Yarn rod forming parameter determination method, device, system, electronic equipment and storage medium
By generating step curves for lower cone and columnar forming, the offset of the yarn winding position is automatically indicated, solving the tedious problem of manually drawing yarn rod forming curves and realizing efficient automation and intelligence in yarn rod forming.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SIEMENS FACTORY AUTOMATION ENG
- Filing Date
- 2023-09-26
- Publication Date
- 2026-08-04
AI Technical Summary
The existing step curves for yarn bob forming are mainly drawn manually, which is cumbersome, time-consuming and labor-intensive, making it difficult to automate and intelligentize the yarn bob manufacturing process and affecting production efficiency.
By acquiring the size parameters of the empty yarn tube and the initial parameters of the yarn bob, the step curves for the lower cone and columnar forming are generated, and the initial yarn guide position offset for each winding is automatically indicated, thus realizing the automatic determination of the yarn bob forming parameters.
It reduces the cost of yarn rod forming, improves efficiency and automation, and enhances the intelligence level of yarn spinning technology.
Smart Images
Figure CN117326403B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of industrial automation technology, and in particular to a method, apparatus, electronic device and storage medium for determining yarn forming parameters. Background Technology
[0002] The yarn is wound and arranged hundreds or thousands of times on an empty yarn bobbin, and processed into a yarn bob shape containing a lower inverted truncated cone (also called a lower cone), a middle cylinder, and an upper right truncated cone (also called an upper cone). This shape is not only aesthetically pleasing, but also facilitates the storage of the yarn bob and makes it convenient for subsequent processes. For example, using a yarn bob shape can effectively prevent the yarn from breaking during the textile process.
[0003] Currently, yarn bobbins are manufactured by controlling the yarn winding arrangement using a step curve for bob forming. The horizontal axis of the step curve represents the number of windings, and the vertical axis represents the offset of the arrangement curve (i.e., the winding interval). However, the step curve for bob forming is mainly drawn manually. It requires manual testing of various data during the bob forming process and manual drawing based on the bob forming data. Once an empty yarn tube is replaced, testing and drawing must be repeated. This is not only cumbersome and time-consuming, but also limits its application, making it difficult to further automate and intelligentize the bob manufacturing process, thus affecting the production efficiency of the bob manufacturing process. Summary of the Invention
[0004] In view of this, the method, apparatus, system, electronic equipment and storage medium for determining yarn forming parameters provided in this application can reduce the cost of material handling by robotic arms.
[0005] According to a first aspect of the embodiments of this application, a method for determining yarn bob forming parameters is provided, comprising:
[0006] Obtain the size parameters of the empty yarn tube and the initial parameters of the yarn bob, wherein the initial parameters of the yarn bob include the initial spinning position offset, the set lower cone forming height, and the set upper cone height;
[0007] Based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod, a lower cone forming step curve of the yarn rod is generated. The lower cone forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the lower cone forming process.
[0008] Based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod, a columnar forming step curve of the yarn rod is generated. The columnar forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the columnar forming process.
[0009] According to a second aspect of the embodiments of this application, a device for determining yarn bob forming parameters is provided, comprising:
[0010] The acquisition unit is used to acquire the size parameters of the empty yarn tube and the initial parameters of the yarn bob, wherein the initial parameters of the yarn bob include the initial spinning position offset, the set lower cone forming height, and the set upper cone height;
[0011] The first generation unit is used to generate the lower cone forming step curve of the yarn rod according to the size parameters of the empty yarn tube and the initial parameters of the yarn rod. The lower cone forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the lower cone forming process.
[0012] The second generation unit is used to generate a columnar forming step curve of the yarn rod based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod. The columnar forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the columnar forming process.
[0013] According to a third aspect of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface, and a bus, wherein the processor, the memory, and the communication interface communicate with each other via the bus; the memory is used to store at least one executable instruction, wherein the executable instruction causes the processor to perform an operation corresponding to the yarn forming parameter determination method described in the first aspect above.
[0014] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein computer instructions are stored on the computer-readable storage medium, and when executed by a processor, the computer instructions cause the processor to perform the yarn spool forming parameter determination method as described in the second aspect above.
[0015] According to a fifth aspect of the present application, a computer program product is provided, which is tangibly stored on a computer-readable medium and includes computer-executable instructions that, when executed, cause at least one processor to perform the yarn spool forming parameter determination method as described in the first aspect above.
[0016] As can be seen from the above technical solution, the embodiments of this application generate the lower conical forming step curve and the columnar forming step curve of the yarn rod by obtaining the size parameters of the empty yarn tube and the initial parameters of the yarn rod. The lower conical forming step curve can indicate the initial yarn guide position offset of each winding during the lower conical forming process, and the columnar forming step curve can indicate the initial yarn guide position offset of each winding during the columnar forming process. Therefore, this application can automatically, efficiently and quickly determine the yarn rod forming parameters based on the size of the empty yarn tube, reduce the cost of yarn rod forming, effectively improve the efficiency and automation of yarn rod forming, and further enhance the intelligence and automation of yarn spinning technology. Attached Figure Description
[0017] Figure 1This is a schematic diagram of the yarn bob forming process according to an embodiment of this application;
[0018] Figure 2 This is a schematic diagram of a method for determining yarn bob forming parameters according to an embodiment of this application;
[0019] Figure 3 This is a schematic diagram of the shape and dimensional parameters of an empty yarn tube according to an embodiment of this application;
[0020] Figure 4 This is a schematic diagram of the shape and parameters of the yarn bobbin during the lower cone forming process according to an embodiment of this application;
[0021] Figure 5 This is a schematic diagram of the shape and parameters of the yarn bobbin when the lower cone forming is completed according to an embodiment of this application;
[0022] Figure 6 This is a schematic diagram of the volume of the hollow yarn tube during the lower cone forming process according to an embodiment of this application;
[0023] Figure 7 This is a schematic diagram of the yarn rod volume during the lower cone forming process according to an embodiment of this application;
[0024] Figure 8 This is a schematic diagram of the volume of the lower conical portion of the yarn rod during the columnar forming process according to an embodiment of this application;
[0025] Figure 9 This is a schematic diagram of the yarn rod volume during the columnar forming process according to an embodiment of this application;
[0026] Figure 10 This is a schematic diagram of the yarn guide curve according to an embodiment of this application;
[0027] Figure 11 This is a schematic diagram of the structure of a yarn bob forming parameter determining device according to an embodiment of this application;
[0028] Figure 12 This is a schematic diagram of an electronic device according to an embodiment of this application.
[0029] List of reference numerals in the attached diagram:
[0030] 201: Obtain the dimensional parameters of the empty yarn tube and the initial parameters of the yarn bob.
[0031] 202: Generate the lower conical step rise curve
[0032] 203: Generate a columnar step curve
[0033] 100: Yarn bob forming process 200: Method for determining yarn bob forming parameters
[0034] 1100: Yarn bob forming parameter determining device; 1101: Acquisition unit; 1102: First generation unit
[0035] 1103: Second generation unit; 1200: Electronic device; 1202: Processor
[0036] 1204: Communication interface; 1206: Memory; 1208: Bus
[0037] 1210: Program Detailed Implementation
[0038] As mentioned earlier, the step curve of yarn bob formation is crucial in the yarn bob forming process. However, currently, the step curve of yarn bob formation is mainly drawn manually. This requires manual testing of various data during the yarn bob formation process and manual drawing based on the yarn bob formation data. Once the empty yarn tube is replaced, the testing and drawing must be repeated. This is not only cumbersome and time-consuming, but also has limited application, making it difficult to further automate and intelligentize the yarn bob manufacturing process, thus affecting the production efficiency of the yarn bob manufacturing process.
[0039] In this embodiment, by acquiring the size parameters of the empty yarn tube and the initial parameters of the yarn bob, including the initial spinning position offset, the set lower cone forming height, and the set upper cone height, a lower cone forming step curve of the yarn bob is generated based on the size parameters of the empty yarn tube and the initial parameters of the yarn bob. The lower cone forming step curve is used to indicate the initial yarn guide position offset of each winding during the lower cone forming process. A columnar forming step curve of the yarn bob is also generated based on the size parameters of the empty yarn tube and the initial parameters of the yarn bob. The lower cone forming step curve is used to indicate the initial yarn guide position offset of each winding during the columnar forming process. Thus, this application can automatically, efficiently, and quickly determine the yarn bob forming parameters based on the size of the empty yarn tube, reducing the cost of yarn bob forming and effectively improving the efficiency and automation of yarn bob forming, thereby further enhancing the intelligence and automation of yarn spinning technology.
[0040] To better understand the solutions of the embodiments of this application, the process of forming yarn rods will be briefly described first.
[0041] Figure 1 A schematic diagram of the yarn bobbin forming process 100 is shown. See also Figure 1 As shown, the forming process 100 of the yarn bob may include: bottom forming 101 and upper forming 103. The bottom forming process is the lower cone forming process 101 of the yarn bob, and the upper forming process is the forming of the columnar part of the yarn bob. Figure 1The diagram also shows the yarn bob structure 102 when the lower cone forming is complete. During the yarn bob forming process, the length of the yarn wound is fixed each time, the height of the spinning area is fixed each time, and the working height of the yarn laying, i.e., the height of the spinning area, is constant. However, the spinning area (i.e., the current working area of the yarn laying) will shift according to the step curve, and the yarn laying is carried out from bottom to top along the yarn tube or yarn bob. The finished yarn bob has a columnar area and a lower cone area below the spinning area, both of which are the effect of the shift in the yarn laying area. The lower cone forming height of the formed yarn bob is a preset value, for example, it can be set to 50mm, and the height from the top of the columnar area to the top of the yarn bob is the length of the spinning area (i.e., the upper cone height below), for example, it can be set to 80mm.
[0042] It should be noted that, Figure 1 This is merely an example and is not intended to limit the application scenarios of the embodiments of this application. Those skilled in the art should understand that the solutions of the embodiments of this application are applicable not only to... Figures 1-5 The exemplary scenario shown can also be applied to various other scenarios that require the use of yarn bobbins, various types of yarn tubes, various types of yarns, and various yarn bob forming processes.
[0043] The following detailed description, with reference to the accompanying drawings, describes the method, apparatus, system, electronic device, and storage medium for determining yarn forming parameters provided in the embodiments of this application.
[0044] Method for determining yarn forming parameters
[0045] Figure 2 This is a flowchart of a method for determining yarn bob forming parameters according to an embodiment of this application. Figure 2 As shown, the method 200 for determining the forming parameters of the yarn bobbin includes the following steps:
[0046] Step 201: Obtain the size parameters of the empty yarn tube and the initial parameters of the yarn bob.
[0047] The initial parameters of the yarn bobbin may include, but are not limited to, the initial spinning position offset, the set lower cone forming height, and the set upper cone height. In some examples, the initial parameters of the yarn bobbin may also include parameters such as the lower cone yarn diameter.
[0048] The initial parameters of the yarn bob can be preset. That is, the offset of the starting position of the yarn bob, the forming height of the lower cone, the yarn diameter of the lower cone, and the height of the upper cone can all be preset. To facilitate the automation of the yarn bob forming process and to standardize the yarn bob specifications, the initial parameters of the yarn bob are usually set to pre-agreed fixed values or values specified by industry standards.
[0049] A yarn tube is a component used to wind and arrange yarn to form a yarn bob. In one example, the yarn tube is generally truncated cone-shaped, with its upper and lower bases being circular. The diameter of the lower base is larger than the diameter of the upper base, and the height of the yarn tube is the distance between the upper and lower bases. Different models of yarn tubes have different bottom diameters, top diameters, and heights. The yarn tube is hollow, with an overall length of approximately 320 mm.
[0050] The dimensions of the yarn tube may include, but are not limited to, the upper diameter, the lower diameter, and the height of the yarn tube. These dimensions can be provided by the yarn tube manufacturer or determined through measurement.
[0051] In one example, the size parameters of various types of yarn tubes can be pre-stored in a designated storage space or database. When calibrating the yarn bob forming process for a certain type of yarn tube, the size parameters of the yarn tube can be directly retrieved from the storage space or database based on the identification information of that yarn tube. The size parameters of each type of yarn tube can be manually entered or obtained by accessing a server storing the yarn tube size parameters via the Internet.
[0052] In one example, the electronic device or apparatus used to perform yarn bob forming calibration can directly obtain the dimensional parameters of various types of yarn tubes from the yarn tube manufacturer's server by establishing a communication link. In another example, the dimensional parameters of the yarn tubes can be manually entered by providing a human-machine interface. Those skilled in the art should understand that the methods for obtaining the dimensional parameters of the yarn tubes can include any other methods, and are not limited to the two methods mentioned above.
[0053] Step 202: Based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod, generate the lower cone forming step curve of the yarn rod. The lower cone forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the lower cone forming process.
[0054] The lower cone forming curve can be the relationship curve between the first height position and the number of windings during the lower cone forming process of the yarn bar. The difference between the first height positions corresponding to adjacent windings is the initial yarn guide position offset.
[0055] See Figure 1 The empty yarn bobbin can be considered as a frustum structure, and the yarn bobbin during the lower cone forming process and the yarn bobbin after the lower cone forming is completed can also be considered as a stacked structure of two frustums. Therefore, the volume of the empty yarn bobbin and the volume of the yarn bobbin during the lower cone forming process can be estimated based on the geometric characteristics of the frustum structure. By combining the volume of the yarn bobbin with the volume of the empty yarn tube, the yarn-bearing volume at any height during the lower cone forming process can be estimated. By combining the yarn-bearing volume at any height with the volume of a single winding, the number of winding cycles corresponding to any height during the lower cone forming process can be estimated. Thus, the lower cone step curve can be generated.
[0056] In some possible implementations, the volume of the yarn bob and the empty yarn tube at the first height position of the yarn bob can be estimated based on the size parameters of the empty yarn tube and the initial parameters of the yarn bob. Then, the relationship between the yarn volume of the lower cone and the height position of the yarn bob can be determined based on the yarn volume of the lower cone and the height position of the yarn bob. Finally, the lower cone step curve can be generated based on the relationship between the yarn volume of the lower cone and the height position of the yarn bob and the known single winding volume. In one example, the volume of the yarn bob and the volume of the empty yarn tube can both be estimated based on the volume of the frustum.
[0057] The diameter of the yarn bob and the diameter of the empty yarn at any height position can be estimated based on the geometric characteristics of the frustum. In one example, the diameter of the empty yarn at the starting spinning position, the diameter of the empty yarn corresponding to the yarn diameter of the lower cone, the diameter of the empty yarn at the height of the upper cone after the lower cone is formed, and the diameter of the empty yarn at the first height position of the yarn bob can be determined based on the size parameters of the empty yarn tube, the offset of the starting spinning position of the yarn bob, the forming height of the lower cone, the forming height of the upper cone, and the yarn diameter. Then, based on the diameter of the empty yarn at the starting spinning position, the diameter of the empty yarn corresponding to the yarn diameter of the lower cone, the diameter of the empty yarn at the height of the upper cone after the lower cone is formed, and the diameter of the empty yarn at the first height position of the yarn bob, the estimated diameter of the yarn bob at the first height position of the yarn bob can be determined.
[0058] Figure 3 A schematic diagram showing the dimensional parameters of the empty yarn tube is provided. Figure 4 A schematic diagram of the lower cone forming process of the yarn bob is shown. Figure 5 A schematic diagram of the yarn bobbin structure is shown when the lower cone forming is completed.
[0059] See Figure 3 The empty yarn tube is shaped like a frustum of a cone, and its cross-section is an isosceles trapezoid. Based on the geometric properties of an isosceles trapezoid and the principle of similar triangles, the diameter Dkx of the empty yarn at any height on the empty yarn tube can be determined by the following formula (1):
[0060] Dkx=(Wkd-Wku)*(H-DeltaH-Zo) / (2*H)(1)
[0061] Where Wkd represents the lower diameter of the empty yarn tube, Wku represents the upper diameter of the empty yarn tube, H represents the height of the empty yarn tube, Zo represents the offset of the starting spinning position, DeltaH represents the first height position, that is, the height value of any height position of the empty yarn tube relative to the starting spinning position, * represents multiplication, / represents division, and - represents subtraction.
[0062] See Figure 3 The starting spinning position is the 0 position of the guide yarn and the 0mm position of the yarn tube. The offset of the starting spinning position refers to the distance between the starting spinning position and the lower end of the empty yarn tube. The first height position refers to the height value of any height position on the yarn bob relative to the starting spinning position.
[0063] Figure 6A schematic diagram of the volume of the empty yarn tube during the lower cone forming process is shown. Figure 7 A schematic diagram of the yarn rod volume during the lower cone forming process is shown. Figure 6 and Figure 7 In this diagram, W4 represents the diameter of the empty yarn at the highest position of the yarn bob when the lower cone is formed; W1 represents the diameter of the empty yarn at the lower cone yarn diameter; W2 represents the diameter of the empty yarn at the initial spinning position; W3 represents the lower cone yarn diameter; Fh represents the height of the upper frustum of the yarn bob when the lower cone is formed; Zh represents the height of the lower frustum of the yarn bob when the lower cone is formed; and Dhex represents the diameter of the empty yarn at the first height position DeltaH of the yarn bob, where DeltaH is less than the set forming height Zh of the lower cone. The diameter of the empty yarn at the highest position of the yarn bob when the lower cone is formed is the same as the diameter of the empty yarn at the upper cone height when the lower cone is formed.
[0064] pass Figures 5-7 As can be seen, the shape of the yarn rod during the lower cone forming process is a stacked shape of two truncated cones. That is, the yarn rod during the lower cone forming process and the yarn rod after the lower cone forming is completed can contain an upper truncated cone and a lower truncated cone. The lower end face of the upper truncated cone coincides with the upper end face of the lower truncated cone. The position of this coincident surface is the lower cone yarn-bearing diameter of the yarn rod.
[0065] Based on the properties of the frustum, W1, W2, W3, W4 and Dhex can be determined by the relationship shown in equation (1). The diameter Dx at the first height position DeltaH of the yarn rod during the lower cone forming process can be determined by the following equation (2):
[0066] Dx=[(DeltaH*(W3-W2)-(Zh-DeltaH)*(W2-W1)) / (2*Zh)+(W2-W1) / 2]*2+Dhex(2)
[0067] See Figure 6 and Figure 7 The yarn-bearing volume Vd at the first height position DeltaH of the yarn rod during the lower cone forming process can be determined by the following formulas (3) to (6):
[0068] Vd=V1+V2-V3(3)
[0069] V1=(1 / 3)*π*(DeltaH)*(W2 ∧ 2+Dx ∧ 2+Dx*W2) / 4(4)
[0070] V 2=(1 / 3)*π*(Fh)*(W5 ∧ 2+Dx ∧ 2+Dx*W5) / 4(5)
[0071] V 3=(1 / 3)*π*(DeltaH+Fh)*(W2 ∧ 2+W5 ∧ 2+W2*W5) / 4(6)
[0072] Where Vd represents the yarn-bearing volume at the first height position DeltaH of the yarn bar during the lower cone forming process, V3 represents the empty yarn tube volume at the first height position DeltaH of the yarn bar during the lower cone forming process, V2 represents the upper frustum volume at the first height position DeltaH of the yarn bar during the lower cone forming process, and V1 represents the lower frustum volume at the first height position DeltaH of the yarn bar during the lower cone forming process. ∧ "2" represents squaring, "*" represents multiplication, and " / " represents division.
[0073] Since the volume of the yarn wound each time is known and fixed, the ratio of the yarn-bearing volume Vd at the first height position DeltaH of the yarn rod to the single-winding yarn volume is the number of windings to the first height position DeltaH of the yarn rod. Combining the relationship between the yarn-bearing volume and the first height position DeltaH of the yarn rod in equations (3) to (6), the relationship curve between the first height position DeltaH of the yarn rod and the number of windings in the lower cone forming process can be generated. The relationship curve between DeltaH and the number of windings indicates the initial position offset of the yarn guide for each winding. This initial position offset is also called the step height value (offset). The offset value is the difference between DeltaH corresponding to the current winding number and DeltaH corresponding to the previous winding. It can be seen that the relationship curve between DeltaH and the number of windings is the lower cone step curve. The horizontal axis of the lower cone step curve is the number of windings, and the vertical axis is the value of DeltaH.
[0074] Because the length of yarn wound each time is fixed, the volume of yarn wound in a single pass is also fixed. In one example, the length of yarn wound in a single pass is fixed at 4 meters. In some cases, the volume of yarn wound in a single pass can be determined by measurement.
[0075] Step 203: Based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod, generate the columnar forming step curve of the yarn rod. The columnar forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the columnar forming process.
[0076] The columnar forming step curve can be seen as the relationship between the second height position of the yarn bob and the number of windings during the columnar forming process. The difference between the second height positions of the yarn bob corresponding to adjacent windings is the initial position offset of the yarn guide.
[0077] In some possible implementations, the volume of the columnar portion and the lower conical portion of the yarn rod at the second height position can be estimated based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod. Then, the relationship between the columnar yarn-bearing volume and the height position of the yarn rod can be determined based on the volume of the columnar yarn-bearing volume and the height position of the yarn rod. Finally, a columnar step curve can be generated based on the relationship between the columnar yarn-bearing volume and the height position of the yarn rod and the known single winding volume.
[0078] Figure 8 This diagram shows the lower conical section of the yarn bob during the columnar forming process. Figure 9 A schematic diagram of the columnar portion of the yarn bobbin during the columnar forming process is shown. See also... Figure 8 and Figure 9 During the columnar forming process, the volume of the yarn-bearing column of the yarn rod is the difference between the volume of the columnar portion of the yarn rod and the volume of the lower conical portion of the yarn rod. (See also...) Figure 8 In the columnar forming process, the lower conical portion of the yarn bob takes the shape of an upper and lower truncated cone stacked together. The upper end of the upper truncated cone is located at the height of the upper cone in the columnar forming process, while the lower end of the lower truncated cone is located at the height of the lower cone forming process (i.e., the yarn diameter at the lower cone). The lower end face of the upper truncated cone coincides with the upper end face of the lower truncated cone and is located at the height of the upper cone in the lower conical forming process. See also Figure 9 The cylindrical part of the yarn rod is in the shape of an upper truncated cone and a lower cylinder stacked together. The upper end of the upper truncated cone of the cylindrical part of the yarn rod is located at the height of the upper cone during the cylindrical forming process, and the lower end face of the lower cylinder is located at the height of the lower cone forming. The lower end face of the upper truncated cone of the cylindrical part of the yarn rod coincides with the upper end face of the cylinder, and its position is the second height position DeltaH2. The second height position DeltaH2 gradually rises as the cylindrical part of the yarn rod is gradually formed.
[0079] See 8 and Figure 9 The volume of the columnar yarn support, Vu, at the second height DeltaH2 of the yarn rod during the columnar forming process can be determined by the following formulas (7) to (11):
[0080] Vu=V6+V7-V5-V4(7)
[0081] V4=(1 / 3)*π*(DeltaH2)*(W7 ∧ 2+W6 ∧ 2+W7*W6) / 4(8)
[0082] V5=(1 / 3)*π*(Fh)*(W1 ∧ 2+W6 ∧ 2+W1*W6) / 4(9)
[0083] V6=(1 / 3)*π*(Fh)*(W7∧ 2+W1 ∧ 2+W7*W1) / 4(10)
[0084] V7 = π*(W1) ∧ 2*(DeltaH2) / 4(11)
[0085] Where W7 represents the diameter of the empty yarn at the second height position DeltaH2 of the yarn bob, W6 represents the diameter of the empty yarn at the upper cone height during lower cone formation, Fh represents the set upper cone height, and W1 represents the set lower cone yarn diameter. W6 and W7 can be determined by equation (1). See also Figure 8 and Figure 9 The second height position refers to the height value of any position on the yarn rod relative to the lower cone forming height position during the columnar forming process. V4 represents the volume of the upper frustum of the lower cone portion of the yarn rod during the columnar forming process, V5 represents the volume of the lower frustum of the lower cone portion of the yarn rod during the columnar forming process, V6 represents the volume of the upper frustum of the columnar portion of the yarn rod during the columnar forming process, and V7 represents the volume of the lower cylinder of the columnar portion of the yarn rod during the columnar forming process.
[0086] Since the volume of yarn wound each time is fixed, the ratio of the yarn-bearing volume Vu at the second height position DeltaH2 of the yarn rod to the single-wound yarn volume is the number of times the yarn is wound at the second height position DeltaH2 of the yarn rod. Combining the relationship between the yarn-bearing volume and the yarn rod height DeltaH in equations (7) to (11), the relationship curve between DeltaH2 and the number of windings for the columnar part can be generated. The relationship curve between DeltaH2 and the number of windings indicates the step height offset value when the yarn is wound each time during the columnar forming process. The offset value is the difference between DeltaH2 corresponding to the current number of windings and DeltaH2 corresponding to the previous winding. It can be seen that the relationship curve between DeltaH2 and the number of windings is the step curve of the columnar part. In the step curve of the columnar part, the horizontal axis represents the number of windings of the columnar part, and the vertical axis represents the value of DeltaH2 at the second height position of the yarn rod during the forming process of the columnar part.
[0087] Figure 10 A schematic diagram of the yarn guide curve generated based on the initial position offset of the yarn guide is shown. Each time the yarn is wound, the yarn guiding device is controlled to perform the yarn winding action according to the current yarn guide curve. Figure 10 As can be seen, once the initial position offset of the yarn guide is determined, the yarn guide curve required for each yarn winding can be automatically, quickly, and efficiently generated. The yarn winding can be automatically and quickly performed through the yarn guide curve to form a yarn rod.
[0088] The method described in this application embodiment can automatically and quickly generate the step curve of the yarn rod based on the yarn tube size, without the need to prepare test data or conduct repeated trials and calibrations. Even if the yarn tube is replaced, the standard yarn rod forming parameters can still be determined automatically, efficiently and quickly to achieve the standard yarn rod forming effect. This can significantly reduce the cost of yarn rod forming and effectively improve the efficiency and automation of yarn rod forming.
[0089] Yarn forming parameter determination device
[0090] Corresponding to the above method embodiments, Figure 11 A schematic diagram of a yarn bobbin forming parameter determination device according to an embodiment of this application is shown. Figure 11 As shown, the yarn bob forming parameter determining device 1700 includes:
[0091] The acquisition unit 1101 is used to acquire the size parameters of the empty yarn tube and the initial parameters of the yarn bobbin. The initial parameters of the yarn bobbin include the initial spinning position offset, the set lower cone forming height, and the set upper cone height.
[0092] The first generation unit 1102 is used to generate the lower cone forming step curve of the yarn rod according to the size parameters of the empty yarn tube and the initial parameters of the yarn rod. The lower cone forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the lower cone forming process.
[0093] The second generation unit 1103 is used to generate a columnar forming step curve of the yarn rod based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod. The columnar forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the columnar forming process.
[0094] In this embodiment of the application, the acquisition unit 1101 can be used to execute step 201 in the aforementioned method embodiment, the first generation unit 1102 can be used to execute step 202 in the aforementioned method embodiment, and the second generation unit 1103 can be used to execute step 203 in the aforementioned method embodiment.
[0095] It should be noted that the information interaction and execution process between the units in the above-mentioned yarn forming parameter determination device are based on the same concept as the aforementioned yarn forming parameter determination method embodiment. For details, please refer to the description in the aforementioned yarn forming parameter determination method embodiment, and will not be repeated here.
[0096] electronic devices
[0097] Figure 12 This is a schematic diagram of an electronic device provided in Embodiment 4 of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device. See also... Figure 12The electronic device 1200 provided in this application embodiment includes: a processor 1202, a communications interface 1804, a memory 1206, and a bus 1208. Wherein:
[0098] The processor 1202, communication interface 1204, and memory 1206 communicate with each other via bus 1208.
[0099] Communication interface 1204 is used to communicate with other electronic devices or servers.
[0100] The processor 1202 is used to execute program 1210, which can specifically execute the relevant steps in the above embodiment of the method for determining yarn forming parameters.
[0101] Specifically, program 1210 may include program code that includes computer operation instructions.
[0102] The processor 1202 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The smart device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.
[0103] Memory 1206 is used to store program 1210. Memory 1206 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.
[0104] Specifically, program 1210 can be used to cause processor 1202 to execute the yarn forming parameter determination method in any of the foregoing embodiments.
[0105] The specific implementation of each step in program 1210 can be found in the corresponding steps and units described in the above embodiments of the method for determining yarn forming parameters, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the equipment and modules described above can be referred to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.
[0106] The electronic device in this embodiment, after acquiring scene and depth information of the object to be grasped via a depth camera, can identify the type, first position, and first rotation angle information of the object based on the scene information. This allows it to determine the target object from multiple objects and generate a grasping command for the target object based on the depth information, the target object's type, first position, and first rotation angle information. The grasping command is then sent to the robotic arm, enabling it to grasp the target object. The scene and depth information acquired by the depth camera provides visual guidance to the robotic arm, allowing it to accurately grasp randomly placed, scattered, and overlapping objects without the need for an expensive 3D camera, thus reducing the cost of grasping disordered materials.
[0107] Computer-readable storage media
[0108] This application also provides a computer-readable storage medium storing instructions for causing a machine to perform the yarn skein forming parameter determination method as described herein. Specifically, a system or apparatus equipped with a storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer (or CPU or MPU) of the system or apparatus to read and execute the program code stored in the storage medium.
[0109] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of this application.
[0110] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.
[0111] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.
[0112] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.
[0113] Computer program products
[0114] This application also provides a computer program product, which is tangibly stored on a computer-readable medium and includes computer-executable instructions. When executed, the computer-executable instructions cause at least one processor to perform the yarn spool forming parameter determination method provided in the above embodiments. It should be understood that the solutions in this embodiment have the corresponding technical effects in the above method embodiments, which will not be repeated here.
[0115] It should be noted that not all steps and modules in the above process and device structure diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of each step is not fixed and can be adjusted as required. The system structure described in the above embodiments can be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.
[0116] In this patent application, nouns and pronouns relating to people are not limited to specific genders.
[0117] In the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module may include permanent dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware module may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operations. The specific implementation method (mechanical, dedicated permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.
[0118] The present application has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present application is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present application can be obtained by combining the code review methods in the different embodiments above. These embodiments are also within the protection scope of the present application.
Claims
1. A method for determining yarn bobbin forming parameters (200), comprising: Obtain the size parameters of the empty yarn tube and the initial parameters of the yarn bob. The initial parameters of the yarn bob include the initial spinning position offset, the set lower cone forming height, and the set upper cone height. The upper cone height is the height from the top of the columnar region to the top of the yarn bob. Based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod, a lower cone forming step curve of the yarn rod is generated. The lower cone forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the lower cone forming process. Based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod, a columnar forming step curve of the yarn rod is generated. The columnar forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the columnar forming process. The lower cone forming step curve is the relationship curve between the first height position and the number of windings during the lower cone forming process of the yarn rod. The difference between the first height positions corresponding to adjacent windings is the initial yarn guide position offset. The first height position is the height value of any height position of the empty yarn tube relative to the starting spinning position. The columnar forming step curve is the relationship curve between the second height position of the yarn rod and the number of windings during the columnar forming process. The difference between the second height positions of the yarn rod corresponding to adjacent windings is the initial yarn guide position offset. The second height position is the height value of any position on the yarn rod relative to the lower cone forming height position of the yarn rod during the columnar forming process.
2. The method according to claim 1, wherein, The dimensional parameters of the hollow yarn tube include: the height of the hollow yarn tube, the upper diameter, and the lower diameter.
3. The method according to claim 1 or 2, wherein, The step of generating the lower conical step curve of the yarn bob based on the size parameters of the empty yarn tube and the initial parameters of the yarn bob includes: Based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod, estimate the volume of the yarn rod and the volume of the empty yarn tube at the first height position of the yarn rod. The relationship between the lower cone yarn support volume and the yarn rod height position is determined based on the yarn rod volume and the empty yarn tube volume at the first height position of the yarn rod. Based on the relationship between the lower cone yarn volume and the height position of the yarn rod, and the known single winding volume, the lower cone forming step curve is generated.
4. The method according to claim 3, wherein, The initial parameters of the yarn bobbin also include: the set lower cone yarn diameter; The step of determining the volume of the yarn bob and the volume of the empty yarn tube at the first height position of the yarn bob based on the size parameters of the empty yarn tube and the initial parameters of the yarn bob includes: Based on the size parameters of the empty yarn tube, the offset of the starting spinning position of the yarn rod, the forming height of the lower cone, the forming height of the upper cone, and the yarn diameter, determine the empty yarn diameter at the starting spinning position, the empty yarn diameter corresponding to the yarn diameter of the lower cone, the empty yarn diameter at the upper cone height position after the lower cone is formed, and the empty yarn diameter at the first height position of the yarn rod. Based on the empty yarn diameter at the initial spinning position, the empty yarn diameter corresponding to the lower cone yarn diameter, the empty yarn diameter at the upper cone height position after the lower cone is formed, and the empty yarn diameter at the first height position of the yarn rod, determine the estimated yarn rod diameter at the first height position of the yarn rod.
5. The method according to claim 1 or 2, wherein, The step of generating a columnar forming step curve for the yarn bob based on the size parameters of the empty yarn tube and the initial parameters of the yarn bob includes: Based on the size parameters of the empty yarn tube and the initial parameters of the yarn rod, estimate the volume of the cylindrical part and the lower conical part of the yarn rod at the second height position of the yarn rod. The relationship between the columnar yarn-bearing volume and the height position of the yarn rod is determined based on the volume of the columnar part and the volume of the lower conical part at the second height position of the yarn rod. Based on the relationship between the volume of the columnar yarn support and the height of the yarn bob, and the known single winding volume, the columnar forming step curve is generated.
6. A device for determining yarn bobbin forming parameters (1100), comprising: The acquisition unit (1101) is used to acquire the size parameters of the empty yarn tube and the initial parameters of the yarn bar. The initial parameters of the yarn bar include the initial spinning position offset, the set lower cone forming height and the set upper cone height. The upper cone height is the height from the upper end of the columnar region to the upper end of the yarn bar. The first generation unit (1102) is used to generate the lower cone forming step curve of the yarn rod according to the size parameters of the empty yarn tube and the initial parameters of the yarn rod. The lower cone forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the lower cone forming process. The second generation unit (1103) is used to generate a columnar forming step curve of the yarn rod according to the size parameters of the empty yarn tube and the initial parameters of the yarn rod. The columnar forming step curve is used to indicate the initial yarn guide position offset of each winding of yarn during the columnar forming process. The lower cone forming step curve is the relationship curve between the first height position and the number of windings during the lower cone forming process of the yarn rod. The difference between the first height positions corresponding to adjacent windings is the initial yarn guide position offset. The first height position is the height value of any height position of the empty yarn tube relative to the starting spinning position. The columnar forming step curve is the relationship curve between the second height position of the yarn rod and the number of windings during the columnar forming process. The difference between the second height positions of the yarn rod corresponding to adjacent windings is the initial yarn guide position offset. The second height position is the height value of any position on the yarn rod relative to the lower cone forming height position of the yarn rod during the columnar forming process.
7. An electronic device (1200), comprising: The system includes a processor (1202), a communication interface (1204), a memory (1206), and a bus (1208), wherein the processor (1202), the communication interface (1204), and the memory (1206) communicate with each other via the bus (1208). The memory (1206) is used to store at least one executable instruction that causes the processor (1202) to perform an operation corresponding to any of the methods described in claims 1-5.
8. A computer-readable storage medium storing computer instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 1-5.
9. A computer program product tangibly stored on a computer-readable medium and comprising computer-executable instructions that, when executed, cause at least one processor to perform the method according to any one of claims 1-5.