Method for enabling automatic cloth feeding machine to enter circular weft knitting machine

Abstract

The invention discloses a method for enabling an automatic cloth feeding machine to enter a circular weft knitting machine, and belongs to the field of textile machinery automation. S1, the cloth feeding machine runs to a specific position of a gate of the circular weft knitting machine, the cloth feeding machine sends an arrival signal to an upper computer, and the upper computer controls the circular weft knitting machine to open a bin gate; s2, a detection device detects the head end of the two ends of the rod core and the edge point of the door frame of the circular knitting machine, and position information is calculated; s3, according to the position information, the cloth discharging machine adjusts the walking direction, and the head end of the rod core enters the position between the edge points of the door frames on the two sides and enters the door frames; s4, detecting the tail end of the rod core and the edge points of the door frames through a detection device, calculating position information, and adjusting the walking direction of the cloth discharging machine again to enable the tail end to enter the position between the edges of the door frames on the two sides and enter the door frames; s5, detecting the two ends of the rod core in real time through a detection device, and adjusting the position of a cloth discharging machine to enable the cloth discharging machine to be aligned with the cloth discharging position. Accurate crossing control of the ultra-long rod core is achieved, and efficiency loss caused by manual adjustment is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of textile machinery automation, and particularly to a method for an automatic cloth unloading machine to enter a circular weft knitting machine. Background Art

[0002] As a core device in the textile industry, the degree of automation of a circular weft knitting machine directly affects production efficiency. In the traditional textile production process, after the circular weft knitting machine completes the cloth weaving operation, a series of operations such as opening the door, cutting the cloth, and replacing the cloth roll need to be completed manually. This process not only requires multiple workers to cooperate, but also has the following prominent problems: manual operation has potential safety hazards and high labor intensity for workers; manual intervention leads to long equipment downtime, affecting production efficiency; the cloth is easily damaged during the cloth roll replacement process, affecting product quality. Especially when the cloth unloading machine carries a core rod or a finished cloth roll in and out of the circular weft knitting machine, since the length of the core rod is generally greater than the width of the door frame of the circular weft knitting machine, the traditional method requires workers to manually adjust the angle and position, which is difficult to operate and has a risk of collision. Although automatic cloth unloading machines have appeared in the prior art, there is still a lack of an effective automatic solution in the key link of entering and exiting the door frame of the circular weft knitting machine, and true full-process unmanned operation cannot be achieved.

[0003] In view of the above problems, the prior art urgently needs to be improved. Summary of the Invention

[0004] The purpose of this application is to provide a method for an automatic cloth unloading machine to enter a circular weft knitting machine, which has the advantages of improving operation safety, reducing equipment downtime, avoiding cloth damage, and reducing operation difficulty.

[0005] This application provides a method for an automatic cloth unloading machine to enter a circular weft knitting machine, and the technical solution is as follows: It includes the following steps: S1. The cloth unloading machine travels to a specific position at the door of the circular weft knitting machine, and the cloth unloading machine sends an arrival signal to the upper computer, and the upper computer controls the circular weft knitting machine to open the warehouse door; S2. The detection device detects one of the two ends of the core rod, namely the head end, and the edge point of the door frame of the circular weft knitting machine, and calculates the position information; S3. According to this position information, the cloth unloading machine adjusts its walking direction so that the head end of the core rod enters between the edge points of the two side door frames and enters the door frame; S4. The detection device detects the tail end of the core rod and the edge point of the door frame, and calculates the position information, and the cloth unloading machine adjusts its walking direction again so that the tail end enters between the two side door frames and enters the door frame; S5. The detection device continuously detects the two ends of the core rod in real time, and adjusts the position of the cloth unloading machine so that the cloth unloading machine is aligned with the cloth unloading position.

[0006] Further, this application also proposes that in S1, after the cloth unloading machine reaches the specific position, it identifies the identification mark at this position through the identification device, and when the identification mark is recognized, it sends a signal requesting to enter the circular weft knitting machine to the upper computer.

[0007] Furthermore, this application also proposes that in S2 and S3, the method for calculating the position information of the head end of the rod core is as follows: A coordinate system is established with the end of the rod core as the origin 01, the coordinates (X1, Y1) of the edge point of the door frame are obtained, and thus the distance L1 between the edge point of the door frame and the origin 01, and the angle A1 relative to the y-axis are obtained; the rotation angle B1 of the lower fabric machine is greater than the angle A1, and the straight-line distance of the walking adjustment is greater than L1, so that the end of the head of the rod core enters between the two side door frames and enters the door frame.

[0008] Furthermore, this application also proposes that in S4, the method for calculating the position information of the tail end of the rod core is as follows: A coordinate system is established with the end of the rod core as the origin 02, the coordinates (X2, Y2) of the edge point of the door frame are obtained, and thus the distance L2 between the edge point of the door frame and the origin 02, and the angle A2 relative to the y-axis are obtained; the rotation angle B2 of the lower fabric machine is greater than the angle A2, and the straight-line distance of the walking adjustment is greater than L2, so that the end of the tail of the rod core enters between the two side door frames and enters the door frame.

[0009] Furthermore, this application also proposes that in S4, when the lower fabric machine is moving, the detection device should detect the position of the head end of the rod core in real time to prevent collision with the door frame.

[0010] Furthermore, this application also proposes that in S3 - S4, the lower fabric machine adjusts its walking direction by rotating while moving forward.

[0011] Furthermore, this application also proposes that the detection device is a lidar, the lidar is installed on the lower fabric machine, and lidars are installed at both ends of the rod core.

[0012] Furthermore, this application also proposes that in S5, an identification mark is provided at the lower fabric position, and the visual recognition device is used to recognize the identification mark to determine whether the lower fabric machine has reached the lower fabric position.

[0013] As can be seen from the above, a method and system for an automatic lower fabric machine to enter a circular knitting machine provided by this application include realizing precise crossing control of an ultra-long rod core through automatic control of the traveling position and angle adjustment of the lower fabric machine, combined with real-time detection technology of lidar, and avoiding efficiency loss caused by manual adjustment. The phased positioning mechanism effectively reduces the collision risk during the movement process, and the dynamic coordinate system switching ensures the position calculation accuracy in different movement stages. The compound movement mode takes into account both the traveling speed and the positioning accuracy, improving the operation efficiency of the equipment while ensuring the operation safety. It has the advantages of improving operation safety, reducing equipment downtime, avoiding fabric damage, and reducing operation difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a state diagram when the lower fabric machine is at a specific position;

[0015] Figure 2It is a state diagram of the lower fabric machine after the head end of the rod core enters the circular weft knitting machine;

[0016] Figure 3 It is a state diagram of the lower fabric machine after the tail end of the rod core enters the circular weft knitting machine;

[0017] Figure 4 It is a state diagram of the lower fabric machine when it is in the lower fabric position; Detailed implementation manners

[0018] Next, the technical solutions in the present application will be clearly and completely described in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the present application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application. It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0019] In the prior art, circular weft knitting machines are widely used in the textile industry. The traditional operation process relies on manual labor to complete door opening, fabric cutting, and cloth roll replacement. Since the rod cores of the rod core and the rolled cloth generally exceed the width of the door frame of the circular weft knitting machine, it is difficult for materials to enter and exit. The existing solutions require operators to manually adjust the angle of the rod core for passing through, resulting in problems such as low adjustment efficiency and poor positioning accuracy, and manual intervention is prone to cause collision risks.

[0020] To solve the above problems, the R & D personnel observed that the essence of the rod core passing through the door frame is to solve the problem of spatial path planning of ultra-long objects. The traditional straight-line traveling mode obviously cannot adapt to the width limitation of the door frame, thus generating the idea of decomposing the movement of the rod core into multiple trajectory adjustments. By establishing a dynamic coordinate system to calculate the spatial relationship between the end points of the rod core and the edge of the door frame in real time, a composite control strategy of rotation and linear motion is formed. The key breakthrough lies in discovering the necessity of adjusting the positions of both ends of the rod core in stages: the head end positioning ensures the correct entry path, and the tail end adjustment prevents skew and jamming. Finally, a closed-loop control is formed through real-time monitoring.

[0021] Therefore, the present application proposes a method for an automatic lower fabric machine to enter a circular weft knitting machine, including the steps: S1. The lower fabric machine travels to a specific position at the door of the circular weft knitting machine, and the lower fabric machine sends an arrival signal to the upper computer, and the upper computer controls the circular weft knitting machine to open the door;

[0022] S2. The detection device detects the leading end of one of the two ends of the core rod and the edge point of the circular knitting machine doorframe, and calculates the position information;

[0023] S3. According to the position information, the cloth laying machine adjusts its traveling direction so that the leading end of the core rod enters between the edge points of the two side doorframes and enters the doorframe;

[0024] S4. The detection device detects the trailing end of the core rod and the edge point of the doorframe, and calculates the position information. The cloth laying machine adjusts its traveling direction again so that the trailing end enters between the edge points of the two side doorframes and enters the doorframe;

[0025] S5. The detection device continuously detects the two ends of the core rod, and adjusts the position of the cloth laying machine so that the cloth laying machine is aligned with the cloth laying position.

[0026] When the cloth laying machine travels to a specific position at the door of the circular knitting machine, it triggers the command to open the warehouse door; the detection device obtains the positional relationship between the core rod end point and the doorframe edge; adjusts the traveling direction in stages so that the two ends of the core rod enter the doorframe gap in sequence; continuously monitors and completes the final positioning.

[0027] Among them, the specific position refers to the position reference point with signal triggering function preset in the front of the circular knitting machine, which can be realized by using radio frequency identification tags or visual markers specifically, and is used to establish the spatial correspondence between the cloth laying machine and the circular knitting machine. The detection device refers to a sensing device with three-dimensional space perception ability, such as a lidar or a stereo vision system, and its function is to obtain the coordinate data of the core rod end point and the doorframe edge in real time. The position information calculation includes establishing a local coordinate system with the core rod end point as the origin, and obtaining the relative position of the target point through trigonometric function operations, providing a mathematical model for motion control. The adjustment of the traveling direction includes a composite motion mode of translation and rotation, which can be realized by using a differential drive or an omnidirectional wheel structure to ensure that the core rod moves along the calculated path. The alignment of the cloth laying position means matching the preset positioning mark through a visual recognition system, and a two-dimensional code or a specific pattern can be used as a reference benchmark, and the leading end of the core rod and the trailing end of the core rod respectively correspond to the two end parts of the core rod.

[0028] Specifically, after the detection device obtains the spatial coordinates of the leading end of the core rod and the doorframe edge, the system calculates the required rotation angle and linear displacement through coordinate transformation. The cloth laying machine performs a rotation action to form a specific angle between the axis of the core rod and the central axis of the doorframe, and gradually corrects the traveling trajectory during the linear movement. After the leading end enters the doorframe, the detection device switches to the trailing end monitoring mode. After the dual positioning adjustment is completed, the cloth laying machine enters the precise alignment stage, and ensures that the core rod is in the optimal cloth laying position through high-frequency position sampling and fine adjustment. The whole process realizes segmented control through the dynamic switching of the coordinate system, and independent coordinate systems are established at the leading and trailing ends respectively to improve the calculation accuracy.

[0029] Compared with the prior art, the traditional method relies on the operator's visual judgment of the position of the rod core, and the adjustment process requires repeated trial and error. This solution transforms spatial positioning into quantifiable calculation parameters by establishing a mathematical model, and uses sensor data to correct the motion trajectory in real time. The problem of controlling the deflection angle of the rod core that cannot be solved by the prior art is effectively addressed in this solution through a step-by-step adjustment mechanism, which decomposes complex spatial motions into independently controllable sub-processes.

[0030] Through the above technical solution, precise penetration control of the ultra-long rod core is achieved, avoiding efficiency losses caused by manual adjustment. The phased positioning mechanism effectively reduces the collision risk during the motion process, and the dynamic coordinate system switching ensures the position calculation accuracy in different motion stages. The composite motion mode takes into account both the traveling speed and positioning accuracy, improving the operation efficiency of the equipment while ensuring operation safety.

[0031] This application further proposes that in step S1, after the lower fabric feeding machine reaches a specific position, the identification device identifies the identification mark at this position. When the identification mark is recognized, a signal requesting to enter the circular knitting machine is sent to the host computer.

[0032] Among them, the identification device refers to a sensing device for detecting a predetermined position mark, which can be specifically implemented by a vision sensor or a radio frequency identification module. For example, an industrial camera is configured to capture the ground two-dimensional code or RFID tag. The identification mark refers to a physical identification object preset at the entrance of the circular knitting machine, which can be specifically implemented by a reflective patch or a magnetic encoder. For example, a metal sign with a specific shape is installed on the ground outside the door frame. The host computer refers to the central control system for controlling the opening and closing of the circular knitting machine warehouse door, which can be specifically implemented by a PLC or an industrial control computer. For example, a trigger instruction is received through an Ethernet communication module.

[0033] Specifically, when the lower fabric feeding machine travels to the entrance of the circular knitting machine, the on-vehicle identification device scans the identification mark preset on the ground. When the geometric features or coding information of the identification mark match the pre-stored data, the signal generation module sends a request to open the warehouse door to the central control system. This process determines that the lower fabric feeding machine has accurately reached the target point through the spatial correspondence relationship between the physical mark and the sensor, avoiding premature or delayed opening of the warehouse door due to positioning errors. Among them, the installation position of the identification mark is strictly calculated to ensure a safe distance between the parked lower fabric feeding machine and the door frame, providing an operation space for subsequent adjustment of the rod core position.

[0034] Compared with the prior art, the traditional method requires the operator to visually judge whether the lower fabric feeding machine is in place and send an opening instruction through a manual button, resulting in problems of inaccurate positioning and operation delay. This solution realizes automatic position confirmation through machine vision or radio frequency identification technology, eliminating human judgment errors and making the opening timing of the warehouse door precisely synchronized with the mechanical traveling process.

[0035] Through the above technical solution, the present application realizes the automatic signal triggering when the lower loom reaches the designated position, ensures the spatio-temporal matching of the warehouse door opening action and the equipment traveling path, avoids the process interruption or equipment collision risk caused by manual operation, and improves the automation degree of the collaborative operation between the circular knitting machine and the lower loom.

[0036] The present application further proposes a technical solution for establishing a coordinate system at the head end of the rod core and calculating the coordinates of the door frame edge points. The specific method is as follows: Establish a coordinate system with the head end of the rod core as the origin 01, obtain the coordinates (X1, Y1) of the door frame edge points, calculate the connection distance L1 between the edge points and the origin 01 and the angle A1 relative to the y-axis. The final rotation angle B1 of the lower loom is set to be greater than the angle A1, and the final straight-line distance for walking adjustment is set to be greater than L1, so that the head end of the rod core can smoothly enter the interior of the door frame.

[0037] Among them, the establishment of the coordinate system refers to constructing a spatial positioning reference system with the head end of the rod core as the reference point. This method converts three-dimensional spatial positioning into two-dimensional plane coordinate parameters. The coordinates (X1, Y1) of the door frame edge points refer to the intersection position of the door frame column and the moving plane of the rod core, which can be obtained by lidar scanning. This parameter is used to determine the relative spatial relationship between the rod core and the door frame. The connection distance L1 refers to the straight-line distance between the door frame edge point and the head end of the rod core, which is calculated by the Pythagorean theorem and is used to set the minimum traveling distance of the lower loom. The angle A1 refers to the angle formed by the connection line and the y-axis reference line, which is calculated by trigonometric functions and is used to determine the reference angle for the lower loom to turn. The setting that the final rotation angle B1 is greater than the angle A1 ensures that the end of the rod core can completely avoid the door frame edge point on the movement trajectory.

[0038] Specifically, when the coordinates of the door frame edge points are detected, the control system will automatically calculate the required rotation angle and traveling distance. The lower loom travels in the reverse direction according to the preset rotation angle B1, so that the head end of the rod core faces the opening direction of the door frame. During this process, the design of the angle margin keeps a safe distance between the movement trajectory of the end of the rod core and the door frame edge, and the setting of the distance margin ensures that the end of the rod core can completely pass through the door frame plane. Through the quantitative control of the coordinate system, the complex spatial positioning problem is transformed into a precisely executable mechanical motion instruction.

[0039] Compared with the prior art, the traditional method relies on manual visual inspection to judge the relative position between the rod core and the door frame, and has problems of low positioning accuracy and poor adjustment efficiency. There is a lack of effective spatial positioning calculation methods in the prior art, resulting in difficulty for automatic equipment to accurately control the movement trajectory of the rod core. This solution realizes the accurate calculation and control of the movement trajectory of the end of the rod core by establishing a coordinate system and quantifying parameters, and solves the technical problem of accurate positioning of automatic equipment in a narrow space.

[0040] Through the above technical solution, the present application effectively solves the problem that the rod core cannot directly enter the door frame due to length limitations. By establishing a coordinate system and performing parameter calculations, it is ensured that the head end of the rod core can accurately move along a predetermined trajectory into the interior of the door frame, avoiding the risk of collision with the door frame structure during the movement process. This solution realizes the autonomous navigation ability of the lower loom in a limited space, providing a reliable spatial positioning solution for the application of automated equipment in the textile machinery field.

[0041] The present application further proposes a method for calculating the position information of the end of the rod core as follows: A coordinate system is established with the end of the rod core as the origin 02, and the coordinates (X2, Y2) of the edge point of the door frame are obtained, thereby obtaining the linear distance L2 between the edge point of the door frame and the origin 02, and the angle A2 relative to the y-axis; the final rotation angle B2 of the lower loom is greater than the angle A2, and the final straight-line distance for walking adjustment is greater than L2, so that the end of the rod core enters between the two side door frames and into the door frame.

[0042] Among them, the origin 02 refers to the geometric center point of the end of the rod core, which serves as the reference point for spatial position calculation. Specifically, it can be realized by using lidar scanning and positioning technology to establish the spatial reference of the end coordinate system. The coordinate system refers to a two-dimensional plane rectangular coordinate system constructed with the end of the rod core as the reference. Specifically, it can be realized by combining lidar ranging data and an angle encoder to quantify the spatial position relationship between the edge point of the door frame and the end of the rod core. The coordinates (X2, Y2) refer to the plane projection values of the edge point of the door frame in the end coordinate system, which can be obtained specifically through lidar point cloud data processing algorithms to calculate the relative orientation between the door frame and the end of the rod core. The distance L2 refers to the linear distance from the edge point of the door frame to the origin 02, which can be calculated specifically through the Pythagorean theorem to determine the minimum safety distance between the end of the rod core and the edge of the door frame. The angle A2 refers to the deflection angle of the edge point of the door frame relative to the y-axis of the end coordinate system, which can be calculated specifically through the arctangent function to judge the spatial orientation of the door frame relative to the end of the rod core. The final rotation angle B2 refers to the control parameter of the chassis steering system of the lower loom, which can be realized specifically through servo motor drive to ensure that the movement trajectory of the end of the rod core forms sufficient avoidance space. The straight-line distance for walking adjustment refers to the length parameter of the traveling path of the lower loom, which can be obtained specifically by converting the number of turns of the driving wheel measured by the encoder to ensure that the end movement amount exceeds the theoretically calculated value.

[0043] Specifically, after the establishment of the end coordinate system, the coordinate data of the door frame edge points are obtained through the lidar and converted into the X2 and Y2 values in the end coordinate system by the coordinate transformation algorithm. Based on these coordinate values, two key parameters, L2 and A2, are calculated using plane geometry formulas. When the lower loom control system sets the B2 steering angle according to the A2 angle value, an angle increment is deliberately set to form a redundant margin. For example, when A2 is calculated to be 30 degrees, B2 is set to 35 degrees. At the same time, the walking distance is set to 1.1 times the theoretical value of L2. For example, when L2 is 500 millimeters, the walking distance is controlled to be 550 millimeters. This double over-adjustment causes the end of the rod core to form a parabolic trajectory during the movement process, effectively compensating for mechanical transmission errors and sensor measurement errors, and ensuring that a safe distance is always maintained between the end and the door frame edge during spatial movement.

[0044] Compared with the prior art, traditional manual operation relies on workers' visual judgment of the end position, and there is a risk of collision due to visual errors. Existing automatic navigation devices only use a single distance parameter to control the movement path and cannot solve the complex spatial relationship between the end of the rod core and the door frame. This solution constructs an independent coordinate system and a dual-parameter control model, accurately calculates the end movement trajectory in three-dimensional space, and forms a safety margin in combination with the over-adjustment strategy, completely eliminating the possibility of the end colliding with the door frame.

[0045] Through the above technical solution, this application effectively solves the problem of spatial interference between the end of the rod core and the circular knitting machine door frame, ensures that the lower loom can accurately adjust the end movement trajectory when carrying an ultra-long rod core, avoids collision accidents caused by mechanical errors, and realizes the fully automatic and unmanned operation process of entering and exiting the circular knitting machine.

[0046] This application further proposes that during the process of the end entering the circular knitting machine door, when the lower loom is moving, the detection device continuously detects the position of the head end of the rod core to prevent collision with the door frame.

[0047] Among them, the detection device refers to a sensing device used to capture the relative position relationship between the rod core and the door frame, and specifically can be implemented by a lidar or a vision sensor, and three-dimensional coordinate data is obtained by scanning the target area. Among them, real-time detection means continuously collecting position information at a millisecond-level frequency, and specifically can be achieved by a sensor with a sampling period set to, for example, 50 - 200 milliseconds, to ensure dynamic tracking of the end trajectory of the rod core during the movement process.

[0048] Specifically, when the leading end of the rod core enters the door frame, the cloth laying machine starts to move and adjust the position of the trailing end. The detection device continuously scans the leading end that has entered the door frame and calculates the distance between it and the edge of the door frame in real time. For example, when it is detected that the distance between this end and the edge of the door frame is lower than the preset threshold, the control module immediately corrects the travel path of the cloth laying machine, and by adjusting the steering angle or travel speed of the wheel set, ensures that the leading end of the rod core always maintains a safe distance from the door frame. During this process, position detection and motion control form a closed-loop system, dynamically offsetting the trajectory deviation caused by mechanical vibration or uneven ground, and avoiding secondary collisions at the entered end.

[0049] Compared with the prior art, the traditional method only relies on single positioning to complete the guidance of the rod core and cannot cope with dynamic deviations during the travel process. This solution establishes a continuous position feedback mechanism through real-time detection, realizes the alternating collision avoidance of both ends of the rod core in the narrow space of the door frame, and solves the problem of continuous motion control of the ultra-long rod core in a limited channel.

[0050] Through the above technical solution, this application effectively avoids the collision risk of the rod core in the door frame, ensuring that the cloth laying machine can smoothly pass through the narrow door frame when carrying the ultra-long rod core. This solution combines dynamic monitoring and immediate deviation correction, improves the safety of equipment operation while maintaining the travel efficiency, and solves the problem of difficult entry and exit caused by the excessive length of the rod core in the prior art.

[0051] This application further proposes that the cloth laying machine adjusts its travel direction by moving and rotating simultaneously.

[0052] Among them, the way of moving and rotating simultaneously refers to a composite motion control mode in which the cloth laying machine synchronously executes a rotation action during the linear movement process. Specifically, it can be realized by a differential drive system or an independent steering wheel mechanism. By adjusting the rotational speed difference or steering angle of the two side walking wheels, the equipment changes its travel direction while maintaining displacement. This method avoids the positioning error generated by traditional step-by-step operations through continuous correction of the motion trajectory.

[0053] Specifically, during the process of the end of the rod core approaching the door frame of the circular knitting machine, when the cloth laying machine moves towards the edge point of the door frame, through the coordinated control of movement and rotation, it continuously adjusts the azimuth relationship between the end of the rod core and the edge of the door frame. During the movement process, the relative position between the end of the rod core and the edge point of the door frame is calculated in real time, and the rotational speed difference of the two side walking wheels is dynamically adjusted, so that the cloth laying machine realizes a directional offset of the end of the rod core towards the gap of the door frame while maintaining forward movement. Through this composite motion mode, the alignment angle between the end of the rod core and the door frame is gradually corrected during the movement process, and finally enters the door frame gap with the minimum path adjustment amount.

[0054] Compared with the prior art, the traditional method requires the movement to stop completely first and then perform the rotation action separately, resulting in multiple starts and stops during the adjustment process, which not only prolongs the operation time but also causes cumulative errors in the trajectory due to step-by-step control. In this solution, by synchronously executing the movement and rotation, the direction adjustment process is integrated into the continuous displacement, eliminating the start-stop interval of the equipment, reducing the discrete error of path calculation, and achieving progressive alignment of the end of the rod core during the movement.

[0055] Through the above technical solution, this application effectively solves the problems of low efficiency and positioning deviation caused by step-by-step adjustment when the lower loom carries a super-long rod core in and out of a narrow door frame, enabling the two ends of the rod core to accurately pass through the door frame gap in sequence and avoiding collisions with the door frame during the process of adjusting the traveling direction.

[0056] This application further proposes a technical solution of installing lidar on both ends of the automatic lower loom and the rod core as a detection device.

[0057] Among them, lidar refers to a non-contact sensor that obtains three-dimensional coordinates of space based on laser beam scanning. Specifically, it can be implemented by pulsed or phase-type lidar. By emitting laser beams and receiving reflected signals, the distance, azimuth angle, and height information of the target object are calculated. The lidars installed at both ends of the rod core form double detection nodes, which can be fixed to the end face of the rod core through rigid brackets or adjustable jigs specifically to achieve synchronous scanning of the geometric features of the door frame edge. The lidar of the lower loom body is installed on the top or side, and specifically, a pan-tilt structure can be used to achieve multi-angle scanning, which is used to establish a global coordinate system and locate the relative position of the lower loom and the door frame.

[0058] Specifically, the lidars installed at both ends of the rod core continuously scan the three-dimensional point cloud data of the door frame edge, convert the local coordinate system data collected at both ends to the global coordinate system of the lower loom through coordinate transformation, and calculate the spatial angle between the axis of the rod core and the plane of the door frame and the real-time distances between both ends and the door frame edge. When it is detected that the distance between a certain leading end and the door frame edge is lower than the preset threshold, the control system of the lower loom generates a path adjustment instruction to drive the traveling mechanism to perform a combined action of rotation and linear motion. The synchronous detection data of the lidars at both ends are fused and processed, which can dynamically correct the movement trajectory of the rod core to ensure that both ends always maintain a safe distance from the door frame edge during the movement and avoid the cumulative error caused by unilateral adjustment.

[0059] Compared with the prior art, in the traditional solution, contact limit switches or single-point photoelectric sensors are used, which have problems such as limited detection range and being easily interfered by mechanical collisions, and the blind area error during the rotation of the rod core cannot be eliminated by single-sided detection. The non-contact detection method using double lidars can achieve millimeter-level precision positioning without relying on physical contact, synchronously covering the monitoring of the motion states of both ends of the rod core, and overcoming the perspective limitation of the attitude adjustment of the rod core in the narrow space of the door frame.

[0060] Through the above technical solutions, the present application realizes real-time dual-end collaborative detection and trajectory control during the process of the rod core passing through the door frame of the circular knitting machine, effectively avoiding the collision risk between the two ends of the rod core and the edge of the door frame, ensuring that the rod core smoothly enters the interior of the door frame with an accurate pose, solving the problem of difficult entry and exit caused by the length of the rod core exceeding the width of the door frame, and improving the reliability of the automatic fabric laying operation.

[0061] The present application further proposes to set an identification mark at the fabric laying position, and identify the mark through a visual recognition device to determine whether the fabric laying machine reaches the fabric laying position.

[0062] Among them, the identification mark refers to a specific identifier set at the target position of the fabric laying machine, and can specifically be implemented by using a QR code, a bar code or a pattern with a specific shape, and its function is to provide a spatial positioning reference for the visual recognition device. The visual recognition device refers to an image acquisition and processing module installed on the fabric laying machine, and can specifically be implemented by using a camera in combination with an image recognition algorithm, and is used to capture and analyze the position information of the identification mark.

[0063] Specifically, when the fabric laying machine carries the rod core into the circular knitting machine, the visual recognition device continuously acquires image data of the fabric laying position, and performs real-time comparison between the coordinate information of the identification mark and the preset position coordinates. When detecting the deviation between the current position of the fabric laying machine and the target position, the visual recognition device generates a corresponding adjustment signal to control the traveling mechanism of the fabric laying machine to correct the traveling path. This process ensures that the rod core carried at the end of the fabric laying machine always moves along a predetermined trajectory through a dynamic feedback mechanism until it accurately stops at the fabric laying position. Since the geometric features of the identification mark are pre-calibrated, the visual recognition device can eliminate the influence of mechanical transmission errors and environmental interference on the positioning accuracy.

[0064] Compared with the prior art, the traditional method relies on manual visual judgment or mechanical limit switches for positioning, and it is easy to cause the rod core to collide with the door frame due to the visual error of the operator or mechanical wear. However, this solution actively obtains spatial coordinate information through a visual recognition device, realizes dynamic path correction under closed-loop control, and avoids the uncertainty introduced by manual intervention.

[0065] Through the above technical solutions, the present application solves the problem that it is difficult for the rod core to accurately pass through a narrow door frame due to length limitations, ensures that the fabric laying machine is aligned with the target position in real time during the adjustment process, and avoids the collision risk caused by positioning deviation. At the same time, the positioning method based on visual recognition improves the degree of automation, enabling the fabric laying machine to stably complete the accurate alignment and placement of the rod core in a complex environment.

[0066] The above are only embodiments of the present application and are not intended to limit the protection scope of the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A method for an automatic fabric feeding machine to enter a circular weft knitting machine, characterized in that: It includes the following steps: S1. The fabric feeding machine travels to a specific position at the door of the circular weft knitting machine, and the fabric feeding machine sends an arrival signal to the host computer, and the host computer controls the circular weft knitting machine to open the warehouse door; S2. The detection device detects one of the two ends of the core bar, namely the head end, and the edge point of the door frame of the circular weft knitting machine, and calculates the position information; S3. According to the position information, the fabric feeding machine adjusts its traveling direction so that the head end of the core bar enters between the edge points of the two side door frames and enters the door frame; S4. The detection device detects the tail end of the core bar and the edge point of the door frame, and calculates the position information. The fabric feeding machine adjusts its traveling direction again so that the tail end enters between the edge points of the two side door frames and enters the door frame; S5. The detection device detects both ends of the core bar in real time, and adjusts the position of the fabric feeding machine so that the fabric feeding machine is aligned with the fabric feeding position.

2. The method for an automatic fabric feeding machine to enter a circular weft knitting machine according to claim 1, characterized in that: In step S1, after the fabric feeding machine reaches the specific position, the recognition device recognizes the recognition mark at this position. When the recognition mark is recognized, a signal requesting to enter the circular weft knitting machine is sent to the host computer.

3. The method for an automatic fabric feeding machine to enter a circular weft knitting machine according to claim 1, characterized in that: In steps S2 and S3, the method for calculating the position information of the head end of the core bar is: taking the head end of the core bar as the origin 01 to establish a coordinate system, obtaining the coordinates (X1, Y1) of the edge point of the door frame, thereby obtaining the connection distance L1 between the edge point of the door frame and the origin 01, and the included angle A1 relative to the y-axis; The final rotation angle B1 of the fabric feeding machine is greater than the included angle A1, and the final straight-line distance of the walking adjustment is greater than L1, so that the head end of the core bar enters between the two side door frames and enters the door frame.

4. The method for an automatic fabric feeding machine to enter a circular weft knitting machine according to claim 1, characterized in that: In step S4, the method for calculating the position information of the tail end of the core bar is: taking the tail end of the core bar as the origin 02 to establish a coordinate system, obtaining the coordinates (X2, Y2) of the edge point of the door frame, thereby obtaining the connection distance L2 between the edge point of the door frame and the origin 02, and the included angle A2 relative to the y-axis; The final rotation angle B2 of the fabric feeding machine is greater than the included angle A2, and the final straight-line distance of the walking adjustment is greater than L2, so that the tail end of the core bar enters between the two side door frames and enters the door frame.

5. The method for an automatic fabric feeding machine to enter a circular weft knitting machine according to claim 1, characterized in that: In step S4, when the fabric feeding machine is moving, the detection device should detect the position of the head end of the core bar in real time to prevent collision with the door frame.

6. The method for an automatic fabric feeding machine to enter a circular weft knitting machine according to claim 3, characterized in that: In steps S3 - S4, the fabric feeding machine adjusts its traveling direction by the way of traveling and rotating at the same time.

7. The method for an automatic fabric feeding machine to enter a circular weft knitting machine according to claim 1, characterized in that: The detection device is a lidar, the lidar is installed on the fabric feeding machine, and the lidar is installed at both ends of the core bar.

8. The method for an automatic fabric feeding machine to enter a circular weft knitting machine according to claim 1, characterized in that: In S5, an identification mark is provided at the lower cloth position, and the visual recognition device is used to recognize the identification mark to determine whether the lower cloth machine has reached the lower cloth position.

Images