Yarn hanging and taking method, system, equipment and medium

Abstract

The invention discloses a yarn hanging and taking method, system, equipment and medium, the yarn hanging and taking method is applied to a controller, and the method comprises the steps that a first moving instruction is sent to a mechanical arm in response to a yarn taking task, so that the mechanical arm moves to a yarn taking station; a station image, shot by a camera device installed on the mechanical arm, of the yarn taking station is obtained, and the first position, relative to the mechanical arm, of a yarn roll on the yarn taking station is determined according to the station image; a second moving instruction is sent to the mechanical arm, so that the mechanical arm moves to the target yarn vehicle after completing grabbing of the yarn roll based on the first position; wherein a plurality of yarn tiles for placing yarn balls are mounted on the yarn vehicle; a yarn tile image shot by a camera device installed on the mechanical arm is obtained, the yarn tile image is input into a pre-trained yarn tile recognition model, and a target yarn tile matched with the yarn roll is determined from all the yarn tiles according to all the yarn tiles in the yarn tile image and the yarn roll grabbed by the mechanical arm; and the mechanical arm is controlled to place the yarn roll on the target yarn tile.

Description

Technical Field

[0001] The invention relates to the field of automatic control, and in particular to a yarn hanging and yarn taking method, system, equipment and medium. Background Art

[0002] Glass fiber is widely used in construction, transportation, electronics, electrical, chemical, national defense and other fields. In the process of producing glass fiber yarn balls, the produced yarn balls need to be placed on the yarn car, or taken off the yarn car for subsequent processes.

[0003] However, the existing yarn balls are hung manually. Since the yarn balls themselves are easily deformed, the yarn balls are easily damaged during the manual hanging process. In addition, the yarn balls themselves are heavy, the manual labor intensity is high, and the production efficiency is low.

[0004] Therefore, how to improve the yarn taking and hanging efficiency of the yarn ball and avoid the damage of the yarn ball has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of the above technical status, the present invention provides a yarn hanging and yarn taking method, system, equipment and medium to improve the yarn taking and hanging efficiency of the yarn ball and avoid damage to the yarn ball.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A yarn hanging and yarn taking method, applied to a controller, comprising:

[0008] In response to obtaining the yarn taking task, sending a first movement instruction to the robot arm so as to move the robot arm to the yarn taking station;

[0009] Obtaining a station image of the yarn taking station taken by a camera device installed on the robot arm, and determining a first position of the yarn ball on the yarn taking station relative to the robot arm according to the station image;

[0010] Sending a second movement instruction to the robot arm, so that the robot arm moves to a target yarn carrier after completing the grabbing of the yarn ball based on the first position; wherein the yarn carrier is equipped with a plurality of yarn tiles for placing the yarn ball;

[0011] Obtaining a yarn tile image taken by a camera mounted on the robot arm, and inputting the yarn tile image into a pre-trained yarn tile recognition model, so as to determine a target yarn tile matching the yarn ball from each yarn tile in the yarn tile image and the yarn ball grasped by the robot arm;

[0012] The robot arm is controlled to place the yarn ball on the target yarn tile.

[0013] In an optional implementation manner of the present application, before sending the second movement instruction to the robotic arm, the method further includes:

[0014] According to the first position, controlling the mechanical arm to grab the yarn ball, and obtaining weight information of the yarn ball measured by a weighing device installed on the mechanical arm;

[0015] According to the weight information of the yarn ball, a target yarn car for loading the yarn ball is determined, and a second position of the target yarn car is determined.

[0016] In an optional implementation manner of the present application, determining the target yarn vehicle for loading the yarn ball according to the weight information of the yarn ball includes:

[0017] Determining the yarn ball category of the yarn ball according to the weight information of the yarn ball, wherein the yarn ball category includes: full-bobbin yarn ball and incomplete-bobbin yarn ball;

[0018] In the case where the yarn ball category is a full-bobbin yarn ball, taking the full-bobbin yarn carrier as the target yarn carrier;

[0019] When the yarn ball type is a non-full bobbin yarn ball, the non-full bobbin yarn carrier is used as the target yarn carrier.

[0020] In an optional embodiment of the present application, the step of inputting the yarn tile image into a pre-trained yarn tile recognition model to determine a target yarn tile matching the yarn ball from each yarn tile according to each yarn tile in the yarn tile image and the yarn ball grasped by the robot arm, comprises:

[0021] Inputting the yarn tile image into a pre-trained yarn tile recognition model, so as to perform image recognition on the yarn tile image through the yarn tile recognition model, and determine the category of each yarn tile in the yarn tile image and the winding state of the yarn ball;

[0022] According to the type of the yarn tile and the winding state of the yarn ball, a target yarn tile matching the yarn ball is determined.

[0023] In an optional implementation of the present application, the yarn tile recognition model is trained in the following manner:

[0024] Obtaining a sample yarn tile image, wherein the sample yarn tile image includes the sample yarn tile and a sample yarn ball grasped by a sample mechanical arm;

[0025] Inputting the sample yarn tile image and label information of each sample yarn tile and sample yarn ball of the sample yarn tile image into a pre-constructed yarn tile recognition model, so that the pre-constructed yarn tile recognition model is combined with a real-time target detection algorithm to construct a correspondence between the sample yarn tile and the sample yarn ball and the label information, and obtain a trained yarn tile recognition model;

[0026] The label information of the sample yarn tile is used to indicate the sample category of the sample yarn tile; and the label information of the sample yarn ball is used to indicate the sample reel state of the sample yarn ball.

[0027] In an optional implementation manner of the present application, determining the first position of the yarn ball at the yarn taking station relative to the robot arm according to the station image includes:

[0028] Determine, according to the position of the marking point in the workstation image captured by the camera device, a conversion relationship between the shooting coordinate system of the camera device and the working coordinate system of the robot arm;

[0029] Based on the conversion relationship, the third position of the yarn ball in the shooting coordinate system is converted to the working coordinate system, and the first position of the yarn ball in the workstation image relative to the robot arm is determined.

[0030] In an optional implementation of the present application, it also includes:

[0031] Determining whether the target yarn car is in a fully loaded state;

[0032] When the target yarn carrier is not in a fully loaded state, the robot arm is controlled to continue to perform the yarn taking task.

[0033] Compared with the prior art, the yarn hanging and yarn taking method provided by the present invention controls the robot arm to move to the yarn taking station and the target yarn car through the controller, and at the same time, the camera device installed on the robot arm is used to shoot the yarn taking station to obtain the station image including the yarn ball, so as to accurately locate the first position of the yarn ball through the station image, and then control the robot arm to complete the grabbing of the yarn ball according to the first position of the yarn ball; at the same time, the camera device installed on the robot arm is used to shoot the yarn tile image, so as to complete the matching of the yarn ball and the target yarn tile based on the pre-trained yarn tile recognition model. This method abandons the manual yarn hanging method in the prior art, which is conducive to improving the yarn hanging and taking efficiency and avoiding the damage of the yarn ball.

[0034] The present invention also provides a yarn hanging and taking system, comprising: a camera device, a mechanical arm, and a controller;

[0035] Wherein, the controller is connected to the camera device and the robotic arm; the controller is used to execute the above-mentioned yarn hanging and yarn taking method.

[0036] Compared with the prior art, the beneficial effects of the yarn hanging and yarn taking system provided by the present invention are the same as the beneficial effects of the yarn hanging and yarn taking method described in the above technical solution, which will not be described in detail here.

[0037] The present invention also provides an electronic device, comprising:

[0038] processor;

[0039] a memory for storing instructions executable by the processor;

[0040] The processor is used to execute the above-mentioned yarn hanging and yarn taking method by running the instructions in the memory.

[0041] Compared with the prior art, the beneficial effects of the electronic device provided by the present invention are the same as the beneficial effects of the yarn hanging and yarn taking method described in the above technical solution, and will not be described in detail here.

[0042] The present invention also provides a computer storage medium, in which instructions are stored. When the instructions are executed, the above-mentioned yarn hanging and yarn taking method is implemented.

[0043] Compared with the prior art, the beneficial effects of the computer storage medium provided by the present invention are the same as the beneficial effects of the yarn hanging and yarn taking method described in the above technical solution, and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0045] Figure 1 A schematic diagram of data transmission of a yarn hanging and taking system provided in an embodiment of the present application;

[0046] Figure 2 A flow chart of the yarn hanging and yarn taking method provided in the embodiment of the present application;

[0047] Figure 3 A structural diagram of a yarn hanging and yarn taking method provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. For example, the first threshold and the second threshold are only used to distinguish different thresholds, and their order is not limited. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0050] It should be noted that, in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present invention 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" is intended to present related concepts in a specific way.

[0051] In the present invention, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b, c can be single or multiple.

[0052] Glass fiber is widely used in construction, transportation, electronics, electrical, chemical, national defense and other fields. In the process of producing glass fiber yarn balls, the produced yarn balls need to be placed on the yarn car, or taken off the yarn car for subsequent processes.

[0053] However, the existing yarn balls are hung manually. Since the yarn balls themselves are easily deformed, the yarn balls are easily damaged during the manual hanging process. In addition, the yarn balls themselves are heavy, the manual labor intensity is high, and the production efficiency is low.

[0054] Therefore, how to improve the yarn taking and hanging efficiency of the yarn ball and avoid the damage of the yarn ball has become a technical problem that needs to be solved urgently by those skilled in the art.

[0055] In order to solve the above technical problems, the present application provides a yarn hanging and yarn taking method, system, equipment and medium, which are described in detail one by one in the following embodiments.

[0056] The present application embodiment first provides a yarn hanging and yarn taking system, please refer to Figure 1 , Figure 1 A schematic diagram of data transmission for a yarn hanging and taking-up system provided in an embodiment of the present application.

[0057] like Figure 1 As shown, the yarn hanging and taking system includes: a camera device 101, a robot arm 102 and a controller 103.

[0058] The controller 103 is connected to the camera 101 and the robot arm 102 respectively, and the camera is installed on the robot arm 102 .

[0059] Furthermore, after the controller 103 receives the yarn taking task, in order to put the produced yarn ball on the yarn cart, the controller 103 sends a first movement instruction to the robot arm 102 .

[0060] After receiving the first movement instruction, the robot arm 102 moves to the yarn taking station.

[0061] After the robot arm 102 moves to the yarn taking station, the controller 103 further sends a first photographing instruction to the camera device 101, so that the camera device 101 installed on the robot arm 102 photographs the yarn taking station and sends the photographed station image to the controller 103.

[0062] After obtaining the workstation image, the controller 103 determines the first position of the yarn ball on the yarn taking station relative to the robot arm according to the workstation image, and sends a yarn ball grabbing instruction to the robot arm 102 according to the first position.

[0063] After receiving the yarn ball grabbing instruction, the robot arm 102 completes the task of grabbing the yarn ball on the yarn taking station based on the first position.

[0064] In an optional embodiment of the present application, a weighing device is also installed on the robot arm 102. After the robot arm 102 completes the task of grabbing the yarn ball, the weighing device installed on the robot arm 102 is used to weigh the yarn ball, obtain the weight information of the yarn ball, and send the weight information of the yarn ball to the controller 103.

[0065] After the controller 103 obtains the weight information of the yarn ball, it determines the yarn ball category of the yarn ball according to the weight information; assigns a corresponding target yarn car to the yarn ball according to the yarn ball category, and determines the second position of the target yarn car; and sends a second movement instruction to the robot arm 102 according to the second position.

[0066] The yarn ball categories include full-bobbin yarn balls and non-full-bobbin yarn balls.

[0067] When the yarn ball category is a full-bobbin yarn ball, the full-bobbin yarn carrier is used as the target yarn carrier; when the yarn ball category is a non-full-bobbin yarn ball, the non-full-bobbin yarn carrier is used as the target yarn carrier.

[0068] After receiving the second movement instruction, the robot arm 102 moves to the target spinning vehicle based on the second position in the second movement instruction.

[0069] After the robot arm moves to the target yarn carriage, the controller 103 sends a second photographing instruction to the camera device 101 .

[0070] After receiving the second shooting instruction, the camera device 101 shoots the yarn tile on the target yarn carrier to obtain a yarn tile image, and sends the yarn tile image to the controller 103 .

[0071] It should be noted that, since the camera device 101 is installed on the robot arm 102, and when the camera device 101 receives the second shooting instruction, the yarn ball is in a state of being grasped by the robot arm 102. Therefore, the camera device photographs the yarn tiles of the target yarn car, and the obtained yarn tile image includes not only each yarn tile in the target yarn car, but also the yarn ball grasped by the robot arm 102.

[0072] After the controller 103 obtains the yarn tile image, it inputs the yarn tile image into a pre-trained yarn tile recognition model to determine the target yarn tile that matches the yarn ball from each yarn tile according to the yarn tiles in the yarn tile image and the yarn ball grasped by the robot arm, and based on the position of the target yarn tile, sends a yarn ball placement instruction to the robot arm 102, thereby controlling the robot arm to place the yarn ball on the target yarn tile.

[0073] In order to facilitate understanding of the above-mentioned yarn hanging and yarn taking system provided in the embodiment of the present application, the embodiment of the present application also provides a yarn hanging and yarn taking method, which is applied to a controller.

[0074] Please refer to Figure 2 , Figure 2 A flow chart of the yarn hanging and yarn taking method provided in an embodiment of the present application.

[0075] like Figure 2 As shown, the yarn hanging and yarn taking method includes the following S101 to S104:

[0076] S101, in response to obtaining a yarn taking task, sending a first movement instruction to a robot arm to move the robot arm to a yarn taking station.

[0077] That is, after the controller receives the yarn taking task, it issues a first movement instruction to the robot arm. After receiving the first movement instruction, the robot arm moves to the yarn taking station to prepare to perform the yarn taking task.

[0078] In actual application, the first movement instruction issued by the controller to the robot arm may include the specific position of the yarn taking station, so that the robot arm moves based on the specific position of the yarn taking station after receiving the first movement instruction.

[0079] S102, obtaining a station image of the yarn taking station taken by a camera device installed on the robot arm, and determining a first position of the yarn ball on the yarn taking station relative to the robot arm according to the station image.

[0080] After the robot arm reaches the yarn taking station, the controller sends a first photographing instruction to the camera device installed on the robot arm, so that the camera device photographs the yarn taking station to obtain a station image, wherein the station image includes a yarn ball.

[0081] A yarn ball is a roll of yarn formed during the spinning process, usually wound on a paper or plastic tube.

[0082] Specifically, determining the first position of the yarn ball at the yarn taking station relative to the robot arm according to the station image includes:

[0083] Determine, according to the position of the marking point in the workstation image captured by the camera device, a conversion relationship between the shooting coordinate system of the camera device and the working coordinate system of the robot arm;

[0084] Based on the conversion relationship, the third position of the yarn ball in the shooting coordinate system is converted to the working coordinate system, and the first position of the yarn ball in the workstation image relative to the robot arm is determined.

[0085] The mark points in the workstation image can be specifically mark points of known positions in the world coordinate system. After obtaining the workstation image, the intrinsic parameter matrix and extrinsic parameter matrix of the camera device can be calculated based on the positions of the mark points in the camera coordinate system of the camera device and the known positions in the world coordinate system. The coordinates in the camera coordinate system are converted into coordinates in the world coordinate system based on the intrinsic parameter matrix and the extrinsic parameter matrix. The position of the yarn ball in the world coordinate system is determined based on the position of the yarn ball in the workstation image. It should be noted that in the embodiment of the present application, the working coordinate system of the robot arm during its operation (including grabbing the yarn ball, placing the yarn ball and moving) is actually the world coordinate system.

[0086] In an optional embodiment of the present application, the above-mentioned step of determining the first position of the yarn ball at the yarn taking station relative to the robotic arm based on the station image can be achieved by a nine-point calibration method, that is, through the nine-point calibration method, the correspondence between the shooting coordinate system of the camera device and the working coordinate system of the robotic arm is obtained, and then the first position of the yarn ball is determined.

[0087] In the field of glass fiber, yarn balls are usually divided into full-bobbin yarn balls and part-full-bobbin yarn balls. Full-bobbin yarn balls refer to yarn balls that completely fill the reel, forming a larger capacity and volume, which are usually used for large-scale production; part-full-bobbin yarn balls refer to yarn balls that do not completely fill the reel, forming a smaller capacity and volume, which are usually used for small-scale production, such as sample making.

[0088] In the actual handling process, in order to meet different needs, full bobbins and part-full bobbins are usually stored and transported separately.

[0089] Therefore, in order to store and transport the two different types of yarn balls separately, the yarn balls grasped by the robotic arm need to be classified.

[0090] Specifically, in the embodiment of the present application, a weighing device is also installed on the robotic arm.

[0091] After the mechanical arm completes grabbing the yarn ball, the weighing device automatically weighs the yarn ball, obtains weight information of the yarn ball, and sends the weight information to the controller.

[0092] After the controller obtains the weight information of the yarn ball, it determines the yarn ball category (full bobbin yarn ball and non-full bobbin yarn ball) of the yarn ball according to the weight of the yarn ball, matches the yarn ball with a corresponding target yarn car based on the yarn ball category, and determines the second position of the target yarn car.

[0093] S103, sending a second movement instruction to the robot arm, so that the robot arm moves to a target yarn carrier after completing the grabbing of the yarn ball based on the first position; wherein the yarn carrier is equipped with a plurality of yarn tiles for placing the yarn ball.

[0094] After the controller determines the second position of the target yarn carrier, the controller may send the second movement instruction to the robot arm based on the second position to control the robot arm to move to the target yarn carrier.

[0095] S104, obtaining a yarn tile image taken by a camera device installed on the robot arm, and inputting the yarn tile image into a pre-trained yarn tile recognition model to determine a target yarn tile that matches the yarn ball from each yarn tile in the yarn tile image and the yarn ball grasped by the robot arm.

[0096] Yarn tile refers to the supporting component in the yarn carriage, which is used to fix and support the yarn ball.

[0097] After the robot arm reaches the target yarn car, the controller sends a second shooting instruction to the camera device. After receiving the second shooting instruction, the camera device shoots each yarn tile on the target yarn car to obtain a yarn tile image, and sends the yarn tile image to the controller.

[0098] The yarn tile recognition model can be understood as a machine learning model. Machine learning (a multi-disciplinary interdisciplinary subject involving probability theory, statistics, approximation theory, convex analysis, algorithm complexity theory and other disciplines) is specifically used to study how computers reorganize existing knowledge structures to continuously improve their own new capabilities. Machine learning usually includes artificial neural networks, belief networks, reinforcement learning, transfer learning, inductive learning and other technologies. Machine learning is a branch of artificial intelligence (AI) technology.

[0099] Specifically, the yarn tile recognition model can be trained by the following method:

[0100] Obtaining a sample yarn tile image, wherein the sample yarn tile image includes the sample yarn tile and a sample yarn ball grasped by a sample mechanical arm;

[0101] Inputting the sample yarn tile image and label information of each sample yarn tile and sample yarn ball of the sample yarn tile image into a pre-constructed yarn tile recognition model, so that the pre-constructed yarn tile recognition model is combined with a real-time target detection algorithm to construct a correspondence between the sample yarn tile and the sample yarn ball and the label information, and obtain a trained yarn tile recognition model;

[0102] The label information of the sample yarn tile is used to indicate the sample category of the sample yarn tile; and the label information of the sample yarn ball is used to indicate the sample reel state of the sample yarn ball.

[0103] Furthermore, the label information of the sample yarn tile image includes: the yarn tile can place yarn, the yarn tile cannot place yarn, and the yarn tile is abnormal; the label information of the sample yarn ball refers to the winding state of the paper tube or plastic tube of the sample yarn ball, such as whether the winding is deformed, and whether there is a yarn head blocking the front of the winding.

[0104] If the yarn tile is damaged, it is considered that the yarn tile is abnormal; if the positioning point marked in the yarn tile is damaged or blocked, or there is a yarn ball on the yarn tile, or the yarn tile is closed, it is considered that the yarn tile cannot place yarn.

[0105] After completing the calibration of each sample yarn tile and sample yarn ball for the sample yarn tile image, the sample yarn tile image, sample yarn ball and corresponding label information can be input into the pre-built yarn tile recognition model, and the yarn tile recognition model can be trained using the YOLO (You Only Look Once, real-time target detection) algorithm.

[0106] Specifically, during the training process, the sample yarn tile images can be divided into training samples and test samples, so that after the yarn tile recognition model is trained by the training samples, the parameters of the yarn tile recognition model can be further adjusted based on the test samples to improve the image processing capability of the yarn tile recognition model.

[0107] After obtaining the trained yarn tile recognition model, the yarn tile image taken by the camera device is input into the yarn tile recognition model, so as to perform category detection and visual positioning of each yarn tile in the yarn tile image through the yarn tile recognition model, determine the category and position of each yarn tile, and determine the winding state of the yarn ball grasped by the robot arm.

[0108] Afterwards, according to the categories of the various yarn tiles and the winding state of the yarn ball, a target yarn tile in a yarn-releasing state matching the yarn ball is determined, and the positioning of the target yarn tile is determined.

[0109] Finally, based on the positioning of the target yarn tile, the following S105 is executed.

[0110] S105, controlling the robot arm to place the yarn ball on the target yarn tile.

[0111] In an optional embodiment of the present application, when the target yarn car is in a non-fully loaded state, the controller continues to control the robot arm to perform the yarn picking task. When the target yarn car is in a fully loaded state, the loading task for the target yarn car is terminated, and the target yarn car is controlled to move to the warehouse to complete the storage of the yarn ball or move to other designated locations.

[0112] In summary, the yarn hanging and yarn taking method provided in the embodiment of the present application controls the robot arm to move to the yarn taking station and the target yarn car through the controller, and at the same time, the camera device installed on the robot arm is used to shoot the yarn taking station to obtain the station image including the yarn ball, so as to accurately locate the first position of the yarn ball through the station image, and then control the robot arm to complete the grabbing of the yarn ball according to the first position of the yarn ball; at the same time, the camera device installed on the robot arm is used to shoot the yarn tile image, so as to complete the matching of the yarn ball and the target yarn tile based on the pre-trained yarn tile recognition model. This method abandons the manual yarn hanging method in the prior art, which is conducive to improving the yarn taking and hanging efficiency and avoiding the damage of the yarn ball.

[0113] This application also provides a method and device for hanging and taking yarn, please refer to Figure 3 , Figure 3 This is a structural diagram of the yarn hanging and yarn taking method device provided in an embodiment of the present application.

[0114] like Figure 3 As shown, the yarn hanging and taking device comprises:

[0115] A first instruction sending unit 301 is used for sending a first movement instruction to the robot arm in response to obtaining a yarn taking task, so that the robot arm moves to the yarn taking station;

[0116] a yarn ball position determining unit 302, configured to obtain a station image of the yarn taking station taken by a camera mounted on the robot arm, and determine a first position of the yarn ball at the yarn taking station relative to the robot arm according to the station image;

[0117] The second instruction sending unit 303 is used to send a second movement instruction to the robot arm, so that the robot arm moves to a target yarn carrier after completing the grabbing of the yarn ball based on the first position; wherein the yarn carrier is equipped with a plurality of yarn tiles for placing the yarn ball;

[0118] A model recognition unit 304 is used to obtain a yarn tile image taken by a camera installed on the robot arm, and input the yarn tile image into a pre-trained yarn tile recognition model to determine a target yarn tile matching the yarn ball from each yarn tile in the yarn tile image and the yarn ball grasped by the robot arm;

[0119] The yarn ball placement unit 305 is used to control the robot arm to place the yarn ball on the target yarn tile.

[0120] In an optional implementation manner of the present application, before sending the second movement instruction to the robotic arm, the device is further used to:

[0121] According to the first position, controlling the mechanical arm to grab the yarn ball, and obtaining weight information of the yarn ball measured by a weighing device installed on the mechanical arm;

[0122] According to the weight information of the yarn ball, a target yarn car for loading the yarn ball is determined, and a second position of the target yarn car is determined.

[0123] In an optional implementation manner of the present application, determining the target yarn vehicle for loading the yarn ball according to the weight information of the yarn ball includes:

[0124] Determining the yarn ball category of the yarn ball according to the weight information of the yarn ball, wherein the yarn ball category includes: full-bobbin yarn ball and incomplete-bobbin yarn ball;

[0125] In the case where the yarn ball category is a full-bobbin yarn ball, taking the full-bobbin yarn carrier as the target yarn carrier;

[0126] When the yarn ball type is a non-full bobbin yarn ball, the non-full bobbin yarn carrier is used as the target yarn carrier.

[0127] In an optional embodiment of the present application, the step of inputting the yarn tile image into a pre-trained yarn tile recognition model to determine a target yarn tile matching the yarn ball from each yarn tile according to each yarn tile in the yarn tile image and the yarn ball grasped by the robot arm, comprises:

[0128] Inputting the yarn tile image into a pre-trained yarn tile recognition model, so as to perform image recognition on the yarn tile image through the yarn tile recognition model, and determine the category of each yarn tile in the yarn tile image and the winding state of the yarn ball;

[0129] According to the type of the yarn tile and the winding state of the yarn ball, a target yarn tile matching the yarn ball is determined. In an optional implementation of the present application, the yarn tile recognition model is trained in the following manner:

[0130] Obtaining a sample yarn tile image, wherein the sample yarn tile image includes the sample yarn tile and a sample yarn ball grasped by a sample mechanical arm;

[0131] Inputting the sample yarn tile image and label information of each sample yarn tile and sample yarn ball of the sample yarn tile image into a pre-constructed yarn tile recognition model, so that the pre-constructed yarn tile recognition model is combined with a real-time target detection algorithm to construct a correspondence between the sample yarn tile and the sample yarn ball and the label information, and obtain a trained yarn tile recognition model;

[0132] The label information of the sample yarn tile is used to indicate the sample category of the sample yarn tile; and the label information of the sample yarn ball is used to indicate the sample reel state of the sample yarn ball.

[0133] In an optional implementation manner of the present application, determining the first position of the yarn ball at the yarn taking station relative to the robot arm according to the station image includes:

[0134] Determine, according to the position of the marking point in the workstation image captured by the camera device, a conversion relationship between the shooting coordinate system of the camera device and the working coordinate system of the robot arm;

[0135] Based on the conversion relationship, the third position of the yarn ball in the shooting coordinate system is converted to the working coordinate system, and the first position of the yarn ball in the workstation image relative to the robot arm is determined.

[0136] In an optional embodiment of the present application, the device is also used for:

[0137] Determining whether the target yarn car is in a fully loaded state;

[0138] When the target yarn carrier is not in a fully loaded state, the robot arm is controlled to continue to perform the yarn taking task.

[0139] The above-mentioned device embodiment provided in this embodiment and the method embodiment of the present application belong to the same application concept. For the technical details not fully described in this embodiment, please refer to the specific processing contents of the yarn hanging and yarn taking methods provided in the above-mentioned embodiments of the present application, and will not be repeated here.

[0140] The present application also provides an electronic device, such as Figure 4 As shown, Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0141] like Figure 4 As shown, the electronic device comprises:

[0142] Processor 210;

[0143] A memory 200 for storing instructions executable by the processor 210;

[0144] The processor 210 is used to execute the yarn hanging and yarn taking method disclosed in any of the above embodiments by running the instructions in the memory 200.

[0145] The processor 210, the memory 200, the communication interface 220, the input device 230 and the output device 240 are connected to each other via a bus.

[0146] A bus may include a pathway that transfers information between components of a computer system.

[0147] The processor 210 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0148] The processor 210 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0149] The memory 200 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 200 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0150] The input device 230 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a touch screen, etc.

[0151] Output device 240 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0152] The communication interface 220 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0153] The processor 210 executes the program stored in the memory 200 and calls other devices, and can be used to implement each step of any one of the yarn hanging and yarn taking methods provided in the above embodiments of the present application.

[0154] In addition to the above-mentioned methods and devices, embodiments of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the yarn hanging and yarn taking methods of various embodiments of the present application.

[0155] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0156] In addition, the embodiments of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps in the yarn hanging and yarn taking methods of various embodiments of the present application.

[0157] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0158] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0159] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0160] The modules and sub-modules in the devices and terminals in the various embodiments of the present application can be combined, divided and deleted according to actual needs.

[0161] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0162] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0163] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0164] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0165] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0166] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0167] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for hanging and taking yarn, characterized in that: Applicable to controllers, including: In response to obtaining the yarn taking task, sending a first movement instruction to the robot arm so as to move the robot arm to the yarn taking station; Obtaining a station image of the yarn taking station taken by a camera device installed on the robot arm, and determining a first position of the yarn ball on the yarn taking station relative to the robot arm according to the station image; Sending a second movement instruction to the robot arm, so that the robot arm moves to a target yarn carrier after completing the grabbing of the yarn ball based on the first position; wherein the yarn carrier is equipped with a plurality of yarn tiles for placing the yarn ball; Obtaining a yarn tile image taken by a camera mounted on the robot arm, and inputting the yarn tile image into a pre-trained yarn tile recognition model, so as to determine a target yarn tile matching the yarn ball from each yarn tile in the yarn tile image and the yarn ball grasped by the robot arm; The robot arm is controlled to place the yarn ball on the target yarn tile.

2. The method according to claim 1, characterized in that Before sending the second movement instruction to the robot arm, the method further includes: According to the first position, controlling the mechanical arm to grab the yarn ball, and obtaining weight information of the yarn ball measured by a weighing device installed on the mechanical arm; According to the weight information of the yarn ball, a target yarn car for loading the yarn ball is determined, and a second position of the target yarn car is determined.

3. The method according to claim 2, characterized in that The step of determining a target yarn cart for loading the yarn ball according to the weight information of the yarn ball comprises: Determining the yarn ball category of the yarn ball according to the weight information of the yarn ball, wherein the yarn ball category includes: full-bobbin yarn ball and incomplete-bobbin yarn ball; In the case where the yarn ball category is a full-bobbin yarn ball, taking the full-bobbin yarn carrier as the target yarn carrier; When the yarn ball type is a non-full bobbin yarn ball, the non-full bobbin yarn carrier is used as the target yarn carrier.

4. The method according to claim 1, characterized in that: The step of inputting the yarn tile image into a pre-trained yarn tile recognition model to determine a target yarn tile matching the yarn ball from each yarn tile according to each yarn tile in the yarn tile image and the yarn ball grasped by the robot arm, comprises: Inputting the yarn tile image into a pre-trained yarn tile recognition model, so as to perform image recognition on the yarn tile image through the yarn tile recognition model, and determine the category of each yarn tile in the yarn tile image and the winding state of the yarn ball; According to the type of the yarn tile and the winding state of the yarn ball, a target yarn tile matching the yarn ball is determined.

5. The method according to claim 1, characterized in that The yarn tile recognition model is trained in the following way: Obtaining a sample yarn tile image, wherein the sample yarn tile image includes the sample yarn tile and a sample yarn ball grasped by a sample mechanical arm; Inputting the sample yarn tile image and label information of each sample yarn tile and sample yarn ball of the sample yarn tile image into a pre-constructed yarn tile recognition model, so that the pre-constructed yarn tile recognition model is combined with a real-time target detection algorithm to construct a correspondence between the sample yarn tile and the sample yarn ball and the label information, and obtain a trained yarn tile recognition model; The label information of the sample yarn tile is used to indicate the sample category of the sample yarn tile; and the label information of the sample yarn ball is used to indicate the sample reel state of the sample yarn ball.

6. The method according to claim 1, characterized in that Determining a first position of the yarn ball at the yarn taking station relative to the robot arm according to the station image includes: Determine, according to the position of the marking point in the workstation image captured by the camera device, a conversion relationship between the shooting coordinate system of the camera device and the working coordinate system of the robot arm; Based on the conversion relationship, the third position of the yarn ball in the shooting coordinate system is converted to the working coordinate system, and the first position of the yarn ball in the workstation image relative to the robot arm is determined.

7. The method according to claim 1, characterized in that Also includes: Determining whether the target yarn car is in a fully loaded state; When the target yarn carrier is not in a fully loaded state, the robot arm is controlled to continue to perform the yarn taking task.

8. A yarn hanging and taking system, characterized in that: include: Camera device, robotic arm, controller; Wherein, the controller is connected to the camera device and the robotic arm; the controller is used to execute the method described in any one of claims 1 to 7.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the yarn hanging and yarn taking method according to any one of claims 1 to 7 by running instructions in the memory.

10. A computer storage medium, characterized in that: The computer storage medium stores instructions, and when the instructions are executed, the yarn hanging and yarn taking method according to any one of claims 1 to 7 is executed.

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