisition device comprises a depth camera, and the depth camera can acquire the size of the clothes. The depth camera may include a multi-view camera, which calculates through the collected information to obtain the size of the photographed laundry.
Parameters of the camera, such as image width, image height, camera shutter, image width offset and image height offset, are set according to actual conditions, and the numerical value is based on the best actual shooting result.
It should be noted that, when the information of clothing is gathered through image acquisition device to the folding clothing machine, because the image definition degree that shoots obtained has great influence to the recognition result, it is preferable, can provide the light source for the camera, the light source can set up in the right opposite of camera to improve shooting effect. Therefore, the image acquisition process is preferably carried out when the clothes are stationary, and the distance between the image acquisition device and the clothes also influences the acquisition quality, so that the image acquisition is carried out when the clothes rack conveying unit conveys the clothes rack and the clothes to the clothes rack separating unit, the image acquisition can be carried out in the stationary state, not only can the better image quality be obtained, but also the clothes are conveyed to the folding unit as the next step when the clothes rack and the clothes are conveyed to the clothes rack separating unit, at the moment, the images are acquired and correction is carried out, and the random error generated in the conveying process is also reduced.
S2, obtaining a reference line of a clothes datum line and a reference object according to the acquired image, and comparing the clothes datum line with the reference line to obtain a relative position offset delta f;
Obtaining a clothing datum line and a datum line of a reference object through image information acquired by an image acquisition device, and comparing the clothing datum line with the datum line, so as to obtain a horizontal distance between the datum lines of the clothing datum line foot reference object, namely a relative position offset delta f;
S3, correcting the deviation of the clothes according to the relative position deviation delta f.
The clothes folding machine further comprises a main control unit, the main control unit controls the clothes clamping unit to move according to the relative position offset delta f, and automatic correction is carried out on clothes, so that the clothes are conveyed to the folding platform more accurately, and then folded, the folded clothes are tidy, the user needs are met, and the user satisfaction is improved.
A method for determining a reference line of a reference object will be described in detail, and in step S2, the method for determining a reference line of a reference object includes: calculating a reference line C of the reference object according to the positions of the left edge and the right edge of the reference object in the horizontal direction; the horizontal direction herein refers to a direction perpendicular to the conveying direction of the hanger.
Preferably, the projection of the reference line of the reference object on the folding platform of the clothes folding machine coincides with the central line of the width direction of the folding platform.
Firstly, a central line in the width direction of the folding platform is determined, a reference line of a reference object is determined according to the central line in the width direction of the folding platform, and the projection of the reference line of the reference object on the folding platform is coincident with the centrality in the width direction of the folding platform, so that the centrality of the corrected clothes is consistent with the central line in the width direction of the folding platform. Of course, the reference line of the reference object can be set before the clothes hanger is conveyed, so that the horizontal distance between the clothes datum line and the reference line of the reference object can be directly analyzed in the image recognition process, and the final folding effect is ensured.
The width direction of the folding platform mentioned above refers to the direction perpendicular to the conveying direction of the hanger.
According to the invention, through real-time image acquisition of clothes, namely a reference object, whether the position of the clothes is deviated in the moving process can be detected in real time, and when the position deviation occurs, the controller can control the motion track of the clothes clamping unit to correct the clothes in real time, so that the clothes can keep a correct position, the purpose of automatic correction can be achieved, and the clothes folding effect of the clothes folding machine is improved.
The invention also provides two methods for determining the clothes datum line, which are specifically as follows:
The method comprises the following steps:
In step S2, the method of determining the laundry reference line position includes: detecting the area where the clothes are located, determining the position A of the left edge of the clothes in the horizontal direction, determining the position A 'of the right edge of the clothes in the horizontal direction, and taking the positions A and A' as datum line positions.
Then in step S2, calculating the relative positional deviation Δf from the reference line of the laundry reference line position and the reference object includes: the horizontal distance Δh1 between the position a of the left edge of the laundry in the horizontal direction and the reference line of the reference object is calculated, and the horizontal distance Δh 2 between the position a' of the left edge of the laundry in the horizontal direction and the reference line of the reference object is calculated, wherein Δf=Δh 1—ΔH2 or Δf=Δh 2—ΔH1.
The second method is as follows:
the invention also provides another calculation method of the relative position offset delta f, which specifically comprises the following steps: in step S2, the method of determining the laundry reference line position further includes: and determining a center position B of the clothes in the horizontal direction according to the position A of the left edge of the clothes in the horizontal direction and the position A' of the right edge of the clothes in the horizontal direction, and taking the B as a datum line position.
Further, in step S2, calculating the relative position offset Δf from the reference line of the reference object and the laundry reference line includes: the Δf is a horizontal distance between a center position B of the laundry in the horizontal direction and a reference line of the reference object, i.e., Δf=b-C or Δf=c-B.
The invention also provides how to control the clothes clamping unit to rectify the clothes after the relative position offset delta f is obtained, which is as follows: in step S3, correcting the laundry according to the relative position offset Δf specifically includes: the control unit of the clothes stacking machine generates a control instruction according to the acquired relative position offset delta f, and controls the motion trail of the clothes clamping unit to rectify the clothes according to the control instruction;
Preferably, the clothes clamping unit comprises a moving mechanism and a clamping mechanism, wherein the clamping mechanism is arranged on the moving mechanism, and the moving mechanism can drive the clamping mechanism to move so as to rectify the clothes;
preferably, the moving mechanism at least comprises an X-direction moving mechanism, and the X-direction moving mechanism drives the clamping mechanism to move in the horizontal direction so as to rectify the clothes.
The X-direction moving mechanism can enable the clamping mechanism to move in the horizontal direction perpendicular to the hanging rod, and the Y-direction moving mechanism can enable the clamping mechanism to move in the vertical direction perpendicular to the hanging rod. In order to ensure that the clamping device can move in the X direction and the Y direction simultaneously, the Y direction moving mechanism is arranged on the X direction mechanism, so that the Y direction moving mechanism can drive the X direction moving mechanism to move integrally.
Further, the relative position offset Δf has a preset section (S 1,S2), when Δf is within the preset section (S 1,S2), the clothes are not corrected, the preset section (S 1,S2) is an acceptable error range, and when Δf exceeds the preset range, the clothes are corrected, specifically as follows:
Further, when Δf is smaller than S 1, the control unit controls the clamping mechanism to clamp the clothes, and controls the moving mechanism to drive the clamping mechanism to move in a direction close to the left edge of the clothes or far from the right edge of the clothes.
Further, when Δf is greater than S 2, the control unit controls the clamping mechanism to clamp the clothes, and controls the moving mechanism to drive the clamping mechanism to move in a direction close to the right edge of the clothes or far from the left edge of the clothes
In order to increase safety, the invention also provides an alarm module, wherein the alarm module can be set as an alarm, the controller can be electrically connected with the alarm, when the calculated relative position offset delta f is judged to exceed a preset threshold value by the controller, the system carries out fault and safety processing, an alarm instruction is sent to the alarm, and the alarm alarms after receiving the alarm instruction so as to remind a user of the running fault of the current clothes folding machine.
Example 3
As shown in fig. 2-3, another object of the present invention is to provide a stacking machine that adopts any of the above-mentioned automatic deviation correcting methods. This machine of folding clothing includes:
A hanger conveying unit 1 for conveying the laundry/hangers 11;
A hanger separating unit 2 for clamping the hangers conveyed in place;
the information acquisition unit is used for acquiring images of clothes and a reference object;
and a clothes clamping unit 3 for clamping or moving clothes to correct the clothes.
The folding unit 4 is provided with a folding platform, the folding platform is provided with a horizontal surface for placing clothes, and the folding platform folds the tiled clothes for a plurality of times through a folding plate of the folding platform, so that the folded clothes enter the storage unit for storage;
The main control unit is respectively and electrically connected with the clothes conveying unit 1, the clothes hanger separating unit 2, the information acquisition unit 3 and the clothes clamping unit 4, and can control the clothes clamping unit to rectify the clothes according to the relative position offset delta f between the clothes datum line and the reference line acquired by the information acquisition unit.
The clothes hanger comprises a main control unit, a clothes hanger conveying unit, a clothes hanger, a folding platform, a storage unit, a controller, a control unit, a clothes clamping unit, a folding plate and a folding plate, wherein the clothes hanger is hung on the clothes hanger conveying unit after clothes are hung on the clothes hanger, the clothes hanger conveying unit conveys the clothes hanger and the clothes to the clothes hanger separating unit, the clothes hanger separating unit clamps the clothes hanger, the information acquiring unit can be started to shoot the clothes and a reference line at the moment, the main control unit controls the clothes clamping unit to rectify the clothes according to the relative position offset delta f of the clothes reference line and the reference line acquired by the information acquiring unit, the clothes are folded after the rectification is completed, the clothes are separated from the clothes hanger, the clothes are conveyed to the folding unit in the clothes stacker, the folding unit is provided with the folding platform, the folding platform is provided with a horizontal surface and is used for placing the clothes, and the tiled clothes are folded through the folding plate of the folding platform for a plurality of times.
The foregoing description is only illustrative of the preferred embodiment of the present invention, and is not to be construed as limiting the invention, but is to be construed as limiting the invention to any and all simple modifications, equivalent variations and adaptations of the embodiments described above, which are within the scope of the invention, may be made by those skilled in the art without departing from the scope of the invention.
Claims (8)
1. An automatic deviation rectifying method of a clothes stacking machine is characterized by comprising the following steps of: comprising
S1, image acquisition is carried out in the process that clothes are conveyed to a clothes hanger separating unit by a clothes hanger conveying unit;
s2, obtaining a reference line of a clothes datum line and a reference object according to the acquired image, and comparing the clothes datum line with the reference line to obtain a relative position offset delta f;
s3, correcting the deviation of the clothes according to the relative position offset delta f;
In step S2, a center line C of the reference object in the horizontal direction is calculated as a reference line from the positions of the left and right edges of the reference object in the horizontal direction; detecting the area where the clothes are located, and determining the position A of the left edge of the clothes in the horizontal direction and the position A' of the right edge of the clothes in the horizontal direction;
Calculating a horizontal distance Δh 1 between the position a of the left edge of the laundry in the horizontal direction and the reference line of the reference object, and calculating a horizontal distance Δh 2 between the position a 'of the left edge of the laundry in the horizontal direction and the reference line of the reference object, using a and a' as reference line positions, wherein Δf=Δh 1—ΔH2 or Δf=Δh 2—ΔH1; or determining the center position B of the clothes in the horizontal direction according to the position A of the left edge of the clothes in the horizontal direction and the position A' of the right edge of the clothes in the horizontal direction, taking B as a datum line position, wherein Δf is the horizontal distance between the center position B of the clothes in the horizontal direction and a reference line of a reference object, namely Δf=B-C or Δf=C-B;
The relative position offset Δf has a preset interval (S 1,S2), and in step S3, when Δf is smaller than S 1 or Δf is larger than S 2, the laundry is corrected.
2. The automatic deviation rectifying method of the clothes stacking machine according to claim 1, wherein: the projection of the reference line of the reference object on the folding platform of the clothes folding machine is overlapped with the central line of the width direction of the folding platform.
3. The automatic deviation rectifying method of the clothes stacking machine according to claim 1, wherein: in step S3, correcting the laundry according to the relative position offset Δf specifically includes: and the control unit of the clothes stacking machine controls the movement track of the clothes clamping unit to rectify the clothes according to the acquired relative position offset delta f.
4. The automatic deviation rectifying method of the clothes stacking machine according to claim 3, wherein the automatic deviation rectifying method comprises the following steps of: the clothes clamping unit comprises a moving mechanism and a clamping mechanism, wherein the clamping mechanism is arranged on the moving mechanism, and the moving mechanism can drive the clamping mechanism to move so as to rectify clothes.
5. The automatic deviation rectifying method of the clothes stacking machine according to claim 4, wherein the automatic deviation rectifying method is characterized in that: the moving mechanism at least comprises an X-direction moving mechanism, and the X-direction moving mechanism drives the clamping mechanism to move in the horizontal direction so as to rectify the clothes.
6. The automatic deviation rectifying method of the clothes stacking machine according to any one of claims 1 to 5, characterized in that: when Δf is within the preset interval (S 1,S2), the laundry is not corrected.
7. The automatic deviation rectifying method of the clothes stacking machine according to claim 4 or 5, wherein the automatic deviation rectifying method is characterized in that: when the delta f is smaller than S 1, the control unit controls the clamping mechanism to clamp the clothes and controls the moving mechanism to drive the clamping mechanism to move towards the direction close to the left edge of the clothes or away from the right edge of the clothes.
8. The automatic deviation rectifying method of the clothes stacking machine according to claim 4 or 5, wherein the automatic deviation rectifying method is characterized in that: when the delta f is larger than S 2, the control unit controls the clamping mechanism to clamp the clothes and controls the moving mechanism to drive the clamping mechanism to move towards the direction close to the right edge of the clothes or away from the left edge of the clothes.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108755067A (en) * | 2018-06-21 | 2018-11-06 | 金华优地工业设计有限公司 | Full-automatic clothing delivery and clothes hanger separation and recovery method |
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| CN108755067A (en) * | 2018-06-21 | 2018-11-06 | 金华优地工业设计有限公司 | Full-automatic clothing delivery and clothes hanger separation and recovery method |
| CN108823901A (en) * | 2018-09-14 | 2018-11-16 | 宁波慈溪小家电创新设计研究院有限公司 | A kind of car washing installation and clothes washing method of the cleaning of spot automatic identification |
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