A control method, system, computer equipment and medium for winding spindle stacking

Abstract

The invention relates to the field of automatic control technology, and discloses a control method, system, computer equipment and medium for winding spindle stacking, which are applied to a winding spindle stacking control device. The device comprises a truss X-axis, a truss Y-axis, a truss Z-axis and a partition. A distance measuring sensor is arranged on the truss Y-axis, and the distance measuring sensor is used to measure the height of the partition stack. The method comprises: obtaining multiple groups of partition stack height data measured by the distance measuring sensor, and sorting the multiple groups of partition stack height data; calculating a safety distance according to the sorted multiple groups of partition stack height data by using a filtering algorithm; determining a servo position of the truss Z-axis according to the safety distance, and controlling the truss Z-axis to automatically move to the servo position to grab the partition. The invention measures the height of the partition stack by using a distance measuring sensor, thereby increasing the accuracy of the height data, automatically controlling the truss, improving the control efficiency, ensuring the safe operation of the truss Z-axis, and improving the safety.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a control method, system, computer equipment and medium for winding spindle stacking. Background Art

[0002] As the last process of spinning and the first process of weaving, winding plays a "bridge" role in the textile field. It occupies an important position. Spindle refers to the part of the spinning machine used to twist the fiber into yarn and wind it into a certain shape. Before stacking the yarn, it is necessary to take the partition from the partition stack and put it on the stacking pallet to control the movement of the truss robot.

[0003] In the prior art, workers take and place partitions from the partition stack, manually count the number of partitions, determine the height of the partition stack, and adjust the Z-axis movement of the truss. However, the thickness of the partition will become thinner due to long-term wear, and the thickness will increase after the replacement of the new partition, which increases the difficulty of counting the partitions. Manual counting of the number of partitions is prone to errors, and the manual adjustment of the Z-axis movement of the truss is inefficient. Summary of the invention

[0004] In view of this, the present invention provides a control method, system, computer equipment and medium for winding spindle stacking to solve the problem in the prior art of manually counting the number of partitions, which easily leads to errors and low truss movement efficiency.

[0005] In a first aspect, the present invention provides a control method for winding spindle stacking, which is applied to a control device for winding spindle stacking, wherein the control device for winding spindle stacking comprises a truss X-axis, a truss Y-axis, a truss Z-axis and a partition, wherein a distance measuring sensor is provided on the truss Y-axis, and the distance measuring sensor is used to measure the height of the partition stack, and the method comprises:

[0006] Acquire multiple sets of partition board stack height data measured by the distance measuring sensor, and sort the multiple sets of partition board stack height data;

[0007] Utilize filtering algorithm to calculate safety distance based on sorted sets of partition board stack height data;

[0008] The servo position of the truss Z axis is determined according to the safety distance, and the truss Z axis is controlled to automatically move to the servo position to grab the partition.

[0009] The present invention measures the height of the partition stack by using a distance measuring sensor, instead of manually counting and calculating the partition height, so as to increase the accuracy of the partition stack height data, sort the multiple groups of partition stack height data obtained by measurement, calculate the safety distance, and determine the servo position of the truss Z-axis, thereby facilitating automatic control of the truss, replacing manual control of the truss, improving control efficiency, and at the same time ensuring the safe operation of the truss Z-axis, thereby improving safety.

[0010] In an optional implementation, sorting multiple sets of partition stack height data includes:

[0011] Adjacent height data in multiple groups of partition stack height data are compared in sequence using a bubble sort algorithm, and the adjacent partition stack height data are sorted according to the comparison results until all the partition stack height data are sorted.

[0012] The present invention sequentially sorts the partition board stack height data through a bubble sorting algorithm, so as to facilitate data processing of the partition board stack height data.

[0013] In an optional implementation, a filtering algorithm is used to calculate the safety distance according to the sorted groups of partition board stack height data, including:

[0014] Extracting a preset number of partition board stack height data from the sorted multiple groups of partition board stack height data using program pointer addressing;

[0015] The extracted height data of the partition stack is weighted averaged and the calculated height data is determined as the safety distance.

[0016] The present invention extracts part of the partition board stack heights from all the partition board stack height data through program pointer addressing to reduce the amount of data, and performs weighted average calculation on the extracted partition board stack height data to more accurately reflect the level of the entire set of partition board stack data.

[0017] In an optional embodiment, after calculating the safety distance according to the sorted groups of partition board stack height data using a filtering algorithm, the method further includes:

[0018] Calculate the difference between the current partition board stack height data and the previous partition board stack height data measured by the distance measuring sensor;

[0019] If the difference between the current partition plate stack height data and the previous partition plate stack height data is within the preset difference range, the step of determining the servo position of the truss Z axis according to the safety distance is executed.

[0020] The present invention determines whether the measured partition stack height data is valid data by calculating the difference between the current partition stack height data and the previous partition stack height data measured by the ranging sensor, and executes subsequent steps when the difference is within a preset difference range to avoid control truss failures caused by data measurement errors.

[0021] In an optional implementation, determining the servo position of the Z-axis of the truss according to the safety distance includes:

[0022] Use the teaching point to measure the absolute position of the servo and the measured value of the partition distance when each layer of partition thickness is added;

[0023] The final distance is calculated based on the measured absolute position of the servo and the measured value of the diaphragm distance measurement;

[0024] The difference between the final distance and the preset deceleration distance is determined as the safety distance.

[0025] The present invention calculates the final distance that the truss Z axis can reach by teaching the absolute position of the servo when measuring the thickness of each layer of partition and the measured value of the partition distance measurement, and determines the difference between the final distance and the deceleration distance as the safety distance, so as to further control the truss Z axis and improve safety.

[0026] In an optional implementation, the measured value of the partition distance measurement includes the coefficient values ​​of different sensors under the same environment and the distance measurement curve coefficient values ​​of the distance measurement sensor corresponding to the partitions of different materials. The final distance is calculated according to the measured absolute position of the servo and the measured value of the partition distance measurement, including:

[0027] Use the Jacobian matrix to calculate the coefficient values ​​of different sensors in the same environment;

[0028] Calculate the distance measurement curve coefficient value of the distance measurement sensor corresponding to the partitions of different materials according to the absolute position of the servo corresponding to the partitions of different materials;

[0029] The final distance is calculated based on the measured absolute position of the servo, the coefficient values ​​of different sensors under the same environment, and the coefficient values ​​of the distance measurement curves of the distance measurement sensors corresponding to the partitions of different materials.

[0030] The present invention calculates coefficient values ​​of different sensors under the same environment so as to take into account the measurement errors between different sensors when calculating the final distance, and calculates coefficient values ​​of ranging curves of ranging sensors corresponding to partitions of different materials so as to take into account the coefficient values ​​of ranging curves of partitions of different materials when calculating the final distance, thereby improving the accuracy of the calculated final distance.

[0031] In an optional embodiment, the method further includes:

[0032] The physical properties of the partition are monitored in real time, and the distance measurement curve coefficient value of the distance measurement sensor corresponding to the partitions of different materials is adjusted according to the physical properties of the partition.

[0033] The present invention adjusts the distance measurement curve coefficient value of the distance measurement sensor corresponding to the partitions of different materials by monitoring the physical properties of the partitions, so that the calculated distance measurement curve coefficient value adapts to the change of the physical properties.

[0034] In a second aspect, the present invention provides a control system for winding spindle stacking, the system comprising:

[0035] A sorting module is used to obtain multiple sets of partition board stack height data measured by the distance measuring sensor and sort the multiple sets of partition board stack height data;

[0036] A calculation module, used for calculating the safety distance according to the sorted groups of partition board stack height data by using a filtering algorithm;

[0037] The control module is used to determine the servo position of the truss Z axis according to the safety distance, and control the truss Z axis to automatically move to the servo position to grab the partition.

[0038] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the control method for winding spindle stacking of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0039] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the control method for stacking winding spindles according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 2 is a schematic structural diagram of a control device for stacking winding spindles according to an embodiment of the present invention;

[0042] Figure 2 is a schematic flow chart of a control method for stacking winding spindles according to an embodiment of the present invention;

[0043] Figure 3 is a schematic flow chart of another control method for winding spindle stacking according to an embodiment of the present invention;

[0044] Figure 4 is a schematic flow chart of another control method for winding spindle stacking according to an embodiment of the present invention;

[0045] Figure 5 is an application schematic diagram of a control method for stacking winding spindles according to an embodiment of the present invention;

[0046] Figure 6 is a structural block diagram of a control device for stacking winding spindles according to an embodiment of the present invention;

[0047] Figure 7 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention.

[0048] Explanation of the reference numerals: 1. Truss X-axis; 2. Truss Y-axis; 3. Truss Z-axis; 4. Distance measuring sensor; 5. Partition; 6. Partition stack pallet. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0050] According to an embodiment of the present invention, an embodiment of a control method for stacking winding spindles is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0051] In this embodiment, a control method for winding spindle stacking is provided, which is applied to a control device for winding spindle stacking, such as Figure 1 As shown, the control device for winding spindle stacking includes a truss X-axis 1, a truss Y-axis 2, a truss Z-axis 3, a partition 5, and a partition stacking tray 6. The truss Y-axis 2 is slidably connected to the truss X-axis 1, and the truss Z-axis 3 is slidably connected to the truss Y-axis 2.

[0052] Specifically, each tray has a plurality of partitions 5, and a plurality of partitions are stacked to form a partition stack. The partition stack tray 6 is used to transport the entire stack of partitions. A distance sensor 4 is provided on the truss Y axis 2, and the distance sensor 4 is used to measure the height of the partition stack. In the related art, spindle stacking requires first taking a partition from the partition stack and placing it on the stacking tray. The truss converts the number of partitions obtained by manual counting into height to determine the operable distance of the truss Z axis 3.

[0053] Figure 2 is a flow chart of a control method for stacking winding spindles according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0054] Step S201, obtaining multiple groups of partition plate stack height data measured by a distance measuring sensor, and sorting the multiple groups of partition plate stack height data.

[0055] In the embodiment of the present invention, before the truss Z axis is controlled to grab the partition, the partition stack height data is measured by the distance measuring sensor arranged on the truss Y axis. The partition stack height data measured by the distance measuring sensor is obtained, and the distance measuring sensor continuously measures ten groups of partition stack height data every 100ms, and the ten groups of measured partition stack height data are sorted to facilitate processing of the partition stack height data.

[0056] Step S202, using a filtering algorithm to calculate a safety distance based on the sorted sets of partition board stack height data.

[0057] In an embodiment of the present invention, a filtering algorithm is used to process the sorted multiple sets of partition stack height data to extract valid information from the partition stack height data. The filtering algorithm includes low-pass filtering and high-pass filtering, specifically including limit value filtering, median value filtering, arithmetic average filtering, recursive average filtering, median value average filtering, limit value average filtering, first-order lag filtering, and weighted recursive average filtering. The safety distance is calculated based on the sorted multiple sets of partition stack height data to convert the multiple sets of partition stack height data into the safety distance of the truss Z-axis servo motor.

[0058] Step S203, determining the servo position of the truss Z axis according to the safety distance, and controlling the truss Z axis to automatically move to the servo position to grab the partition.

[0059] In an embodiment of the present invention, the travel distance of the truss Z-axis servo motor is determined according to the calculated safety distance to determine the servo position of the truss Z-axis, and the truss Z-axis is controlled to automatically move to the servo position to automatically grab the partition, thereby replacing manual movement of the truss Z-axis to grab the partition.

[0060] The control method for stacking winding spindles provided in the present embodiment measures the partition stack height by using a distance measuring sensor, instead of manually counting and calculating the partition height, so as to increase the accuracy of the partition stack height data, sorts the multiple groups of partition stack height data obtained by measurement, calculates the safety distance, and determines the servo position of the Z-axis of the truss, thereby facilitating automatic control of the truss, replacing manual control of the truss, improving control efficiency, and at the same time ensuring the safe operation of the truss Z-axis, thereby improving safety.

[0061] In this embodiment, a control method for stacking winding spindles is provided. Figure 3 is a flow chart of a control method for stacking winding spindles according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0062] Step S301, obtaining multiple groups of partition plate stack height data measured by a distance measuring sensor, and sorting the multiple groups of partition plate stack height data.

[0063] Specifically, the sorting of the plurality of sets of partition plate stack height data in the above step S301 includes:

[0064] Step S3011, using a bubble sort algorithm to compare adjacent height data in multiple groups of partition plate stack height data in sequence, and sort the adjacent height data according to the comparison results until all partition plate stack height data are sorted.

[0065] In an embodiment of the present invention, a bubble sort algorithm is used to sort multiple groups of partition stack height data. The bubble sort algorithm compares two adjacent height data in sequence. For example, multiple groups of partition stack height data are sorted in order from large to small. That is, when comparing two adjacent height data in sequence, if the order is wrong, the two numbers are swapped, and the comparison and swap are repeated until all the partition stack height data are sorted. If there is no adjacent height data that needs to be exchanged, then all the partition stack height data are sorted.

[0066] The partition stack height data are sorted in sequence by a bubble sort algorithm to facilitate data processing of the partition stack height data.

[0067] Step S302, using a filtering algorithm to calculate a safety distance based on the sorted sets of partition board stack height data.

[0068] Specifically, the above step S302 includes:

[0069] Step S3021, using program pointer addressing to extract a preset number of partition plate stack height data from the sorted multiple groups of partition plate stack height data.

[0070] Step S3022, performing weighted average calculation on the extracted height data of the partition stack, and determining the calculated height data as the safety distance.

[0071] In an embodiment of the present invention, the middle 6 groups of partition stack height data are extracted from the sorted multiple groups of partition stack height data through program pointer addressing, and then the extracted 6 groups of partition stack height data are weighted and averaged, and the calculated height data is determined as the safety distance.

[0072] Part of the partition stack heights are extracted from all the partition stack height data through program pointer addressing to reduce the amount of data, and the extracted partition stack height data are weighted averaged to more accurately reflect the level of the entire set of partition stack data.

[0073] Step S303, calculating the difference between the current partition board stack height data and the previous partition board stack height data measured by the distance measuring sensor.

[0074] Step S304, if the difference between the current partition plate stack height data and the previous partition plate stack height data is within a preset difference range, then executing the step of determining the servo position of the truss Z axis according to the safety distance.

[0075] In the embodiment of the present invention, since the thickness error of the thinning or thickening of the partition generally does not exceed the thickness of five layers of partitions, the difference between the current partition stack height data M measured by the ranging sensor and the previous partition stack height data M1 measured by the ranging sensor is less than the thickness of s layers of partitions, where the value of s is 5, that is, the difference between the two partition stack height data measurements should be less than the thickness of five layers of partitions.

[0076] Specifically, the value of s can be set according to the actual application scenario. Taking the value of s as 2 as an example, the current partition stack height data M measured by the ranging sensor and the previous partition stack height data M1 measured by the ranging sensor need to satisfy the inequality M-M1≥0, and M-M1≤2, where 0 and 2 represent the partition thickness. That is, when the current partition stack height data M measured by the ranging sensor and the previous partition stack height data M1 measured by the ranging sensor satisfy 0≤M-M1≤2, the gripper of the truss Z-axis grabbing the partition has a tolerance rate of the partition thickness.

[0077] If the difference between the current partition stack height data M measured by the ranging sensor and the previous partition stack height data M1 measured by the ranging sensor exceeds the preset difference range, a confirmation instruction is sent, and after the staff clicks the confirmation button on the touch screen, step S205 is continued.

[0078] Step S305, determining the servo position of the truss Z axis according to the safety distance, and controlling the truss Z axis to automatically move to the servo position to grab the partition.

[0079] For details, please see Figure 2 Step S203 of the illustrated embodiment will not be described in detail here.

[0080] The control method for stacking winding spindles provided in this embodiment calculates the difference between the current partition stack height data and the previous partition stack height data measured by the ranging sensor to determine whether the measured partition stack height data is valid data, and executes subsequent steps when the difference is within a preset difference range to avoid control truss failures caused by data measurement errors.

[0081] In this embodiment, a control method for stacking winding spindles is provided. Figure 4 is a flow chart of a control method for stacking winding spindles according to an embodiment of the present invention. Figure 4 As shown, the process also includes the following steps:

[0082] Step S401, obtaining multiple groups of partition plate stack height data measured by a distance measuring sensor, and sorting the multiple groups of partition plate stack height data.

[0083] For details, please see Figure 2 Step S201 of the illustrated embodiment will not be described in detail here.

[0084] Step S402, using a filtering algorithm to calculate a safety distance based on the sorted sets of partition board stack height data.

[0085] For details, please see Figure 2 Step S202 of the illustrated embodiment will not be described in detail here.

[0086] Step S403, determining the servo position of the truss Z axis according to the safety distance, and controlling the truss Z axis to automatically move to the servo position to grab the partition.

[0087] Specifically, the above step S403 includes:

[0088] Step S4031, using the teaching point measurement, the absolute position of the servo and the measured value of the partition distance are measured each time the thickness of the partition is increased.

[0089] Step S4032, calculating the final distance according to the absolute position of the servo when measuring the thickness of each layer of the partition and the measured value of the partition distance measurement.

[0090] Step S4033: determine the difference between the final distance and the preset deceleration distance as the safety distance.

[0091] In the embodiment of the present invention, the absolute position A1 of the servo when measuring the thickness of one layer of partition and the measured value B1 of the distance measurement of one layer of partition are used by teaching the point, and the absolute position A1 of the servo when measuring the thickness of n layers of partition is measured by the same method. n The measured value B of the distance measurement of n-layer partitions n , where n is preferably the number of full stack layers. The larger n is, the smaller the error of the calculated final distance X is.

[0092] The deceleration distance k is set in advance, and the difference between the final distance X and the deceleration distance k is determined as the safety distance, that is, W=Xk, thereby achieving that the truss Z axis runs to the W position at the maximum speed within the safety distance and reaches the position for grabbing the partition at a safe speed.

[0093] By teaching the absolute position of the servo when measuring the thickness of each layer of partition and the measured value of the partition distance measurement, the final distance that the truss Z axis can reach is calculated, and the difference between the final distance and the deceleration distance is determined as the safety distance, so as to further control the truss Z axis and improve safety.

[0094] Specifically, the above step S4033 includes:

[0095] Step S40331, using the Jacobian matrix to calculate the coefficient values ​​of different sensors in the same environment.

[0096] Step S40332, calculating the distance measurement curve coefficient value of the distance measurement sensor for the partitions of different materials according to the absolute position of the servo corresponding to the partitions of different materials.

[0097] Step S40333, calculating the distance measurement curve coefficient value of the distance measurement sensor for the partitions of different materials according to the absolute position of the servo corresponding to the partitions of different materials.

[0098] In the embodiment of the present invention, the coefficient values ​​α of different sensors in the same environment are calculated by using the Jacobian matrix, which is infinitely close to linearity. The coefficient values ​​α of different sensors in the same environment are calculated by a program, wherein the Jacobian matrix is ​​as follows:

[0099]

[0100] According to the absolute position A1 of the servo at each layer thickness of the partition of different materials, the coefficient value β of the distance curve of the partition of different materials is calculated. For example, based on the partition of type A, β 甲 =1, Type B separator β 乙 =B1A / B1B.

[0101] By calculating the coefficient values ​​of different sensors under the same environment, the measurement error between different sensors can be taken into account when calculating the final distance. By calculating the coefficient values ​​of the ranging curves of the ranging sensors corresponding to the partitions of different materials, the coefficient values ​​of the ranging curves of the partitions of different materials can be taken into account when calculating the final distance, thereby improving the accuracy of the calculated final distance.

[0102] Step S40334, monitor the physical properties of the partition in real time, and adjust the distance measurement curve coefficient value of the distance measurement sensor for partitions of different materials according to the physical properties of the partition.

[0103] In an embodiment of the present invention, due to different production formulas during the production process, the physical properties of the partitions also change accordingly. Therefore, the physical properties of the partitions are monitored in real time, and the ranging curve coefficient value β of the ranging sensor for partitions of different materials is adjusted according to the physical properties of the partitions, so as to achieve precise positioning of the partitions when controlling the Z-axis of the truss to grasp the partitions, so as to accurately grasp each type of partition.

[0104] The control method for stacking winding spindles provided in this embodiment adjusts the distance measurement curve coefficient value of the distance measurement sensor corresponding to the partitions of different materials by monitoring the physical properties of the partitions, so that the calculated distance measurement curve coefficient value adapts to the changes in physical properties.

[0105] like Figure 5As shown, when stacking requires partitions, prepare the partition stacks, and when the truss X-axis reaches the partition stack position, the distance sensor measures multiple sets of partition stack height data every 100ms. After the measurement is completed, the measured multiple sets of partition stack height data are sorted by size, and the safety distance is calculated through the filtering algorithm. If the difference between the current partition stack height data and the previous partition stack height data is less than or equal to the thickness of 5 layers of partitions, the measured data is valid, and the travelable distance of the truss Z axis is determined according to the safety distance, and the truss Z axis is controlled to grab the partition. If the difference between the current partition stack height data and the previous partition stack height data is greater than the thickness of 5 layers of partitions, a confirmation instruction is sent. After the staff clicks the confirmation button on the touch screen, the step of determining the travelable distance of the truss Z axis according to the safety distance is executed.

[0106] In this embodiment, a control system for winding spindle stacking is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, which have been described and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0107] This embodiment provides a control system for winding spindle stacking, such as Figure 6 As shown, including:

[0108] The sorting module 601 is used to obtain multiple groups of partition board stack height data measured by the distance measuring sensor and sort the multiple groups of partition board stack height data.

[0109] The calculation module 602 is used to calculate the safety distance according to the sorted groups of partition board stack height data by using a filtering algorithm.

[0110] The control module 603 is used to determine the servo position of the truss Z axis according to the safety distance, and control the truss Z axis to automatically move to the servo position to grab the partition.

[0111] In some optional implementations, the sorting module 601 includes:

[0112] The comparison unit is used to compare adjacent height data in multiple groups of partition stack height data in sequence using a bubble sort algorithm, and sort the adjacent partition stack height data according to the comparison result until all the partition stack height data are sorted.

[0113] In some optional implementations, the calculation module 602 includes:

[0114] The extraction unit is used to extract a preset number of partition plate stack height data from the sorted multiple groups of partition plate stack height data by using program pointer addressing.

[0115] The first calculation unit is used to perform weighted average calculation on the extracted height data of the partition stack, and determine the calculated height data as the safety distance.

[0116] In some optional embodiments, the system further comprises:

[0117] The difference calculation module is used to calculate the difference between the current partition stack height data measured by the distance measuring sensor and the previous partition stack height data.

[0118] The judgment module is used to execute the step of determining the servo position of the truss Z axis according to the safety distance if the difference between the current partition plate stack height data and the previous partition plate stack height data is within a preset difference range.

[0119] In some optional implementations, the control module 603 includes:

[0120] The measuring unit is used to measure the absolute position of the servo and the measured value of the partition distance each time the thickness of the partition is increased by one layer by using the teaching point.

[0121] The second calculation unit is used to calculate the final distance according to the measured absolute position of the servo and the measurement value of the partition distance measurement.

[0122] The determination unit is used to determine the difference between the final distance and the preset deceleration distance as the safety distance.

[0123] In some optional implementations, the control module 603 further includes:

[0124] The third calculation unit is used to calculate the coefficient values ​​of different sensors under the same environment by using the Jacobian matrix.

[0125] The fourth calculation unit is used to calculate the distance measurement curve coefficient value of the distance measurement sensor corresponding to the partitions of different materials according to the absolute position of the servo corresponding to the partitions of different materials.

[0126] The fifth calculation unit is used to calculate the final distance according to the measured absolute position of the servo, the coefficient values ​​of different sensors under the same environment, and the coefficient values ​​of the distance measurement curves of the distance measurement sensors corresponding to the partitions of different materials.

[0127] In some optional embodiments, the system further comprises:

[0128] The adjustment module is used to monitor the physical properties of the partition in real time and adjust the distance measurement curve coefficient value of the distance measurement sensor corresponding to the partition of different materials according to the physical properties of the partition.

[0129] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0130] The control system for the stacking of winding bobbins in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0131] The embodiment of the present invention also provides a computer device having the above Figure 6 The control system for winding bobbin spindle stacking is shown.

[0132] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0133] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0134] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0135] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0136] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0137] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0138] The input device 30 can receive input digital or character information and generate key signal input related to user settings and function control of the computer device, such as a touch screen, etc. The output device 40 can include a display device, etc.

[0139] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0140] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A control method for winding spindle stacking, characterized in that: A control device for winding spindle stacking, the control device for winding spindle stacking comprising a truss X-axis, a truss Y-axis, a truss Z-axis and a partition, wherein a distance sensor is provided on the truss Y-axis, and the distance sensor is used to measure the height of the partition stack, and the method comprises: Acquire multiple groups of partition board stack height data measured by the distance measuring sensor, and sort the multiple groups of partition board stack height data; Utilize filtering algorithm to calculate safety distance based on sorted sets of partition board stack height data; Determine the servo position of the truss Z axis according to the safety distance, and control the truss Z axis to automatically move to the servo position to grab the partition; Wherein, determining the servo position of the Z axis of the truss according to the safety distance includes: Use the teaching point to measure the absolute position of the servo and the measured value of the partition distance when each layer of partition thickness is added; The final distance is calculated based on the measured absolute position of the servo and the measured value of the diaphragm distance measurement; The difference between the final distance and the preset deceleration distance is determined as the safety distance; The measured value of the partition distance measurement includes coefficient values ​​of different sensors under the same environment and coefficient values ​​of distance measurement curves of distance measurement sensors corresponding to partitions of different materials. The final distance is calculated based on the measured absolute position of the servo and the measured value of the partition distance measurement, including: Use the Jacobian matrix to calculate the coefficient values ​​of different sensors in the same environment; Calculate the distance measurement curve coefficient value of the distance measurement sensor corresponding to the partitions of different materials according to the absolute position of the servo corresponding to the partitions of different materials; The final distance is calculated based on the measured absolute position of the servo, the coefficient values ​​of different sensors under the same environment, and the coefficient values ​​of the distance measurement curves of the distance measurement sensors corresponding to the partitions of different materials.

2. The method according to claim 1, characterized in that The step of sorting the plurality of groups of partition plate stack height data comprises: Adjacent height data in multiple groups of partition stack height data are compared in sequence using a bubble sort algorithm, and the adjacent partition stack height data are sorted according to the comparison results until all the partition stack height data are sorted.

3. The method according to claim 1, characterized in that The method of calculating the safety distance according to the sorted groups of partition board stack height data by using a filtering algorithm includes: Extracting a preset number of partition board stack height data from the sorted multiple groups of partition board stack height data using program pointer addressing; The extracted height data of the partition stack is weighted averaged and the calculated height data is determined as the safety distance.

4. The method according to claim 1, characterized in that After calculating the safety distance according to the sorted groups of partition board stack height data using a filtering algorithm, the method further includes: Calculate the difference between the current partition board stack height data and the previous partition board stack height data measured by the distance measuring sensor; If the difference between the current partition plate stack height data and the previous partition plate stack height data is within a preset difference range, the step of determining the servo position of the truss Z axis according to the safety distance is performed.

5. The method according to claim 1, characterized in that The method further comprises: The physical properties of the partition are monitored in real time, and the distance measurement curve coefficient value of the distance measurement sensor corresponding to the partitions of different materials is adjusted according to the physical properties of the partition.

6. A control system for winding spindle stacking, characterized in that: The system comprises: A sorting module, used for acquiring multiple sets of partition board stack height data measured by the distance measuring sensor, and sorting the multiple sets of partition board stack height data; A calculation module, used for calculating the safety distance according to the sorted groups of partition board stack height data by using a filtering algorithm; A control module, used for determining the servo position of the truss Z axis according to the safety distance, and controlling the truss Z axis to automatically move to the servo position to grab the partition; The control module is specifically used for: using the teaching point to measure the absolute position of the servo and the measured value of the partition distance when each layer of the partition thickness is increased; calculating the final distance according to the measured absolute position of the servo and the measured value of the partition distance; determining the difference between the final distance and the preset deceleration distance as the safety distance; The measured values ​​of the partition distance measurement include coefficient values ​​of different sensors under the same environment and distance measurement curve coefficient values ​​of distance measurement sensors corresponding to partitions of different materials; Among them, the control module is specifically used to: use the Jacobian matrix to calculate the coefficient values ​​of different sensors under the same environment; calculate the ranging curve coefficient values ​​of the ranging sensors corresponding to the partitions of different materials according to the absolute position of the servo corresponding to the partitions of different materials; calculate the final distance according to the measured absolute position of the servo, the coefficient values ​​of different sensors under the same environment and the ranging curve coefficient values ​​of the ranging sensors corresponding to the partitions of different materials.

7. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method for stacking winding spindles according to any one of claims 1 to 5 by executing the computer instructions.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the control method for stacking winding spindles according to any one of claims 1 to 5.

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