Cheese yarn rod positioning visual detection method

Abstract

The invention relates to a cheese yarn rod positioning visual detection method. The method comprises the steps of arranging a vision system and a robot vision detection system, wherein the vision system includes a vision camera and a light source for illumination; using the vision camera to carry out image acquisition on a yarn rod and transmitting to a robot, and using the robot to process an image; carrying out visual positioning calibration on each yarn rod, and calibrating and recording a centering reference coordinate of each yarn rod of the vision camera; sending a detection request to detect a new yarn rod, and writing a currently requested yarn rod number; determining whether the yarn rod numbers at a current position are the same in real time, sending a request continuing instruction when the positions are different, moving to the position above the yarn rod requested by the vision system when the positions are the same, and returning the current yarn rod number so as to showan in place state; and when the vision system reads that the current yarn rod number is equal to a request number, carrying out detection, recording a detection coordinate result, and completing yarnrod positioning vision detection. In the invention, on-line detection of a yarn rod head is realized, and detection efficiency and detection stability are increased.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to a method for visually detecting the positioning of cheese rods. Background technique [0002] One of the processes in the cheese dyeing process is yarn loading, that is, loading the spindles on the yarn rods in the sarongs. With the continuous use of the sarong, the yarn rod will have a normal deviation and skew. When the skew is too large, it will affect the automatic loading of the spindle. The larger the deviation distance of the yarn rod, the longer the time for loading and unloading the yarn, and the accuracy will be reduced. A problem with a single sarong will also affect the follow-up workshop work, and may cause a safety accident if it is serious. When the degree of skew exceeds a certain amount, the yarn rod needs to be corrected. At present, the calibration of yarn rods is still done manually. Workers need to measure and record the data of each rod, and then compare the ...

AI Technical Summary

Problems solved by technology

[0004] In view of the above problems, the object of the present invention is to provide a visual detection method for the positioning of the bobbin yarn rod. The method automatically detects the position of the bobbin rod head on the bobbin sarong through the machine vision, and solves the difficulty of judging the degree of skewness of the bobbin rod. The problem

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