Semi-finished bobbin misalignment detection device and detection method

Abstract

The present invention relates to a semi-finished yarn tube mismatch detection device and detection method, which is used to solve the problems that the semi-finished yarn tube mismatch detection in the prior art mostly relies on manual detection and rejection, which has the problems of high labor intensity, low detection efficiency, easy to miss detection, etc. A semi-finished yarn tube mismatch detection device comprises a chassis and a microcontroller, a detection channel for the yarn tube on the pallet rod to pass through is opened on the bottom plate of one side of the chassis, a clamping mechanism for clamping and fixing the pallet rod and a trigger module for triggering the clamping mechanism to clamp are arranged on the side of the detection channel, a collection module for collecting the color of the yarn tube is arranged on one side of the chassis corresponding to the clamping mechanism, a discharge channel for discharging the mismatched yarn tube is arranged on the other side of the chassis, a rejection mechanism for reciprocating between the clamping mechanism and the discharge channel for rejecting the mismatched yarn tube is arranged on the upper part of the chassis, and the microcontroller is respectively connected with the trigger module, the collection module, the clamping mechanism and the rejection mechanism by signal.

Description

Technical Field

[0001] The invention belongs to the technical field of detection equipment in a winding workshop of a spinning mill, and in particular relates to a device and a method for detecting misalignment of semi-finished yarn tubes. Background Art

[0002] In the field of textile yarn processing, the pallet track of the automatic winding machine has greatly solved the labor problem of conveying bobbins, and the yarn spun by the spinning frame has achieved fully automatic collective winding. The yarn spun by the spinning frame is usually of different colors, and the semi-finished bobbins are automatically transported to the winding process for winding by the pallet track. The pallet track has a number of pallet rods set at intervals, and the pallet rods are used to insert into the semi-finished bobbins from bottom to top for bobbin transportation.

[0003] However, the winding process involves a huge number of bobbins, which are easy to be mixed with different-colored bobbins or wrong-count bobbins. Different-colored bobbins represent different yarn varieties. If they cannot be discovered in time, the wrong yarn will be wound into the bobbin yarn, resulting in color imbalance or even a large color cast, resulting in unqualified final cloth and causing a lot of losses. To solve the above problems, most manufacturers add special staff to carry out manual inspection and manual sorting and rejection, but they have problems such as high labor intensity, low detection efficiency, and easy to miss detection. Some manufacturers have developed special detection equipment. For example, the application number of the Chinese utility model patent is CN202010320813.4, a spinning tube color recognition method and device based on computer vision, which discloses a method for quickly and automatically identifying the color of the spinning tube by controlling the photoelectric sensor and the color sensor by a controller, so as to reduce labor costs, but because the data collected by the color sensor will be affected by the environment, the processing method of this data is prone to errors. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and to provide a semi-finished yarn tube miscount detection device with a reasonable design and simple structure, which can automatically detect whether there are miscounts of semi-finished yarn tubes on a tray track tray rod one by one; and at the same time to provide a semi-finished yarn tube miscount detection method with high detection efficiency, accurate detection results, and the ability to automatically remove miscounted yarn tubes.

[0005] In order to achieve the above first object, the present invention adopts the following technical solutions:

[0006] A device for detecting mis-count of semi-finished yarn tubes comprises a chassis and a microcontroller, wherein a detection channel for passing yarn tubes on a pallet rod is provided on a bottom plate on one side of the chassis, a clamping mechanism for clamping and fixing the pallet rod and a trigger module for triggering the clamping mechanism to clamp are provided on the side of the detection channel, a collection module for collecting the color of the yarn tube is provided on one side of the chassis corresponding to the clamping mechanism, a discharge channel for discharging mis-count yarn tubes is provided on the other side of the chassis, a rejection mechanism for reciprocating between the clamping mechanism and the discharge channel for rejecting mis-count yarn tubes is provided on the upper part of the chassis, and the microcontroller is respectively connected with signals of the trigger module, the collection module, the clamping mechanism and the rejection mechanism.

[0007] Preferably, the rejection mechanism includes a lifting mechanism, a transverse mechanism and a finger cylinder. The lifting mechanism is fixedly mounted on a chassis above the clamping mechanism, the transverse mechanism is mounted on the lifting mechanism and driven to lift and lower by the lifting mechanism, and the finger cylinder is mounted on the transverse mechanism and driven to move back and forth between the clamping mechanism and the discharge channel by the transverse mechanism.

[0008] Preferably, the lifting mechanism includes a lifting frame and a lifting cylinder, the lifting cylinder is fixedly installed on the top of the chassis, the telescopic end of the lifting cylinder extends into the chassis and is fixedly connected to the lifting frame, and the lifting frame and the inner wall of the chassis can move relative to each other.

[0009] Preferably, the transverse movement mechanism includes a transverse movement guide rail and a transverse movement cylinder. The transverse movement guide rail is fixedly mounted on the lifting frame, and the two ends of the transverse movement guide rail extend to the top of the clamping mechanism and the discharge channel respectively. The finger cylinder is slidably connected to the transverse movement guide rail and is driven to move by the transverse movement cylinder.

[0010] Preferably, the clamping mechanism comprises two clamping cylinders, which are correspondingly arranged on both sides of the detection channel, and two clamping blocks are respectively fixed to the telescopic ends of the two clamping cylinders; and two V-shaped grooves are correspondingly provided on the working surfaces of the two clamping blocks.

[0011] Preferably, the discharging channel includes a staggered discharging port and a material guide plate, the staggered discharging port is opened at the bottom of the other side of the chassis, one end of the material guide plate is connected to the staggered discharging port, and the other end of the material guide plate is tilted upward.

[0012] Preferably, the trigger module is a photoelectric sensor; and the acquisition module is a color sensor.

[0013] Furthermore, it also includes an alarm for warning of wrong branching, the alarm is installed on the top of the chassis, and the alarm is connected to the microcontroller signal.

[0014] In order to achieve the above second purpose, the present invention adopts the following technical solutions:

[0015] A method for detecting miscount of semi-finished yarn tubes, comprising the following steps:

[0016] S1) the photoelectric sensor monitors in real time whether the bobbin on the pallet rod of the pallet track passes through the detection channel. If so, the photoelectric sensor sends a trigger signal to the microcontroller and executes step S2). If not, continue to execute step S1);

[0017] S2) after receiving the trigger signal, the microcontroller first controls the clamping cylinder to clamp the corresponding pallet rod to stabilize the yarn tube to be tested, and then controls the color sensor to collect the RGB value of the color of the yarn tube to be tested, and obtains the RGB collection value containing pixel values ​​R0, G0 and B0 and sends it to the microcontroller;

[0018] S3) The microcontroller patches the pixel values ​​R0, G0 and B0 according to formula (1), formula (2) and formula (3) respectively for the received RGB acquisition values ​​to obtain RGB patch values ​​including pixel values ​​R1, G1 and B1.

[0019] R1 = R0×0.5 + G0×0.3 + B0×0.2 (1),

[0020] G1 = R0×0.2 + G0×0.5 + B0×0.3 (2),

[0021] B1 = R0×0.3 + G0×0.2 + B0×0.5 (3);

[0022] S4) the microcontroller calculates the color difference between the RGB patch value of the tested bobbin and the RGB reference value of the preset color library containing the pixel values ​​R2, G2 and B2 according to formula (4), obtains the color difference value Lab, and determines whether the color difference value Lab is less than the preset color difference threshold value, if so, executes step S5), if not, executes step S6);

[0023] Lab =│R2 - R1│+│G2 - G1│+│B2 - B1│ (4);

[0024] S5) determining that the yarn tube under test is a normal yarn tube, the microcontroller controls the clamping cylinder to release the corresponding pallet rod, and the pallet rod and the yarn tube continue to be transported by the pallet track to leave the detection channel;

[0025] S6) The yarn tube under test is determined to be a mis-count yarn tube, and the microcontroller controls the lifting cylinder and the traverse cylinder to drive the finger cylinder to move, and controls the finger cylinder to grab the mis-count yarn tube on the tray rod and put it into the discharging channel.

[0026] Preferably, the method for presetting the RGB reference value in step S4) comprises the following steps:

[0027] S4.1) Repeat step S1) to step S3), respectively collect and repair the RGB values ​​of the colors of N sample yarn tubes, and obtain N sample yarn tube RGB repair values; wherein N is a natural number greater than 10;

[0028] S4.2) Eliminate the maximum and minimum values ​​among the N sample bobbin RGB patch values, calculate the average value of the remaining N-2 sample bobbin RGB patch values, and obtain the RGB reference value including the pixel values ​​R2, G2 and B2.

[0029] The present invention adopts the above technical solution and has the following technical effects:

[0030] 1. By setting up the chassis and detection channel, it is possible to install the detection channel at the bottom of the chassis corresponding to the straight section area of ​​the tray track between the spinning frame and the winding machine to ensure that there is enough travel position for detection.

[0031] 2. By using a photoelectric sensor as a trigger module, when the yarn tube inserted on the pallet rod moves to the reflective photoelectric position of the trigger module under the action of the pallet track, the photoelectric sensor is blocked so that the trigger module sends a trigger signal to the microcontroller.

[0032] 3. Through the clamping mechanism, after the microcontroller receives the trigger signal, it can execute instructions to control the two clamping cylinders to move instantly, clamp the corresponding tray rod to stabilize the yarn tube under test, so that the device can perform static detection to improve the detection accuracy. Because the yarn tube under test adopts photoelectric detection, the light changes very quickly, and the input value is most stable only when it is stationary.

[0033] 4. By using a color sensor as an acquisition module, it is possible to acquire the RGB value of the color of the yarn tube being tested, and the RGB acquisition value is obtained and sent to the microcontroller.

[0034] 5. Through the set rejection mechanism, it can execute the microcontroller instructions, the finger cylinder can be used to take and place the wrong yarn tube, the lifting cylinder can drive the transverse cylinder and the finger cylinder to rise and fall, and the transverse cylinder can drive the finger cylinder to move back and forth between the clamping mechanism and the discharge channel.

[0035] 6. Through the set microcontroller, after receiving the trigger signal sent by the trigger module, the clamping mechanism can be controlled to perform the clamping action on the pallet rod, and the RGB acquisition value sent by the acquisition module can be repaired and the color difference calculation can be performed to determine whether the tested yarn tube is a wrong yarn tube. If it is a wrong yarn tube, the rejection mechanism is controlled to pull the wrong yarn tube out of the pallet rod and move it to the discharging channel for discharging. If it is a normal yarn tube, the clamping mechanism is controlled to release the pallet rod so that the pallet track continues to transport the pallet rod and the yarn tube on it.

[0036] The present invention greatly reduces the occurrence of miscount events of semi-finished yarn tubes. The device is simple in design, flexible in assembly and disassembly, and has wide applicability, which can ensure the production quality of the spinning mill. The cost of a single miscount is far greater than the investment in this product, so the market prospect has sufficient potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. The following description is made with respect to the drawings:

[0038] Figure 1 It is a schematic diagram of the three-dimensional structure of the device for detecting misalignment of semi-finished yarn tubes of the present invention;

[0039] Figure 2 It is a schematic block diagram of the structure of the device for detecting misalignment of semi-finished yarn tubes of the present invention;

[0040] Figure 3 It is a structural schematic diagram of the rejecting mechanism of the present invention;

[0041] Figure 4 It is a structural schematic diagram of the clamping mechanism of the present invention. DETAILED DESCRIPTION

[0042] The embodiments described below are only some of the embodiments of the present invention and do not represent all the embodiments consistent with the present invention. Now, in conjunction with the accompanying drawings, the exemplary embodiments are described as follows:

[0043] like Figure 1-4As shown in one of the figures, the semi-finished yarn tube misalignment detection device of the present invention includes a chassis 10 and a microcontroller 5. A detection channel 11 for the yarn tube 4 on the pallet rod 2 to pass through is opened on the bottom plate of one side of the chassis 10. Through the setting of the chassis 10 and the detection channel 11, the detection channel 11 at the bottom of the chassis 10 can be installed corresponding to the straight section area of ​​the pallet track between the spinning frame and the winding machine to ensure that there are sufficient travel positions for detection. A clamping mechanism 3 for clamping and fixing the pallet rod 2 and a trigger module 1 for triggering the clamping mechanism 3 to clamp are provided on the side of the detection channel 11. Through the set trigger module 1, when the yarn tube 4 inserted on the pallet rod 2 moves to the reflecting photoelectric position of the trigger module 1 under the conveying action of the pallet track, the photoelectric is blocked so that the trigger module 1 sends a trigger signal to the microcontroller 5. A collection module 6 for collecting the color of the yarn tube is provided on one side of the chassis 10 corresponding to the clamping mechanism 3. Through the set collection module 6, it can The RGB value of the color of the yarn tube to be tested is collected, and the RGB collected value is sent to the microcontroller 5. A discharge channel 12 for discharging the wrong-count yarn tube is provided on the other side of the chassis 10. A rejection mechanism for rejecting the wrong-count yarn tube is provided between the clamping mechanism 3 and the discharge channel 12 on the upper part of the chassis 10. The microcontroller 5 is respectively connected with the trigger module 1, the collection module 6, the clamping mechanism 3 and the rejection mechanism signal; through the set microcontroller 5, after receiving the trigger signal sent by the trigger module 1, the clamping mechanism 3 can be controlled to perform the clamping action on the pallet rod 2, and the RGB collected value sent by the collection module 6 can be repaired and the color difference calculation is performed to determine whether the yarn tube to be tested is a wrong-count yarn tube. If it is a wrong-count yarn tube, the rejection mechanism is controlled to pull the wrong-count yarn tube out of the pallet rod 2 and move it to the discharge channel 12 for discharging. If it is a normal yarn tube, the clamping mechanism 3 is controlled to release the pallet rod 2 so that the pallet track continues to transport the pallet rod 2 and the yarn tube thereon.

[0044] As a preferred implementation, based on the above structure, further, a fluorescent lamp for supplementary lighting is provided below the collection module 6 .

[0045] As a preferred implementation, based on the above structure, it further includes an alarm 13 for wrong branch warning, the alarm 13 is installed on the top of the chassis 10, and the alarm 13 is connected to the microcontroller 5 by signal.

[0046] Based on the above structure, preferably, the alarm 13 is an audible and visual alarm.

[0047] As a preferred embodiment, based on the above structure, it further includes a touch screen 14, which is signal-connected to the microcontroller 5 so that the user can issue instructions to the microcontroller 5 by touching it and display data information processed by the microcontroller 5.

[0048] As a preferred implementation, based on the above structure, the touch screen 14 is the Inovance IT6000 human-machine interface.

[0049] like Figure 1 As shown, as a preferred embodiment, based on the above structure, the discharge channel 12 includes a staggered discharge port 121 and a guide plate 122, the staggered discharge port 121 is opened at the bottom of the other side of the chassis 10, one end of the guide plate 122 is connected to the staggered discharge port 121, and the other end of the guide plate 122 is tilted upward.

[0050] like Figure 3 As shown, as a preferred embodiment, based on the above structure, the rejection mechanism includes a lifting mechanism 9, a transverse mechanism 8 and a finger cylinder 7. The lifting mechanism 9 is fixedly mounted on a chassis 10 above the clamping mechanism 3, the transverse mechanism 8 is mounted on the lifting mechanism 9 and driven to lift by the lifting mechanism 9, and the finger cylinder 7 is mounted on the transverse mechanism 8 and driven by the transverse mechanism 8 to move back and forth between the clamping mechanism 3 and the discharge channel 12.

[0051] As a preferred embodiment, based on the above structure, the lifting mechanism 9 includes a lifting frame 91 and a lifting cylinder 92. The lifting cylinder 92 is fixedly installed on the top of the chassis 10. The telescopic end of the lifting cylinder 92 extends into the chassis 10 and is fixedly connected to the lifting frame 91. The lifting frame 91 and the inner wall of the chassis 10 can move relative to each other.

[0052] As a preferred embodiment, based on the above structure, the transverse movement mechanism 8 includes a transverse movement guide rail 81 and a transverse movement cylinder 82. The transverse movement guide rail 81 is fixedly mounted on the lifting frame 91. The two ends of the transverse movement guide rail 81 extend to the top of the clamping mechanism 3 and the discharge channel 12 respectively. The finger cylinder 7 is slidably connected to the transverse movement guide rail 81 and is driven to move by the transverse movement cylinder 82.

[0053] like Figure 4 As shown, as a preferred embodiment, based on the above structure, the clamping mechanism 3 includes two clamping cylinders 32, and the two clamping cylinders 32 are correspondingly arranged on both sides of the detection channel 11, and the telescopic ends of the two clamping cylinders 32 are respectively fixed with two clamping blocks 31; the working surfaces of the two clamping blocks 31 are correspondingly provided with two V-shaped grooves.

[0054] On the basis of the above structure, preferably, the V-shaped groove is formed by processing a V-shaped copper block or a V-shaped nylon block.

[0055] As a preferred embodiment, based on the above structure, the finger cylinder 7 is an AirTac HFY series finger cylinder 7, for example, it can be the commercially available AirTac HFY15 finger cylinder 7; the clamping cylinder 32 is an AirTac TCM series guide rod cylinder, for example, it can be the commercially available AirTac TCM16×10 guide rod cylinder; the transverse cylinder 82 is an AirTac RMT series magnetically coupled rodless cylinder, for example, it can be the commercially available AirTac RMT16×150 magnetically coupled rodless cylinder; the lifting cylinder 92 is an SMC type CXSM series double-rod cylinder, for example, it can be the commercially available SMC type CXSM25×225 double-rod cylinder.

[0056] As a preferred implementation, based on the above structure, the microcontroller 5 is a STM32F103RCT6 single chip microcomputer or a GD32F103 series chip; for example, it can be a commercially available GD32F103C8T6 chip.

[0057] As a preferred implementation, based on the above structure, the trigger module 1 is a photoelectric sensor; for example, it can be a commercially available GL6-P1111 photoelectric sensor.

[0058] As a preferred implementation, based on the above structure, the acquisition module 6 is a color sensor; for example, it can be a commercially available TCS3200D color sensor or TCS230 color sensor.

[0059] A method for detecting miscount of semi-finished yarn tubes, comprising the following steps:

[0060] S1) the photoelectric sensor monitors in real time whether the bobbin on the pallet rod of the pallet track passes through the detection channel. If so, the photoelectric sensor sends a trigger signal to the microcontroller and executes step S2). If not, continue to execute step S1);

[0061] S2) after receiving the trigger signal, the microcontroller first controls the clamping cylinder to clamp the corresponding pallet rod to stabilize the yarn tube to be tested, and then controls the color sensor to collect the RGB value of the color of the yarn tube to be tested, and obtains the RGB collection value containing pixel values ​​R0, G0 and B0 and sends it to the microcontroller;

[0062] The present invention sets step S2) so that the device can perform static detection by clamping the cylinder to improve the detection accuracy. This is because the photoelectric detection is used for the yarn tube to be tested, and the light changes very quickly. Only when it is stationary, the input value is the most stable.

[0063] S3) The microcontroller patches the pixel values ​​R0, G0 and B0 according to formula (1), formula (2) and formula (3) respectively for the received RGB acquisition values ​​to obtain RGB patch values ​​including pixel values ​​R1, G1 and B1.

[0064] R1 = R0×0.5 + G0×0.3 + B0×0.2 (1),

[0065] G1 = R0×0.2 + G0×0.5 + B0×0.3 (2),

[0066] B1 = R0×0.3 + G0×0.2 + B0×0.5 (3);

[0067] The present invention can reduce the deviation caused by the high activity of medium light and the difficulty of using the same light to collect the color of the yarn tube to be tested by setting step S3), and by performing deviation compensation on the RGB collection value, the three data of the RGB collection value can make up for the numerical difference caused by the change of the light source, thereby greatly improving the accuracy of detection, thereby ensuring the efficient operation of the device; especially, the spinning mill needs to detect tens of thousands of semi-finished yarn tubes every day, and if the detection accuracy is not enough, the probability of misjudgment is very high.

[0068] S4) the microcontroller calculates the color difference between the RGB patch value of the tested bobbin and the RGB reference value of the preset color library containing the pixel values ​​R2, G2 and B2 according to formula (4), obtains the color difference value Lab, and determines whether the color difference value Lab is less than the preset color difference threshold value, if so, executes step S5), if not, executes step S6);

[0069] Lab =│R2 - R1│+│G2 - G1│+│B2 - B1│ (4);

[0070] In step S4 of the present invention, the color difference of RGB is calculated and summarized by formula (4) to obtain a color difference value Lab, so as to conveniently and clearly judge whether the color difference value Lab corresponding to the tested yarn tube is less than the preset color difference threshold. For example, the pixel value R2 of the RGB reference value in the preset color library is 80, the pixel value G2 is 65 and the pixel value B2 is 50. If the RGB repair values ​​of the tested yarn tube are respectively R1 is 78, the pixel value G1 is 67 and the pixel value B1 is 55, then the color difference value Lab of the tested yarn tube is │80-78│+│65-67│+│50-55│, that is, the color difference value Lab is 9; if the preset color difference threshold is 20, then the color difference value Lab is judged to be less than the preset color difference threshold, and the tested yarn tube can be judged to be a normal yarn tube; otherwise, when the color difference value Lab of the tested yarn tube is greater than or equal to 20, then the tested yarn tube is judged to be a wrong yarn tube.

[0071] S5) determining that the yarn tube under test is a normal yarn tube, the microcontroller controls the clamping cylinder to release the corresponding pallet rod, and the pallet rod and the yarn tube continue to be transported by the pallet track to leave the detection channel;

[0072] S6) The yarn tube under test is determined to be a mis-count yarn tube, and the microcontroller controls the lifting cylinder and the traverse cylinder to drive the finger cylinder to move, and controls the finger cylinder to grab the mis-count yarn tube on the tray rod and put it into the discharging channel.

[0073] As a preferred embodiment, based on the above structure, it further includes the following steps:

[0074] S7) counting the number of the tested bobbins determined as wrong-count bobbins in step S6), when three wrong-count bobbins appear in succession, if the next tested bobbin is still determined as a wrong-count bobbin, the microcontroller controls the clamping cylinder to keep clamping, and controls the alarm to continuously sound an alarm prompt until manual intervention is carried out.

[0075] As a preferred implementation, based on the above structure, the method for presetting the RGB reference value in step S4) comprises the following steps:

[0076] S4.1) Repeat step S1) to step S3), respectively collect and repair the RGB values ​​of the colors of N sample yarn tubes, and obtain N sample yarn tube RGB repair values; wherein N is a natural number greater than 10;

[0077] S4.2) Eliminate the maximum and minimum values ​​among the N sample bobbin RGB patch values, calculate the average value of the remaining N-2 sample bobbin RGB patch values, and obtain the RGB reference value including the pixel values ​​R2, G2 and B2.

[0078] As a preferred implementation, based on the above structure, preferably, the color difference threshold preset in step S4) is 10-20.

[0079] As a specific embodiment of the RGB reference value preset method of the present invention, step S3.1) is to repeat steps S1) to S3) to collect and repair 10 sample yarn tubes with the same color to obtain 10 sample yarn tube RGB repair values, that is, to obtain 10 pixel values ​​R1, 10 pixel values ​​G1 and 10 pixel values ​​B1; step S3.2) is to eliminate the maximum value and the minimum value among the RGB repair values ​​of the 10 sample yarn tubes, calculate the average value of the remaining 8 pixel values ​​R1 to obtain the pixel value R2, calculate the average value of the remaining 8 pixel values ​​G1 to obtain the pixel value G2, and calculate the average value of the remaining 8 pixel values ​​B1 to obtain the pixel value B2, thereby obtaining the RGB reference value including the pixel values ​​R2, G2 and B2.

[0080] The above are only preferred specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent changes, modifications, substitutions and variations made by technicians in this technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A method for detecting miscount of semi-finished bobbin, characterized in that: The detection method relates to a semi-finished product bobbin miscount detection device, the detection device comprising a chassis and a microcontroller, a detection channel for the bobbin on the pallet rod to pass through is provided on a bottom plate on one side of the chassis, a clamping mechanism for clamping and fixing the pallet rod and a trigger module for triggering the clamping mechanism to clamp are provided on the side of the detection channel, a collection module for collecting the color of the bobbin is provided on one side of the chassis corresponding to the clamping mechanism, a discharge channel for discharging miscount bobbin is provided on the other side of the chassis, a rejection mechanism for reciprocating between the clamping mechanism and the discharge channel for rejecting miscount bobbin is provided on the upper part of the chassis, and the microcontroller is respectively connected with the trigger module, the collection module, the clamping mechanism and the rejection mechanism by signal; The detection method comprises the following steps: S1) The photoelectric sensor monitors in real time whether the bobbin on the pallet rod of the pallet track passes through the detection channel. If so, the photoelectric sensor The sensor sends a trigger signal to the microcontroller and executes step S2), if not, continue to execute step S1); S2) After receiving the trigger signal, the microcontroller first controls the clamping cylinder to clamp the corresponding pallet rod to stabilize the yarn tube being tested. Then control the color sensor to collect the RGB value of the color of the yarn tube to obtain the pixel values ​​R0, G0 and B0 The RGB acquisition value is sent to the microcontroller; S3) The microcontroller patches the received RGB acquisition value to obtain an RGB image containing pixel values ​​R1, G1 and B1. patch value; S4) The microcontroller calculates the color difference between the RGB patch value and the preset RGB reference value, obtains the color difference value, and determines Is the color difference value Lab less than the preset color difference threshold? If so, execute step S5); if not, execute step S6); The color difference calculation formula for obtaining the color difference value Lab is: Lab =│R2 - R1│+│G2 - G1│+│B2 - B1│ (4); The method for presetting the RGB reference value comprises the following steps: S4.1) Repeat step S1) to step S3) to collect and repair the RGB values ​​of the colors of N sample yarn tubes respectively. Obtaining N sample bobbin RGB repair values; wherein N is a natural number greater than 10; S4.2) Eliminate the maximum and minimum values ​​of the RGB patch values ​​of the N sample bobbins, and perform the patching on the remaining N-2 sample bobbins. The RGB patch values ​​are averaged to obtain RGB reference values ​​including pixel values ​​R2, G2 and B2; S5) The yarn tube under test is judged to be a normal yarn tube, and the microcontroller controls the clamping cylinder to loosen the corresponding pallet rod. The tube continues to be transported by the tray track to leave the inspection channel; S6) The yarn tube under test is judged to be a wrong yarn tube, and the microcontroller controls the lifting cylinder and the traverse cylinder to drive the finger cylinder to move. And control the finger cylinder to grab the misaligned yarn tubes on the tray rod and put them into the discharging channel.

2. The method for detecting miscount of semi-finished yarn tubes according to claim 1, characterized in that: The rejection mechanism includes a lifting mechanism, a transverse mechanism and a finger cylinder. The lifting mechanism is fixedly installed on the chassis above the clamping mechanism, the transverse mechanism is installed on the lifting mechanism and driven to lift and lower by the lifting mechanism, and the finger cylinder is installed on the transverse mechanism and driven to move back and forth between the clamping mechanism and the discharge channel by the transverse mechanism.

3. The method for detecting miscount of semi-finished bobbin according to claim 2, characterized in that: The lifting mechanism includes a lifting frame and a lifting cylinder. The lifting cylinder is fixedly installed on the top of the chassis. The telescopic end of the lifting cylinder extends into the chassis and is fixedly connected to the lifting frame. The lifting frame and the inner wall of the chassis can move relatively.

4. The method for detecting miscount of semi-finished bobbin according to claim 3, characterized in that: The transverse movement mechanism includes a transverse movement guide rail and a transverse movement cylinder. The transverse movement guide rail is fixedly installed on the lifting frame. The two ends of the transverse movement guide rail extend above the clamping mechanism and the discharge channel respectively. The finger cylinder is slidably connected to the transverse movement guide rail and driven to move by the transverse movement cylinder.

5. The method for detecting miscount of semi-finished bobbin according to claim 1, characterized in that: The clamping mechanism comprises two clamping cylinders, which are correspondingly arranged on both sides of the detection channel. Two clamping blocks are fixed to the telescopic ends of the two clamping cylinders respectively; and two V-shaped grooves are correspondingly provided on the working surfaces of the two clamping blocks.

6. The method for detecting miscount of semi-finished bobbin according to claim 1, characterized in that: The material discharging channel includes a staggered discharging port and a material guide plate. The staggered discharging port is opened at the bottom of the other side of the chassis. One end of the material guide plate is connected to the staggered discharging port, and the other end of the material guide plate is tilted upward.

7. The method for detecting miscount of semi-finished bobbin according to claim 1, characterized in that: The trigger module is a photoelectric sensor; the acquisition module is a color sensor.

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