Automatic yarn loading and unloading method and system

Abstract

The invention discloses an automatic yarn loading and unloading method, and further provides an automatic yarn loading and unloading system for realizing the method. The method includes the steps thata robotic fixture carries yarns to move to a plurality of fixed points; a plurality of image acquisition devices are used to acquire a yarn depth image of each fixed point; each image acquisition device extracts a yarn point cloud data collection of the corresponding local coordinate system from the corresponding depth image; each yarn point cloud data collection is subjected to pretreatment; thepre-treated yarn point cloud data are used to calculate a transfer matrix from each local coordinate system to a robotic absolute coordinate system; the point cloud data of yarn columns in the localcoordinate systems are determined; the transfer matrix is used for the calibration of yarn column coordinates in the robotic absolute coordinate system; and according to the yarn column calibration, arobot performs the loading and unloading task of yarns. According to the method, the automatic calibration of the yarn columns and the active loading and unloading of the yarns can be realized, and the automation, intelligence and work efficiency of the yarn loading and unloading work are improved.

Description

Technical field [0001] The invention belongs to the technical field of textiles, and particularly relates to a yarn automatic loading and unloading method and system. Background technique [0002] In the textile industry, the loading and unloading of the yarn on the yarn column (the column on which the yarn is strung) is an important step. In the actual work process, a large number of yarn columns are vertically distributed on the tray in the form of a disc. The tray is first placed under the mechanical gripper and in the middle of the support frame. In order for the machine gripper to correctly reach the top of each yarn column for yarn loading and unloading, the position coordinates of the yarn column of each pallet must be manually marked one by one before the machine gripper action, and then each yarn column corresponds to The coordinate points are input to the control system one by one, and then the machine gripper runs according to the predetermined coordinate to load and ...

AI Technical Summary

Problems solved by technology

[0003] However, in actual work, the number of yarn columns on the pallet is large, and the workload of the above-mentioned coordinate labeling is heavy and it is easy to label mistakes. The labeling process is time-consuming and laborious

In the textile industry, although grabbing the column yarn is only a very s

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