CN111498610A - Yarn bobbin head yarn tail yarn capturing and knotting device and method - Google Patents
Yarn bobbin head yarn tail yarn capturing and knotting device and method Download PDFInfo
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- CN111498610A CN111498610A CN202010257175.6A CN202010257175A CN111498610A CN 111498610 A CN111498610 A CN 111498610A CN 202010257175 A CN202010257175 A CN 202010257175A CN 111498610 A CN111498610 A CN 111498610A
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- 238000000034 method Methods 0.000 title claims abstract description 18
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H69/00—Methods of, or devices for, interconnecting successive lengths of material; Knot-tying devices ;Control of the correct working of the interconnecting device
- B65H69/04—Methods of, or devices for, interconnecting successive lengths of material; Knot-tying devices ;Control of the correct working of the interconnecting device by knotting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/08—Automatic end-finding and material-interconnecting arrangements
- B65H67/081—Automatic end-finding and material-interconnecting arrangements acting after interruption of the winding process, e.g. yarn breakage, yarn cut or package replacement
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
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Abstract
The invention discloses a yarn bobbin head yarn tail yarn capturing and knotting device and a method, wherein the yarn bobbin head yarn tail yarn capturing and knotting device comprises a controller, a binocular vision sensor, a truss robot and the like, and is clear in design structure and high in reliability; the method comprises the steps of utilizing a binocular vision sensor to snapshot head yarns and tail yarns of A, B yarn drums on the same layer of creel, utilizing an image processing and identification technology and a three-dimensional detection method to judge the coordinate positions of the head yarns and the tail yarns of the yarn drums, utilizing a yarn capturing mechanism to accurately capture the head yarns and the tail yarns needing to be knotted according to identified positioning information, and rotating to enter a horn mouth of a knotting machine to realize wiring, so that the functions of automatic capturing, knotting and wire continuing are completed.
Description
The technical field is as follows:
the invention belongs to the field of spinning, and particularly relates to a device and a method for capturing and knotting end yarns of a yarn bobbin head
Background art:
textile is one of the important pillar industries of the manufacturing industry in China, and intelligent manufacturing of the textile is an effective way for realizing technical upgrading of the industry, changing the development mode of the industry and changing the economic growth mode, but the intelligent manufacturing of the textile industry is still in the starting stage at the practical level at home and abroad.
Especially in the automatic control system of the circular knitting machine, when a bobbin which provides yarn for the circular knitting machine on a creel is used up, because no proper mechanical arm replaces the manual work to complete the yarn continuing function, the traditional manual mode is still adopted when the bobbin is replaced to continue the yarn for the circular knitting machine at present, the efficiency is low, the labor cost is high, and the intelligent manufacturing of a production line cannot be really realized. The difficulty of the mechanical arm replacing manual knotting and yarn continuing lies in effectively capturing the head yarn and the tail yarn of the yarn cylinder and rapidly completing the yarn connection.
The noun explains:
the invention content is as follows:
in order to solve the problems, the invention discloses a yarn bobbin yarn tail yarn capturing and knotting device and a method, the yarn bobbin yarn capturing device comprises a controller, a binocular vision sensor, a truss robot and the like, and is clear in design structure and high in reliability; the method comprises the steps of utilizing a binocular vision sensor to snapshot head yarns and tail yarns of A, B yarn drums on the same layer of creel, utilizing an image processing and identification technology and a three-dimensional detection method to judge the coordinate positions of the head yarns and the tail yarns of the yarn drums, utilizing a yarn capturing mechanism to accurately capture the head yarns and the tail yarns needing to be knotted according to identified positioning information, and rotating to enter a horn mouth of a knotting machine to realize wiring, so that the functions of automatic capturing, knotting and wire continuing are completed.
The invention adopts the following technical scheme to realize the purpose of the invention:
a yarn bobbin head and tail yarn capturing and knotting device comprises a three-dimensional moving device, wherein a knotting machine (14) and a visual sensor (19) are mounted on the three-dimensional moving device; a long suction pipe (11) and a short suction pipe (12) are fixed on the knotting machine (14), and the outer end of the long suction pipe (11) protrudes out of the outer end of the short suction pipe (12); the inner end of the short suction pipe (12) is communicated with a first air suction device (23), the inner end of the short suction pipe (12) is communicated with a second air suction device (24), and the first air suction device (23) and the second air suction device (24) are both connected with a rotating motor (26).
The three-dimensional moving device comprises a front-back truss robot (22), the front-back truss robot (22) is connected with a vertical truss robot (25), the vertical truss robot (25) is connected with a fixed support (20), a vision sensor (19) and a motor (18) are fixed on the fixed support (20), the motor (18) is connected with a sliding platform (17) through a lead screw thread, and a knotting machine (14) is installed on the sliding platform (17); the horn mouth (15) of the knotting machine (14) and the knotting motor (16) are respectively arranged on a pair of opposite side surfaces of the knotting machine (14). 3. The yarn package end yarn catching and knotting device as claimed in claim 1, characterized in that the vision sensor (19) is a binocular vision sensor.
In a further improvement, the binocular vision sensor is a binocular industrial camera.
In a further improvement, the first air suction device (23) and the second air suction device (24) are fans.
A method for catching and knotting yarn tails at a bobbin head comprises the following steps:
firstly, a scheduling platform controls a front-rear truss robot (22) and a vertical truss robot (25) to drive a binocular industrial camera to continuously operate to capture, record the position of an empty bobbin and send position information to the scheduling platform, then the scheduling platform controls a bobbin changing manipulator or a worker to take the empty bobbin away, and a new bobbin with the same specification is conveyed from a warehouse to an original position to change the bobbin;
after the yarn drum is replaced, the dispatching platform controls the industrial camera to shoot pictures of the yarn drum, the head yarn and the tail yarn, coordinate positions of the yarn drum, the head yarn and the tail yarn are established, then the sliding platform (17) is controlled to move to adjust the depths of the long suction pipe (11) and the short suction pipe (12), the rotating motor (26) respectively controls the long suction pipe (11) and the short suction pipe (12) to rotate to the positions of the head yarn and the tail yarn, the long suction pipe (11) captures the head yarn and the short suction pipe (12) captures the tail yarn through the fan respectively; the method comprises the following steps that a binocular industrial camera captures images in real time, recognizes the capturing states of head yarns and tail yarns, after successful capturing is achieved, a dispatching platform controls a long suction pipe and a short suction pipe to rotate to a bell mouth of a knotting machine, then a knotting motor runs to complete knotting action, a fan is turned off, yarns recover to be in a free state, and whether knotting is successful or not is recognized by the binocular industrial camera; if the knot is not successful, the knot is knotted again, after the knot is successfully knotted, the thread continuing is completed, the step three is carried out,
and step three, repeating the step one and the step two from the front of the yarn capturing device to the next position, and repeating the steps in such a way, thereby realizing the automatic and intelligent yarn continuing function of a textile factory.
In a further improvement, the method for establishing the coordinate positions of the bobbin, the head yarn and the tail yarn by the binocular industrial camera comprises the following steps:
step one, image acquisition, namely acquiring left and right eye images by using a binocular industrial camera;
step two, binocular calibration, namely camera parameter calibration: acquiring internal parameters and lens distortion coefficients of a camera, and acquiring stereo parameters of the double cameras at the current angle;
performing binocular correction, namely performing distortion correction and three-dimensional correction by using OpenCV software:
performing stereo matching by using an OpenCV BM or SGM stereo matching algorithm according to the binocular correction image, and calculating parallax;
step five, three-dimensional reconstruction, namely calculating three-dimensional point coordinates by using a Q matrix according to the parallax;
the formula for Z is given as follows:
the actual coordinates of the spatial points are calculated using the principle of similar triangles, as shown by the matrix Q:
can be obtained after the finishing treatment of the polyester resin,
and the three-dimensional coordinates of a point in space are (X/W, Y/W, Z/W), where W is the construction vector,
W＝[x y d 1]T
wherein T is (binocular camera distance), Z is the vertical distance between a measuring point and a connecting line of the binocular distance, and xlIs (AB spacing), XrIs (CD spacing), W is (construction vector), f is focal length, d is parallax, Tx is camera center distance, and the offsets cx and cy of the coordinate systems of the left and right image planes from the origin in the stereo coordinate system.
Description of the drawings:
fig. 1 is a schematic view of a creel structure.
FIG. 2 is a schematic view of the structure of the yarn catching device
Fig. 3 is a basic principle diagram of a binocular ranging method.
Fig. 4 is a schematic diagram of the three-dimensional coordinates of a certain point in the binocular acquisition space.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings:
the schematic structure of the creel is shown in fig. 1, which is the triangular air duct type creel most commonly used in circular weft knitting machine weaving.
In the bobbin yarn capturing device, the left bobbin creel in the creel in fig. 1 is defined as a position a, and the right bobbin creel is defined as a position B, and the specific structure of each part is described as follows:
the yarn guide tube 1 is used for orderly introducing yarns to a circular knitting machine, and the position of the yarn guide tube can be adjusted in order to meet the requirements of textile production.
2 for the creel support, choose for use triangle-shaped tuber pipe formula creel, utilize the stability of triangle-shaped structure, guarantee the reliability of creel use, practice thrift area simultaneously, promote yarn section of thick bamboo use quantity etc..
And 3, a yarn barrel rack which is made of metal materials and used for placing a yarn barrel, wherein the position of the yarn barrel rack is the position of the yarn barrel. In order to facilitate the positioning of the upper computer dispatching platform, the yarn barrel racks are respectively numbered as follows: divide into 1, 2 … n layer according to from the bottom up, consequently left side A position creel serial number from the bottom up is respectively: a1, a2 … An; the number of the right B-position creel is respectively from bottom to top: b1, B2 … Bn, n are determined by the actual truss robot height, typically 6-8 layers are selected, and for ease of thread take-up, each layer of creels uses the same gauge yarn.
And 4, the air pipe is used for threading the yarn barrel and leading out the yarn to the yarn guide tube, is generally designed into a smooth round opening, is convenient for blowing the yarn out to the yarn guide tube, and plays a role in protecting the yarn.
And 5, a cylindrical yarn drum belongs to the common type in the yarn drum, the inner drum is hollow, and the yarn is wound into a cylinder.
The yarn bobbin 6 is a conical yarn bobbin, belongs to the common type in yarn bobbins, and is hollow in an inner barrel, and yarns are wound into a conical shape.
And 7 is A-position head yarn, namely the head yarn of a yarn drum placed on the A-position yarn drum frame. In the production process, when the yarn is wound on a bobbin into a yarn bobbin, the broken line part after the winding is the head yarn, the head yarn is adhered to the surface of the yarn bobbin and possibly positioned at any position of the surface of the yarn bobbin, and the yarn bobbin can be used only by finding out the head yarn when in use. The manual finding of the head yarn is convenient, the mechanical arm is difficult to find, and a special suction nozzle is generally configured to find and suck the head yarn.
And 8 is A-position tail yarn, namely the tail yarn of a yarn drum placed on the A-position yarn drum frame. In the production process, when the yarn is wound on the bobbin into the bobbin, the tail yarn is pressed on the bottommost layer of the bobbin and extends out of the bottom of the bobbin for a certain length, so that the tail yarn is positioned at the bottom of the bobbin and is very easy to identify.
And 9 is a B-position head thread, namely the head yarn of a yarn drum placed on the B-position yarn drum rack.
And 10 is a B-position tail yarn, namely a tail yarn of a bobbin placed on a B-position bobbin holder.
The structure of each part is described as follows:
the long suction pipe 11 is made of a metal or plastic circular pipe, and is used for catching the yarn bobbin head yarns as the head yarns are generally farther away from the catching device than the tail yarns. The front end of the long suction pipe is used for air suction and capture, and the rear end of the long suction pipe is used for connecting a fan hose.
12 is a short suction pipe made of a metal or plastic circular tube, and the short suction pipe is used for catching the tail yarn of the bobbin because the tail yarn is generally closer to the catching device than the head yarn. The front end of the short suction pipe is used for air suction and capture, and the rear end of the short suction pipe is used for connecting a fan hose.
13 is straw fixing device, and long, short straw is installed on the tray, generally adopts special staple bolt and anti-skidding gasket fixed, is favorable to dismantling and adjusting the straw mounted position, and nimble adaptation catches the function. The bottom of the tray of the device is arranged on a direct current motor inside the knot tying machine, so that the long suction pipe and the short suction pipe can be driven to rotate through the rotation of the motor, and the rotating position can be realized by arranging a limit switch or recognizing and positioning images according to the actual yarn position.
And 14, a knotting machine, which adopts a mechanical knotting device for knotting the captured head yarn and tail yarn, is a direct execution mechanism for realizing yarn continuation, adopts a motor to realize automatic knotting, and is arranged on a sliding platform.
And 15 is a bell mouth, is arranged on the knotter, and adopts a smooth metal mechanism for smoothly guiding the captured head yarns and tail yarns into the knotting mouth of the knotter.
The knotting motor 16 is a direct current motor, after the head yarn and the tail yarn enter the knotting opening, the knotting motor is controlled to rotate to complete knotting, and the start and the end of knotting can be controlled by a limit switch.
And 17, the sliding platform is used for finely adjusting the capturing position of the device, a knotter and a long and short suction pipe are arranged on the sliding platform, the distance between the yarn capturing platform and a creel can be flexibly finely adjusted and changed in the process of capturing head yarns and tail yarns, and the yarn capturing device is favorable for accurately capturing the yarns.
The motor 18 is a stepping motor or a servo motor, and the capturing position of the long and short straws is finely adjusted by controlling the accurate movement of the sliding platform.
And 19, an industrial camera is adopted, a binocular camera is adopted, three-dimensional positioning and detection are supported, the color and the position of the yarn can be distinguished, and detection of an empty bobbin on a creel, detection of the positions of the head yarn and the tail yarn, detection of whether the head yarn and the tail yarn are captured successfully and detection of whether knotting is successful are realized through image analysis. The binocular stereo measurement of the binocular camera is similar to binocular navigation and positioning, and has the following three characteristics: firstly, the number of points to be extracted is small, and only the points of the part of the measured object to be measured are found; secondly, the speed requirement is higher; thirdly, the requirement on the illumination environment is high.
And 20, a fixed support is used for mounting core equipment of capturing mechanisms such as a knotting machine, a sliding platform, a long suction nozzle, a short suction nozzle and an industrial camera, and the fixed support is mounted on a large sliding block.
And 21 is a sliding block which is used for fixing the mounting bracket on one hand and can slide on the truss on the other hand, so that the truss and equipment on the fixing bracket can freely slide, the positions of the truss and the equipment on the fixing bracket are adjusted in the X direction, the Y direction and the Z direction, the coarse adjustment and the positioning of the capturing mechanism are realized, and the movement of the sliding block is realized by utilizing the control of a servo motor.
22 is a front-rear truss robot, and 25 is a vertical truss robot; the truss is used for installing all equipment, the arrangement range and the height of a creel and the running paths of the equipment in the X direction, the Y direction and the Z direction are determined by the truss, and the specific positions are realized by limit switches.
The basic working principle of the yarn catching device is as follows:
the yarn capturing device utilizes an industrial camera as an assistant, the truss robot takes a snapshot and records the position of an empty bobbin and sends the position information to the dispatching platform in the ceaseless running process, then the dispatching platform controls a bobbin changing mechanical arm or workers to take the empty bobbin away, and a new bobbin with the same specification is conveyed to the original position from a warehouse to change the bobbin. After a yarn drum is replaced, the dispatching platform controls the yarn capturing device to move to the position of the replaced yarn drum, an industrial camera is used for capturing pictures of the yarn drum, the head yarn and the tail yarn, coordinate positions of the yarn drum, the head yarn and the tail yarn are established according to image processing and recognition technology, then the sliding platform is controlled to finely adjust the positions of the long suction pipe and the short suction pipe, the long suction pipe and the short suction pipe are controlled to rotate to be close to the positions of the head yarn and the tail yarn, the fan is started to capture the pictures in real time, the capturing state of the head yarn and the tail yarn is recognized by the industrial camera, the dispatching platform is informed to control the long suction pipe to rotate to the bell mouth of the knotting machine after the successful capturing is achieved, the head yarn and the tail yarn enter the knotting mouth position, then the knotting motor operates to complete. After the knotting is successful, the yarn continuation is completed, the yarn capturing device performs the same action to the next position, and the yarn continuation function is achieved automatically and intelligently in a textile factory.
The basic working principle of the combined creel is as follows:
the same specification yarn is placed on the same layer of yarn barrel rack, for example, the cylindrical yarn barrel layer, after the A-position yarn barrel is used, the dispatching platform positions the empty yarn barrel by using image detection and identification technology, then commands the bobbin-changing mechanical arm to take the empty yarn barrel away, the same specification yarn barrel is taken from the warehouse to complete replacement, for the convenience of head yarn capturing, the head yarn is sucked out by using the suction nozzle device and is in the state shown in figure 2, then the visual sensor is used for shooting and positioning, the capturing device is controlled to achieve capturing of the head yarn, then the special suction nozzle releases the head yarn, and the handing-over action of the head yarn is completed. After capturing the head yarn at the position A, capturing the tail yarn of the cylindrical yarn bobbin at the position B on the yarn bobbin holder at the same layer by using the image detection and identification positioning technology. Cylindrical yarn bobbin layer A position first yarn catches after with B position tail yarn simultaneously, utilize rotary mechanism with first yarn, the tail yarn is put into the knot-tying machine bell mouth, the work of knoing is accomplished to the motor of the driving knot again, A, B position yarn section of thick bamboo that makes cylindrical yarn bobbin layer just establishes ties together, can directly adjust to A position yarn section of thick bamboo and continue the yarn when the yarn that arrives B position yarn section of thick bamboo finishes using, change B position yarn section of thick bamboo again, accomplish the wiring and knot, so reciprocal, just can supply the yarn for knitting circular weft knitting machine uninterruptedly, really realize intelligent textile mill.
If the yarn bobbin layer is conical, the A-position yarn bobbin is in use, the tail yarn is in a free suspension state, the B-position yarn bobbin is in a state of waiting for knotting, and in the state, the capturing device should capture the tail yarn of the A-position yarn bobbin and the head yarn of the B-position yarn bobbin to complete knotting and yarn continuing functions.
Therefore, the yarn barrel on the creel has two states, and two yarn continuing modes are needed, wherein one mode is that the A-position tail yarn and the B-position head yarn are knotted to continue yarns, and the other mode is that the A-position head yarn and the B-position tail yarn are knotted to continue yarns.
The positioning and identifying steps and the principle of the binocular camera are supplemented as follows:
the binocular stereo vision technology and the three-dimensional measurement method are adopted for positioning and identifying the binocular camera, and the overall process of the binocular stereo vision comprises the following steps: image acquisition, binocular calibration, binocular correction, stereo matching, three-dimensional reconstruction and the like.
Step one, image acquisition, namely acquiring left and right eye images by using a binocular industrial camera;
step two, binocular calibration, namely camera parameter calibration: acquiring internal parameters and lens distortion coefficients of a camera, and acquiring stereo parameters of the double cameras at the current angle;
performing binocular correction, namely performing distortion correction and three-dimensional correction by using an OpenCV function:
and step four, stereo matching, namely stereo matching is carried out on the binocular corrected images through stereo matching algorithms such as BM or SGM of OpenCV and the like, and parallax is calculated.
And step five, three-dimensional reconstruction, namely calculating the coordinates of the three-dimensional points by utilizing the Q matrix according to the parallax.
The specific principle of binocular camera ranging is shown in fig. 3, and a formula for obtaining Z according to fig. 3 is as follows:
finishing to obtain
As shown in fig. 4, the schematic diagram of binocular obtaining the three-dimensional coordinate of a certain point in space can calculate the actual coordinate of the space point by using the principle of similar triangle, and the expression is as shown in Q matrix.
and the three-dimensional coordinates of a point in space are (X/W, Y/W, Z/W), where W is the construction vector,
W＝[x y d 1]T
the parameters f in the formula are focal length, d is parallax, Tx is camera center distance, and the offset cx and cy of the coordinate system of the left and right image planes and the origin in the stereo coordinate system.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the specification and the embodiments, which are fully applicable to various fields of endeavor for which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the specific details shown and described herein without departing from the general concept defined by the claims and their equivalents.
Claims (7)
1. A yarn cone end yarn tail yarn capturing and knotting device is characterized by comprising a three-dimensional moving device, wherein a knotting machine (14) and a visual sensor (19) are mounted on the three-dimensional moving device; a long suction pipe (11) and a short suction pipe (12) are fixed on the knotting machine (14), and the outer end of the long suction pipe (11) protrudes out of the outer end of the short suction pipe (12); the inner end of the short suction pipe (12) is communicated with a first air suction device (23), the inner end of the short suction pipe (12) is communicated with a second air suction device (24), and the first air suction device (23) and the second air suction device (24) are both connected with a rotating motor (26).
2. The bobbin yarn tail yarn capturing and knotting device as claimed in claim 1, wherein the three-dimensional moving device comprises a front-back truss robot (22), a vertical truss robot (25) is connected to the front-back truss robot (22), a fixed support (20) is connected to the vertical truss robot (25), a vision sensor (19) and a motor (18) are fixed on the fixed support (20), the motor (18) is connected with a sliding platform (17) through a screw thread, and the knotting machine (14) is installed on the sliding platform (17); the horn mouth (15) of the knotting machine (14) and the knotting motor (16) are respectively arranged on a pair of opposite side surfaces of the knotting machine (14).
3. The yarn package end yarn catching and knotting device as claimed in claim 1, characterized in that the vision sensor (19) is a binocular vision sensor.
4. The bobbin yarn tail yarn capturing and knotting device of claim 3, wherein the binocular vision sensor is a binocular industrial camera.
5. The bobbin yarn tail yarn catching and knotting device as claimed in claim 1, wherein said first air suction device (23) and said second air suction device (24) are each a blower.
6. A method for catching and knotting yarn tails at the ends of yarn bobbins is characterized by comprising the following steps:
firstly, a scheduling platform controls a front-rear truss robot (22) and a vertical truss robot (25) to drive a binocular industrial camera to continuously operate to capture, record the position of an empty bobbin and send position information to the scheduling platform, then the scheduling platform controls a bobbin changing manipulator or a worker to take the empty bobbin away, and a new bobbin with the same specification is conveyed from a warehouse to an original position to change the bobbin;
after the yarn drum is replaced, the dispatching platform controls the industrial camera to shoot pictures of the yarn drum, the head yarn and the tail yarn, coordinate positions of the yarn drum, the head yarn and the tail yarn are established, then the sliding platform (17) is controlled to move to adjust the depths of the long suction pipe (11) and the short suction pipe (12), the rotating motor (26) respectively controls the long suction pipe (11) and the short suction pipe (12) to rotate to the positions of the head yarn and the tail yarn, the long suction pipe (11) captures the head yarn and the short suction pipe (12) captures the tail yarn through the fan respectively; the method comprises the following steps that a binocular industrial camera captures images in real time, recognizes the capturing states of head yarns and tail yarns, after successful capturing is achieved, a dispatching platform controls a long suction pipe and a short suction pipe to rotate to a bell mouth of a knotting machine, then a knotting motor runs to complete knotting action, a fan is turned off, yarns recover to be in a free state, and whether knotting is successful or not is recognized by the binocular industrial camera; if the knot is not successful, the knot is knotted again, after the knot is successfully knotted, the thread continuing is completed, the step three is carried out,
and step three, repeating the step one and the step two from the front of the yarn capturing device to the next position, and repeating the steps in such a way, thereby realizing the automatic and intelligent yarn continuing function of a textile factory.
7. The bobbin head yarn and tail yarn capturing and knotting method as claimed in claim 6, wherein the method for establishing the coordinate positions of the bobbin, the head yarn and the tail yarn by the binocular industrial camera is as follows:
step one, image acquisition, namely acquiring left and right eye images by using a binocular industrial camera;
step two, binocular calibration, namely camera parameter calibration: acquiring internal parameters and lens distortion coefficients of a camera, and acquiring stereo parameters of the double cameras at the current angle;
performing binocular correction, namely performing distortion correction and three-dimensional correction by using OpenCV software:
performing stereo matching by using an OpenCV BM or SGM stereo matching algorithm according to the binocular correction image, and calculating parallax;
step five, three-dimensional reconstruction, namely calculating three-dimensional point coordinates by using a Q matrix according to the parallax;
the formula for Z is given as follows:
the actual coordinates of the spatial points are calculated using the principle of similar triangles, as shown by the matrix Q:
and the three-dimensional coordinates of a point in space are (X/W, Y/W, Z/W), where W is the construction vector,
W＝[x y d 1]T
wherein, T is the distance between the binocular cameras, and Z is the vertical distance between the measuring point and the connecting line of the distances between the two eyesIon, xlIs the AB spacing, XrFor the CD spacing, W is the construction vector, f is the focal length, d is the parallax, Tx is the camera center distance, and the offsets cx and cy of the coordinate systems of the left and right image planes from the origin in the stereo coordinate system.
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| CN113307100A (en) * | 2021-07-07 | 2021-08-27 | 四川玄武岩纤维新材料研究院(创新中心) | Unmanned intelligent yarn changing system and automatic yarn changing method |
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| CN115323605A (en) * | 2022-09-06 | 2022-11-11 | 长兴金通纺织有限公司 | Elastic double-layer warp-knitted fabric production system and production process thereof |
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