A fully automatic doffing PLC control method and system

Abstract

The present application relates to the field of automatic control in the textile industry, and specifically to a fully automatic yarn doffing PLC control method and system, the method comprising: collecting distance data during the displacement grabbing process of the automatic yarn doffing trolley, segmenting the collected data to obtain a positioning sequence, analyzing the change characteristics of the distance at the same position of different positioning sequences, and obtaining the yarn doffing signal-to-noise intensity; classifying the data within the local range of the distance, obtaining the signal-to-noise credibility based on the difference between the data in the categories where each distance belongs, and performing adaptive filtering on each positioning sequence; comprehensively filtering the distance change of the positioning sequence and the displacement characteristics of the automatic yarn doffing trolley, marking the spindles, and using PLC control to operate the marked spindles. The present application aims to filter the distance data and obtain more accurate distance data, so that the subsequent PLC control can judge the spindles more accurately, and facilitate the PLC control to identify and operate the marked spindles.

Description

Technical Field

[0001] The present application relates to the field of automatic control in the textile industry, and in particular to a fully automatic yarn dropping PLC control method and system. Background Art

[0002] In the modern textile industry, spinning frames play an important role. They are responsible for converting coarse yarn into fine and uniform fine yarn to meet the manufacturing needs of various textiles. The automation level of spinning frames directly affects production efficiency and product quality. In this automation process, automatic yarn dropping technology based on PLC (Programmable Logic Controller) is particularly critical. PLC is an electronic device widely used in industrial automation. It can receive input signals, perform preset logical operations, and then output control signals to accurately control the operation of mechanical equipment.

[0003] Traditionally, spindle quality inspection generally uses laser to detect the spindle diameter to inspect the spindle quality. The spindle inspection results are fed back to the PLC control system, and the PLC distinguishes the spindles through automatic yarn dropping technology. However, due to the complex environmental factors of the spinning workshop, a large amount of noise appears in the collected laser data; generally, SG filtering is used to denoise the data, but due to the different degrees of noise influence, the filtering effect of the spindle distance laser data using a fixed filter order is inaccurate, which in turn affects the PLC control of the spindle identification and operation. Summary of the invention

[0004] In view of the above, it is necessary to provide a fully automatic doffing PLC control method and system to solve the above problems.

[0005] The first aspect of the present application provides a fully automatic doffing PLC control method, the method comprising:

[0006] Obtain all distances collected by the distance meter during the displacement and grabbing process of the automatic doffing trolley to obtain the spindle distance sequence;

[0007] The spindle distance sequence is evenly divided to obtain several positioning sequences; the variation characteristics of each distance of any positioning sequence and the distance of the same position of other positioning sequences are analyzed to obtain the signal-to-noise intensity of each distance;

[0008] Classifying the data in the local range of each distance in each positioning sequence, and obtaining the signal-noise credibility of each distance based on the difference between the data in the category of each distance and the signal-noise intensity of the yarn drop;

[0009] Each positioning sequence is filtered based on the yarn drop signal-to-noise intensity and signal-to-noise credibility at each distance of each positioning sequence;

[0010] The spindles are marked based on the distance change of the positioning sequence after comprehensive filtering and the displacement characteristics of the automatic yarn-dropping trolley, and the marked spindles are operated using PLC control.

[0011] The obtaining of the signal-to-noise intensity of the yarn drop at each distance is specifically as follows:

[0012] For all positioning sequences, extract the distances at the same position and record them as the control distance sequence;

[0013] In each control distance sequence, the yarn drop signal-noise intensity of any distance is obtained according to the average level of the difference between any distance and the remaining distances.

[0014] The signal-to-noise credibility of each distance is obtained as follows:

[0015] For each positioning sequence, a local window of each distance is preset; all distances within each local window of distance are classified to obtain a signal-noise correction category of each distance;

[0016] For any distance, the average level of the difference between the any distance and the remaining distances in its signal-noise correction category is calculated; the result of inversely proportional mapping of the average level and the number of elements in the signal-noise correction category of the any distance is used as the signal-noise credibility of the any distance.

[0017] The method of classifying all distances in each distance local window to obtain the signal-to-noise correction category of each distance is as follows:

[0018] When all distances in a local window of any distance are equal, the category composed of all distances in the local window is used as the signal-noise correction category of the any distance;

[0019] Otherwise, the distances in the local window are divided into two categories, and the category to which any distance belongs is used as the signal-to-noise correction category of the any distance.

[0020] The filtering of each positioning sequence includes:

[0021] The result of fusing the yarn dropping signal-noise intensity at each distance with the signal-noise credibility is taken as the true yarn dropping noise intensity at each distance;

[0022] Based on the real noise intensity of yarn dropping at each distance and the original filter order, the adaptive filter order at each distance is obtained;

[0023] Based on the adaptive filtering order of each distance of each positioning sequence, each positioning sequence is filtered to obtain a filtered positioning sequence.

[0024] The adaptive filter order of each distance is specifically the integer result of multiplying the normalized value of the actual noise intensity of the yarn dropping at each distance by the original filter order.

[0025] The specific steps of marking the spindles are as follows:

[0026] The first distance that changes is counted from the left and right ends of the filtered positioning sequence, and recorded as the first distance and the second distance respectively; based on the difference in the displacement of the automatic yarn dropping trolley corresponding to the first distance and the second distance, the broken wire recognition value of the spindle corresponding to the ranging positioning sequence is obtained; the spindle whose broken wire recognition value is greater than the preset threshold is marked as the first preset value; the remaining spindles are marked as the second preset value; wherein the first preset value is not equal to the second preset value.

[0027] Wherein, the steps of operating the marked spindles by using PLC control are as follows:

[0028] The position of the distance meter before the automatic yarn doffing trolley is started is taken as the origin, and the displacement of the automatic yarn doffing trolley is taken as the horizontal coordinate of the coordinate system; the distance obtained by the distance meter is taken as the vertical coordinate of the coordinate system;

[0029] Based on the coordinates of the first distance and the second distance in the distance measurement and positioning sequence in the coordinate system, the center coordinates of the spindle corresponding to the distance measurement and positioning sequence are obtained;

[0030] The center coordinates of all spindles are used as inputs of the PLC control program of the automatic yarn dropping trolley. The spindles whose marking values ​​are the first preset values ​​are not grasped, and the spindles whose marking values ​​are the second preset values ​​are grasped.

[0031] Wherein, obtaining the center coordinates of the spindle corresponding to the ranging and positioning sequence includes:

[0032] Obtain the corresponding coordinates of the first distance and the second distance of each ranging and positioning sequence in the coordinate system, which are recorded as the first coordinate and the second coordinate respectively; take the coordinate corresponding to the middle position between the first coordinate and the second coordinate as the center coordinate of the spindle corresponding to the ranging and positioning sequence.

[0033] In the second aspect, an embodiment of the present application also provides a fully automatic yarn dropping PLC control system, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the above-mentioned methods when executing the computer program.

[0034] In the above scheme, all the distances collected during the displacement grabbing process of the automatic yarn doffing trolley are obtained to form a spindle distance sequence. Based on the working principle of the automatic yarn doffing trolley, the data is collected to provide a data basis for the subsequent analysis of the process; the spindle distance sequence is evenly divided to obtain a positioning sequence, which has the beneficial effect of dividing the displacement of the automatic yarn doffing trolley, and the divided positioning sequence measures the data characteristics of the automatic yarn doffing trolley when measuring the distance of each spindle; the yarn doffing signal-to-noise intensity is constructed, which has the beneficial effect of measuring the degree to which the measured distance of the positioning sequence of each spindle is interfered by noise; and the signal-to-noise intensity of the yarn doffing trolley is constructed to measure the degree to which the distance measured in the positioning sequence of each spindle is interfered by noise; The data is classified, the distance changes in the local range are analyzed, and the signal-to-noise credibility is constructed. Its beneficial effect is that the credibility of the distance of the positioning sequence of each spindle is measured by noise interference; each positioning sequence is filtered to effectively avoid the situation where the noise is too large when the distance measurement of the spindle is mistakenly believed to be due to factors such as broken wires, and the influence of environmental noise on the measured distance is avoided, thereby improving the accuracy of the filtered positioning sequence; the spindles are marked, which has the beneficial effect that the marking result is more accurate, making the subsequent PLC control to judge the spindles more accurate, and facilitating the PLC control to identify and operate the marked spindles. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flow chart of the steps of a fully automatic doffing PLC control method provided in one embodiment of the present application;

[0036] Figure 2 A schematic diagram of the operation of the doffing trolley provided in one embodiment of the present application;

[0037] Figure 3 A schematic diagram of a positioning sequence provided for an embodiment of the present application;

[0038] Figure 4 A schematic diagram of comparing positioning sequence images of a normal spindle and a broken spindle provided for one embodiment of the present application. DETAILED DESCRIPTION

[0039] In the description of the embodiments of the present application, words such as "exemplary", "or", "for example" and the like are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "or", "for example" and the like is intended to present related concepts in a concrete manner.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the present application. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0041] It should also be noted that the terms "first" and "second" in this application and the accompanying drawings are used to distinguish similar objects, rather than to describe a specific order or sequence. The method disclosed in the embodiments of the present application or the method shown in the flow chart includes one or more steps for implementing the method. Without departing from the scope of protection of the present application, the execution order of multiple steps can be interchanged with each other, and some steps can also be deleted.

[0042] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0043] The following is a detailed description of a full-automatic doffing PLC control method and system provided by the present application in conjunction with the accompanying drawings.

[0044] See also Figure 1 , which shows a step flow chart of a fully automatic doffing PLC control method provided by an embodiment of the present application, the method comprising the following steps:

[0045] The first step is to obtain all the distances collected by the rangefinder during the displacement and grasping process of the automatic doffing trolley to obtain the spindle distance sequence.

[0046] A laser rangefinder is installed directly in front of the automatic doffing trolley to measure the distance between the automatic doffing trolley and the spindle area during movement; the spindle area includes the spindle and the spindle background area.

[0047] In this embodiment, the installation height of the laser rangefinder is half of the sum of the highest and lowest distances from the spindle to the ground. It should be noted that the installation height of the laser rangefinder must be between the highest and lowest distances from the spindle to the ground; the implementer can select the appropriate installation height according to the actual situation.

[0048] A displacement sensor is installed at the bottom of the automatic doffing trolley. When the automatic doffing trolley moves a distance D in a fixed direction, it stops moving, and uses a gripper to grab the N spindles that have stopped doffing, which is recorded as a displacement grabbing process of the automatic doffing trolley. In this embodiment, the number of spindles grabbed by the automatic doffing trolley at one time is 10, that is, N=10, and the distance between adjacent spindles is 0.3 meters; in this embodiment, the moving distance of the automatic doffing trolley for one displacement grabbing is 2.7 meters, that is, D=2.7; the automatic doffing trolley collects the distance measured by the laser rangefinder every time it moves 0.01 meters; the implementer can adjust the frequency of collection by himself, and this application does not impose any restrictions on this.

[0049] Among them, the operation diagram of the doffing trolley is as follows: Figure 2As shown; Position A in the figure represents the starting position of the doffing trolley, and Position B represents the position where the doffing trolley grabs the spindle, which is also the position where the doffing trolley stops moving for the first time after moving from Position A.

[0050] Collect all the distances measured by the laser rangefinder during the displacement grabbing process of the automatic yarn doffing trolley, and arrange them in the order of collection to obtain the spindle distance sequence. Since various factors may cause the missing of the collected distance data, the mean interpolation method is used in this embodiment to fill the missing data in the spindle distance sequence. Since the mean interpolation method is a well-known technology, the specific calculation process will not be repeated; in addition, the implementer can choose other data processing methods to fill the sequence, and this application does not limit this.

[0051] The second step is to evenly divide the spindle distance sequence to obtain several positioning sequences; analyze the variation characteristics of the distances of any positioning sequence and the distances of the same position in other positioning sequences to obtain the signal-to-noise intensity of each distance.

[0052] Since the spindles are similar in shape, there are multiple similar regions in the spindle distance sequence obtained by the laser rangefinder. In this embodiment, the number of spindles captured by the automatic doffing trolley at one time is N, and the spindle distance sequence is evenly divided into N positioning sequences. It should be understood that one positioning sequence corresponds to one spindle.

[0053] For the spindle positioning sequence measured in the non-interference state, the distance changes with the movement of the automatic doffing trolley as follows: when the automatic doffing trolley just starts to move, the laser does not irradiate the spindle but the spindle background area. In this embodiment, the distance from the automatic doffing trolley to the spindle background area remains unchanged; when the automatic doffing trolley moves to the spindle area, the laser irradiates the spindle, and the distance changes with the shape of the spindle; wherein, the schematic diagram of the positioning sequence, such as Figure 3 shown.

[0054] Under normal circumstances, the spindles of normal yarn dropping are of the same size. The curve formed by connecting the elements in the positioning sequence corresponding to the spindles in sequence is recorded as the distance curve of each spindle. Since the spindles are of the same size, the shape of the distance curve of each spindle is consistent. If noise occurs at a certain position, it will cause the distance data of the corresponding positions of other positioning sequences to differ from the distance of this position. Therefore, the distance of the same position is extracted for all positioning sequences and recorded as the control distance sequence.

[0055] For example: extract the distance of the i-th position in each positioning sequence, and form the i-th control distance sequence according to the order of the positions in the spindle distance sequence. It should be understood that the first distance in the i-th control distance sequence is the distance of the i-th position in the first positioning sequence, the second distance in the i-th control distance sequence is the distance of the i-th position in the second positioning sequence, and so on.

[0056] In each control distance sequence, the yarn drop signal-noise intensity of any distance is obtained according to the average level of the difference between any distance and the remaining distances.

[0057] In this embodiment, the difference between variables is obtained in the form of absolute value of difference; the average level of a set of data is obtained by averaging. The formula for the signal-to-noise intensity of the yarn drop at the jth distance of the kth control distance sequence is: , represents the signal-to-noise intensity of the jth distance in the kth control distance sequence, M represents the total number of distances in the kth control distance sequence, , denote the jth and sth distances in the kth control distance sequence, respectively. In other embodiments, the difference between the variables is obtained in the form of a ratio, that is, Replace with .

[0058] It should be understood that each positioning sequence is generated by the distance from the automatic yarn dropping trolley to the spindle area; under normal circumstances, the similarity between the positioning sequences of all spindles is very high. Therefore, the elements between the control distance sequences composed of data at the same position have small differences. The greater the difference between an element and other elements in the control distance sequence, the greater the yarn dropping signal-to-noise intensity of the element, indicating that the noise intensity contained in the distance is greater.

[0059] Furthermore, the signal-to-noise credibility of the distance in the positioning sequence reflects the credibility of the distance affected by noise. When the signal-to-noise intensity value of the yarn drop is large, it means that the signal contains more noise components and the data quality is poor.

[0060] The third step is to classify the data in the local range of each distance in each positioning sequence, and obtain the signal-noise credibility of each distance based on the difference between the data in the category of each distance and the yarn dropping signal-noise intensity.

[0061] After the spindle breaks, due to the discontinuity of the wire, the yarn on the spindle may have a smaller spindle. Among them, the schematic diagram of the comparison of the positioning sequence images of the normal spindle and the broken spindle is shown in Figure 2. Figure 4 shown.

[0062] Compared with normal spindles, the volume of broken yarn spindles is smaller, so the displacement distance of the automatic yarn doffing trolley corresponding to the distance distribution of the background area of ​​broken yarn spindles becomes larger, and the distance value of broken yarn spindles becomes larger than the distance value of normal spindles; therefore, the yarn doffing signal-noise intensity of each distance in the positioning sequence corresponding to the broken yarn spindles will be inaccurate: that is, the yarn doffing signal-noise intensity corresponding to the broken yarn spindle area is greater than the yarn doffing signal-noise intensity of the normal spindle area. Since the broken yarn spindle area is not only caused by noise interference, but due to other external reasons such as yarn breakage, the actual yarn doffing signal-noise intensity of the broken yarn spindle area is less than the calculated yarn doffing signal-noise intensity. Therefore, it is necessary to correct the yarn doffing signal-noise intensity so that when the yarn breakage phenomenon occurs, the yarn doffing signal-noise intensity calculation conforms to the actual situation.

[0063] For each positioning sequence, a local window of each distance is preset; all distances within each local window are classified, and the category of each distance is used as the signal-noise correction category.

[0064] In this embodiment, the rth distance of the nth positioning sequence is taken as the central element, and the length is The local window of the rth distance is used, and the insufficient elements are supplemented by the mean. If all elements in the window are the same, that is, the distances in the local window are equal, then the category composed of all distances in the local window of the rth distance is used as the signal-noise correction category of the rth distance; if there is a situation where the data is not the same, then the elements in the local window of the rth distance are used as the input of the OTSU method, and all elements above the segmentation threshold are composed of one category, and all elements less than or equal to the segmentation threshold are composed of another category, and the output is two categories, and the category where the rth distance is located is recorded as the signal-noise correction category of the rth distance; in other embodiments, the K-means clustering algorithm can be used to divide the distances in the local window into two categories; the implementer can set the number of clusters by himself, and this application does not limit this. Among them, the OTSU method and the K-means clustering algorithm are well-known technologies, and the specific calculation process will not be repeated.

[0065] It should be understood that when the number of elements in the signal-noise correction category is greater, the corresponding distance is more normal. When the difference between the central element and other elements is small, it means that the fluctuation characteristics between the central element and other elements are smaller, indicating that the distance is more normal. The signal-noise credibility of each distance is calculated in this way.

[0066] For any distance, the average level of the difference between the any distance and the remaining distances in its signal-noise correction category is calculated; the result of inversely proportional mapping of the average level and the number of elements in the signal-noise correction category of the any distance is used as the signal-noise credibility of the any distance.

[0067] In this embodiment, the average level of a group of data is described by the average value, and the inverse proportional mapping of the variable is achieved by multiplying with the reciprocal of the exponential function; the formula for the signal-to-noise credibility of the rth distance of the nth positioning sequence is: , where B represents the signal-to-noise credibility of the r-th distance of the n-th positioning sequence; X represents the number of elements in the signal-to-noise correction category of the r-th distance of the n-th positioning sequence; represents an exponential function with a natural constant as the base. Z represents the rth distance of the nth positioning sequence; represents the pth element value in the signal-to-noise correction category of the rth distance of the nth positioning sequence. In other embodiments, the inverse proportional mapping of the variable is achieved by multiplying the inverse of the variable. Replace with .

[0068] It should be understood that the more elements there are in the signal-noise correction category of each distance, the more normal the distance is, because being in the same category as the distance indicates a higher consistency between the distances, which means that the distance is less likely to be interfered by noise.

[0069] The fourth step: filter each positioning sequence based on the yarn drop signal-to-noise strength and signal-to-noise credibility at each distance of each positioning sequence.

[0070] In the spinning process, if a yarn break occurs, the credibility of the distance affected by the signal noise will decrease, which means that the intensity of the noise may decrease at the affected position. In order to avoid affecting the signal intensity of the yarn drop at each distance in the positioning sequence corresponding to the broken yarn spindle, the credibility of the signal noise needs to be used to correct the signal intensity of the yarn drop of the affected element in the positioning sequence.

[0071] The result of fusing the yarn dropping signal-noise intensity at each distance with the signal-noise credibility is taken as the true yarn dropping noise intensity at each distance.

[0072] In this embodiment, the result of multiplying the yarn drop signal-to-noise intensity at each distance by the signal-to-noise credibility is used as the yarn drop real noise intensity at each distance. In other embodiments, the multiplication can be replaced by addition to obtain the yarn drop real noise intensity at each distance.

[0073] It should be understood that when yarn breakage occurs, since the positioning sequence corresponding to the broken yarn spindle and the positioning sequence of the normal spindle have mostly different elements at the same position, the yarn dropping signal-to-noise intensity of the distance in the positioning sequence corresponding to the broken yarn spindle is greater; however, due to the increase in the background area of ​​the broken yarn spindle, the noise credibility is low; the broken yarn spindle is not only affected by the noise, so the actual value of the yarn dropping signal-to-noise intensity of its positioning sequence elements is small. Therefore, through the above method, the signal-to-noise intensity of the elements in the positioning sequence corresponding to the broken yarn spindle is made to meet the normal state.

[0074] When SG filtering is used to denoise each positioning sequence, when there is a strong noise intensity in the data, the order of the SG filter should be increased to make the smoothing effect of the filter stronger.

[0075] The normalized value of the true noise intensity of each element in each positioning sequence is multiplied by the original SG filter order, and the integer result is taken as the adaptive filter order of each element in each positioning sequence.

[0076] In this embodiment, , represents the adaptive filter order of the rth distance in the nth positioning sequence; h represents the original SG filter order, which is 5; represents the true noise intensity of the falling yarn at the rth distance in the nth positioning sequence; Represents the maximum and minimum normalized function. Represents the rounding function.

[0077] It should be noted that when the adaptive filtering order of an element is 0, the element is not filtered.

[0078] It should be understood that the greater the real noise intensity of the falling yarn of the elements in the positioning sequence, the stronger the noise signal intensity at that position. When using SG filtering, a larger filter order should be used to better suppress the noise, and the larger the adaptive filter order calculated.

[0079] The adaptive filter order of the positioning sequence replaces the original filter order in the SG filter, the SG filter is improved, the positioning sequence is used as the input of the improved SG filter algorithm, and the output result is the filtered positioning sequence. The SG filter is a well-known technology, and the specific calculation process is not repeated here.

[0080] The fifth step: comprehensively consider the distance change of the filtered positioning sequence and the displacement characteristics of the automatic yarn-dropping trolley, mark the spindles, and use PLC control to operate the marked spindles.

[0081] For the filtered positioning sequence, it is recorded as the ranging positioning sequence. The first distance that changes from the left and right ends of the filtered positioning sequence is counted respectively, and they are recorded as the first distance and the second distance respectively. For example, if the ranging positioning sequence is {9, 9, 9, 7, 6, 5, 3, 5, 6, 8, 9, 9, 9}, then the first distance is 7 and the second distance is 8.

[0082] Based on the difference in displacement of the automatic yarn dropping trolley corresponding to the first distance and the second distance, the broken wire identification value of the spindle corresponding to the ranging and positioning sequence is obtained; the spindles with broken wire identification values ​​greater than the preset threshold are recorded as good spindles and marked as the first preset value; the remaining spindles are recorded as bad spindles and marked as the second preset value; wherein the first preset value is not equal to the second preset value.

[0083] In this embodiment, the spindle break identification value is specifically the absolute value of the difference between the displacement of the automatic doffing trolley corresponding to the first distance and the second distance; in other embodiments, the absolute value of the difference can be replaced by the square value of the difference.

[0084] In this embodiment, the preset threshold value is 0.3; the first preset value is 1, and the second preset value is 0; the implementer may adjust it according to the actual situation; this application does not impose any restrictions on this.

[0085] Furthermore, the position of the laser rangefinder before the automatic yarn doffing trolley is started is taken as the origin, and the displacement of the automatic yarn doffing trolley is taken as the horizontal coordinate of the coordinate system; the distance obtained by the laser rangefinder is taken as the vertical coordinate of the coordinate system; the corresponding coordinates of the first distance and the second distance of each ranging and positioning sequence in the coordinate system are obtained, and are recorded as the first coordinate and the second coordinate respectively; the coordinate between the first coordinate and the second coordinate is taken as the center coordinate of the spindle corresponding to the ranging and positioning.

[0086] The center coordinates of all spindles are used as the input of the PLC control program of the automatic doffing trolley, and the gripper of the automatic doffing trolley is controlled to release the gripper of the spindle with a mark value of 1; the spindle with a mark value of 0 is grabbed and put into the abnormal spindle collection box.

[0087] Based on the same inventive concept as the above method, an embodiment of the present application also provides a fully automatic yarn doffing PLC control system, including a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the steps of any one of the above-mentioned fully automatic yarn doffing PLC control methods are implemented.

[0088] In summary, the embodiment of the present application obtains all distances collected during the displacement and grasping process of the automatic yarn doffing trolley to form a spindle distance sequence, and based on the working principle of the automatic yarn doffing trolley, collects data to provide a data basis for subsequent analysis of the process; the spindle distance sequence is evenly divided to obtain a positioning sequence, which has the beneficial effect of dividing the displacement of the automatic yarn doffing trolley, and the divided positioning sequence measures the data characteristics of the automatic yarn doffing trolley when measuring the distance of each spindle; constructs the yarn doffing signal-to-noise intensity, which has the beneficial effect of measuring the degree to which the measured distance of the positioning sequence of each spindle is interfered by noise; and measures the local The data within the range is classified, the distance changes in the local range are analyzed, and the signal-to-noise credibility is constructed. Its beneficial effect is to measure the credibility of the distance of the positioning sequence of each spindle affected by noise interference; each positioning sequence is filtered to effectively avoid the situation where the noise is too large when the distance measurement of the spindle is mistakenly believed to be due to factors such as broken wires, and to avoid the influence of environmental noise on the measured distance, thereby improving the accuracy of the filtered positioning sequence; the spindles are marked, which has the beneficial effect of making the marking result more accurate, making the subsequent PLC control more accurate in judging the spindles, and facilitating the PLC control to identify and operate the marked spindles.

[0089] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two continuous boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two continuous operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

[0090] For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the basic features of the present application. Therefore, no matter from which point of view, the above embodiments of the present application should be regarded as exemplary and non-restrictive; the technical solutions recorded in the above embodiments are modified, or some of the technical features are replaced by equivalents, which does not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A fully automatic doffing PLC control method, characterized in that: The method comprises the following steps: Obtain all distances collected by the distance meter during the displacement grabbing process of the automatic doffing trolley to obtain the spindle distance sequence; The spindle distance sequence is evenly divided to obtain several positioning sequences; the variation characteristics of each distance of any positioning sequence and the distance of the same position of other positioning sequences are analyzed to obtain the signal-to-noise intensity of each distance; Classifying the data in the local range of each distance in each positioning sequence, and obtaining the signal-noise credibility of each distance based on the difference between the data in the category of each distance and the signal-noise intensity of the yarn drop; Based on the yarn drop signal-to-noise intensity and signal-to-noise credibility of each distance of each positioning sequence, each positioning sequence is filtered; The spindles are marked based on the changes in the distance of the positioning sequence after comprehensive filtering and the displacement characteristics of the automatic doffing trolley, and the marked spindles are operated using PLC control; The obtained drop signal-to-noise intensity at each distance is specifically: For all positioning sequences, extract the distances at the same position and record them as the control distance sequence; In each control distance sequence, the yarn drop signal-to-noise intensity of any distance is obtained according to the average level of the difference between any distance and the remaining distances; The signal-to-noise credibility of each distance is obtained as follows: For each positioning sequence, a local window of each distance is preset; all distances within each local window of distance are classified to obtain a signal-noise correction category of each distance; For any distance, calculate the average level of the difference between the any distance and the remaining distances in its signal-noise correction category; perform inverse proportional mapping between the average level and the number of elements in the signal-noise correction category of the any distance, and use the result as the signal-noise credibility of the any distance; The signal-noise correction category of each distance is obtained by classifying all distances in each distance local window, specifically: When all distances in a local window of any distance are equal, the category composed of all distances in the local window is used as the signal-noise correction category of the any distance; Otherwise, the distances in the local window are divided into two categories, and the category to which any distance belongs is used as the signal-to-noise correction category of the any distance.

2. A fully automatic doffing PLC control method as claimed in claim 1, characterized in that: The filtering of each positioning sequence comprises: The result of fusing the yarn dropping signal-noise intensity at each distance with the signal-noise credibility is taken as the true yarn dropping noise intensity at each distance; Based on the real noise intensity of yarn dropping at each distance and the original filter order, the adaptive filter order at each distance is obtained; Based on the adaptive filtering order of each distance of each positioning sequence, each positioning sequence is filtered to obtain a filtered positioning sequence.

3. A fully automatic doffing PLC control method as claimed in claim 2, characterized in that: The adaptive filter order of each distance is specifically the integer result of multiplying the normalized value of the actual noise intensity of the yarn dropping at each distance by the original filter order.

4. A fully automatic doffing PLC control method as claimed in claim 1, characterized in that: The specific steps of marking the spindles are: The first distance that changes is counted from the left and right ends of the filtered positioning sequence, and recorded as the first distance and the second distance respectively; based on the difference in the displacement of the automatic yarn dropping trolley corresponding to the first distance and the second distance, the broken wire recognition value of the spindle corresponding to the ranging positioning sequence is obtained; the spindle whose broken wire recognition value is greater than the preset threshold is marked as the first preset value; the remaining spindles are marked as the second preset value; wherein the first preset value is not equal to the second preset value.

5. A fully automatic doffing PLC control method as claimed in claim 4, characterized in that: The steps of operating the marked spindles by PLC control are as follows: The position of the distance meter before the automatic yarn doffing trolley is started is taken as the origin, and the displacement of the automatic yarn doffing trolley is taken as the horizontal coordinate of the coordinate system; the distance obtained by the distance meter is taken as the vertical coordinate of the coordinate system; Based on the coordinates of the first distance and the second distance in the distance measurement and positioning sequence in the coordinate system, the center coordinates of the spindle corresponding to the distance measurement and positioning sequence are obtained; The center coordinates of all spindles are used as inputs of the PLC control program of the automatic yarn dropping trolley. The spindles whose marking values ​​are the first preset values ​​are not grasped, and the spindles whose marking values ​​are the second preset values ​​are grasped.

6. A fully automatic doffing PLC control method as claimed in claim 5, characterized in that: The step of obtaining the center coordinates of the spindle corresponding to the ranging and positioning sequence comprises: Obtain the corresponding coordinates of the first distance and the second distance of each ranging and positioning sequence in the coordinate system, which are recorded as the first coordinate and the second coordinate respectively; take the coordinate corresponding to the middle position between the first coordinate and the second coordinate as the center coordinate of the spindle corresponding to the ranging and positioning sequence.

7. A fully automatic doffing PLC control system, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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