A winding method, system and terminal for a winding machine

Abstract

The present invention relates to a winding method, system and terminal of a winding machine, and to the technical field of automation equipment, which includes obtaining image detection information of cables in a feeding area; selecting a cable image from a cable feature database according to the image detection information; determining the cable position according to the cable image and a first identification position; selecting a single cable image from a single feature database according to the cable image, and defining the unselected cable image as an overlapping cable image; controlling a vibration device to vibrate according to a vibration frequency, and updating the overlapping cable image; determining whether the updated overlapping cable image falls into a single feature database; if so, correcting it to a single cable image; if not, controlling a blowing device to blow the overlapping cables in the overlapping cable image with a blowing force until the overlapping cable image is corrected to a single cable image. The present application has the effect of improving the efficiency of winding work and reducing manual intervention.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a winding method, system and terminal of a winding machine. Background Art

[0002] The cable winding machine is a machine that winds the cable. Currently, it has changed from manual winding to machine winding.

[0003] In order to improve the working efficiency of the winding machine during the winding process, a rotating disk is provided on the winding machine to wind the cable. If the cable overlaps during the feeding process before winding, manual intervention is required, that is, the rotating button is manually turned off after winding, and finally the linear object is clamped out and fixed by a mechanical clamp.

[0004] With regard to the above-mentioned related technologies, during the loading process of the winding machine before winding, manual inspection and intervention are required based on the overlap in the loading area of ​​the winding machine before winding. The process is relatively complicated and inefficient, and there is room for improvement. Summary of the invention

[0005] In order to improve the working efficiency of a winding machine during a winding process, the present invention provides a winding method, a system and a terminal for the winding machine.

[0006] In a first aspect, the present invention provides a winding method for a winding machine, which adopts the following technical solution:

[0007] A winding method for a winding machine, comprising:

[0008] Obtain image detection information of cables in a preset loading area;

[0009] Selecting a cable image from a preset cable feature database according to the image detection information;

[0010] Determine the cable position according to the cable image and the preset first identification position;

[0011] A single cable image is framed and selected from a preset single cable feature database according to the cable image, and the cable image not framed and selected is defined as an overlapping cable image;

[0012] Based on the image of a single cable and the position of the cable, a preset feeding device is controlled to clamp the cable to a preset winding machine for winding;

[0013] determining an amount of overlap based on the overlapping cable images, and determining a vibration frequency based on the amount of overlap;

[0014] Controlling the vibration device preset in the feeding area to vibrate according to the vibration frequency, and updating the overlapping cable image;

[0015] determining whether the updated overlapping cable image falls into a single feature database;

[0016] If it falls into the range, the updated overlapping cable image is corrected to a single cable image;

[0017] If it does not fall into the range, the blowing force is determined according to the cable position and the overlap amount of the overlapping cable images;

[0018] The preset blowing device is controlled to blow air to the overlapping cables in the overlapping cable image with a blowing force, and the overlapping cable image is updated until the overlapping cable image is corrected to a single cable image.

[0019] By adopting the above technical solution, the number of overlapping cables in the feeding area is obtained through image detection information, and the vibration device is controlled to vibrate according to the overlapping number to make the overlapping cables fall off. If the overlapping state still exists after vibration, the blowing device is controlled to blow air to the overlapping cables, thereby improving the feeding efficiency.

[0020] Optionally, the method of placing the cables in the loading area on the winding machine includes:

[0021] A clamping image is selected from a preset clamping feature database according to the image detection information;

[0022] Determine the clamping position of the cable head according to the clamping image and the preset second identification position;

[0023] Clamp the cables in the loading area according to the clamping position of the cable head and lift them to a preset height, and obtain the weight detection value of the cables;

[0024] According to the selected cable image, the model information is matched from the preset wire diameter database;

[0025] Determine the reference weight range and reference tension value based on the model information;

[0026] Determine whether the weight detection value is within the reference weight range;

[0027] If the weight detection value is not within the reference weight range, the cable is clamped to the preset waste area and the cable is re-clamped;

[0028] If the weight detection value is within the reference weight range, the cable is clamped to a preset installation area and installation image information is obtained;

[0029] Selecting a cable head image from the installation image information according to preset cable head features;

[0030] Confirming the cable head position according to the cable head image and the second marking position;

[0031] Determining whether the preset identification area contains the cable head feature;

[0032] If the recognition area contains the cable head feature, the rotating disk is controlled to wind the cable;

[0033] If the recognition area does not contain the cable head feature, the distance value between the cable head position and the installation area is calculated;

[0034] According to the distance value, the preset pulling device is controlled with the reference pulling force value to pull the preset pulling point in the cable, and after the pulling is completed, the rotating disk is controlled to wind the cable.

[0035] By adopting the above technical solution, it is determined whether the cable is in the reference weight range according to the obtained weight detection value. When the weight detection value is not in the reference weight range, it means that there is a problem with the cable, and the cable is clamped to the waste area. When the weight detection value is in the reference weight range, it means that there is no problem with the cable, and the cable is clamped to the installation area. After clamping to the installation area, if the cable head is not in the cable head position, the pulling device is controlled to pull the cable at the pulling point, thereby improving the accuracy of cable feeding.

[0036] Optionally, when the identification area includes a cable head feature, the method for controlling the rotating disk to perform a verification before winding includes:

[0037] Obtaining the image information of the roller in the preset roller area;

[0038] Determining whether there is a preset pinching feature in the roller image information;

[0039] If the preset clamping and moving feature does not exist in the roller image information, a clamping cable image is framed and selected from the preset cable features according to the roller image information;

[0040] Determine the moving position information according to the clamped cable image and the opening position of the roller in the preset feeding state;

[0041] The cable is clamped to a preset cable clamping position according to the moving position information and it is determined whether a preset clamping feature exists in the roller image information.

[0042] If there is a preset clamping and shifting feature in the roller image information, the roller in the roller area is controlled to be clamped inward from the preset loading state to switch to the preset transmission state, and the preset rotating baffle is controlled to move inward from the preset opening position to the preset closing position to achieve cable limiting, complete the verification and control the rotating disk for winding.

[0043] By adopting the above technical solution, it is determined whether there is a cable in the roller image information. If there is no cable in the roller image information, the image of the clamped cable to be clamped is selected from the preset cable features according to the roller image information, and the position of the cable to be clamped is determined from the open position of the roller in the feeding state according to the clamped cable image. After determining the position of the cable to be clamped, the cable is clamped into the roller, and the existence of the cable in the roller image information indicates that the cable is in the roller area. When the cable is in the roller area, the roller is controlled from the feeding state to the transmission state. After the roller reaches the transmission state, the rotating baffle moves inward from the open position to the preset closed position, thereby realizing the cable limit and improving the accuracy of feeding.

[0044] Optionally, the verification method for winding the rotating disk includes:

[0045] Obtain trigger information on a preset detection point;

[0046] Determine whether the trigger information is consistent with the preset tail line trigger information;

[0047] If the trigger information is consistent with the preset tail line trigger information, the rotating disk continues to rotate;

[0048] If the trigger information is inconsistent with the preset tail line trigger information, the rotating disk is controlled to stop rotating and the angle rotation value is obtained;

[0049] Determine the reference angle rotation value according to the model information;

[0050] Determine whether the angle rotation value is consistent with the reference angle rotation value;

[0051] If the angle rotation value is consistent with the reference angle rotation value, the winding is completed;

[0052] If the angle rotation value is inconsistent with the reference angle rotation value, the cable is clamped to a preset waste area.

[0053] By adopting the above technical solution, when the rotating disk is winding, if the trigger information is consistent with the result of the tail line trigger information, it means that the cable has not been completely rotated and has not reached the tail line, and the rotation continues. If the trigger information on the detection point is inconsistent with the tail line trigger information, it means that the cable has reached the tail line, and the rotation is stopped. After stopping the rotation, if the reference angle rotation value is consistent with the angle rotation value, it means that the cable winding is completed. If the reference angle rotation value is inconsistent with the angle rotation value, the cable has not completed the number of turns it should have, indicating that there is a problem with the cable and it is clamped in the waste area, thereby improving the accuracy of feeding.

[0054] Optionally, when the rotating disk is winding, the cable verification method is:

[0055] Determine the number of channels of the preset fixed channels according to the model information;

[0056] Determine the lifting quantity of the fixed channel according to the number of channels;

[0057] Control the fixed channel to lift to the preset work station according to the lifting quantity;

[0058] When the fixed channel is lifted to the preset working position, the line end position is determined according to the preset line end image feature and the preset third identification position;

[0059] Determine the cable length based on the cable end position, the third marker position and the cable head position;

[0060] Determine the fixed channel length based on the number of lifts;

[0061] The sum of the fixed channel length and the preset reference fixed length is calculated and defined as the total fixed length;

[0062] Determine whether the total fixed length is consistent with the cable length;

[0063] If the cable length does not match the total fixed length, it is clamped to the waste area;

[0064] If the cable length is consistent with the total fixed length, the rotating disk is controlled to wind the cable.

[0065] By adopting the above technical solution, the number of fixed channels that need to be lifted in the fixed channel is determined according to the number of channels, and the fixed channels that need to be lifted are lifted to the preset work station, and the cable length is determined according to the line tail position, the third identification position and the cable head position, and the fixed channel length is determined according to the lifting number. The sum of the fixed channel length and the preset reference fixed length is calculated as the total fixed length, and then it is determined whether the length of the loaded cable is consistent with the total fixed length. If not, the cable is clamped to the waste area, and if consistent, the rotating disk is controlled to wind the wire, which improves the accuracy of cable loading, thereby realizing automatic loading.

[0066] Optionally, a method for controlling a cable includes:

[0067] Get fixed image information in a fixed channel;

[0068] Determining whether the fixed image information contains cable features;

[0069] If the cable feature is not included, the preset clamping device is controlled according to the position of the cable tail to clamp the cable into the fixed channel until the cable feature is included;

[0070] If cable characteristics are included, channel operation times of different fixed channels are determined based on the cable length and a preset time database;

[0071] Determine the blowing force based on the channel operation time and model information;

[0072] The opening and closing of the preset blowing device in the corresponding fixed channel is controlled according to the channel running time, the strength of the corresponding blowing device is controlled according to the blowing force to blow the cable into a suspended state, and the rotating disk is synchronously controlled to perform winding.

[0073] By adopting the above technical solution, the fixed image information in the fixed channel is used to determine whether the fixed image information contains cable features. If the fixed image information does not contain cable features, the preset clamping device is controlled to clamp the cable into the fixed channel. If the fixed image information contains cable features, the blowing force is determined according to the channel operation time and model information, and the preset blowing device is controlled according to the channel operation time to blow the cable into a suspended state, and the rotating disk is controlled to wind the cable, thereby reducing manual intervention.

[0074] Optionally, when a preset clamping feature exists in the roller image information, a method for adjusting the preset spacing of the winding rods is as follows:

[0075] Get the winding rod spacing value of the winding rod;

[0076] Determine the reference spacing value of the winding rod according to the model information;

[0077] Determine whether the reference spacing value is consistent with the winding rod spacing value;

[0078] If the reference spacing value is inconsistent with the winding rod spacing value, the winding rod is controlled to adjust according to the reference spacing value;

[0079] If the reference spacing value is consistent with the winding rod spacing value, the winding force value is determined according to the model information and the preset rotation force database, and the winding position is determined according to the model information and the preset winding position database;

[0080] The rotation of the rotating disk is controlled according to the winding force value, and the preset push rod is controlled according to the winding position to control the cable movement.

[0081] By adopting the above technical solution, the spacing value of the winding rod is first obtained and the reference spacing value of the winding rod is determined according to the model information, and then the two are compared to see if they are consistent. If they are inconsistent, the winding rod is adjusted according to the reference spacing value. If the two are consistent, the winding force value is determined according to the model information through the preset rotation force database, and the winding position is determined through the winding position database. Finally, the rotation of the rotating disk is controlled by the determined winding force value, and the push rod is controlled by the winding position to move the cable, thereby improving work efficiency.

[0082] Optionally, a method for determining the reference spacing value includes:

[0083] Determine wire diameter information and material information based on model information;

[0084] Wind the wires sequentially based on the wire diameter information, material information and the preset detection spacing interval and obtain the detection image information sequentially;

[0085] Analyze the cable winding state value according to the detected image information and the preset winding posture;

[0086] Determining whether the cable winding state value falls within a preset reference state interval;

[0087] If the cable winding state value falls into the preset reference state interval, the current reference spacing value corresponding to the detection spacing interval passes the verification;

[0088] If the cable winding state value does not fall into the preset reference state interval, the current reference spacing value corresponding to the detection spacing interval fails to pass the verification, and the new reference spacing value and the new detection image information are repeatedly screened;

[0089] The current reference spacing value that has passed the calibration is paired with the model information and stored.

[0090] By adopting the above technical solution, the results of winding are obtained in sequence according to the wire diameter information, material information and preset detection spacing interval of the cable, and the detection image information is obtained in sequence, and the cable winding state is determined according to the detection image information and the preset cable winding posture. When the winding state of the cable falls into the reference state interval of the cable, it means that the cable winding is completed and the spacing of the current winding rod is accurate. If it does not fall into the reference state interval, it means that it has not passed the verification, and the new reference spacing value and the new cable detection image information are re-screened, thereby improving the accuracy of the cable after winding.

[0091] In a second aspect, the present application provides a winding system for a winding machine, which adopts the following technical solution:

[0092] A winding system for a winding machine, comprising: an acquisition module for acquiring image detection information, weight detection value, installation image information, roller image information, trigger information, angle rotation value, fixed image information, winding rod spacing value and detection image information;

[0093] A memory for storing a program of the winding method of the winding machine;

[0094] The program in the processor and the memory can be loaded and executed by the processor to implement the above-mentioned winding method of the winding machine.

[0095] By adopting the above technical solution, the data is acquired through the acquisition module to determine whether the cable is in the reference weight range. When the weight detection value is not in the reference weight range, it means that there is a problem with the cable, and the cable is clamped to the waste area. When the weight detection value is in the reference weight range, it means that there is no problem with the cable, and the cable is clamped to the installation area. After clamping to the installation area, if the cable head is not in the cable head position, the pulling device is controlled to pull the cable at the pulling point, thereby improving the accuracy of cable feeding.

[0096] In a third aspect, the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the above-mentioned winding method of a winding machine.

[0097] By adopting the above technical solution, a computer program that can be loaded by a processor and executed by the above winding method of the winding machine is stored in the memory to determine whether the cable is in the reference weight range. When the weight detection value is not in the reference weight range, it means that there is a problem with the cable, and the cable is clamped to the waste area. When the weight detection value is in the reference weight range, it means that there is no problem with the cable, and the cable is clamped to the installation area. After clamping to the installation area, if the cable head is not in the cable head position, the pulling device is controlled to pull the cable with the pulling point, thereby improving the accuracy of cable feeding.

[0098] In summary, the present application includes at least one of the following beneficial technical effects:

[0099] 1. Determine the vibration frequency according to the number of overlaps, and control the vibration device preset in the feeding area to vibrate according to the vibration frequency. Update the overlap number after the vibration is completed. If all the overlapping cables become a single cable after the update, the vibration is successful. If there are still overlapping cables, control the preset blowing device to blow the overlapping cables into a single cable state, thereby improving the accuracy of feeding and reducing manual intervention;

[0100] 2. Control the preset gripper to clamp the cable head into the feeding area, obtain the weight detection value during the clamping process, and determine whether the obtained weight detection value is within the reference weight detection value range. If not, add the cable to the waste area; if so, add the cable to the installation area. After clamping it to the safe area, select the cable head image from the installation image information. If the cable head feature is identified in the identification area, control the rotating disk for winding. If the cable head feature is not identified, obtain the reference tension value based on the distance, and control the preset pulling device to pull the cable, thereby saving time and manpower;

[0101] 3. When the cable is loaded, it will pass through the detection point, so as to obtain the trigger information of the cable. When the tail of the cable exceeds the detection point, the tail trigger information is obtained. If the trigger information is consistent with the tail trigger information, the rotary disk will continue to rotate. If the trigger information is inconsistent with the tail trigger information, it means that the tail has passed the detection point, and it will stop rotating to determine whether the angle rotation value of the rotary disk is consistent with the reference angle rotation value. If they are consistent, the winding is completed. If they are inconsistent, the cable is clamped to the waste area, thereby improving the accuracy of the rotary disk in winding the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] Figure 1 is a flow chart of a winding method of a winding machine according to an embodiment of the present invention;

[0103] Figure 2 is a flow chart of a method for placing cables in a loading area on a winding machine according to an embodiment of the present invention;

[0104] Figure 3 It is a flow chart of a method for controlling a rotating disk to perform calibration before winding according to an embodiment of the present invention. DETAILED DESCRIPTION

[0105] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0106] The embodiment of the present application discloses a winding method of a winding machine, wherein a single cable in a feeding area is clamped into a fixed area of ​​a rotating disk on an operating table. When the cable head is at a specified position and there is a cable in the roller, the rotating disk is controlled to rotate. During the rotation, a blowing device in a fixed channel blows the cable into a suspended state until the tail of the cable reaches the detection area of ​​the tail and the rotating disk rotates at the rotation value of the cable model. After the rotation is completed, the wound cable is clamped to the packaging station by a robot for packaging, and the cable is clamped to the finished product area after packaging is completed.

[0107] Reference Figure 1 , a winding method of a winding machine, comprising the following steps:

[0108] Step 101: Obtain image detection information of cables in a preset loading area.

[0109] The loading area refers to the area where the cables to be loaded are placed. Image detection information refers to the image information obtained by detecting the loading area. Image detection information is the image detection information of the cables in the loading area obtained by a preset camera.

[0110] Step 102: Select a cable image from a preset cable feature database according to the image detection information.

[0111] The cable feature database is preset data, and the cable feature database stores parameter features corresponding to cables of different sizes and specifications, which will not be described in detail here.

[0112] The cable image refers to a photo of a cable selected from the image detection information. The image satisfying the cable characteristics in the image detection information is selected according to the cable feature database to obtain the cable image.

[0113] Step 103: Determine the cable position according to the cable image and a preset first identification position.

[0114] The first identification position is a preset coordinate position, which includes at least three known coordinate positions. The cable position refers to the position of the cable in the feeding area. A coordinate system is established in the image detection information, and the cable position corresponding to the cable image is obtained through the known first identification position.

[0115] Step 104: a single cable image is framed and selected from a preset single cable feature database according to the cable image, and the cable image not framed and selected is defined as an overlapping cable image.

[0116] The single feature database is a preset database, which stores the appearance features corresponding to single cables of different specifications and sizes, which will not be described here. Overlapping cable images refer to images of overlapping cables. Single cable images refer to images of cables in a single state.

[0117] The image frames of the single cables that meet the requirements in the cable image are selected according to the single cable database, thereby obtaining the single cable image. The image frames of the single cables that do not meet the requirements in the cable image are not selected according to the single cable database, and are defined as overlapping cable images.

[0118] Step 105: Based on the single cable image and the cable position, a preset loading device is controlled to clamp the cable onto a preset winding machine for winding.

[0119] The feeding device refers to the mechanical gripper that clamps the cable for feeding. The winding machine refers to the device that winds the cable. A coordinate system is established in the image detection information. The feeding device controls the mechanical gripper of the feeding device through the image of a single cable and the position of the cable to clamp the cable to the winding machine and run the winding disk through the transmission device in the rotating disk for winding.

[0120] Step 106: Determine the overlap amount based on the overlapped cable images, and determine the vibration frequency according to the overlap amount.

[0121] The overlap number refers to the overlap number of the cables in the feeding area. The vibration frequency refers to the frequency of the vibration of the vibration device.

[0122] The images of the overlapping cables in the feeding area are framed by image detection information, and the number of the framed overlapping cable images is calculated, and the vibration frequency of the vibration device is determined according to the number of overlapping cables.

[0123] Step 107: Control a vibration device preset in the loading area to vibrate according to the vibration frequency, and update the overlapping cable image.

[0124] The vibration device is arranged in the feeding area and is used to vibrate the feeding area. The characteristic information is formed by being pre-set and stored by the operator.

[0125] The feeding area is vibrated by controlling the driver in the vibration device preset in the feeding area through the vibration frequency, and the overlapping cable images in the feeding area are framed and selected through the image detection information after the vibration, so as to update the cable image.

[0126] Step 108: Determine whether the updated overlapping cable image falls into the single cable feature database.

[0127] It is determined whether the updated overlapping cable image falls into the single feature database, thereby determining whether there are overlapping cables in the feeding area.

[0128] Step 1081: If it falls within, the updated overlapping cable image is corrected to a single cable image.

[0129] When the overlapping cable image falls into the single cable feature database, it means that there are no overlapping cables, and the updated overlapping cable image is corrected to a single cable image.

[0130] Step 1082: If it does not fall into the image, determine the blowing force according to the cable position and the overlap amount of the overlapping cable images.

[0131] Blowing force refers to the force with which the blowing device blows.

[0132] When the overlapping cable image does not fall into the single feature database, it means that the overlapping cables cannot be separated by vibration. The preset blowing database contains the blowing force data corresponding to the cable position and the number of overlaps. The cable position of the overlapping cable image and the number of overlaps of the cables are input into the blowing database to obtain the blowing force, thereby determining the blowing force.

[0133] Step 109: controlling a preset blowing device to blow air to the overlapping cables in the overlapping cable image with a blowing force, and updating the overlapping cable image until the overlapping cable image is corrected into a single cable image.

[0134] The blowing device is preset on the operating table and is used to blow the overlapping cables in the feeding area. The blowing device is controlled to blow the overlapping cables with the obtained blowing force, and the overlapping cable images are updated after blowing until they are corrected into a single cable image.

[0135] Reference Figure 2 In order to further place the cables in the loading area on the winding machine, the following steps are also included:

[0136] Step 201: Select a clamping image from a preset clamping feature database according to image detection information.

[0137] The clamping image refers to the image of the clamped cable. The image detection information is input into the clamping feature database to obtain the clamping image. The clamping feature database is trained by a neural network model to obtain the clamping image, which will not be described in detail here.

[0138] Step 202: Determine the cable head clamping position according to the clamping image and a preset second identification position.

[0139] The second identification position is a preset coordinate position, and the second identification position includes at least two known coordinate positions. The cable head clamping position refers to the clamping position of the cable head of the cable. A coordinate system is established in the image detection information, and the cable head clamping position corresponding to the clamping image is obtained through the known second identification position.

[0140] Step 203: Clamp the cable in the loading area according to the clamping position of the cable head and lift it to a preset height, and obtain the weight detection value of the cable.

[0141] The weight detection value refers to the weight value of the cable detected in the feeding area. After the cable is clamped by the clamp, the weight detection value of the clamped cable is obtained by the weight sensor in the clamp.

[0142] The cable in the loading area is clamped by a gripper according to the position of the cable head, and the weight detection value is obtained synchronously after it is lifted to a preset height. The preset height is pre-set and stored by the operator.

[0143] Step 204: Match model information from a preset wire diameter database according to the selected cable image.

[0144] The wire diameter database stores wire diameter data of various types of cables, which will not be described in detail here. The model information refers to the model information of the cable.

[0145] The images that meet the cable characteristics are framed out, and the images that meet the cable characteristics in the image detection information are framed out according to the preset wire diameter database, so as to match the model information.

[0146] Step 205: Determine the reference weight range and reference tension value according to the model information. Determine the reference weight range and reference tension value according to the model information

[0147] The reference weight range refers to the weight range of cables of various models. The reference tension value refers to the tension value of cables of various models when pulled backward.

[0148] The reference weight range and reference tension value of the cable are determined based on the cable model information.

[0149] Step 206: Determine whether the weight detection value is within the reference weight range.

[0150] By determining whether the cable weight test value is within the reference weight range, it is determined whether the cable can be loaded.

[0151] Step 2061: If the weight detection value is not within the reference weight range, clamp the cable to a preset waste area and re-clamp the cable;

[0152] The scrap area is the area where discarded cables are placed.

[0153] If the weight detection value of the cable is not within the reference weight range, it means that the clamped cable does not meet the requirements for loading. The preset mechanical gripper is controlled to clamp the cable to the waste area, and then the cable is re-clamped in the loading area.

[0154] Step 2062: If the weight detection value is within the reference weight range, the cable is clamped to a preset installation area and installation image information is obtained.

[0155] The installation area refers to the area on the operating table where the cables are installed before winding. The installation image information refers to the information obtained by performing image detection on the installation area through a preset camera.

[0156] If the weight detection value of the cable is within the reference weight range, it means that the cable is suitable for loading. Then the mechanical clamp preset on the operating table is controlled to clamp the cable to the preset installation area, and the installation image information of the cable in the installation area is obtained through the preset camera.

[0157] Step 207: Select a cable head image from the installation image information according to preset cable head features.

[0158] The cable head feature refers to a feature used to indicate the shape and size of the cable head. The cable head image refers to a photo of the cable head of the cable, and the feature information is pre-set and stored by the operator.

[0159] According to the cable feature database, an image satisfying the features of the cable head of the cable in the image detection information is framed to obtain a cable head image.

[0160] The installation image information is input into the cable feature database to obtain the cable head image. The cable feature database is trained through a neural network model to obtain the cable head image, which will not be described in detail here.

[0161] Step 208: confirming the cable head position according to the cable head image and the second identification position.

[0162] The cable head position refers to the position of the cable head of the cable. A coordinate system is established in the image detection information, and the cable head position corresponding to the cable head image is obtained through the known second identification position.

[0163] Step 209: Determine whether the preset identification area contains the cable head feature.

[0164] The identification area refers to the area where the cable head is identified after the cable is clamped to the installation area. The cable head feature refers to the shape, color and size of the cable head. The cable head feature is determined by whether the identification area contains the cable head feature.

[0165] Step 2091: If the recognition area contains the cable head feature, control the rotating disk to wind the cable.

[0166] If the recognition area contains the cable head feature, it means that the cable head falls into the recognition area, and the rotating disk is controlled to wind the cable.

[0167] Step 2092: If the identification area does not contain the cable head feature, calculate the distance value between the cable head position and the installation area.

[0168] If the recognition area does not contain the cable head feature, it means that the cable head does not fall into the recognition area, and then the distance value between the cable head position of this cable and the installation area is calculated.

[0169] Step 210: Control a preset pulling device to pull a preset pulling point in the cable with a reference pulling force value according to the distance value, and control the rotating disk to wind the cable after the pulling is completed.

[0170] The pulling device refers to a device for pulling the cable head that has not fallen into the identification area.

[0171] The calculated distance value is used to control the pulling device to pull the pulling point in the cable with the reference pulling force value. When the cable head falls into the identification area after pulling, the rotating disk is controlled to wind the cable. The pulling point is set and stored by the operator in advance.

[0172] Reference Figure 3 When the cable head feature is included in the recognition area, the method for controlling the rotating disk to perform a pre-winding verification also includes the following steps:

[0173] Step 301: Obtaining roller image information in a preset roller area.

[0174] The roller area refers to the area where the cable is fed into the roller. The roller image information refers to the photo of the roller in the roller area taken by the camera preset on the operating table.

[0175] Step 302: Determine whether there is a preset pinching feature in the roller image information.

[0176] The pinch feature refers to the state where there is a cable between the two rollers.

[0177] The roller image information is input into a preset clamping feature database to determine whether there is a clamping feature in the roller image information. The clamping feature database is trained by a neural network model to know whether it contains a clamping feature, which will not be described in detail here.

[0178] By judging whether there is a clamped cable in the roller image information, it is judged whether the cable falls between the two rollers.

[0179] Step 3021: If the preset clamping and moving feature does not exist in the roller image information, a clamping cable image is selected from the preset cable features according to the roller image information.

[0180] Cable features refer to the shape and size of the cable. The clamped cable image refers to the cable to be loaded that is not between the two rollers. The image with the clamped cable is selected based on the camera frame in the roller image information.

[0181] If there is no clamping feature in the roller image information, it means that the cable has not fallen between the two rollers. The camera on the operating table will identify the cable features through the roller image information and select the clamped cable image from the preset cable features.

[0182] Step 303: Determine the moving position information according to the clamped cable image and the opening position of the roller in the preset feeding state.

[0183] The rollers have a loading state and a transmission state, wherein the loading state refers to the separation state when there is no cable between the two rollers, and the transmission state refers to the clamping state of the cable when there is a cable between the two rollers. The moving position information refers to the position information of the cable that needs to be moved.

[0184] A coordinate system is established in the roller detection information, and the moving position information is determined by the cable clamping image and the open position of the roller in the feeding state, so as to obtain the position of the cable to be clamped.

[0185] Step 304: Clamp the cable to a preset cable clamping position according to the moving position information and determine whether a preset clamping feature exists in the roller image information.

[0186] The cable clamping position refers to the position where the cable is placed between the two rollers. The clamping feature refers to the posture and shape characteristics of the cable clamped between the two rollers. The cable is clamped to the cable clamping position through the obtained moving position information, and the cable can be framed in the roller image information, indicating that the clamping feature exists in the roller image information.

[0187] Step 3022: If there is a preset clamping feature in the roller image information, the roller in the roller area is controlled to be clamped inward from the preset loading state to switch to the preset transmission state, and the preset rotating baffle is controlled to move inward from the preset opening position to the preset closing position to achieve cable limiting, complete the verification and control the rotating disk for winding.

[0188] The transmission state refers to the roller being in a clamping state. The rotating baffle is a baffle located on the central axis of one of the rollers and restricts the cable from being disengaged from the roller. The rotating baffle does not rotate with the roller when the roller rolls.

[0189] The open position refers to the state where the rotating baffle is facing outward from the roller. The closed position refers to the state where the rotating baffle is facing the roller and restricting the cable in the roller from sliding out. If there is a clamping feature in the wheel image information, it means that the cable has successfully fallen between the two rollers. Then, the rollers in the roller area are respectively controlled by two preset cylinders to clamp inward from the loading state until they are switched to the transmission state, and the rotating baffle is controlled by the motor shaft to move inward from the open position to the closed position to achieve cable limitation. Then, the pre-winding inspection is completed, and the rotating disk is controlled to perform winding.

[0190] After step 3022, in order to further perform the winding verification method on the rotating disk, the following steps are also included:

[0191] Step 401: Acquire trigger information at a preset detection point.

[0192] The detection point is the detection position set on the feeding tray, where the preset laser sensing device is at the monitoring point and is used to sense the cable. The trigger information refers to the information obtained when the cable passes through the detection point.

[0193] Step 402: Determine whether the trigger information is consistent with the preset tail line trigger information.

[0194] The tail line trigger information refers to the information that no cable is identified in the detection point.

[0195] Whether the cable winding is completed is determined by checking whether the trigger information of the detection point is the same as the preset tail line trigger information of the detection point.

[0196] Step 4021: If the trigger information is consistent with the preset tail line trigger information, the rotating disk continues to rotate.

[0197] If the trigger information is consistent with the tail line trigger information, it means that the cable has not been completely rotated, and the rotating disk continues to rotate.

[0198] Step 4022: If the trigger information is inconsistent with the preset tail line trigger information, the rotating disk is controlled to stop rotating and the angle rotation value is obtained.

[0199] The angle rotation value refers to the rotation angle value after the coiled line is rotated.

[0200] If the trigger information is inconsistent with the tail line trigger information, it means that the cable has finished rotating, then the rotating disk will stop rotating, and the total angle rotation value of the rotating disk will be obtained.

[0201] Step 403: Determine the reference angle rotation value according to the model information.

[0202] The reference angle rotation value refers to the reference rotation value of the rotating disk. Different cable model information matches different reference angle rotation values, and the reference angle rotation value of the rotating disk is determined according to the cable model information.

[0203] Step 404: Determine whether the angle rotation value is consistent with the reference angle rotation value.

[0204] Whether the winding of the rotating disk is completed is determined by whether the angle rotation value is consistent with the reference angle rotation value.

[0205] Step 4041: If the angle rotation value is consistent with the reference angle rotation value, the winding is completed.

[0206] If the angle rotation value after the rotating disk rotates is consistent with the reference angle rotation value, it means that the cable has been rotated for the preset reference number of turns, and the winding is completed.

[0207] Step 4042: If the angle rotation value is inconsistent with the reference angle rotation value, the cable is clamped to a preset waste area.

[0208] The scrap area is the area where discarded cables are placed.

[0209] If the angle rotation value after the rotating disk rotates is inconsistent with the reference angle rotation value, it means that the cable does not meet the standard, and the cable is clamped to the waste area by the robot.

[0210] After step 212, in order to further wind the rotating disk, the cable verification method further includes the following steps:

[0211] Step 501: Determine the number of preset fixed channels according to model information.

[0212] The number of channels refers to the number of channels that need to be run according to the cable model. The fixed channel is divided into an upper channel and a lower channel. The fixed channel is used to place the tail of the cable when the cable is loaded. The upper channel of the fixed channel is pushed by a preset cylinder to achieve the effect of controlling the opening and closing of the fixed channel. The fixed channel is formed after being preset by the operator.

[0213] Determine the number of fixed channels based on the cable model information.

[0214] Step 502: Determine the lifting quantity of the fixed channel according to the number of channels.

[0215] The lifting quantity refers to the number of fixed channels that need to be lifted. The number of fixed channels that need to be lifted is determined based on the number of channels.

[0216] Step 503: Control the fixed channel to be lifted to a preset working position according to the lifting quantity.

[0217] The workstation refers to the station where the fixed channel is lifted for operation. The lifting quantity is determined by the model information of the cable selected in the image detection information box, and the preset cylinder is controlled according to the lifting quantity to lift the fixed channel to the workstation.

[0218] Step 504: When the fixed channel is lifted to the preset working position, the line end position is determined according to the preset line end image feature and the preset third identification position.

[0219] The tail line image feature refers to the shape and posture features of the cable tail line. The tail line position refers to the position of the cable tail line.

[0220] When the fixed channel is lifted to the work station according to the lifting quantity, a coordinate system is established in the image detection information, and the end-of-line position of the cable is determined by the end-of-line image features and the known third identification position. The third identification position is a preset coordinate position, and the third identification position includes at least three known coordinate positions.

[0221] Step 505: Determine the cable length according to the cable end position, the third marker position and the cable head position.

[0222] The cable length is the total length of the cable, and the cable length is calculated by all the cable coordinate points obtained from the cable tail position, the third marker position and the cable head position.

[0223] Step 506: Determine the fixed channel length according to the lifting quantity.

[0224] The lifting quantity of the fixed channel is determined according to the cable model. Different lifting quantities constitute different fixed channel lengths. The length of the fixed channel is determined according to the lifting quantity of the fixed channel.

[0225] Step 507: Calculate the sum of the fixed channel length and the preset reference fixed length and define it as the total fixed length.

[0226] The fixed channel length refers to the length of the raised fixed channel. The reference fixed length refers to the area where the cables are loaded and fixed, excluding the fixed channel. The total fixed length refers to the total length where the cables are fixed and loaded.

[0227] The fixed channel length and the preset reference fixed length are obtained through image detection information, and the sum of the fixed channel length and the preset reference fixed length is calculated to obtain the total fixed length.

[0228] Step 508: Determine whether the total fixed length is consistent with the cable length.

[0229] By checking whether the total fixed length is consistent with the cable length, it can be determined whether the cable can be loaded.

[0230] Step 5081: If the cable length is inconsistent with the total fixed length, clamp it to the waste area.

[0231] If the cable length is inconsistent with the total fixed length, it means that the cable length does not meet the requirements, and the cable that does not meet the length requirements will be clamped to the waste area by the robot.

[0232] Step 5082: If the cable length is consistent with the total fixed length, control the rotating disk to wind the cable.

[0233] If the cable length is consistent with the total fixed length, it means that the cable length meets the requirement, and the rotating disk is controlled to wind the cable.

[0234] After step 5082, in order to further control the cable, the following steps are further included:

[0235] Step 601: Obtain fixed image information in a fixed channel.

[0236] Fixed image information refers to image information in a fixed channel. Image detection information is fixed detection information of cables in a fixed channel obtained through a preset camera.

[0237] Step 602: Determine whether the fixed image information contains cable features.

[0238] The fixed image information is input into the cable feature database to determine whether there are cable features in the fixed image information. The cable feature database is trained through a neural network model to know whether it contains cable features.

[0239] By judging whether there is a cable in the fixed image information, it is judged whether there is a cable in the cable fixing channel.

[0240] Step 6021: If the cable feature is not included, the preset clamping device is controlled according to the position of the wire end to clamp the cable into the fixed channel until the cable feature is included.

[0241] The clamping device refers to a preset manipulator and is used to clamp the cable.

[0242] If the cable feature is not included, it means that there is no cable in the fixed channel, and the cable is clamped into the fixed channel by controlling the clamping device through the tail line position until the cable feature is included in the fixed image information.

[0243] Step 6022: If the cable feature is included, determine the channel operation time of different fixed channels according to the cable length and a preset time database.

[0244] The time database stores the time that each type of cable runs in a fixed channel, which will not be described in detail here. Channel running time refers to the running time of a fixed channel.

[0245] If the cable feature is included, it means that there are cables in the fixed channel, and the cable length and time database are obtained according to the coordinate system in the fixed image information to determine the channel operation time of different fixed channels.

[0246] Step 603: Determine the blowing force according to the channel operation time and model information.

[0247] The blowing force refers to the force of the blowing device. The blowing force is determined by the channel operation time of the fixed channel and the model information of the cable. The blowing force of the blowing device is determined by obtaining the channel operation time and the model information of the cable according to the time database in the fixed image information.

[0248] Step 604: Control the opening and closing of the preset blowing device in the corresponding fixed channel according to the channel operation time, control the strength of the corresponding blowing device according to the blowing force to blow the cable into a suspended state, and synchronously control the rotating disk to perform winding.

[0249] The blowing device includes a blower and a blowing pipe, and a device that blows air into the blowing pipe through the blower. The opening and closing of the preset blowing device in the corresponding fixed channel is controlled by the running time of the fixed channel. The strength of the blowing device corresponding to the fixed channel is controlled according to the blowing strength, and the cable is blown into a suspended state, and the rotating disk is controlled to wind the cable.

[0250] When the cable is being wound, the portion of the cable to be wound gradually shortens, so the blowing force of the blowing device is reduced as the cable shortens. The blowing force is preset by the operator.

[0251] After step 6022, in order to further adjust the preset spacing of the winding rods when the preset clamping and shifting features are present in the roller image information, the method further includes the following steps:

[0252] Step 701: Obtain the winding rod spacing value of the winding rod.

[0253] The winding rod spacing value refers to the distance value between the winding rods. There are preset distance sensors on both sides of the winding rods, and the distance value between the winding rods is obtained through the sensors.

[0254] Step 702: Determine the reference spacing value of the winding rod according to the model information.

[0255] The reference spacing value refers to the spacing of the winding rods obtained according to the cable model. Different types of cables correspond to different winding rod spacing values. The reference spacing value of the winding rod is determined by the cable model information.

[0256] Step 703: Determine whether the reference spacing value is consistent with the winding rod spacing value.

[0257] By checking whether the reference spacing value is consistent with the winding rod spacing value, it is determined whether the spacing of the winding rods needs to be adjusted.

[0258] Step 7031: If the reference spacing value is inconsistent with the winding rod spacing value, the winding rod is controlled to adjust according to the reference spacing value.

[0259] If the reference spacing value is inconsistent with the winding rod spacing value, it means that the spacing of the winding rod needs to be adjusted, and then the preset cylinder is controlled according to the reference spacing value to push the winding rod for adjustment.

[0260] Step 7032: If the reference spacing value is consistent with the winding rod spacing value, the winding force value is determined according to the model information and the preset rotation force database, and the winding position is determined according to the model information and the preset winding position database.

[0261] The rotation degree of each model of cable is stored in the rotation force database, which will not be elaborated here. The various angular positions of the cable after it rotates on the rotating disk are stored in the winding position database, which will not be elaborated here. The winding position refers to the position of the winding rod after winding. If the reference spacing value is consistent with the winding rod spacing value, it means that the winding rod does not need to be adjusted, then the winding force value of the rotating disk is determined through the rotation force database according to the model information, and the winding position is determined through the winding position database according to the model information.

[0262] Step 704: Control the rotation of the rotating disk according to the winding force value, and control the preset push rod to control the cable movement according to the winding position.

[0263] The push rod is set on the operating table and is used to move the cable wound on the rotating disk. The rotating disk is rotated by controlling the winding force value, and after the rotation is completed, the push rod is controlled by the winding position to move the cable to the next station.

[0264] After step 7032, in order to further determine the reference spacing value, the following steps are further included:

[0265] Step 801: Determine wire diameter information and material information according to model information.

[0266] Wire diameter information refers to the diameter information of each type of cable. Material information refers to the material and material information of each type of cable. The wire diameter information and material information of the cable are determined by the model information.

[0267] Step 802: Wind the wires sequentially and obtain detection image information sequentially based on the wire diameter information, material information and the preset detection spacing interval.

[0268] The detection image information refers to the image information obtained by performing image detection on the winding rod. The detection spacing interval refers to the spacing of the winding rod of the cable. The wire is wound on the winding rod in sequence according to the wire diameter information, material information and the detection spacing interval, and the detection image information is obtained in sequence. The detection image information is the information obtained by winding the wire on the winding rod in sequence according to the wire diameter information, material information and the detection spacing interval through a preset camera.

[0269] Step 803: Analyze the cable winding state value according to the detected image information and the preset winding posture.

[0270] The winding posture refers to the horizontal posture of the cable after winding on the rotating disk. The cable winding state value refers to the state value of each type of cable after rotating on the rotating disk. By inputting the detection image information into the preset posture database, the posture database analyzes the cable winding state value through the preset winding posture, which will not be described here.

[0271] Step 804: Determine whether the cable winding state value falls within a preset reference state interval.

[0272] The reference state interval refers to the reference interval for obtaining the state in which the cable does not droop after being wound. The cable winding state value in the detection image information is obtained according to the preset camera, and by determining whether the cable winding state value falls into the preset reference state interval, it is determined whether the reference spacing value passes the verification.

[0273] Step 8041: If the cable winding state value falls into the preset reference state interval, the current reference spacing value corresponding to the detection spacing interval passes the verification.

[0274] If the cable winding state value falls into the preset reference state interval, it means that the state of the cable after winding meets the reference state of winding, and the reference spacing of the current winding rod corresponding to the detection spacing interval passes the verification.

[0275] Step 8042: If the cable winding state value does not fall into the preset reference state interval, the current reference spacing value corresponding to the detection spacing interval fails to pass the verification, and the new reference spacing value and the new detection image information are repeatedly screened.

[0276] If the cable winding state value does not fall into the preset reference state interval, it means that the state of the cable after winding does not meet the reference state of winding. The current spacing of the winding rod corresponding to the detection spacing interval fails the verification, and the new reference spacing value and the new detection image information are repeatedly screened.

[0277] Step 805: Pair and store the verified current reference spacing value with the model information.

[0278] The verified reference spacing value of the current winding rod is matched with the model information of the cable and stored.

[0279] Based on the same inventive concept, an embodiment of the present invention provides a winding system for a winding machine, comprising:

[0280] An acquisition module is used to acquire image detection information, weight detection value, installation image information, roller image information, trigger information, angle rotation value, fixed image information, winding rod spacing value and detection image information;

[0281] A memory for storing a program of a winding method of a winding machine;

[0282] The program in the memory can be loaded and executed by the processor to implement a winding method of a winding machine.

[0283] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for winding a wire winding machine.

[0284] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0285] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A winding method for a winding machine, characterized in that: include: Obtain image detection information of cables in a preset loading area; Selecting a cable image from a preset cable feature database according to the image detection information; Determine the cable position according to the cable image and the preset first identification position; A single cable image is framed and selected from a preset single cable feature database according to the cable image, and the cable image not framed and selected is defined as an overlapping cable image; Based on the image of a single cable and the position of the cable, a preset feeding device is controlled to clamp the cable to a preset winding machine for winding; determining an amount of overlap based on the overlapping cable images, and determining a vibration frequency based on the amount of overlap; Controlling the vibration device preset in the feeding area to vibrate according to the vibration frequency, and updating the overlapping cable image; determining whether the updated overlapping cable image falls into a single feature database; If it falls into the range, the updated overlapping cable image is corrected to a single cable image; If it does not fall into the range, the blowing force is determined according to the cable position and the overlap amount of the overlapping cable images; Controlling a preset blowing device to blow air to the overlapping cables in the overlapping cable image with a blowing force, and updating the overlapping cable image until the overlapping cable image is corrected into a single cable image; Methods for placing the wires in the loading area on the winding machine include: A clamping image is selected from a preset clamping feature database according to the image detection information; Determine the clamping position of the cable head according to the clamping image and the preset second identification position; Clamp the cables in the loading area according to the clamping position of the cable head and lift them to a preset height, and obtain the weight detection value of the cables; According to the selected cable image, the model information is matched from the preset wire diameter database; Determine the reference weight range and reference tension value based on the model information; Determine whether the weight detection value is within the reference weight range; If the weight detection value is not within the reference weight range, the cable is clamped to the preset waste area and the cable is re-clamped; If the weight detection value is within the reference weight range, the cable is clamped to a preset installation area and installation image information is obtained; Selecting a cable head image from the installation image information according to preset cable head features; Confirming the cable head position according to the cable head image and the second marking position; Determining whether the preset identification area contains the cable head feature; If the recognition area contains the cable head feature, the rotating disk is controlled to wind the cable; If the recognition area does not contain the cable head feature, the distance value between the cable head position and the installation area is calculated; According to the distance value, the preset pulling device is controlled with the reference pulling force value to pull the preset pulling point in the cable, and after the pulling is completed, the rotating disk is controlled to wind the cable; When the identification area includes the cable head feature, the verification method for controlling the rotating disk before winding includes: Obtaining the image information of the roller in the preset roller area; Determining whether there is a preset pinching feature in the roller image information; If the preset clamping and moving feature does not exist in the roller image information, a clamping cable image is framed and selected from the preset cable features according to the roller image information; Determine the moving position information according to the clamped cable image and the opening position of the roller in the preset feeding state; Clamping the cable to a preset cable clamping position according to the moving position information and determining whether a preset clamping and moving feature exists in the roller image information; If there is a preset clamping and shifting feature in the roller image information, the roller in the roller area is controlled to be clamped inward from the preset loading state to switch to the preset transmission state, and the preset rotating baffle is controlled to move inward from the preset opening position to the preset closing position to achieve cable limiting, complete the verification and control the rotating disk for winding.

2. A winding method for a winding machine according to claim 1, characterized in that: The verification method for winding the rotating disk includes: Obtain trigger information on a preset detection point; Determine whether the trigger information is consistent with the preset tail line trigger information; If the trigger information is consistent with the preset tail line trigger information, the rotating disk continues to rotate; If the trigger information is inconsistent with the preset tail line trigger information, the rotating disk is controlled to stop rotating and the angle rotation value is obtained; Determine the reference angle rotation value according to the model information; Determine whether the angle rotation value is consistent with the reference angle rotation value; If the angle rotation value is consistent with the reference angle rotation value, the winding is completed; If the angle rotation value is inconsistent with the reference angle rotation value, the cable is clamped to a preset waste area.

3. A winding method for a winding machine according to claim 2, characterized in that: When the rotating disk is winding, the cable verification method is: Determine the number of channels of the preset fixed channels according to the model information; Determine the lifting quantity of the fixed channel according to the number of channels; Control the fixed channel to lift to the preset work station according to the lifting quantity; When the fixed channel is lifted to the preset working position, the line end position is determined according to the preset line end image feature and the preset third identification position; Determine the cable length based on the cable end position, the third marker position and the cable head position; Determine the fixed channel length based on the number of lifts; The sum of the fixed channel length and the preset reference fixed length is calculated and defined as the total fixed length; Determine whether the total fixed length is consistent with the cable length; If the cable length does not match the total fixed length, it is clamped to the waste area; If the cable length is consistent with the total fixed length, the rotating disk is controlled to wind the cable.

4. A winding method for a winding machine according to claim 3, characterized in that: Also included is a method for controlling the cable, the method for controlling the cable including: Get fixed image information in a fixed channel; Determining whether the fixed image information contains cable features; If the cable feature is not included, the preset clamping device is controlled according to the position of the cable tail to clamp the cable into the fixed channel until the cable feature is included; If cable characteristics are included, channel operation times of different fixed channels are determined based on the cable length and a preset time database; Determine the blowing force based on the channel operation time and model information; The opening and closing of the preset blowing device in the corresponding fixed channel is controlled according to the channel running time, the strength of the corresponding blowing device is controlled according to the blowing force to blow the cable into a suspended state, and the rotating disk is synchronously controlled to perform winding.

5. A winding method for a winding machine according to claim 1, characterized in that: When there is a preset clamping feature in the roller image information, a method for adjusting the preset spacing of the winding rods: Get the winding rod spacing value of the winding rod; Determine the reference spacing value of the winding rod according to the model information; Determine whether the reference spacing value is consistent with the winding rod spacing value; If the reference spacing value is inconsistent with the winding rod spacing value, the winding rod is controlled to adjust according to the reference spacing value; If the reference spacing value is consistent with the winding rod spacing value, the winding force value is determined according to the model information and the preset rotation force database, and the winding position is determined according to the model information and the preset winding position database; The rotation of the rotating disk is controlled according to the winding force value, and the preset push rod is controlled according to the winding position to control the cable movement.

6. A winding method for a winding machine according to claim 5, characterized in that: Methods for determining the reference spacing value include: Determine wire diameter information and material information based on model information; Wind the wires sequentially based on the wire diameter information, material information and the preset detection spacing interval and obtain the detection image information sequentially; Analyze the cable winding state value according to the detected image information and the preset winding posture; Determining whether the cable winding state value falls within a preset reference state interval; If the cable winding state value falls into the preset reference state interval, the current reference spacing value corresponding to the detection spacing interval passes the verification; If the cable winding state value does not fall into the preset reference state interval, the current reference spacing value corresponding to the detection spacing interval fails to pass the verification, and the new reference spacing value and the new detection image information are repeatedly screened; The current reference spacing value that has passed the calibration is paired with the model information and stored.

7. A winding system for a winding machine, characterized in that: include: An acquisition module is used to acquire image detection information, weight detection value, installation image information, roller image information, trigger information, angle rotation value, fixed image information, winding rod spacing value and detection image information; A memory for storing a program of a winding method for a winding machine according to any one of claims 1 to 6; The program in the memory can be loaded and executed by the processor to implement a winding method for a winding machine as described in any one of claims 1 to 6.

8. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a winding method for a winding machine as claimed in any one of claims 1 to 6.

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