Non-contact yarn motion analysis experiment platform based on machine vision

Abstract

The invention provides a non-contact yarn motion analysis experiment platform based on machine vision, which is characterized by comprising a three-dimensional rectangular aluminum profile experiment frame which is constructed as a main body structure of the experiment platform. The platform is provided with an LED illuminating lamp for providing proper illumination, two five-degree-of-freedom grabbing mechanical arms are used for grabbing and fixing yarns, the expandability of the experimental platform is improved, and four trundles are used for improving the mobility of the platform. The vortex engine is fixed on the universal support, the angle and the position of the vortex engine can be adjusted according to different experiment requirements, and the vortex engine comprises a vortex tube, a servo motor, a nozzle fixing device and a nozzle and is used for forming jet vortex. A high-speed camera is arranged and used for capturing a motion picture of the yarn in the vortex air field.

Description

Technical Field

[0001] The present invention relates to the technical field of machine vision yarn motion analysis, and in particular to a non-contact yarn motion analysis experimental platform based on machine vision. Background Art

[0002] As a traditional pillar industry, technological upgrades in the textile industry are crucial for improving production efficiency and product quality. Air-jet vortex spinning, with its advantages of short process times and high speeds, has become a key development direction in the modern spinning industry. However, this technology still faces the following challenges in practical application: 1. Insufficient research on yarn formation mechanism: Existing research mostly relies on numerical simulation and lacks direct means of observing the dynamic movement process of fibers; 2. Limited design of key components: Issues such as insufficient mechanical contribution of the core fiber and component wear under high-speed conditions need to be addressed urgently; 3. Insufficient basis for process optimization: Traditional methods make it difficult to establish a quantitative correlation model between fiber motion parameters and yarn properties.

[0003] Currently, machine vision-based online inspection technology has made progress in traditional spinning. However, in air-jet vortex spinning, it has yet to be effectively applied due to technical obstacles such as interference from high-speed turbulent environments and the complexity of multiphase media imaging. Existing technologies still suffer from insufficient observation accuracy and poor experimental platform flexibility, which restricts the in-depth study of yarn formation mechanisms and process optimization. Summary of the Invention

[0004] In view of this, the present invention aims to provide a non-contact yarn motion analysis experimental platform based on machine vision. This experimental platform can meet the controllability, accuracy, stability, and scalability requirements of machine vision testing and analysis of the multiple motion states of fibers in vortex spinning. Experiments can be performed on visual trajectory tracking and motion analysis of yarns facing airflow under gravity, on yarns facing Z-shaped dislocated airflow under gravity, and on yarns in vortex fields. This allows for exploring the yarn-forming mechanism of air-jet vortex spinning and providing reference data for the structural design and process parameters of key components.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a non-contact yarn motion analysis experimental platform based on machine vision, comprising: A frame module, comprising a frame constituting a main support structure, and casters with a locking function arranged at the bottom of the frame; a motion control module, disposed on the frame module, comprising at least one multi-degree-of-freedom grabbing robot arm for positioning and dynamically adjusting the yarn; a vortex generating module, disposed on the frame module, comprising a universal bracket for adjusting the position and / or posture of the vortex generating module, a servo motor for controlling the angle of the nozzle, and a vortex engine mounted via the universal bracket, wherein the vortex engine is at least partially made of a transparent material and comprises a vortex tube, a nozzle for injecting airflow, and a nozzle fixing device for fixing the nozzle; an optical observation module, disposed on the frame module, comprising an adjustable LED lighting lamp and a high-speed camera, wherein the high-speed camera is mounted via a pan / tilt platform, and the optical observation module is configured to capture an image of yarn motion within the active area of ​​the vortex engine; and a coordinated control system, which is connected to the motion control module, the airflow control part of the vortex generating module and the optical observation module and is configured to coordinate and control their operations.

[0006] The above technical solution can be implemented by integrating and collaboratively controlling eddy current generation, yarn precision manipulation and high-speed machine vision observation modules, enabling accurate and repeatable non-contact quantitative analysis of the dynamic behavior of yarn in the eddy current field.

[0007] The highly integrated design concept implemented in the aforementioned technical solution directly addresses and resolves a significant technical challenge, long-standing in the prior art, which was the lack of effective means to directly observe and quantitatively analyze the dynamic behavior of yarns within real eddy current fields. This enables related research to transition from reliance on indirect simulations, theoretical derivations, or limited, non-systematic observations to a new stage where direct empirical research can be conducted under precisely controlled conditions. The platform's robust frame modules with motion-locking capabilities provide exceptional structural stability and operational convenience for all precision components, providing the physical foundation for high-precision optical measurements and ensuring experimental repeatability. The platform's motion control module, particularly its inclusion of at least one high-precision, multi-degree-of-freedom gripping robot, not only enables precise initial positioning and posture setting of delicate yarn samples in three-dimensional space but also simulates realistic dynamic boundary conditions through programmable control. This significantly expands the range of researchable operating conditions and enables experimental conditions to more realistically simulate the requirements of actual production processes or theoretical models.

[0008] As a preferred solution of the present invention, the frame is made of aluminum profiles.

[0009] To implement the above technical solution, the experimental platform frame is constructed using aluminum profiles. This can take advantage of its high strength-to-weight ratio to ensure sufficient structural rigidity for precision optical measurement and robotic arm operation, while effectively reducing the overall weight of the platform and facilitating its movement and deployment. Its standardized T-slot structure brings excellent modular design freedom, greatly simplifying the rapid assembly of the platform, subsequent functional expansion or structural adjustment, and facilitating the flexible installation and precise positioning of various functional modules. In addition, the excellent corrosion resistance of aluminum profiles also ensures the long-term stability and durability of the frame in conventional experimental environments.

[0010] As a preferred solution of the present invention, the motion control module includes two groups of five-degree-of-freedom grabbing manipulators, and the grabbing manipulators are controlled by a programmable control system, which can achieve precise control of the yarn position.

[0011] The implementation of the above technical solution enables high-precision and high-repeatability setting and control of the spatial position, posture and dynamic process of the yarn samples in the experiment, eliminating the errors and uncertainties of manual operation; secondly, the configuration of multiple robotic arms combined with the flexibility of five degrees of freedom allows for complex yarn operations, such as multi-point precise fixation to impose specific boundary conditions, simulated feeding under controlled tension, or coordinated grasping, which greatly enhances the flexibility of the experimental setup and the range of studyable working conditions, thereby enabling more in-depth and reliable exploration of the dynamic response of the yarn under specific manipulation conditions.

[0012] As a preferred solution of the present invention, the LED lighting lamp is installed on the frame via a movable slide rail, so that the lighting position can be adjusted along the axial direction of the slide rail.

[0013] The aforementioned technical solution, in which the LED lighting fixtures are mounted on movable rails, provides the lighting system with a high degree of positioning flexibility. Operators can easily and precisely adjust the light source position along the rail axis to accommodate the optimal lighting requirements for different experimental subjects, backgrounds, and camera angles.

[0014] As a preferred solution of the present invention, the casters are integrated with a mechanical locking mechanism for fixing the casters after the experimental platform is in place.

[0015] By implementing the above technical solution, after the experimental platform is conveniently moved to a designated working position via casters, the operator can firmly lock the casters to the ground via the mechanical locking mechanism.

[0016] As a preferred solution of the present invention, the universal bracket has a multi-degree-of-freedom adjustment function, allowing the vortex engine to adjust its position and / or posture along multiple translation axes and / or rotation axes.

[0017] Implementing this technical solution gives the universal bracket used to mount the vortex engine multi-degree-of-freedom adjustment capabilities, greatly improving the flexibility and precision of the experimental setup. This allows operators to precisely adjust the exact position and spatial orientation of the vortex engine in three-dimensional space, enabling precise alignment of specific observation areas in the vortex field with a fixed optical observation system or studying the effects of different spatial configurations on yarn motion.

[0018] As a preferred embodiment of the present invention, the vortex tube of the vortex engine has an inner cavity, the inner cavity is a three-stage gradient structure, and its end section is formed as a trumpet-shaped expansion, the vortex tube has two high-speed camera shooting windows, the high-speed camera shooting windows are cylindrical channels and the axes are perpendicular to the axis of the vortex engine, and the internal space thereof is connected to the inner cavity of the vortex engine, and the top of the vortex tube has a fill light window, the fill light window is a cylindrical channel, the axis is perpendicular to the axis of the vortex engine, and the internal space thereof is connected to the inner cavity of the vortex engine.

[0019] Implementing the above technical solution will help stabilize the morphology and structure of the vortex, forming a more controllable and repeatable internal flow field distribution, while reducing the energy loss and flow separation of the airflow at the outlet, and achieving smooth and low-disturbance discharge of the airflow and the yarn it entrained, thereby creating a more ideal flow field environment for high-precision observation and analysis of the dynamic behavior of yarn under specific and stable vortex conditions.

[0020] As a preferred solution of the present invention, the nozzle fixing device is equipped with a joint mechanism that allows the nozzle to be adjusted in angle in at least two different directions, and the servo motor can synchronously control the joint mechanism to adjust the angle of the nozzle.

[0021] By implementing the above technical solution, it is possible to achieve fine control of the key characteristics of the generated vortex by changing the way compressed air is injected into the vortex tube.

[0022] As a preferred solution of the present invention, the high-speed camera is a high frame rate imaging system configured to capture high-speed dynamic details.

[0023] As a preferred solution of the present invention, the collaborative control system is configured to synchronously control the airflow parameters generated by the vortex generating module, the motion trajectory of the grabbing robot arm, and the image capture timing of the high-speed camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A panoramic schematic diagram of a non-contact yarn motion analysis experimental platform based on machine vision of the present invention; Figure 2 、 3 A schematic diagram of the vortex engine of the present invention; Figure 4、 5 Schematic diagram of the internal structure of the cavity of the vortex engine of the present invention.

[0025] Figure 6 This is a schematic structural diagram of the grabbing robot arm of the present invention.

[0026] Figure numerals: 1. Aluminum profile frame; 2. LED lighting; 3. Vortex tube fill light; 4. Grasping robot arm; 5. Casters; 6. Universal bracket; 7. Vortex engine fixing plate; 8. Vortex engine; 8-1. Vortex tube; 8-2. Servo motor; 8-3. Nozzle fixing device; 8-4. Nozzle; 8-5. High-speed camera shooting window; 8-6. Fill light window; 9. High-speed camera. DETAILED DESCRIPTION

[0027] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings to make the technical solutions of the present invention easier to understand and grasp.

[0028] The non-contact yarn motion analysis experimental platform based on machine vision disclosed in this embodiment is an integrated device for accurately studying the three-dimensional motion law of yarn through non-contact optical measurement under controlled airflow conditions. Figures 1 to 3 ,The platform consists of the following five functional modules and their internal components: 1. Framework module The frame module provides structural support, spatial layout reference and component installation interface for the entire platform. Its design ensures the overall rigidity and operational stability of the system.

[0029] Frame 1 is a three-dimensional structure composed of multiple aluminum profiles precisely assembled with high-strength bolts and specialized connectors, forming a stable rectangular parallelepiped. It comprises a base, four vertical columns, and a top crossbeam structure, which together define an internal workspace housing the core experimental components. The selection and connection of all aluminum profiles ensures the frame has sufficient load-bearing capacity and deformation resistance, providing a foundation for high-precision experiments.

[0030] A caster 4 is mounted at each of the four corners of the base at the bottom of the frame 1. These heavy-duty universal casters ensure smooth horizontal movement of the platform in any direction. Each caster 4 incorporates a mechanical locking mechanism operated by a foot-operated brake pedal. When the pedal is pressed, the brake pads press against the wheel and lock its rotational axis, thus firmly locking the caster 4 and keeping the entire experimental platform stationary in its selected position, eliminating measurement errors caused by movement.

[0031] 2. Motion control module The motion control module is responsible for the precise spatial manipulation of the yarn sample during the experiment.

[0032] Two sets of five-degree-of-freedom gripping manipulators 4 are mounted on frame 1. Specifically, the base of each manipulator is securely fastened to a specific reinforced mounting plate on the upper structure of frame 1 via flanges and bolts. The four manipulators are symmetrically arranged around the central experimental area. This layout ensures that the workspaces of their end effectors can coordinate with each other and cover the inlet, outlet, and critical internal observation areas of the vortex engine 8.

[0033] Each grabbing robot 4 integrates a servo motor, a speed reducer, and a high-precision encoder. Its control cables are routed through internal or external cable trays and connected to independent servo drives. All servo drives communicate with the main controller of the collaborative control system via a high-speed, real-time industrial Ethernet bus. The system implements programmable control over all grabbing robots 4. The user can use control software to precisely define the motion trajectory, velocity, acceleration, and target grabbing / release actions of each robot end in a Cartesian or joint coordinate system. This allows for complex operations such as precise positioning of yarn samples, posture adjustment, uniform or variable speed feeding, and application of predetermined tension, both before and during experiments.

[0034] 3. Eddy current generating module This module is used to generate the core environment required for the experiment - a stable, controllable and adjustable vortex gas field.

[0035] Vortex engine 8: As the core unit for vortex generation, its structural design fully takes into account the needs of optical observation. The main part of the vortex engine 8, namely the vortex tube 8-1, is made of highly transparent polymethyl methacrylate material and is precisely processed in this embodiment to ensure the visualization of the internal flow field and yarn movement. Its internal flow channel cavity is designed as a three-stage gradient structure: along the direction of airflow, the inner cavity diameter is not constant, but changes in three stages. The inner diameter near the outlet part increases successively, and the outlet section at the end forms a trumpet-shaped flare with a smooth transition. This structure is designed to optimize the internal flow field morphology, stabilize the vortex and guide the yarn movement.

[0036] One or more air inlets are provided at predetermined locations on the sidewall of the vortex tube 8-1, each of which is fitted with a precision nozzle 8-4. The axes of these nozzles are oriented to point into the tube at specific tangential or oblique angles. Each nozzle 8-4 is connected via a pressure-resistant pneumatic hose and quick connector to an electronic proportional valve or mass flow controller precisely controlled by a collaborative control system, which in turn is connected to a stable source of compressed air in the laboratory. By regulating the pressure and flow of the airflow supplied to each nozzle through the control system, the intensity and structure of the vortex can be precisely set and varied.

[0037] Each nozzle 8-4 is mounted and fixed to the wall of the vortex tube 8-1 through a specially designed nozzle fixing device 8-3. The nozzle fixing device not only provides a firm fixation, but also has an adjustment function. In this embodiment, the nozzle fixing device 8-3 is configured with a joint mechanism that allows the injection angle of the nozzle 8-4 to be precisely adjusted in at least two different directions, specifically a two-axis rotation joint. This means that the pointing angle of the nozzle in the tangential plane of the vortex tube and the inclination angle relative to the normal of the tube wall can be adjusted independently, thereby providing a means to study the influence of different airflow injection parameters on the vortex field and yarn movement. Adjustment can be achieved through a manual precision fine-tuning knob with a locking function.

[0038] The vortex engine 8 is connected to the frame 1 via a high-precision gimbal 6. The fixed base of this gimbal 6 is mounted on a specially designed, coarsely adjustable beam or mounting platform within the frame 1, while the vortex engine 8 is securely fixed to its movable platform. This gimbal 6 features multiple degrees of freedom adjustment. Its structure incorporates a precision lead screw, guide rail, or rack-and-pinion mechanism, allowing manual or motor-driven translation within a three-dimensional Cartesian coordinate system and angular adjustment along three rotational axes. All adjustments are equipped with graduated indicators and locking devices to ensure precise and stable positioning.

[0039] 4. Optical observation module This module uses advanced optical imaging technology to capture and record the instantaneous motion state of yarn in the eddy current field in a non-contact, high temporal and spatial resolution manner.

[0040] A professional-grade high-speed camera 9, featuring a high-pixel density and extremely fast response speed, forms a high-frame-rate imaging system. This high-speed camera can continuously capture image sequences at rates of thousands of frames per second or even higher, ensuring clear recording of the yarn's rapid oscillation, rotation, and deformation under the influence of high-speed airflow. The camera is connected to the frame grabber / interface in the collaborative control system via a high-speed data interface.

[0041] High-speed camera 9 is mounted on a precision pan / tilt platform (PTZ) via a standard interface. This platform is mounted on a column or a dedicated observation arm of frame 1. Its mounting position is optimized to ensure the camera lens can observe the transparent observation area of ​​vortex engine 8 directly or at the desired angle. The platform provides manual or motorized adjustment of at least two degrees of freedom: pitch and yaw, and includes a locking function for precise framing and focusing.

[0042] In order to provide high-intensity, uniform, stable and flicker-free lighting for the high-speed camera 9, an LED lighting lamp 2 and a vortex tube fill light 3 are configured. The LED lighting lamp 2 is mounted on one or more movable slide rails, which are fixed on the top or side beams of the frame 1. The lamp head of the LED lighting lamp 2 is fixed on the slider and can slide freely along the entire length of the slide rail and be locked in any position. At the same time, the illumination angle of the lamp head itself can also be adjusted. The vortex tube fill light 3 is fixed on the side wall of the vortex tube 8-1, and the vortex fill light can be moved along the fill light window 8-6 to control the illumination volume of the fill light in the inner cavity of the vortex tube 8-1. This design allows the light source to be flexibly arranged according to the experimental requirements, realizing various lighting modes such as backlight, forward or side, so as to maximize the contrast between the yarn and the background and improve the image quality. The power supply and brightness of the LED lamp are controlled by a collaborative control system.

[0043] 5. Collaborative control system The system serves as the command center for the entire platform, responsible for the coordinated operation of all automated components and the precise management of experimental processes.

[0044] The core of the collaborative control system is a high-performance industrial control computer with all necessary interface cards, either built-in or externally connected. These include a multi-axis motion control card for controlling the gripper arm 4, an image acquisition card for collecting and processing image data from the high-speed camera 9, analog / digital I / O cards for controlling pneumatic proportional valves and flow meters, and a network interface card for communicating with other devices. All of this hardware is integrated into a control cabinet, which is placed next to or integrated into a specific location within the frame 1.

[0045] The control cabinet establishes reliable connections with various actuators and sensors on the platform through shielded cables and standardized connectors: connected to the servo drives of the four sets of grabbing robotic arms 4; connected to the electronic pressure regulating valve / flow meter that controls the airflow of the vortex engine 8; connected to the trigger port and data port of the high-speed camera 9; connected to the power driver of the LED lighting 2.

[0046] The control computer runs specially developed control software. This software provides a graphical user interface for researchers to set experimental parameters and define complex experimental timing logic. A key function of the system lies in achieving synchronous control: based on user settings, the software precisely coordinates the timing of the stabilization of the airflow parameters generated by the vortex generator module, the start / stop / reach of a specific position in the motion trajectory of the gripping robot 4, and the image capture timing of the high-speed camera 9, achieving synchronization and matching. For example, the software can be set to trigger the robot arm to deliver the yarn to the specified position immediately after the airflow stabilizes and reaches the target value, and simultaneously trigger the high-speed camera to start recording, ensuring that the entire dynamic process is captured.

[0047] The workflow is as follows: Phase 1: Experimental Preparation and Platform Configuration This phase mainly involves setting up and adjusting the physical state of the experimental platform to meet the requirements of the specific experimental plan.

[0048] 1. Platform positioning and fixing: According to the experimental site plan, the operator first unlocks the locking mechanism of casters 5 and moves the entire experimental platform to the predetermined working position. Once at the designated position, the operator steps on or operates the mechanical locking mechanisms of all four casters 5 one by one to ensure that the platform bottom is firmly locked to the ground, eliminating all degrees of freedom and ensuring that the platform is absolutely stationary during subsequent experiments.

[0049] Connect the external energy required by the platform: connect the power supply of the collaborative control system and each drive unit; connect the external compressed air source to the air path interface of the vortex generating module, and ensure that the air source pressure and cleanliness meet the requirements.

[0050] 2. Physical adjustment of experimental components: Vortex Engine Positioning: Based on the desired vortex region or yarn motion range, the operator precisely adjusts the 3D position and orientation of vortex engine 8 within the working space of frame 1 by fine-tuning the handwheel or drive mechanism of universal bracket 6. Once positioned correctly, all adjustment axes of universal bracket 6 are locked to ensure a constant position and orientation for vortex engine 8 during the experiment.

[0051] Nozzle angle setting: If the experimental plan requires a specific airflow injection angle, the operator needs to use tools to adjust the joint mechanism on the nozzle fixture 8-3 to set the precise injection angle of one or more nozzles 8-4 and lock it after adjustment.

[0052] Observation system adjustments: The operator adjusts the pan / tilt stage (PTZ) to which the high-speed camera 9 is mounted, changing the camera's pitch and yaw angles, and possibly adjusting its fore / aft position or height, so that the camera's field of view accurately covers the target area within the vortex engine 8 to be observed. The operator then performs precise focusing to ensure a clear image of the target plane. After adjustments are complete, the PTZ stage is locked.

[0053] The operator slides the LED illuminator 2 along the movable rails on the frame 1 and adjusts the lamp head angle to set the appropriate lighting mode and lighting area to obtain optimal image contrast and facilitate subsequent image processing. After selecting the position, the slider and lamp head angle are locked.

[0054] Sample preparation: Prepare yarn samples that meet experimental requirements and load them securely onto the gripper at the end of the gripper arm 4, or prepare yarn packages for continuous feeding.

[0055] Phase II: Experimental parameter setting and program programming During this stage, all controllable parameters in the experimental process are digitally set and automated process programming is performed through the human-computer interaction interface of the collaborative control system.

[0056] 1. Log in to the control software: The operator starts the computer of the collaborative control system and logs in to the experimental control software platform.

[0057] 2. Set Airflow Parameters: In the software interface, set the target operating parameters for the vortex generator module. For example, specify the target pressure or mass flow rate of the compressed air supplied to nozzle 8-4. Once these parameters are set, the control system will control the corresponding electronic pressure regulating valve or mass flow controller accordingly. The user can also set the time required for the airflow to reach a stable state.

[0058] 3. Programming the robot arm motion: Use the control software’s built-in programming or teaching functions to set a detailed motion sequence for the gripping robot 4. This includes: Define the motion path and speed of the robot arm from the material picking position to the initial position of the experiment.

[0059] Accurately set the initial spatial coordinates and posture of the yarn at the beginning of the experiment.

[0060] To simulate feeding, set the constant or variable speed of the end arm, the total feeding length or the duration.

[0061] Set the robot arm's movements after the experiment ends.

[0062] All motion instructions must ensure that the robotic arm and the yarn it holds do not interfere with other parts of the platform.

[0063] 4. Configure camera and lighting: The operating parameters of the high-speed camera 9 are set in the software: the required resolution is selected, a very high frame rate is set, the exposure time is precisely set to obtain a clear image, the trigger mode is set and the predetermined recording time or number of recording frames is set.

[0064] 5. Define synchronization logic and timing: This is a key step that reflects the core value of the collaborative control system. Users can use event triggering, time delay, logical judgment, and other methods in the software to accurately define the sequence and time relationship of each module's actions. Set the following synchronization sequence: Time T0: The system issues a command to start the airflow supply and begins timing to monitor the airflow parameters.

[0065] Time T1: The system issues a command to start the grabbing robot arm 4 to execute the preset motion program.

[0066] Time T2: The system sends a precise external trigger signal to the high-speed camera 9 to start high-speed recording of the image sequence.

[0067] Time T3: The system issues an instruction to stop the recording of the high-speed camera 9.

[0068] Time T4: The system issues a command to stop the movement of the grasping robot arm 4 or perform the ending action.

[0069] Time T5: The system issues a command to shut down the airflow supply.

[0070] 6. Set data storage: configure the storage path of experimental data, file name generation rules, etc.

[0071] Phase 3: Automated Experiment Execution After all parameters and programs are set, the experimental process will be automatically and accurately executed by the collaborative control system.

[0072] 1. Start the experiment: The operator issues the "start experiment" command through the control software interface.

[0073] 2. Automatic system operation: The collaborative control system strictly follows the synchronization logic and timing set in the second stage, and sends control instructions to each module sequentially, in parallel, or triggered by conditions: The airflow generation module is controlled to establish and maintain the set airflow conditions.

[0074] The grabbing robot arm 4 of the control motion module is controlled to accurately perform predetermined yarn manipulation tasks.

[0075] At a predetermined precise moment, the high-speed camera 9 is triggered to capture an image.

[0076] The entire process does not require human intervention, and the system automatically completes all coordination actions from start to finish.

[0077] Phase 4: Data collection and subsequent processing The core output of the experimental execution phase is a sequence of yarn motion images with high temporal resolution.

[0078] 1. Data Storage: After the experiment is completed, the digital video file or image sequence file containing a large number of image frames captured by the high-speed camera 9 is automatically saved in the data storage location specified by the collaborative control system. At the same time, the system may also record the relevant parameter log files of this experiment.

[0079] 2. Data export and analysis: The operator exports the collected raw image data from the experimental platform to a dedicated data analysis workstation. Using professional image processing software, perform the following processing: Image preprocessing: such as denoising, contrast enhancement, distortion correction, etc.

[0080] Target recognition and segmentation: Accurately identify the yarn outline from the background in each frame.

[0081] Feature extraction and tracking: Calculate the position, posture, and shape of the yarn in each frame of the image, and track it between consecutive frames to obtain its time evolution sequence.

[0082] Motion parameter calculation: Based on the tracking results, the kinematic parameters of the yarn, such as instantaneous velocity, acceleration, and angular velocity, are calculated.

[0083] Data visualization and statistical analysis: The calculated parameters are visualized in the form of charts and other forms, and statistical analysis is performed to reveal the movement patterns and characteristics of the yarn in a specific eddy current field.

[0084] 3. Interpretation and application of results: Based on the quantitative analysis results, researchers can gain a deeper understanding of the interaction mechanism between yarn and complex airflow, verify theoretical models or numerical simulation results, and provide a direct and reliable experimental basis for improving the spinning process and optimizing key components of spinning equipment.

[0085] Of course, the above are only typical examples of the present invention. In addition, the present invention may also have many other specific implementation methods. Any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

Claims

1. A non-contact yarn motion analysis experimental platform based on machine vision, characterized in that: include: A frame module, comprising a frame constituting a main support structure, and casters with a locking function arranged at the bottom of the frame; a motion control module, disposed on the frame module, comprising at least one multi-degree-of-freedom grabbing robot arm for positioning and dynamically adjusting the yarn; a vortex generating module, disposed on the frame module, comprising a universal bracket for adjusting the position and / or posture of the vortex generating module, and a vortex engine mounted via the universal bracket, the vortex engine being at least partially made of a transparent material and comprising a vortex tube, a servo motor for controlling a nozzle angle, a nozzle for injecting airflow, and a nozzle fixing device for fixing the nozzle; an optical observation module, disposed on the frame module, comprising an adjustable LED lighting lamp and a high-speed camera, wherein the high-speed camera is mounted via a pan / tilt platform, and the optical observation module is configured to capture an image of yarn motion within the active area of ​​the vortex engine; and a coordinated control system, which is connected to the motion control module, the airflow control part of the vortex generating module and the optical observation module and is configured to coordinate and control their operations.

2. The non-contact yarn motion analysis experimental platform based on machine vision according to claim 1 is characterized in that: The frame is made of aluminum profiles.

3. The non-contact yarn motion analysis experimental platform based on machine vision according to claim 1 is characterized in that: The motion control module includes two groups of five-degree-of-freedom grabbing manipulators, and the grabbing manipulators are controlled by a programmable control system, which can achieve precise control of the yarn position.

4. The non-contact yarn motion analysis experimental platform based on machine vision according to claim 1 is characterized in that: The LED lighting lamp is mounted on the frame via a movable slide rail, so that the lighting position can be adjusted along the axial direction of the slide rail.

5. The non-contact yarn motion analysis experimental platform based on machine vision according to claim 1 is characterized in that: The casters are integrated with a mechanical locking mechanism for fixing the casters after the experimental platform is in place.

6. The non-contact yarn motion analysis experimental platform based on machine vision according to claim 1 is characterized in that: The universal bracket has a multi-degree-of-freedom adjustment function, allowing the vortex engine to adjust its position and / or posture along multiple translation axes and / or rotation axes.

7. The non-contact yarn motion analysis experimental platform based on machine vision according to claim 1 is characterized in that: The vortex tube of the vortex engine has an inner cavity, which is a three-stage gradient structure, and its end section is formed into a trumpet-shaped expansion. The vortex tube has two high-speed camera shooting windows, which are cylindrical channels with axes perpendicular to the axis of the vortex engine, and their internal spaces are connected to the inner cavity of the vortex engine. The top of the vortex tube has a fill light window, which is a cylindrical channel with an axis perpendicular to the axis of the vortex engine, and its internal space is connected to the inner cavity of the vortex engine.

8. The non-contact yarn motion analysis experimental platform based on machine vision according to claim 7 is characterized in that: The nozzle fixing device is configured with a joint mechanism that allows the nozzle to be adjusted in angle in at least two different directions, and the servo motor can synchronously control the joint mechanism to adjust the angle of the nozzle.

9. The non-contact yarn motion analysis experimental platform based on machine vision according to claim 1, characterized in that: The high-speed camera is a high frame rate imaging system configured to capture high-speed dynamic details.

10. The non-contact yarn motion analysis experimental platform based on machine vision according to claim 1, characterized in that: The collaborative control system is configured to synchronously control the airflow parameters generated by the vortex generating module, the motion trajectory of the grabbing robot arm, and the image capture timing of the high-speed camera.

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