Method and device for determining current waste silk interference risk of elasticizer, electronic equipment and storage medium

Abstract

The invention provides a method and device for determining the current waste silk interference risk of an elasticizer, electronic equipment and a storage medium. According to the implementation scheme, based on an elasticizing working environment image sequence of the elasticizing machine from a past first moment to a current second moment, position information of a waste silk cluster in the surrounding environment of the elasticizing machine at each moment is determined, so that the central point position of the waste silk cluster at each moment and the nearest point position relative to the elasticizing machine are determined; determining an earliest third moment when the distance between the nearest point position and the elasticizer is smaller than a preset first distance threshold value; determining a first track based on the central point position of the waste silk cluster at each moment from the past first moment to the earliest third moment; determining a second track based on the nearest point position of the waste silk cluster relative to the elasticizer at each moment from the earliest third moment to the current second moment; and based on the first track and the second track, determining a historical moving track of the waste silk cluster so as to determine the current waste silk interference risk of the waste silk cluster to the elasticizer.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of image processing. The present disclosure specifically relates to a method and device for determining current waste yarn interference risk of a texturing machine, an electronic device and a storage medium. BACKGROUND

[0002] In the chemical fiber generation process, the texturing process is a process of processing thermoplastic chemical fiber filaments into elastic yarns on a texturing machine. The fiber yarn is heated by a heater and is given false twist or crimp deformation in a hot state, and then cooled and untwisted to obtain high-elastic yarn. If additional heat setting is added, low-elastic yarn can be made.

[0003] Among them, the temperature, time, tension and false twist deformation degree during processing are the main process parameters of texturing, which change with the composition of the feeding original yarn, the linear density and the product characteristics requirements, and are closely related to the product quality. In the false twist deformation process, due to the existence of waste yarn in the surrounding environment, the composition of the feeding original yarn may be contaminated with waste yarn, thereby affecting the quality of the fiber yarn after the texturing process. SUMMARY

[0004] The present disclosure provides a method and device for determining current waste yarn interference risk of a texturing machine, an electronic device and a storage medium.

[0005] According to an aspect of the present disclosure, a method for determining current waste yarn interference risk of a texturing machine is provided, comprising:

[0006] Based on a sequence of texturing working environment images of the texturing machine from a past first time to a current second time, position information of a waste yarn ball in the surrounding environment of the texturing machine at each time is determined;

[0007] Based on the position information of the waste yarn ball at each time, a center point position of the waste yarn ball at each time and a nearest point position of the waste yarn ball relative to the texturing machine are determined, and an earliest third time when the distance between the nearest point position and the texturing machine is less than a preset first distance threshold is determined;

[0008] Based on the center point position of the waste yarn ball at each time from the past first time to the earliest third time, a first trajectory is determined;

[0009] Based on the nearest point position of the waste yarn ball relative to the texturing machine at each time from the earliest third time to the current second time, a second trajectory is determined;

[0010] Based on the first trajectory and the second trajectory, a historical moving trajectory of the waste yarn ball is determined;

[0011] Based on the historical moving trajectory of the waste yarn ball, a current waste yarn interference risk of the waste yarn ball to the texturing machine is determined.

[0012] According to another aspect of the present disclosure, there is provided a device for determining a current waste yarn interference risk of a texturing machine, comprising:

[0013] a position identifying module configured to determine position information of a waste yarn ball in a surrounding environment of the texturing machine at each time point based on a sequence of images of the surrounding environment of the texturing machine from a past first time point to a current second time point;

[0014] a position-time determining module configured to determine a center point position of the waste yarn ball at each time point and a nearest point position of the waste yarn ball relative to the texturing machine at each time point based on the position information of the waste yarn ball at each time point, and determine an earliest third time point at which a distance between the nearest point position and the texturing machine is less than a preset first distance threshold;

[0015] a first trajectory determining module configured to determine a first trajectory based on the center point positions of the waste yarn ball at each time point from the past first time point to the earliest third time point;

[0016] a second trajectory determining module configured to determine a second trajectory based on the nearest point positions of the waste yarn ball relative to the texturing machine at each time point from the earliest third time point to the current second time point;

[0017] a third trajectory determining module configured to determine a historical moving trajectory of the waste yarn ball based on the first trajectory and the second trajectory;

[0018] an interference risk determining module configured to determine a current waste yarn interference risk of the waste yarn ball to the texturing machine based on the historical moving trajectory of the waste yarn ball.

[0019] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor;

[0022] wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any of the methods for determining a current waste yarn interference risk of a texturing machine according to embodiments of the present disclosure.

[0023] According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform any of the methods for determining a current waste yarn interference risk of a texturing machine according to embodiments of the present disclosure.

[0024] According to the technology of the present disclosure, based on the elasticizer working environment image sequence of the elasticizer from the past first moment to the current second moment, the position information of the waste silk ball in the surrounding environment of the elasticizer at each moment is determined; based on the position information of the waste silk ball at each moment, the center point position of the waste silk ball at each moment and the nearest point position relative to the elasticizer are determined, and the earliest third moment when the distance between the nearest point position and the elasticizer is less than the preset first distance threshold is determined; based on the center point position of the waste silk ball at each moment from the past first moment to the earliest third moment, the first trajectory is determined; based on the nearest point position of the waste silk ball relative to the elasticizer at each moment from the earliest third moment to the current second moment, the second trajectory is determined; based on the first trajectory and the second trajectory, the historical moving trajectory of the waste silk ball is determined; based on the historical moving trajectory of the waste silk ball, the current waste silk interference risk of the waste silk ball to the elasticizer is determined. In this way, the volume change of the waste silk ball can be considered, and the accuracy of the waste silk interference risk can be affected by directly taking the center point position of the waste silk ball as the moving trajectory, thereby improving the reasonable arrangement of the waste silk cleaning work according to the accurately estimated waste silk interference risk, and improving the production quality of the fiber silk.

[0025] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0027] Figure 1 is a schematic diagram of the working environment of the elasticizer of an embodiment of the present disclosure;

[0028] Figure 2 is a flowchart of a method for determining the current waste silk interference risk of the elasticizer of an embodiment of the present disclosure;

[0029] Figure 3 is a schematic diagram of the spliced trajectory of an embodiment of the present disclosure;

[0030] Figure 4 is a schematic diagram of the waste silk moving trajectory of an embodiment of the present disclosure;

[0031] Figure 5 is a structural block diagram of a device for determining the current waste silk interference risk of the elasticizer of an embodiment of the present disclosure;

[0032] Figure 6 is a block diagram of an electronic device of an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are meant to be exemplary in nature, and include various details intended to facilitate understanding of the present disclosure. Accordingly, those skilled in the art will realize that various changes and modifications in the embodiments described herein can be made without departing from the scope of the present disclosure. Also, for the purpose of clarity and a concise description, descriptions of well-known functions and constructions can be omitted.

[0034] Figure 1 is a schematic diagram of the working environment of a texturing machine according to an embodiment of the present disclosure.

[0035] As shown in Figure 1 , the working environment of the texturing machine includes a plurality of texturing machines. During some working processes of the texturing machine and other fiber yarn processing devices, waste yarns can be generated and left in the surrounding environment. These waste yarns can affect the false twist process of the texturing machine, and the waste yarns can be wrapped into the false twist fiber yarns, affecting the quality of the fiber yarns. Therefore, the technical solutions provided by the embodiments of the present disclosure can identify the waste yarn interference risk of the texturing machine, so as to perform waste yarn processing, improve the cleaning efficiency, and improve the quality of the fiber yarns.

[0036] Figure 2 is a flowchart of a method for determining the current waste yarn interference risk of a texturing machine according to an embodiment of the present disclosure.

[0037] As shown in Figure 2 , the method for determining the current waste yarn interference risk of the texturing machine can include:

[0038] S210, determining the position information of the waste yarn ball in the surrounding environment of the texturing machine at each time based on the image sequence of the working environment of the texturing machine from the past first time to the current second time;

[0039] S220, determining the center point position of the waste yarn ball at each time and the nearest point position of the waste yarn ball relative to the texturing machine at each time based on the position information of the waste yarn ball at each time, and determining the earliest third time when the distance between the nearest point position and the texturing machine is less than a preset first distance threshold;

[0040] S230, determining a first trajectory based on the center point position of the waste yarn ball at each time from the past first time to the earliest third time;

[0041] S240, determining a second trajectory based on the nearest point position of the waste yarn ball relative to the texturing machine at each time from the earliest third time to the current second time;

[0042] S250, determining a historical moving trajectory of the waste yarn ball based on the first trajectory and the second trajectory;

[0043] S260, determine the current waste yarn interference risk of the waste yarn group to the elasticizer based on the historical moving track of the waste yarn group.

[0044] Exemplarily, the elasticizer image sequence can include a plurality of images arranged in time sequence.

[0045] Exemplarily, the waste yarn is a fiber material, and thus the waste yarn can be a waste yarn group, in which long and short fibers are intertwined and have a certain fluffy volume.

[0046] Exemplarily, a pre-trained image segmentation model can be used to identify the elasticizer image sequence in the first time period, to obtain the position information of the elasticizer and the position information of the waste yarn group in each image. The position information of the elasticizer is determined by using the position information of the elasticizer in each image, and the position change information of the waste yarn group in the first time period is determined by using the position information of the waste yarn group in each image. For example, the mode of the position information of the elasticizer in each image is taken as the position information of the elasticizer, which includes the coordinate position of the elasticizer. For another example, the position information of the waste yarn group in each image is curve-fitted or discrete point sorted according to the time stamp of each image to obtain the position change information of the waste yarn group in the first time period. The position change information includes the coordinate position of the waste yarn changing with time.

[0047] Exemplarily, the position change of the waste yarn relative to the elasticizer in the first time period can be determined by using the position change information of the waste yarn in the first time period and the position information of the elasticizer, and the waste yarn interference risk of the elasticizer can be determined by using the position change of the waste yarn group relative to the elasticizer. For example, the closer the distance between the waste yarn changing with time and the elasticizer, the higher the waste yarn interference risk of the elasticizer, and the farther the distance between the waste yarn changing with time and the elasticizer, the lower the waste yarn interference risk of the elasticizer.

[0048] Exemplarily, the waste yarn group is a fluffy object with a certain volume, which can be moved by the surrounding working air flow or vibration force. For example, during false twisting, the false twisting working air flow can attract the waste yarn group to move towards the elasticizer.

[0049] Exemplarily, the waste yarn group has a center point position and a nearest point position at each time point. The nearest point position is the coordinate point with the smallest distance between the waste yarn group and the elasticizer at the time point.

[0050] Exemplarily, the track between the end point of the first track and the start point of the second track is fitted to obtain a third track, and then the first track, the third track and the second track are sequentially spliced to obtain the historical moving track of the waste yarn group.

[0051] Exemplarily, the end point of the first trajectory and the start point of the second trajectory are linearly connected to obtain a third trajectory, and the first trajectory, the third trajectory and the second trajectory are sequentially spliced to obtain the historical moving trajectory of the waste silk ball.

[0052] Exemplarily, based on the distance between each trajectory point in the historical moving trajectory of the waste silk ball and the elasticizer, the approaching tendency of the waste silk ball is determined, and according to the approaching tendency of the waste silk ball, the current waste silk interference risk of the waste silk ball to the elasticizer is determined.

[0053] Exemplarily, if the current waste silk interference risk of the waste silk ball to the elasticizer is greater than a preset waste silk interference risk threshold, the waste silk in the vicinity of the elasticizer is cleaned.

[0054] According to the above-mentioned embodiments, based on the elasticizer working environment image sequence of the elasticizer from the past first time to the current second time, the position information of the waste silk ball in the surrounding environment of the elasticizer at each time is determined; based on the position information of the waste silk ball at each time, the center point position of the waste silk ball at each time and the nearest point position relative to the elasticizer are determined, and the earliest third time when the distance between the nearest point position and the elasticizer is less than the preset first distance threshold is determined; based on the center point position of the waste silk ball at each time from the past first time to the earliest third time, the first trajectory is determined; based on the nearest point position of the waste silk ball relative to the elasticizer at each time from the earliest third time to the current second time, the second trajectory is determined; based on the first trajectory and the second trajectory, the historical moving trajectory of the waste silk ball is determined; based on the historical moving trajectory of the waste silk ball, the current waste silk interference risk of the waste silk ball to the elasticizer is determined. In this way, the volume change of the waste silk ball can be considered, and the accuracy of the waste silk interference risk can be avoided by directly using the center point position of the waste silk ball as the moving trajectory, and further, the waste silk cleaning work can be reasonably arranged according to the accurately estimated waste silk interference risk, and the production quality of the fiber silk is improved.

[0055] In one embodiment, based on the first trajectory and the second trajectory, the historical moving trajectory of the waste silk ball is determined, including: based on the end point curvature of the first trajectory and the start point curvature of the second trajectory, fitting the trajectory between the end point of the first trajectory and the start point of the second trajectory to obtain a third trajectory; and sequentially splicing the first trajectory, the third trajectory and the second trajectory to obtain the historical moving trajectory of the waste silk ball.

[0056] According to the above-mentioned embodiments, the trajectory between the end point of the first trajectory and the start point of the second trajectory is fitted by using the end point curvature of the first trajectory and the start point curvature of the second trajectory, and the third trajectory obtained in this way can directly coincide with the first trajectory and the second trajectory at the start point and the end point respectively, and the historical moving trajectory of the waste silk ball with a turning point of a protruding part does not appear.

[0057] In one implementation, a third trajectory is obtained by fitting a trajectory from the end point of the first trajectory to the start point of the second trajectory based on the end point curvature of the first trajectory and the start point curvature of the second trajectory. This includes: determining intermediate trajectory points based on the end point of the first trajectory and the start point of the second trajectory; fine-tuning the position of the intermediate trajectory points based on the average of the end point curvature of the first trajectory and the start point curvature of the second trajectory, and determining the curvature of the fine-tuned intermediate trajectory points; fitting a trajectory from the end point of the first trajectory to the fine-tuned intermediate trajectory points based on the end point curvature of the first trajectory and the curvature of the fine-tuned intermediate trajectory points to obtain a fourth trajectory; fitting a trajectory from the fine-tuned intermediate trajectory points to the start point of the second trajectory based on the curvature of the fine-tuned intermediate trajectory points and the start point curvature of the second trajectory to obtain a fifth trajectory; and concatenating the fourth and fifth trajectories to obtain the third trajectory.

[0058] For example, the intermediate trajectory point is obtained by averaging the endpoint of the first trajectory and the starting point of the second trajectory.

[0059] For example, the position of the intermediate trajectory point is fine-tuned so that the slope between the end point of the first trajectory and the intermediate trajectory point is close to the average curvature between the curvature of the end point of the first trajectory and the curvature of the starting point of the second trajectory, while the slope between the intermediate trajectory point and the starting point of the second trajectory is close to the average curvature between the curvature of the end point of the first trajectory and the curvature of the starting point of the second trajectory. Here, "close to" can be understood as the difference between these two values ​​being less than a preset difference threshold.

[0060] For example, the intermediate trajectory point in the fourth trajectory can be determined using the method described in this example. Then, the position of this intermediate trajectory point is fine-tuned, and two sub-trajectories are determined between the start and end points of the fourth trajectory and the fine-tuned intermediate trajectory point. These two sub-trajectories are then concatenated to obtain the fourth trajectory. Similarly, the fifth trajectory can be calculated in the same way. Likewise, the method described in this example can be used to determine each sub-trajectory. By continuously refining in this way, a final trajectory with natural curvature changes can be obtained.

[0061] like Figure 3 As shown, the intermediate trajectory point c1 between the endpoint a of the first trajectory A and the starting point b of the second trajectory B is adjusted to obtain the adjusted intermediate trajectory point c2. Then, the trajectory between the endpoint a and the intermediate trajectory point c2 is fitted in the aforementioned manner to obtain the fourth trajectory C between the endpoint a and the intermediate trajectory point c2. Finally, the trajectory between the adjusted intermediate trajectory point c2 and the starting point b is fitted in the aforementioned manner to obtain the fifth trajectory D between the adjusted intermediate trajectory point c2 and the starting point b.

[0062] According to the above-mentioned embodiments, based on the end point of the first trajectory and the start point of the second trajectory, the intermediate trajectory point is determined, and the intermediate trajectory point is positionally fine-tuned based on the average between the end point curvature of the first trajectory and the start point curvature of the second trajectory, and the curvature of the positionally fine-tuned intermediate trajectory point is determined. In this way, the trajectory between the end point of the first trajectory and the positionally fine-tuned intermediate trajectory point is fitted based on the end point curvature of the first trajectory and the curvature of the positionally fine-tuned intermediate trajectory point, to obtain a fourth trajectory; the trajectory between the positionally fine-tuned intermediate trajectory point and the start point of the second trajectory is fitted based on the curvature of the positionally fine-tuned intermediate trajectory point and the start point curvature of the second trajectory, to obtain a fifth trajectory; and the fourth trajectory and the fifth trajectory are spliced, to obtain the third trajectory with natural curvature change at the head-to-tail connection of the first trajectory and the second trajectory.

[0063] In an embodiment, the current waste yarn interference risk of the waste yarn ball to the elasticizer is determined based on the historical moving trajectory of the waste yarn ball, including: determining the current approaching trend of the waste yarn ball to the elasticizer based on the directional relationship of the trajectory points in the historical moving trajectory relative to the elasticizer; and determining the current waste yarn interference risk of the waste yarn ball to the elasticizer based on the current approaching trend of the waste yarn ball to the elasticizer.

[0064] Illustratively, the current approaching trend of the waste yarn ball to the elasticizer can be determined by using the directional relationship between the straight line direction from the nearest point in the historical moving trajectory to the elasticizer to the elasticizer and the displacement direction of the historical moving trajectory. For example, the smaller the included angle between the two directions, the greater the current approaching trend of the waste yarn ball to the elasticizer. The larger the included angle between the two directions, the smaller the current approaching trend of the waste yarn ball to the elasticizer.

[0065] Illustratively, the current approaching trend of the waste yarn ball to the elasticizer can be determined by using the directional relationship between the straight line direction from the nearest point in the historical moving trajectory to the elasticizer to the elasticizer and the tangent direction of the nearest point on the historical moving trajectory. For example, the smaller the included angle between the two directions, the greater the current approaching trend of the waste yarn ball to the elasticizer. The larger the included angle between the two directions, the smaller the current approaching trend of the waste yarn ball to the elasticizer.

[0066] Illustratively, the above-mentioned included angle and the distance between the nearest point and the elasticizer are weighted and summed to obtain the current approaching trend of the waste yarn ball to the elasticizer.

[0067] Exemplarily, a linear function can be adopted to calculate the current approaching tendency of the waste silk ball relative to the elasticizer based on the current approaching tendency of the waste silk ball relative to the elasticizer, to obtain the current waste silk interference risk of the waste silk ball relative to the elasticizer. For example, F(x) = ax + b, where x represents the current approaching tendency of the waste silk ball relative to the elasticizer, a and b are constants, and F(x) is the current waste silk interference risk of the waste silk ball relative to the elasticizer. The greater the current approaching tendency of the waste silk ball relative to the elasticizer, the greater the current waste silk interference risk of the waste silk ball relative to the elasticizer.

[0068] According to the above embodiment, the current approaching tendency of the waste silk ball relative to the elasticizer can be accurately determined based on the directional relationship of the trajectory in the historical moving trajectory of the waste silk in the surrounding environment of the elasticizer from the past time to the current time relative to the elasticizer, and thus the current waste silk interference risk of the waste silk ball relative to the elasticizer is determined according to the current approaching tendency of the waste silk ball relative to the elasticizer.

[0069] In one embodiment, the current approaching tendency of the waste silk ball relative to the elasticizer is determined based on the directional relationship of the trajectory point in the historical moving trajectory relative to the elasticizer, including: in the case that the closest distance between the historical moving trajectory and the elasticizer is greater than a first distance and less than a second distance, the current approaching tendency of the waste silk ball relative to the elasticizer is determined based on the directional relationship of the trajectory point in the historical moving trajectory relative to the elasticizer, where the first distance is less than the second distance; in the case that the closest distance between the historical moving trajectory and the elasticizer is less than the first distance, the current approaching tendency of the waste silk ball relative to the elasticizer is determined based on the closest distance between the historical moving trajectory and the elasticizer; and in the case that the closest distance between the historical moving trajectory and the elasticizer is greater than the second distance, the current approaching tendency of the waste silk ball relative to the elasticizer is determined based on the second distance.

[0070] It can be understood that when the waste silk ball is at a certain distance from the elasticizer but is not very close to the elasticizer, it is not necessarily accurate to directly determine the current approaching tendency of the waste silk ball relative to the elasticizer by using the distance, and the directional relationship of the trajectory point in the historical moving trajectory relative to the elasticizer needs to be considered. For example, at the same closest point distance, i.e., the closest distance between the historical moving trajectory and the elasticizer, the smaller the angle between the waste silk displacement direction and the closest straight line direction for different waste silk balls, the greater the current approaching tendency of the waste silk ball relative to the elasticizer. For another example, at the same closest point distance, the smaller the angle between the tangent direction of the closest point in the historical moving trajectory and the closest straight line direction for different waste silk balls, the greater the current approaching tendency of the waste silk ball relative to the elasticizer.

[0071] It can be understood that when the waste yarn distance to the elasticizer is relatively close, the current approaching trend of the waste yarn mass relative to the elasticizer can be determined by using the closest distance between the historical moving track and the elasticizer. The closer the distance, the greater the current approaching trend of the waste yarn mass relative to the elasticizer. The farther the distance, the smaller the current approaching trend of the waste yarn mass relative to the elasticizer.

[0072] It can be understood that when the waste yarn distance to the elasticizer is relatively far, for example, greater than the second distance described above, the current approaching trend of the waste yarn mass relative to the elasticizer can be directly determined by using the second distance. At this time, the current approaching trend is a fixed value.

[0073] According to the above-mentioned embodiments, different ways are adopted to determine the current approaching trend of the waste yarn mass relative to the elasticizer according to the interval of the closest distance between the historical moving track and the elasticizer, so that the current approaching trend of the waste yarn mass relative to the elasticizer can be accurately and quickly determined.

[0074] In an embodiment, the current approaching trend of the waste yarn mass relative to the elasticizer is determined based on the directional relationship of the track points in the historical moving track relative to the elasticizer, including: determining the displacement direction of the waste yarn mass based on the start point and the end point in the historical moving track; determining the closest straight line direction from the closest point in the historical moving track to the elasticizer based on the position information of the elasticizer; and determining the current approaching trend of the waste yarn mass relative to the elasticizer based on the included angle between the displacement direction of the waste yarn mass and the closest straight line direction.

[0075] It can be understood that the direction from the start point to the end point in the historical moving track is the displacement direction of the waste yarn mass.

[0076] It can be understood that the direction from the closest point in the historical moving track to the elasticizer is the closest straight line direction.

[0077] Exemplarily, a function can be used to calculate the included angle between the displacement direction of the waste yarn mass and the closest straight line direction, and the value is used to determine the current approaching trend of the waste yarn mass relative to the elasticizer. For example, a function composed of a linear function and a trigonometric function.

[0078] Exemplarily, the included angle and the distance between the closest point and the elasticizer are respectively subjected to dimension processing or normalization processing, and then the weighted sum of the two processed values is obtained to obtain the current approaching trend of the waste yarn mass relative to the elasticizer.

[0079] It can be understood that the smaller the included angle between the displacement direction of the waste yarn mass and the closest straight line direction, the greater the current approaching trend of the waste yarn mass relative to the elasticizer, and the greater the risk of waste yarn interference of the elasticizer. The greater the included angle between the displacement direction of the waste yarn mass and the closest straight line direction, the smaller the current approaching trend of the waste yarn mass relative to the elasticizer, and the smaller the risk of waste yarn interference of the elasticizer.

[0080] It can be understood that, in the case that the waste silk ball is at a certain distance from the elasticizer, the smaller the included angle between the displacement direction of the waste silk ball and the nearest straight line direction, means that the waste silk ball is easier to approach the elasticizer, that is, the possibility of the waste silk ball approaching the elasticizer is greater, and the risk of waste silk interference of the elasticizer is greater. In the case that the waste silk ball is at a certain distance from the elasticizer, the greater the included angle between the displacement direction of the waste silk ball and the nearest straight line direction, means that the waste silk ball is difficult to approach the elasticizer, that is, the possibility of the waste silk ball approaching the elasticizer is smaller, and the risk of waste silk interference of the elasticizer is smaller.

[0081] It can be understood that, if the waste silk ball is relatively close to the elasticizer, the above-mentioned directional relationship is no longer used to determine the risk of waste silk interference of the elasticizer, but the distance of the waste silk ball relative to the elasticizer is used to directly determine the risk of waste silk interference of the elasticizer. If the waste silk ball is relatively far from the elasticizer, for example, more than a certain distance, a specified numerical value can be used to determine the risk of waste silk interference of the elasticizer, and complex calculation is not necessary to indicate that the risk of waste silk interference of the elasticizer is relatively small.

[0082] According to the above-mentioned embodiment, by using the included angle between the displacement direction of the waste silk ball based on the historical moving track of the waste silk and the nearest straight line direction from the nearest point to the elasticizer, the current approaching trend of the waste silk ball relative to the elasticizer can be accurately determined.

[0083] In an embodiment, determining the current approaching trend of the waste silk ball relative to the elasticizer based on the directional relationship of the track points in the historical moving track relative to the elasticizer includes: determining the tangent direction of the nearest point in the historical moving track based on the position of the nearest point to the elasticizer and the curvature in the historical moving track; determining the nearest straight line direction from the nearest point to the elasticizer based on the position of the nearest point in the historical moving track and the position information of the elasticizer; and determining the current approaching trend of the waste silk ball relative to the elasticizer based on the included angle between the tangent direction of the nearest point in the historical moving track and the nearest straight line direction.

[0084] It can be understood that, the first-order derivative and the second-order derivative of the curvature of the nearest point are solved, and then the first-order derivative is solved to be the tangent direction.

[0085] It can be understood that, the direction from the nearest point to the elasticizer in the historical moving track to the elasticizer is the nearest straight line direction.

[0086] Exemplarily, a function can be used to calculate the included angle between the tangent direction and the nearest straight line direction, and the numerical value is used to determine the current approaching trend of the waste silk ball relative to the elasticizer. For example, a function composed of a linear function and a trigonometric function.

[0087] Exemplarily, the included angle and the distance between the nearest point and the elasticizer are respectively dimensionally processed or normalized, and then the two processed values are weighted and summed to obtain the current approaching trend of the waste silk ball relative to the elasticizer.

[0088] It can be understood that the smaller the included angle between the tangent direction and the nearest straight line direction, the greater the current approaching trend of the waste silk ball relative to the elasticizer, and the greater the risk of waste silk interference of the elasticizer. The greater the included angle between the tangent direction and the nearest straight line direction, the greater the current approaching trend of the waste silk ball relative to the elasticizer, and the smaller the risk of waste silk interference of the elasticizer.

[0089] It can be understood that when the waste silk ball is a certain distance away from the elasticizer, the smaller the included angle between the tangent direction and the nearest straight line direction, the easier the waste silk ball approaches the elasticizer, that is, the greater the possibility of the waste silk approaching the elasticizer, and the greater the risk of waste silk interference of the elasticizer. When the waste silk ball is a certain distance away from the elasticizer, the greater the included angle between the tangent direction and the nearest straight line direction, the more difficult the waste silk ball approaches the elasticizer, that is, the smaller the possibility of the waste silk approaching the elasticizer, and the smaller the risk of waste silk interference of the elasticizer.

[0090] It can be understood that if the waste silk ball is relatively close to the elasticizer, the above-mentioned direction relationship is no longer used to determine the risk of waste silk interference of the elasticizer, but the distance of the waste silk ball relative to the elasticizer is used to directly determine the risk of waste silk interference of the elasticizer. If the waste silk ball is relatively far away from the elasticizer, for example, more than a certain distance, a specified value can be used to determine the risk of waste silk interference of the elasticizer, and complex calculation is not necessary to indicate that the risk of waste silk interference of the elasticizer is relatively small.

[0091] According to the above-mentioned embodiments, by using the included angle between the tangent direction of the nearest point in the historical moving track of the waste silk and the nearest straight line direction from the nearest point to the elasticizer, the current approaching trend of the waste silk ball relative to the elasticizer can be accurately determined.

[0092] In some examples, the current approaching trend of the waste silk ball relative to the elasticizer can be determined by simultaneously using the included angle between the displacement direction of the waste silk ball and the nearest straight line direction, and the included angle between the tangent direction of the nearest point in the historical moving track and the nearest straight line direction. The smaller the two included angles, the smaller the current approaching trend of the waste silk ball relative to the elasticizer. For example, the minimum value of the two is taken to determine the current approaching trend of the waste silk ball relative to the elasticizer, so as to avoid directly determining that the risk of waste silk interference is relatively small due to one of the included angles being too large. Alternatively, the average value of the two is taken to determine the current approaching trend of the waste silk ball relative to the elasticizer.

[0093] In one embodiment, the method further includes: determining the current moving away trend of the waste yarn spool relative to the texturing machine based on the positional relationship between the endpoint in the historical movement trajectory and the nearest point to the texturing machine in the historical movement trajectory; and correcting the current waste yarn interference risk of the waste yarn spool to the texturing machine based on the current moving away trend of the waste yarn spool relative to the texturing machine.

[0094] Understandably, since multiple texturing machines can operate in the same environment, the false twisting airflow between adjacent machines can affect the trajectory of the waste yarn bundle. Resonance between multiple texturing machines can also influence the trajectory of the waste yarn bundle. Therefore, the trajectory of the waste yarn bundle may initially move towards and approach the texturing machine, but may subsequently veer away due to other factors, potentially moving further away. Thus, it is necessary to assess the current trend of the waste yarn bundle moving away from the texturing machine and use this trend to correct for the current waste yarn interference risk, resulting in a more comprehensive assessment of the current waste yarn interference risk.

[0095] For example, if the endpoint in the historical movement trajectory and the nearest point to the texturing machine in the historical movement trajectory are not the same, the current trend of the waste yarn ball moving away from the texturing machine is determined to be a positive number based on the distance between the endpoint and the nearest point, and this value is positively correlated with this distance. Conversely, if the endpoint in the historical movement trajectory and the nearest point to the texturing machine in the historical movement trajectory are the same, the current trend of the waste yarn ball moving away from the texturing machine is determined to be zero.

[0096] like Figure 4 As shown, in trajectory A, the closest point A1 to the texturing machine is the same as the endpoint A2, and at this point, the current tendency of the waste yarn ball to move away from the texturing machine is zero. After a period of time, the waste yarn ball continues to move, forming trajectory B. In trajectory B, the closest point B1 to the texturing machine is not the same as the endpoint B2, and at this point, the current tendency of the waste yarn ball to move away from the texturing machine is positive, and this positive value can be directly proportional to or positively correlated with the distance between the endpoint and the closest point.

[0097] For example, the risk of current waste yarn interference to the texturing machine can be reduced by utilizing the current moving away trend of the waste yarn spool relative to the texturing machine. For instance, the current moving away trend of the waste yarn spool relative to the texturing machine can be calculated using a linear function to obtain the possibility of mitigation of interference. Then, the possibility of mitigation of interference is subtracted from the current waste yarn interference risk of the waste yarn spool to obtain the corrected risk of current waste yarn interference to the texturing machine.

[0098] For example, if the risk of the corrected waste filament clump interfering with the current waste filament of the texturing machine exceeds a preset threshold, the waste filament cleaning equipment is controlled to clean the waste filament around the texturing machine.

[0099] According to the above embodiment, in the historical trajectory of the waste silk ball moving to the elasticizer, the current moving away tendency of the waste silk ball relative to the elasticizer can be accurately determined by using the positional relationship between the end point in the historical moving trajectory and the nearest point in the historical moving trajectory to the elasticizer, and thus the current waste silk interference risk determined only by using the current moving close tendency of the waste silk ball relative to the elasticizer can be corrected by the current moving away tendency, so that the corrected current waste silk interference risk is more accurate and more comprehensive.

[0100] In one embodiment, the current moving away tendency of the waste silk ball relative to the elasticizer is determined based on the positional relationship between the end point in the historical moving trajectory and the nearest point in the historical moving trajectory to the elasticizer, including: in the case that the end point and the nearest point are not consistent, determining the distance between the end point and the nearest point based on the historical moving trajectory, and the first straight line direction from the nearest point to the end point, and the nearest straight line direction from the nearest point to the elasticizer; determining the current moving away tendency of the waste silk ball relative to the elasticizer based on the distance between the end point and the nearest point, and the included angle between the first straight line direction and the nearest straight line direction, wherein the current moving away tendency is a positive number.

[0101] Exemplarily, the distance between the end point and the nearest point has a positive correlation with the current moving away tendency, and the included angle between the first straight line direction and the nearest straight line direction has a positive correlation with the current moving away tendency.

[0102] Exemplarily, when the end point and the nearest point are not consistent, the greater the distance between the end point and the nearest point, the greater the current moving away tendency of the waste silk ball relative to the elasticizer. The smaller the distance between the end point and the nearest point, the smaller the current moving away tendency of the waste silk ball relative to the elasticizer. The greater the included angle between the first straight line direction from the nearest point to the end point and the nearest straight line direction from the nearest point to the elasticizer, the greater the current moving away tendency of the waste silk ball relative to the elasticizer. The smaller the included angle between the first straight line direction from the nearest point to the end point and the nearest straight line direction from the nearest point to the elasticizer, the greater the current moving away tendency of the waste silk ball relative to the elasticizer.

[0103] Exemplarily, the distance between the end point and the nearest point, and the included angle between the first straight line direction and the nearest straight line direction are normalized respectively to obtain the normalized distance between the end point and the nearest point, and the normalized included angle between the first straight line direction and the nearest straight line direction. A linear function is used to calculate the normalized distance and the normalized included angle to obtain the current moving away tendency of the waste silk ball relative to the elasticizer.

[0104] According to the above-mentioned embodiments, when the positions of the end point and the nearest point in the historical moving track of the waste yarn ball are inconsistent, the waste yarn ball has a tendency to move away from the elasticizer, and then, the distance between the end point and the nearest point and the first straight line direction from the nearest point to the end point are determined, the nearest straight line direction from the nearest point to the elasticizer is determined, and then, the current tendency of the waste yarn ball to move away from the elasticizer can be accurately determined by using the distance between the end point and the nearest point and the included angle between the first straight line direction and the nearest straight line direction. Subsequently, the risk of the waste yarn ball interfering with the elasticizer can be corrected by using the current tendency of the waste yarn ball to move away from the elasticizer, and the accuracy of the risk prediction can be improved.

[0105] In an embodiment, further comprising: in the case that the positions of the end point and the nearest point are consistent, determining that the value of the current tendency of the waste yarn ball to move away from the elasticizer is zero.

[0106] In the present example, when the positions of the end point and the nearest point in the historical moving track of the waste yarn ball are consistent, the waste yarn ball does not have a tendency to move away from the elasticizer, and then, the value of the current tendency of the waste yarn ball to move away from the elasticizer is set to zero, and subsequently, even if the risk of the waste yarn ball interfering with the elasticizer is corrected by using the current tendency of the waste yarn ball to move away from the elasticizer, the accuracy of the risk prediction will not be affected.

[0107] In an embodiment, correcting the current risk of the waste yarn ball interfering with the elasticizer based on the current tendency of the waste yarn ball to move away from the elasticizer comprises: reducing the current risk of the waste yarn ball interfering with the elasticizer based on the current tendency of the waste yarn ball to move away from the elasticizer.

[0108] For example, the current tendency of the waste yarn ball to move away from the elasticizer is standardized or normalized, and then, the current risk of the elasticizer is reduced by using the normalized current tendency of the waste yarn ball to move away from the elasticizer, to obtain the corrected current risk of the elasticizer.

[0109] For another example, the current tendency of the waste yarn ball to move away from the elasticizer is calculated by using a linear function to obtain the possibility of interference mitigation, and then, the current risk of the waste yarn ball interfering with the elasticizer is reduced by subtracting the possibility of interference mitigation from the current risk of the waste yarn ball interfering with the elasticizer, to obtain the corrected current risk of the waste yarn ball interfering with the elasticizer.

[0110] According to the above-mentioned embodiments, the current risk of the elasticizer is reduced based on the current tendency of the waste yarn ball to move away from the elasticizer, to obtain the corrected current risk of the elasticizer. In this way, the corrected current risk of the elasticizer not only considers the current approaching tendency of the waste yarn ball but also considers the current moving away tendency of the waste yarn ball, and thus, the accuracy of the current risk of the elasticizer is improved.

[0111] In one embodiment, the method further includes: when there are multiple waste filament clumps in the surrounding environment, obtaining the current waste filament interference risk of each waste filament clump in the surrounding environment to the texturing machine; determining the target waste filament interference risk of the texturing machine based on the current waste filament interference risk of each waste filament clump to the texturing machine; and controlling a waste filament cleaning device to clean the waste filament in the surrounding environment of the texturing machine when the target waste filament interference risk of the texturing machine is greater than a preset threshold.

[0112] Understandably, cleaning up waste wire around the texturing machine can also include cleaning up waste wire around all texturing machines in the vicinity of the texturing machine.

[0113] For example, if the risk of interference from the target waste wire in the texturing machine is less than a preset second risk threshold, waste wire cleaning is temporarily not performed.

[0114] According to the above implementation method, when there are multiple waste fibers in the surrounding environment, the above operation is performed on each waste fiber to obtain the current waste fiber interference risk of each waste fiber clump to the texturing machine after correction. Then, the target waste fiber interference risk of the texturing machine is determined from this risk. If the target waste fiber interference risk of the texturing machine is greater than a preset threshold, the waste fiber cleaning equipment is controlled to clean the waste fiber in the surrounding environment of the texturing machine. In this way, the target waste fiber interference risk of the texturing machine can be accurately calculated. The waste fiber cleaning equipment is only controlled when the risk is high. This avoids frequent waste fiber cleaning, which would affect the operation of the texturing machine, and also avoids the texturing machine being affected by excessive waste fiber interference.

[0115] Figure 5 This is a structural block diagram of a device for determining the current waste wire interference risk of a texturing machine according to an embodiment of the present invention.

[0116] like Figure 5 As shown, the device for determining the current waste wire interference risk of the texturing machine may include:

[0117] The position recognition module 510 is used to determine the position information of the waste yarn clumps in the surrounding environment of the texturing machine at each time based on the image sequence of the texturing working environment of the texturing machine from the first time in the past to the second time in the present.

[0118] The position and time determination module 520 is used to determine the center point position and the nearest point position relative to the texturing machine of the waste yarn ball at each time based on the position information of the waste yarn ball at each time, and to determine the earliest third time when the distance between the nearest point position and the texturing machine is less than a preset first distance threshold.

[0119] The first trajectory determination module 530 is used to determine the first trajectory based on the center point position of the waste filament at each time from the first time in the past to the earliest third time.

[0120] The second trajectory determination module 540 is configured to determine a second trajectory based on the closest point position of the waste yarn ball relative to the elasticizer at each of the earliest third time point to the current second time point.

[0121] The third trajectory determination module 550 is configured to determine a historical moving trajectory of the waste yarn ball based on the first trajectory and the second trajectory.

[0122] The interference risk determination module 560 is configured to determine a current waste yarn interference risk of the waste yarn ball to the elasticizer based on the historical moving trajectory of the waste yarn ball.

[0123] In an embodiment, the third trajectory determination module comprises:

[0124] The trajectory fitting unit is configured to fit a trajectory between the end point of the first trajectory and the start point of the second trajectory based on the end point curvature of the first trajectory and the start point curvature of the second trajectory to obtain a third trajectory.

[0125] The trajectory splicing unit is configured to splice the first trajectory, the third trajectory and the second trajectory in sequence to obtain the historical moving trajectory of the waste yarn ball.

[0126] In an embodiment, the trajectory fitting unit is specifically configured to:

[0127] determine an intermediate trajectory point based on the end point of the first trajectory and the start point of the second trajectory;

[0128] perform position fine-tuning on the intermediate trajectory point based on the mean value between the end point curvature of the first trajectory and the start point curvature of the second trajectory, and determine the curvature of the position-finely-tuned intermediate trajectory point;

[0129] fit a trajectory between the end point of the first trajectory and the position-finely-tuned intermediate trajectory point based on the end point curvature of the first trajectory and the curvature of the position-finely-tuned intermediate trajectory point to obtain a fourth trajectory;

[0130] fit a trajectory between the position-finely-tuned intermediate trajectory point and the start point of the second trajectory based on the curvature of the position-finely-tuned intermediate trajectory point and the start point curvature of the second trajectory to obtain a fifth trajectory;

[0131] splice the fourth trajectory and the fifth trajectory to obtain the third trajectory.

[0132] In an embodiment, the interference risk determination module comprises:

[0133] a current approaching tendency of the waste silk ball relative to the elasticizer based on a directional relationship of the trajectory points in the historical moving trajectory relative to the elasticizer;

[0134] a current waste silk interference risk of the waste silk ball to the elasticizer based on the current approaching tendency of the waste silk ball relative to the elasticizer.

[0135] In an embodiment, the interference risk determining unit is specifically configured to:

[0136] determine the current approaching tendency of the waste silk ball relative to the elasticizer based on a directional relationship of the trajectory points in the historical moving trajectory relative to the elasticizer, in a case that the nearest distance between the historical moving trajectory and the elasticizer is greater than a first distance and less than a second distance, wherein the first distance is less than the second distance;

[0137] determine the current approaching tendency of the waste silk ball relative to the elasticizer based on the nearest distance between the historical moving trajectory and the elasticizer, in a case that the nearest distance between the historical moving trajectory and the elasticizer is less than the first distance;

[0138] determine the current approaching tendency of the waste silk ball relative to the elasticizer based on the second distance, in a case that the nearest distance between the historical moving trajectory and the elasticizer is greater than the second distance.

[0139] In an embodiment, the device further comprises:

[0140] a current moving away tendency of the waste silk ball relative to the elasticizer based on a positional relationship between an end point in the historical moving trajectory and a nearest point in the historical moving trajectory relative to the elasticizer;

[0141] a current waste silk interference risk of the waste silk ball to the elasticizer based on the current moving away tendency of the waste silk ball relative to the elasticizer.

[0142] In an embodiment, the moving away tendency determining module comprises:

[0143] a first information determining unit configured to, in a case that the position of the end point is inconsistent with the position of the nearest point, determine a distance between the end point and the nearest point and a first straight line direction from the nearest point to the end point based on the historical moving trajectory, and a nearest straight line direction from the nearest point to the elasticizer;

[0144] The first trend calculation unit is configured to determine a current moving-away trend of the waste yarn ball relative to the elasticizer based on a distance between the end point and the nearest point and an included angle between the first straight line direction and the nearest straight line direction, wherein the current moving-away trend has a positive value.

[0145] In an embodiment, the distance between the end point and the nearest point has a positive correlation with the current moving-away trend, and the included angle between the first straight line direction and the nearest straight line direction has a positive correlation with the current moving-away trend.

[0146] In an embodiment, the method further comprises:

[0147] The second trend calculation unit is configured to determine that the current moving-away trend of the waste yarn ball relative to the elasticizer has a value of zero when the end point and the nearest point have the same position.

[0148] In an embodiment, the interference risk correction module is specifically configured to:

[0149] reduce a current waste yarn interference risk of the waste yarn ball on the elasticizer based on the current moving-away trend of the waste yarn ball relative to the elasticizer.

[0150] In an embodiment, the approaching trend determination unit is specifically configured to:

[0151] determine a waste yarn displacement direction based on the start point and the end point in the historical moving trajectory;

[0152] determine a nearest straight line direction from the nearest point to the elasticizer based on the nearest point in the historical moving trajectory and position information of the elasticizer;

[0153] determine a current approaching trend of the waste yarn ball relative to the elasticizer based on an included angle between the waste yarn displacement direction and the nearest straight line direction.

[0154] In an embodiment, the approaching trend determination unit is specifically configured to:

[0155] determine a tangent direction of the nearest point in the historical moving trajectory based on a position of the nearest point and a curvature in the historical moving trajectory;

[0156] determine a nearest straight line direction from the nearest point to the elasticizer based on the nearest point in the historical moving trajectory and position information of the elasticizer;

[0157] Based on the angle between the tangent direction of the nearest point in the historical movement trajectory and the nearest straight line direction, the current approach trend of the waste yarn ball relative to the texturing machine is determined.

[0158] In one implementation, it further includes:

[0159] In the case where there are multiple waste yarn clumps in the surrounding environment, the risk of each waste yarn clump in the surrounding environment interfering with the current waste yarn of the texturing machine is obtained;

[0160] Based on the current waste yarn interference risk of each of the aforementioned waste yarn clumps to the texturing machine, the target waste yarn interference risk of the texturing machine is determined;

[0161] If the risk of interference from the target waste filament of the texturing machine exceeds a preset threshold, the waste filament cleaning equipment is controlled to clean the waste filament in the surrounding environment of the texturing machine.

[0162] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0163] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0164] Figure 6 This is a structural block diagram of an electronic device according to an embodiment of the present disclosure. Figure 6 As shown, the electronic device includes a memory 610 and a processor 620. The memory 610 stores a computer program that can run on the processor 620. There can be one or more memories 610 and processors 620. The memory 610 can store one or more computer programs, which, when executed by the electronic device, cause the electronic device to perform the methods provided in the above-described method embodiments. The electronic device may also include a communication interface 630 for communicating with external devices and performing data exchange and transmission.

[0165] If the memory 610, the processor 620 and the communication interface 630 are implemented independently, the memory 610, the processor 620 and the communication interface 630 can be connected with each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 6 Only one thick line is used to represent the bus in the middle, but it does not mean that there is only one bus or only one type of bus.

[0166] Optionally, in a specific implementation, if the memory 610, the processor 620 and the communication interface 630 are integrated on a chip, the memory 610, the processor 620 and the communication interface 630 can complete communication between each other through an internal interface.

[0167] It should be understood that the above processor can be a Central Processing Unit (CPU), and can also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. It is worth noting that the processor can be an Advanced RISC Machines (ARM) architecture processor.

[0168] Further, the aforementioned memory can include a read-only memory and a random access memory, and can also include a non-volatile random access memory. The memory can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memory. The non-volatile memory can include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can include a random access memory (RAM) used as an external cache. By way of example, and not limitation, many forms of RAM can be used. For example, a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate SDRAM (DDR SDRAM), an enhanced SDRAM (ESDRAM), a Synchlink DRAM (SLDRAM), and a direct Rambus RAM (DR RAM) can be used.

[0169] In the above embodiments, all or part of the steps can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the steps can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present disclosure are generated. The computer can be a general purpose computer, a special purpose computer, a computer network or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (for example: coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example: infrared, Bluetooth, microwave, etc.) mode. The computer readable storage medium can be any available medium accessible by a computer, or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example: floppy disk, hard disk, magnetic tape), an optical medium (for example: digital versatile disc (DVD)) or a semiconductor medium (for example: solid state disk (SSD)) etc. It is worth noting that the computer readable storage medium mentioned in the present disclosure can be a non-volatile storage medium, in other words, it can be a non-transitory storage medium.

[0170] A person of ordinary skill in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or the program can instruct the related hardware to complete, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0171] In the description of the embodiments of the present disclosure, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0172] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means or, for example, A / B can mean A or B. "And / or" in this document only describes the relationship between associated objects, which means that there can be three relationships, for example, A and / or B, which can mean: A exists alone, A and B exist together, and B exists alone.

[0173] In the description of the embodiments of the present disclosure, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "multiple" is two or more.

[0174] The above only describes exemplary embodiments of the present disclosure, and is not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for determining the current waste wire interference risk of a texturing machine, characterized in that, include: Based on the image sequence of the texturing working environment of the texturing machine from the first moment in the past to the second moment in the present, the location information of the waste yarn clumps in the surrounding environment of the texturing machine at each moment is determined; Based on the position information of the waste yarn ball at each time, the center point position and the nearest point position relative to the texturing machine of the waste yarn ball at each time are determined, and the earliest third time when the distance between the nearest point position and the texturing machine is less than a preset first distance threshold is determined. The first trajectory is determined based on the center point position of the waste filament at each time point from the first time point in the past to the earliest third time point; The second trajectory is determined based on the closest point position of the waste yarn ball relative to the texturing machine at each time from the earliest third time to the current second time. Based on the first trajectory and the second trajectory, the historical movement trajectory of the waste filament ball is determined; Based on the historical movement trajectory of the waste yarn bundle, the current waste yarn interference risk of the waste yarn bundle to the texturing machine is determined.

2. The method according to claim 1, characterized in that, Determining the historical movement trajectory of the waste filament ball based on the first trajectory and the second trajectory includes: Based on the curvature of the endpoint of the first trajectory and the curvature of the starting point of the second trajectory, the trajectory from the endpoint of the first trajectory to the starting point of the second trajectory is fitted to obtain the third trajectory. The first trajectory, the third trajectory, and the second trajectory are sequentially spliced ​​together to obtain the historical movement trajectory of the waste filament.

3. The method according to claim 2, characterized in that, The process of fitting a third trajectory from the end point of the first trajectory to the start point of the second trajectory based on the end point curvature of the first trajectory and the start point curvature of the second trajectory includes: Based on the end point of the first trajectory and the start point of the second trajectory, determine the intermediate trajectory points; Based on the average between the curvature of the endpoint of the first trajectory and the curvature of the starting point of the second trajectory, the position of the intermediate trajectory point is fine-tuned, and the curvature of the intermediate trajectory point after the position fine-tuning is determined. Based on the curvature of the endpoint of the first trajectory and the curvature of the intermediate trajectory point after position fine-tuning, the trajectory between the endpoint of the first trajectory and the intermediate trajectory point after position fine-tuning is fitted to obtain the fourth trajectory. Based on the curvature of the intermediate trajectory point after position fine-tuning and the curvature of the starting point of the second trajectory, the trajectory between the intermediate trajectory point after position fine-tuning and the starting point of the second trajectory is fitted to obtain the fifth trajectory; The third trajectory is obtained by splicing the fourth trajectory and the fifth trajectory.

4. The method according to claim 1, characterized in that, The determination of the current waste fiber interference risk of the waste fiber spool to the texturing machine based on the historical movement trajectory of the waste fiber spool includes: Based on the directional relationship between the trajectory points in the historical movement trajectory and the texturing machine, the current approach trend of the waste yarn ball relative to the texturing machine is determined; Based on the current approach trend of the waste yarn ball relative to the texturing machine, the current waste yarn interference risk of the waste yarn ball to the texturing machine is determined.

5. The method according to claim 4, characterized in that, Determining the current approach trend of the waste yarn ball relative to the texturing machine based on the directional relationship between trajectory points in the historical movement trajectory and the texturing machine includes: If the closest distance between the historical movement trajectory and the texturing machine is greater than a first distance and less than a second distance, the current approach trend of the waste yarn ball relative to the texturing machine is determined based on the directional relationship between the trajectory points in the historical movement trajectory and the texturing machine, wherein the first distance is less than the second distance; If the closest distance between the historical movement trajectory and the texturing machine is less than the first distance, the current approach trend of the waste yarn ball relative to the texturing machine is determined based on the closest distance between the historical movement trajectory and the texturing machine. If the closest distance between the historical movement trajectory and the texturing machine is greater than the second distance, the current approach trend of the waste yarn ball relative to the texturing machine is determined based on the second distance.

6. The method according to claim 4, characterized in that, The method further includes: Based on the positional relationship between the endpoint in the historical movement trajectory and the nearest point to the texturing machine in the historical movement trajectory, the current trend of the waste yarn ball moving away from the texturing machine is determined; Based on the current trend of the waste yarn ball moving away from the texturing machine, the risk of the waste yarn ball interfering with the current waste yarn of the texturing machine is corrected.

7. The method according to claim 6, characterized in that, Determining the current moving trend of the waste yarn ball relative to the texturing machine based on the positional relationship between the endpoint in the historical movement trajectory and the nearest point to the texturing machine in the historical movement trajectory includes: If the endpoint and the nearest point are not at the same location, the distance between the endpoint and the nearest point is determined based on the historical movement trajectory, as well as the first straight-line direction from the nearest point to the endpoint and the nearest straight-line direction from the nearest point to the texturing machine. Based on the distance between the endpoint and the nearest point, and the angle between the first straight line direction and the nearest straight line direction, the current moving away trend of the waste yarn ball relative to the texturing machine is determined, wherein the value of the current moving away trend is a positive number.

8. The method according to claim 7, characterized in that, The distance between the endpoint and the nearest point is positively correlated with the current trend of moving away, and the angle between the first straight line direction and the nearest straight line direction is positively correlated with the current trend of moving away.

9. The method according to claim 7, characterized in that, Also includes: If the endpoint coincides with the nearest point, the current moving away trend of the waste yarn ball relative to the texturing machine is determined to be zero.

10. The method according to claim 9, characterized in that, The method of correcting the risk of current waste yarn interference to the texturing machine based on the current trend of the waste yarn ball moving away from the texturing machine includes: Based on the current trend of the waste yarn ball moving away from the texturing machine, the risk of the waste yarn ball interfering with the current waste yarn of the texturing machine is reduced.

11. The method according to claim 5, characterized in that, Determining the current approach trend of the waste yarn ball relative to the texturing machine based on the directional relationship between trajectory points in the historical movement trajectory and the texturing machine includes: The displacement direction of the waste filament is determined based on the starting point and ending point in the historical movement trajectory. Based on the nearest point to the loading machine in the historical movement trajectory, and the position information of the loading machine, the shortest straight line direction from the nearest point to the loading machine is determined; Based on the angle between the displacement direction of the waste filament ball and the nearest straight line direction, the current approach trend of the waste filament ball relative to the texturing machine is determined.

12. The method according to claim 5, characterized in that, Determining the current approach trend of the waste yarn ball relative to the texturing machine based on the directional relationship between trajectory points in the historical movement trajectory and the texturing machine includes: Based on the position and curvature of the nearest point to the texturing machine in the historical movement trajectory, the tangential direction of the nearest point in the historical movement trajectory is determined; Based on the nearest point to the loading machine in the historical movement trajectory, and the position information of the loading machine, the shortest straight line direction from the nearest point to the loading machine is determined; Based on the angle between the tangent direction of the nearest point in the historical movement trajectory and the nearest straight line direction, the current approach trend of the waste yarn ball relative to the texturing machine is determined.

13. The method according to any one of claims 1-12, characterized in that, Also includes: In the case where there are multiple waste yarn clumps in the surrounding environment, the risk of each waste yarn clump in the surrounding environment interfering with the current waste yarn of the texturing machine is obtained; Based on the current waste yarn interference risk of each of the aforementioned waste yarn clumps to the texturing machine, the target waste yarn interference risk of the texturing machine is determined; If the risk of interference from the target waste filament of the texturing machine exceeds a preset threshold, the waste filament cleaning equipment is controlled to clean the waste filament in the surrounding environment of the texturing machine.

14. A device for determining the current waste wire interference risk of a texturing machine, characterized in that, include: The location recognition module is used to determine the location information of waste yarn clumps in the surrounding environment of the texturing machine at each time point based on the image sequence of the texturing working environment from the first time point in the past to the second time point in the present. The position and time determination module is used to determine the center point position and the nearest point position relative to the texturing machine of the waste yarn ball at each time based on the position information of the waste yarn ball at each time, and to determine the earliest third time when the distance between the nearest point position and the texturing machine is less than a preset first distance threshold. The first trajectory determination module is used to determine the first trajectory based on the center point position of the waste filament at each time from the first time in the past to the earliest third time. The second trajectory determination module is used to determine the second trajectory based on the closest point position of the waste yarn ball relative to the texturing machine at each time from the earliest third time to the current second time. The third trajectory determination module is used to determine the historical movement trajectory of the waste filament based on the first trajectory and the second trajectory; The interference risk determination module is used to determine the current interference risk of the waste yarn ball to the texturing machine based on the historical movement trajectory of the waste yarn ball.

15. The apparatus according to claim 14, characterized in that, The third trajectory determination module includes: A trajectory fitting unit is used to fit a trajectory from the end point of the first trajectory to the start point of the second trajectory based on the end point curvature of the first trajectory and the start point curvature of the second trajectory to obtain a third trajectory. The trajectory splicing unit is used to sequentially splice the first trajectory, the third trajectory, and the second trajectory to obtain the historical movement trajectory of the waste filament.

16. An electronic device comprising: At least one processor; as well as A memory that is communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1-13.

17. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-13.

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