Reed wire hooking and reeding system and dynamic control method thereof

Abstract

The invention belongs to the technical field of textile machinery system control, and particularly relates to a reed snagging and reeding system and a dynamic control method thereof.The method comprises the following steps that the current reed wire arrangement state is collected, an initial three-dimensional model is generated, and needle expanding vibration parameters and a cutter penetrating path benchmark are set; controlling the expansion needle to set the insertion position and the motion path to be inserted into a gap between adjacent reed wires, monitoring the temperature of the expansion needle, and reducing the vibration amplitude when the temperature exceeds a safety threshold value; data of a positioning detection system are obtained in real time, the position of the cutter penetrating end is corrected through a fuzzy PID algorithm, and dynamic errors caused by mechanical inertia are compensated; and the driving device is started, so that the penetrating cutter penetrates along the corrected path, and when the penetrating cutter encounters the deformed reed wire, the penetrating cutter is switched to a pressure control mode to apply repairing force to the deformed area. According to the invention, the stability, the accuracy and the operation stability of the reeding process can be maintained in the process of knife penetrating, reeding and yarn hooking.

Description

Technical Field

[0001] This invention belongs to the field of textile machinery system control technology, specifically relating to a reed hook threading system and its dynamic control method. Background Technology

[0002] The reed threading process is a key step in passing the warp yarn through the reed teeth according to process requirements. Its degree of automation directly affects the efficiency and quality of textile production. Existing long-stroke reed threading mechanical systems usually adopt a combination of screw drive and servo motor, and the reed threading action is completed by the mechanical arm driving the hook device.

[0003] Problems with existing technology: However, when facing long-stroke hook wire threading conditions, the following problems are common, such as transmission accuracy decay, dynamic response lag, insufficient reliability, and inability to achieve real-time dynamic control. For example, long-stroke lead screws are prone to bending deformation due to their own weight, which leads to the accumulation of end positioning error as the stroke increases, resulting in inaccurate reed threading position, and may even cause the reed to collide with the threading tool. In addition, during the operation of mechanical braking, the mechanical inertia generated during the start and stop process can easily cause vibration, affecting the hardness of the threading tool and the reed threading efficiency. Furthermore, traditional mechanical structures are prone to severe wear and maintenance costs in frequent reciprocating motion. Summary of the Invention

[0004] The purpose of this invention is to provide a reed hook wire threading system and its dynamic control method, which can maintain the stability, accuracy, and operational stability of the reed threading process during the wire threading process.

[0005] The specific technical solution adopted by this invention is as follows: A method for dynamically controlling the threading of a reed hook includes the following steps: Collect the current reed arrangement status, generate a reed model, and set the reed separation position of the expanding needle and the path reference of the expanding needle and the piercing knife; When collecting data on the arrangement of reeds, if the reeds stick together, the supplementary lighting system is activated to improve the clarity of the generated reed model. Control the expansion pin to set its insertion position and movement path to insert into the gap between adjacent reeds; Real-time acquisition of positioning and detection system data, and correction of the cutting end position through fuzzy PID algorithm to compensate for dynamic errors caused by mechanical inertia; Start the drive unit to allow the cutting tool to penetrate along the corrected path; Record the number of times the needle is threaded and the number of gaps between the reeds, or detect whether there are any missed needles or extra threads by using an imaging sensor. If so, start a supplementary reed threading program or trigger an alarm for manual intervention based on the identified location of the missed needle or extra thread.

[0006] According to another aspect of the present invention, a reed hook wire threading system includes: The mechanical transmission system adopts a guide rail structure driven by a linear motor, and the bottom of the guide rail integrates a distributed support roller group to counteract the bending deformation caused by its own weight. A needle expanding device, comprising a needle expanding body and a bracket for driving the needle expanding body to move; A positioning detection system is installed on top of the hook wire actuator and includes a vision sensor and a laser rangefinder. The vision sensor faces the front end of the cutting tool and is directly opposite the reed, and is used to monitor the relative positional deviation between the cutting tool end and the reed and the arrangement order of the reed. The laser rangefinder is used to detect the thickness and local deformation of the reed. The supplementary lighting system includes a front light supplementary lighting module and a back light supplementary lighting module. The back light supplementary lighting module is located on the other side of the reed corresponding to the visual sensor. The supplementary lighting system includes an adjustable color temperature LED array, which dynamically adjusts the light intensity and spectral distribution according to the image acquisition requirements of the positioning detection system. The dynamic compensation control module, based on the data input from the positioning detection system, uses a fuzzy PID algorithm to adjust the spatial coordinates of the end of the piercing knife to compensate for the dynamic error caused by the mechanical inertia during the insertion of the expanding needle; The blade insertion mechanism includes a blade body and a driving device. The driving device adjusts the blade posture and the real-time position of the blade end according to the instructions of the dynamic compensation control module, so as to realize the accurate insertion of the blade between the reeds. The safety monitoring unit includes an imaging sensor and a pressure sensor, which are used to monitor the shape changes and real-time pressure of the expanding needle, the piercing knife, and the reed during the working process. When the pressure of the expanding needle, the piercing knife, and the reed exceeds the threshold, an emergency brake is triggered and an alarm signal is generated. When the imaging sensor detects a situation of missing or excessive threading, an alarm program is started and a repair program or a manual intervention program is run.

[0007] According to another aspect of the present invention, the connection between one end of the needle expanding device and the bracket is either a threaded connection or a clamping connection, and the other end of the needle expanding device is used for detachably clamping the tail of the needle expanding device.

[0008] According to another aspect of the present invention, the positioning detection system works in conjunction with the supplementary lighting system to achieve dynamic calibration through the following steps: Image enhancement stage: Turn on the supplementary lighting system, use the visual sensor of the positioning detection system to collect grayscale images of the reed arrangement area, and combine the telecentric lens to obtain reed image data; Deformation recognition stage: The geometric features of the gap between adjacent reeds are calculated using a point cloud model to identify local adhesion or tilting caused by compression; Path correction stage: Input the deformation recognition results into the dynamic compensation control module to generate the spatial coordinate offset of the end of the piercing blade, ensuring that the piercing blade enters along the center line of the gap after the needle expansion is separated.

[0009] The dynamic compensation control module adopts a dual-mode control strategy combining fuzzy PID algorithm and deep learning model: Fuzzy PID control: Based on the real-time position deviation fed back by the positioning detection system, the torque output of the cutting drive motor is dynamically adjusted to suppress the oscillation of the guide rail caused by inertia; Deep learning model: A convolutional neural network trained based on historical reed cutting data predicts the probability distribution of reed deformation. When the deformation probability in any area exceeds the threshold, the cutting path is adjusted to a safe offset in advance to avoid hard contact with deformed reeds.

[0010] According to another aspect of the present invention, the driving device of the piercing mechanism includes a three-degree-of-freedom motion device, the end effector of which is connected to the piercing blade via a magnetorheological elastomer joint. The magnetorheological elastomer joint can dynamically adjust its stiffness coefficient under current excitation, so that the end of the piercing blade can apply controllable pressure to the locally dented reed while avoiding the deformed reed, thereby achieving online repair.

[0011] According to another aspect of the present invention, a reed data model is also included, wherein the reed data includes parameters such as reed type, length, thickness, and material, which is used to record the corresponding data before threading the reed, thereby improving the reed threading system's recording of reed data and enabling the recording and storage of new reed data.

[0012] According to another aspect of the present invention, an electronic device is also provided, the electronic device including a memory and a processor; the memory is used to store a program; the processor executes the program to implement the method described above.

[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided, the storage medium storing a computer program that, when executed by a processor, implements the methods described above.

[0014] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods described above.

[0015] The technical effects achieved by this invention are as follows: This invention, through vibration and temperature detection of the expanding needle, can separate tightly fitted reeds and avoid damage to the reeds during vibration, thus protecting the structure. On the other hand, defective reeds can be repaired by using a piercing tool or a replaced piercing tool. Furthermore, by controlling the non-contact state between the piercing tool and the reeds, wear of the piercing tool can be avoided, extending the service life of the equipment and improving long-term stability.

[0016] This invention uses a pressure sensor to acquire pressure changes during the insertion of a cutting tool into a reed. If the pressure changes, it indicates that the cutting tool and the reed have come into contact. If the pressure exceeds a threshold, it is determined that the cutting tool and the reed are in direct contact, which can easily cause damage or even breakage to the cutting tool or the reed. By re-identifying the current reed area, the cutting tool can be re-inserted. For reed deformation that is re-identified or directly identified, the pressure control of the cutting tool can be activated to apply pressure less than the pressure threshold and vibration to the surface of the reed in an attempt to repair the reed. Alternatively, the cutting tool or a pressure blade of another material can be used to apply pressure to the reed to repair the reed defect. Attached Figure Description

[0017] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a schematic diagram of the reed hook wire threading system in this invention; Figure 3 This is a framework diagram of the reed hook wire threading system in this invention. Detailed Implementation

[0018] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] According to an embodiment of the present invention, a method embodiment of a dynamic control method for threading reed hook wire is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0021] like Figure 1 As shown, a method for dynamic control of reed hook wire threading includes the following steps: S1. Collect the current reed arrangement status, generate the reed model, and set the reed separation position of the expanding needle and the path reference of the expanding needle and the piercing knife; S2. When collecting the reed arrangement status, if the reeds stick together, activate the supplementary lighting system to improve the recognition clarity of the generated reed model; S3. Control the expansion pin to set its insertion position and movement path to insert into the gap between adjacent reeds; S4. Real-time acquisition of positioning and detection system data, correction of the cutting end position through fuzzy PID algorithm, and compensation for dynamic errors caused by mechanical inertia; S5. Start the drive device to make the cutting tool penetrate along the corrected path; S6. Record the number of times the reed is threaded using the cutting tool and the number of reed gaps, or detect whether there are any missed threadings or extra threads using an imaging sensor. If so, initiate a supplementary threading procedure or a manual intervention procedure based on the identified location of the missed threading or extra threading. The supplementary threading procedure for missed threading includes using equipment to supplement the threading and manual supplementation. For cases of extra threads, a manual intervention procedure is generally initiated to remove the excess threads. The above mechanism is monitored and operated in real time during normal reed threading.

[0022] As a supplementary step to the reed vibrating operation, the vibration spectrum of the reed and the cutting tool is detected by an acoustic emission sensor. When abnormal high-frequency noise is detected, an emergency brake is triggered, the reed cutting process is paused, and a maintenance command is generated.

[0023] In step S1 above, the generated reed model includes a two-dimensional image model or a three-dimensional model. The two-dimensional image model acquires the reed arrangement image through a vision sensor, generates a grayscale image, and identifies the reed elements in the image to identify the reed arrangement order and arrangement method. The position of the needle insertion and the movement mode of the needle are set sequentially. The feature of this embodiment is that the reed arrangement order and method can be identified using a simple structure or component, which can be adapted to most reed recognition scenarios. Moreover, the required component cost is low, which facilitates the upgrading and optimization of the equipment. In addition, the 3D model acquires the current reed arrangement state through a visual sensor to capture a 2D image of the reed arrangement. Furthermore, it uses a laser rangefinder and a triangulation sensor to detect the reed thickness and local deformation state, and optimizes the image contrast through dynamic adjustment. This embodiment can be used for more precise reed identification scenarios, especially for high-density reed arrangement scenarios.

[0024] Furthermore, it provides accurate needle insertion positions for subsequent needle expansion and also provides reference motion data for the movement path of subsequent needle expansion and scalpel insertion. In addition, the vision sensor includes, but is not limited to, a monocular vision sensor or a binocular vision sensor.

[0025] Furthermore, after activating the supplemental lighting system, grayscale images of the reed area are acquired visually. Histogram equalization algorithms are used to enhance image contrast. Based on visual parallax, combined with the reed thickness data obtained from the laser rangefinder or the set original reed thickness data, a two-dimensional image model or a three-dimensional point cloud model is generated. The gap between adjacent reeds is calculated using the two-dimensional image model or the three-dimensional point cloud model. For example, if the gap is less than 0.05mm (generally 1 / 3 of the standard gap), it is determined to be an adhesion area. If the reed tilt angle is determined to be greater than 2°, it is determined to be a tilt risk area. The specific data in the above examples are affected by different data in the actual application scenario of the reed. Therefore, the above data is only for reference and does not represent specific values. The influencing factors include different textile threads, different reed thicknesses, different reed lengths, and different steel reed mesh counts in the application of reed weaving.

[0026] As an optional embodiment, the expander needle determines the vibration frequency range based on the acquired reed model and the resonant frequency of the expander needle material. By setting the expander needle to have vibration properties, the vibration frequency of the expander needle avoids overlap with the natural frequency of the reed. For example, the resonant frequency of the expander needle material is 50-200Hz, while the natural frequency of the reed is 150-300Hz, which can avoid resonance. The vibration parameter adaptation can also reduce the wear of the expander needle and extend the service life of the equipment. For example, when adjacent reeds are stuck together, or when the expander needle cannot be directly inserted between adjacent reeds, the vibration of the expander needle can facilitate the separation of the reeds. When it is detected that adjacent reeds are separated or a gap is detected, the expander needle vibration program is not started, which can effectively reduce energy efficiency and avoid damage to both the expander needle and the reed during vibration contact. The set expander needle vibration program stops vibrating after separating adjacent reeds to avoid passive deformation of the reeds.

[0027] Furthermore, the method for setting the reference for the expanding needle and piercing knife path is as follows: by constructing a two-dimensional image model or a three-dimensional point cloud model, and based on the identified reed gaps, the path position through which the expanding needle and piercing knife pass is set according to the gap position. In step S3, the expanding needle is controlled to insert into the gap between adjacent reeds, and the piercing knife is further inserted into the gap expanded by the expanding needle to realize the reed-piercing action. When collecting the reed arrangement state, if the reeds stick together, the supplementary light system is activated to improve the recognition clarity of the generated reed model.

[0028] It should be noted that during the reed threading process, the supplementary lighting system uses a backlight supplementary lighting module to provide supplementary lighting for reed threading identification, while a front light supplementary lighting module is used to provide supplementary lighting when the reeds are stuck together. Alternatively, when the reeds are stuck together, the front light supplementary lighting module and the backlight supplementary lighting module can be used independently or in combination to identify the shape of the reeds. For example, in the backlight state, if the texture image of the front of the reed cannot be obtained during image acquisition, the front light supplementary lighting module is needed to illuminate the front of the reed to obtain the image texture data of the front of the reed. Through the reed texture, the gap between adjacent reeds can be identified, making it easier to thread the reed.

[0029] Further according to step S1, when the expanding needle is in a vibrating state, it is transmitted to the elastic buffer layer through multi-layer piezoelectric stacking to buffer overload impact, and the temperature during the vibration process of the expanding needle is identified by infrared thermal imaging sensor. When the temperature exceeds the safety threshold, the vibration amplitude is reduced. In this process, the piezoelectric ceramic generates micro-amplitude vibration under sinusoidal voltage excitation. When the infrared sensor detects that the temperature exceeds the set temperature threshold, the feedback system is activated to reduce the vibration amplitude and reduce the output energy of the pressure point.

[0030] Furthermore, by monitoring the temperature of the expanding needle, the deformation of the expanding needle and the reed in contact with it caused by high temperatures can be avoided. Controllable micro-vibration at the end of the expanding needle can reduce hard collisions between the expanding needle and the reed, preventing deformation of the reed. Temperature adjustment can directly reflect the magnitude of vibration output power and working time, which can reduce equipment damage caused by high-load vibration.

[0031] According to step S4, in an optional embodiment, by acquiring positioning detection system data in real time, the arrangement and order of the reeds can be dynamically adjusted, and the position of the cutting end can be corrected in real time through fuzzy PID algorithm to achieve dynamic error compensation caused by mechanical inertia, as well as error caused by recognition of two-dimensional image model, to compensate for oscillation caused by inertia and error caused by cutting length (bending).

[0032] As another optional embodiment, when the three-dimensional model is in working state, while acquiring positioning and detection system data in real time, the positioning and detection system data is also compared with the laser rangefinder data. By combining and comparing the two types of data, the arrangement of the reeds in the identified three-dimensional model is corrected in real time to achieve the accuracy of identification during the reed threading process.

[0033] According to step S5, the driving device includes, but is not limited to, a three-degree-of-freedom motion device or a magnetorheological elastomer joint, such as... Figure 2 As shown.

[0034] Furthermore, the pressure sensor acquires the pressure change of the cutting tool during the insertion of the reed. If the pressure changes, it indicates that the cutting tool and the reed have come into contact. If the pressure exceeds the threshold, it is determined that the cutting tool and the reed are in direct contact, which may cause damage or even breakage to the cutting tool or the reed. The cutting tool is then re-inserted by re-identifying the current reed area.

[0035] In one alternative embodiment, for reed deformation that is re-identified or directly detected, firstly, by activating the pressure control of the piercing knife, a pressure less than a pressure threshold is applied to the surface of the reed by the piercing knife to attempt or re-insert it between adjacent reeds.

[0036] As another optional embodiment, adjacent reeds can be inserted or repaired by means of expanding needle vibration, or pressure can be applied to the reeds by replacing the piercing knife or other material pressure blades to achieve the repair of reed defects.

[0037] Furthermore, when the deformation of the reed is determined to be irreparable or not requiring repair, the position of the cutting tool is slightly adjusted to avoid the deformed area and prevent the tip of the cutting tool from making direct contact with the reed, thereby reducing wear on the cutting tool and the reed.

[0038] As a supplementary step to the reed vibrating operation, an acoustic emission sensor detects the vibration spectrum of the reed and the cutting tool. If abnormal vibration noise is generated, the vibration is recorded and an emergency stop is implemented to suspend the reed cutting process and repeat steps S1 to S5.

[0039] According to one aspect of the above steps, the back of the reed is illuminated by the supplementary lighting system, making the boundary of the reed in the acquired two-dimensional image clearer, avoiding inaccurate two-dimensional image recognition due to reed adhesion. By recording the reed thickness, the position of the adhesion gap in the middle of the two reeds is determined by judging the thickness of the reeds on both sides of the adhesion position, which facilitates accurate insertion of the expander needle.

[0040] According to another aspect of the above steps, by detecting the vibration and temperature of the expanding needle, the tightly fitted reeds can be separated, and damage to the reeds can be avoided during the vibration process, thus protecting the structure. Secondly, defective reeds can be repaired by using a piercing knife or replacing the piercing knife, and further, by controlling the non-contact state between the piercing knife and the reeds, wear of the piercing knife can be avoided, the service life of the equipment can be extended, and the stability of long-term use can be improved.

[0041] According to step S6, there are two ways to identify missed needle threading. One is to obtain the number of times the needle expander and the needle threading knife are used during the reed threading process, and to compare the two sets of data based on the number of gaps between the reed pieces obtained after identification. If the two sets of data are the same, it is determined that no missed needle threading has occurred.

[0042] As a supplementary solution to the method of detecting missed needle threading, an imaging sensor can be used to compare the number and position of the gaps between the reeds being threaded and the number and position of the threaded wires to determine whether there is a situation of missed needle threading.

[0043] Furthermore, when a missed needle is found, the location of the missed needle is identified by an imaging sensor, and the missing needle is corrected by expanding the needle and using a needle-threading knife.

[0044] Furthermore, when multiple threads are found, the situation is identified by an imaging sensor. Multiple threads include, but are not limited to, having one or more threads. The detection is performed by a vision system containing an imaging sensor, and an early warning system alerts the operator. The threads are marked by devices such as lasers or marker sliders, and the excess threads are removed manually. This method can also be used to address situations where there are stray threads.

[0045] Please refer to Figure 2 and 3 A reed hook wire threading system, comprising: The mechanical transmission system adopts a guide rail structure driven by a linear motor, and the bottom of the guide rail integrates a distributed support roller group to counteract the bending deformation caused by its own weight. The needle expanding device includes a needle expanding body and a bracket for driving the needle expanding body to move. By moving the needle expanding body and the bracket, the needle expanding is fixedly clamped. The needle expanding is also quickly replaced. Components for cleaning reeds, such as brushes, can be installed on the needle expanding bracket. In addition, a vibration generating module can be set between the needle expanding parts. The vibration generating module is connected to the end of the needle expanding part through a piezoelectric ceramic driving mechanism and is used to release high-frequency micro-amplitude vibration when the needle expanding part is inserted into the gap between adjacent reeds. The positioning detection system is located on top of the hook wire actuator and includes at least one vision sensor. The vision sensor faces the front end of the cutting tool and is positioned directly opposite the reed. It is used to monitor the relative positional deviation between the cutting tool end and the reed and the arrangement order of the reed. The positioning detection system also includes a laser rangefinder, which is used to detect the thickness and local deformation of the reed. When the reed thickness is not set, the laser rangefinder is used to identify the reed thickness. By working in conjunction with the binocular vision sensor, a three-dimensional model is constructed to identify the thickness and local deformation of the reed. The supplementary lighting system includes a front light supplementary lighting module and a back light supplementary lighting module. The back light supplementary lighting module is located on the other side of the reed corresponding to the visual sensor. The supplementary lighting system includes an adjustable color temperature LED array, which dynamically adjusts the light intensity and spectral distribution according to the image acquisition requirements of the positioning detection system. The dynamic compensation control module, based on the data input of the positioning detection system, uses a fuzzy PID algorithm to adjust the spatial coordinates of the end of the piercing knife, compensating for the dynamic error caused by the mechanical inertia during the insertion of the reed. When the reeds need vibration repair, the module predicts the deformation trend of the reeds through a neural network model and generates a piercing knife path correction command. The piercing mechanism includes a piercing body and a driving device. The driving device adjusts the piercing posture and the real-time position of the piercing end according to the instructions of the dynamic compensation control module, so as to realize the accurate insertion of the piercing between the reeds. In addition, it can also make the piercing end avoid the protruding area of ​​the deformed reed, and apply controllable pressure to the locally deformed reed during the piercing process for shaping and repair. The safety monitoring unit includes an imaging sensor and a pressure sensor, which are used to monitor the shape changes and real-time pressure of the expanding needle, the piercing knife, and the reed during the working process. When the pressure of the expanding needle, the piercing knife, and the reed exceeds the threshold, an emergency brake is triggered and an alarm signal is generated. When the imaging sensor detects a missed threading situation, an alarm program is started and a repair program is run.

[0046] It should be noted that the movement between the reed and the mechanical transmission system is mutual. For example, if the reed is fixed, then the mechanical transmission system and its top positioning detection system move horizontally, achieving mutual movement between the reed and the mechanical transmission system; or... The reed is equipped with a clamping mechanism to hold and drag the reed horizontally, thereby achieving mutual movement with the mechanical transmission system, and realizing the insertion between the needle expansion and separation device and the reed during the slow movement. Any of the above-mentioned movement methods can achieve the reed threading operation for long-stroke reeds.

[0047] Furthermore, the safety monitoring unit also includes an infrared imaging sensor and an acoustic emission sensor. When the expander is in a vibration or repair state, a real-time monitoring program is started to monitor the working temperature and vibration state of the expander, the piercing knife, and the reed. When abnormal friction or overheating is detected, an emergency brake is triggered and an alarm signal is generated.

[0048] According to the above structure, the mechanical transmission system uses a linear motor and a distributed support roller assembly. The linear motor drives the base mounted on the base with the distributed support roller assembly to realize the movement of the base. The base is used to install a three-degree-of-freedom motion device or other robotic arms that can realize needle-threading movement and vibration.

[0049] The connection between one end of the needle expander and the bracket is either a threaded connection or a clamping connection, and the other end of the needle expander is used to detachably clamp the tail of the expander.

[0050] As a supplement to the retractor vibration assembly, the vibration generation module of the retractor device includes a piezoelectric ceramic drive mechanism and an elastic buffer layer. The piezoelectric ceramic is located inside the annular elastic buffer layer, which fills the interior of the retractor device. One end of the retractor device is used to clamp the retractor. The elastic buffer layer is made of silicone rubber or polyurethane and is used to convert the high-frequency vibration of the piezoelectric ceramic into a controllable micro-amplitude oscillation at the end of the retractor, as well as to absorb overload impact force, prevent plastic deformation of the retractor and reed due to excessive vibration amplitude, and reduce the risk of direct collision between the retractor and reed.

[0051] Furthermore, the elastic buffer layer prevents the piezoelectric ceramic from breaking due to overload, extending the equipment's lifespan. The expander needle body is fixed to one end of the expander needle device by a clamping mechanism. The piezoelectric ceramic drive mechanism and the elastic buffer layer are nested inside to form a compact vibration module. The ring-shaped elastic buffer layer optimizes the distribution of vibration energy, ensuring that only effective separation force is transmitted at the end of the expander needle, reducing mechanical losses.

[0052] Among them, the vibration module works in conjunction with temperature control and safety monitoring to ensure the stability of continuous high-load operation. In addition to traditional direct insertion separation, the expander needle separation can also separate reeds that are stuck together, which is especially suitable for tightly stuck high-density reeds and can improve the efficiency of expander needle separation.

[0053] By expanding and separating the tightly bonded high-density reeds, a reed threading operation can be performed on reeds of any mesh size (referring to the gap between adjacent reeds). In the reed threading operation of reeds that are not tightly bonded or are operating normally, this application preferably uses a reed gap of 300 mesh or more, thereby realizing the reed threading operation for high-density reeds.

[0054] As an optional embodiment, the positioning detection system works in conjunction with the supplementary lighting system to achieve dynamic calibration through the following steps: Image enhancement stage: Turn on the supplementary lighting system, use the visual sensor of the positioning detection system to collect grayscale images of the reed arrangement area, and combine the telecentric lens to obtain reed image data; When the vision sensor is any one of a high-resolution industrial camera, CCD camera, hyperspectral camera, etc., it is used to acquire grayscale images of the reeds. When the vision sensor is a combination of two sets of the above-mentioned high-resolution industrial cameras, CCD cameras, and hyperspectral cameras, or any two sets of high-definition vision sensors, it is used to realize three-dimensional images of the reed arrangement.

[0055] Furthermore, by combining high-resolution industrial cameras, CCD cameras, hyperspectral cameras, etc., with telecentric lenses, parallax generated during the imaging process can be corrected, and images can be magnified within a specific object distance range. In addition, by combining a laser rangefinder, the camera can obtain the distance between the magnifying pin, the piercing tool, and the reed. By combining the above data, a three-dimensional point cloud model can be generated.

[0056] Deformation recognition stage: The geometric features of the gap between adjacent reeds are calculated using a point cloud model to identify local adhesion or tilting caused by compression; Path correction stage: Input the deformation recognition results into the dynamic compensation control module to generate the spatial coordinate offset of the end of the piercing blade, ensuring that the piercing blade enters along the center line of the gap after the needle expansion is separated.

[0057] Based on the above steps, the supplementary lighting system uses an adjustable color temperature LED array to dynamically adjust and optimize image contrast; the visual sensor generates a two-dimensional image through parallax calculation, and the telecentric lens or laser rangefinder provides reed thickness data. The two are then fused to generate a three-dimensional point cloud model.

[0058] Furthermore, the 3D point cloud model is generated by fusing data from at least two visual sensors with a telecentric lens or laser ranging. It includes information on reed gap distribution, tilt angle, and local deformation. For example, the gap Δx between adjacent reeds is calculated. If Δx < 0.05 mm, it is identified as an adhesion area; if the tilt angle θ > 2°, it is marked as a tilt risk area. An improved RANSAC (Random Sample Consensus) algorithm is used to fit the reed plane and identify abnormal points. For example, a threshold ϵ = 0.02 mm is set, and points that deviate from the plane are identified as deformation areas. The point cloud model can accurately identify local adhesion or tilt caused by compression, with high deformation recognition accuracy, providing reliable data support for subsequent path correction.

[0059] Furthermore, the dynamic compensation control module generates a penetration path correction command based on the deformation recognition results. For example, if a tilt angle θ=3° is detected in a certain area, the spatial coordinate offset is calculated. , where L is the reed spacing.

[0060] The fuzzy PID algorithm adjusts the input of the cutting tool along the gap center after the needle expander is separated based on the position deviation, avoiding contact and friction with the reed, and uses dynamic compensation to eliminate errors caused by mechanical inertia.

[0061] As an optional implementation, the dynamic compensation control module employs a dual-mode control strategy combining a fuzzy PID algorithm and a deep learning model: Fuzzy PID control: Based on the real-time position deviation fed back by the positioning detection system, the torque output of the cutting drive motor is dynamically adjusted to suppress the oscillation of the guide rail caused by inertia; Deep learning model: A convolutional neural network trained based on historical reed cutting data predicts the probability distribution of reed deformation. When the deformation probability in any area exceeds the threshold, the cutting path is adjusted to a safe offset in advance to avoid hard contact with deformed reeds.

[0062] Based on the above, the dynamic compensation control module adopts a dual-mode control strategy of fuzzy PID algorithm and deep learning model, and solves the problems of dynamic error and deformation risk in the process of hooking wire and threading reed through real-time feedback and predictive correction.

[0063] Furthermore, fuzzy PID control combines the fast response characteristics of traditional PID with the adaptive nature of fuzzy logic. The input variable is the position deviation e=x fed back from the positioning detection system. 目标 -x 实际 Its rate of change Δe, and the output is the torque increment ΔT of the drive motor. The control rule is based on a fuzzy inference table, for example: If e is "large" and Δe is "positive", then ΔT is "significantly increased"; If e is "small" and Δe is "negatively small", then ΔT is "slightly reduced".

[0064] Furthermore, the positioning and detection system provides feedback on the actual position of the cutting end at each interval, and the laser rangefinder provides the reed thickness correction value simultaneously. When an error caused by guide rail deflection is detected, the fuzzy PID algorithm adjusts the drive motor torque in real time to compensate for mechanical inertia error. Through dynamic error compensation, the inertial oscillation of the guide rail is eliminated. The cutting path repeatability positioning accuracy is high, and under the nonlinear system control supported by the fuzzy rule base, it can adapt to dynamic load changes under complex working conditions.

[0065] Furthermore, a convolutional neural network (CNN) is trained based on historical reed-threading data (such as images, vibration spectra, and temperatures) to predict the probability distribution of reed deformation. The model input is three-dimensional point cloud features (such as gaps and tilt angles), and the output is the deformation probability. When the deformation probability in any region exceeds 80%, the threading path is adjusted to a safe offset in advance to avoid hard contact with the deformed reed. Fuzzy PID control is responsible for dynamic error compensation, and the deep learning model provides predictive path correction. The two work together to ensure the stability and safety of the reed-threading process. When the deep learning model fails due to data anomalies, the fuzzy PID control automatically takes over to maintain the basic compensation function and prevent the system from going out of control.

[0066] As an optional embodiment, the drive device of the piercing mechanism includes a three-degree-of-freedom motion device. Its end effector is connected to the piercing blade through a magnetorheological elastomer joint. The magnetorheological elastomer joint can dynamically adjust its stiffness coefficient under current excitation, so that the end of the piercing blade can apply controllable pressure to the locally dented reed while avoiding the deformed reed, thereby achieving online repair. This repair refers to the magnitude of the repair pressure. In order to avoid deformation of the piercing blade and the reed, another type of repair refers to repairing the deformed or tilted reed by using the piercing blade or a replacement special repair piercing blade.

[0067] A reed hook wire threading system also includes a reed data model, wherein the reed data includes parameters such as reed type, length, thickness, and material, which is used to record the corresponding data before threading the reed, thereby improving the reed threading system's ability to record reed data and to record and store new reed data.

[0068] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0069] According to another aspect of the present invention, an electronic device is also provided, the electronic device including a memory and a processor; the memory is used to store a program; the processor executes the program to implement the aforementioned method.

[0070] According to another aspect of the present invention, a computer-readable storage medium is also provided, the storage medium storing a computer program that, when executed by a processor, implements the aforementioned method.

[0071] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the aforementioned method.

[0072] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A method for dynamic control of reed hook wire threading, characterized in that, Includes the following steps: Collect the current reed arrangement status, generate a reed model, and set the reed separation position of the expanding needle and the path reference of the expanding needle and the piercing knife; When collecting data on the arrangement of reeds, if the reeds stick together, the supplementary lighting system is activated to improve the clarity of the generated reed model. Control the expansion pin to set its insertion position and movement path to insert into the gap between adjacent reeds; Real-time acquisition of positioning and detection system data, and correction of the cutting end position through fuzzy PID algorithm to compensate for dynamic errors caused by mechanical inertia; Start the drive unit to allow the cutting tool to penetrate along the corrected path; Record the number of times the needle is threaded and the number of gaps between the reeds, or detect whether there are any missed needles or extra threads by using an imaging sensor. If so, start a supplementary reed threading program or trigger an alarm for manual intervention based on the identified location of the missed needle or extra thread.

2. A reed hook wire threading system, using the reed hook wire threading dynamic control method as described in claim 1, characterized in that, include: The mechanical transmission system adopts a guide rail structure driven by a linear motor, and the bottom of the guide rail integrates a distributed support roller group to counteract the bending deformation caused by its own weight. A needle expanding device, comprising a needle expanding body and a bracket for driving the needle expanding body to move; A positioning detection system is installed on top of the hook wire actuator and includes a vision sensor and a laser rangefinder. The vision sensor faces the front end of the cutting tool and is directly opposite the reed, and is used to monitor the relative positional deviation between the cutting tool end and the reed and the arrangement order of the reed. The laser rangefinder is used to detect the thickness and local deformation of the reed. The supplementary lighting system includes a front light supplementary lighting module and a back light supplementary lighting module. The back light supplementary lighting module is located on the other side of the reed corresponding to the visual sensor. The supplementary lighting system includes an adjustable color temperature LED array, which dynamically adjusts the light intensity and spectral distribution according to the image acquisition requirements of the positioning detection system. The dynamic compensation control module, based on the data input from the positioning detection system, uses a fuzzy PID algorithm to adjust the spatial coordinates of the end of the piercing knife to compensate for the dynamic error caused by the mechanical inertia during the insertion of the expanding needle; The blade insertion mechanism includes a blade body and a driving device. The driving device adjusts the blade posture and the real-time position of the blade end according to the instructions of the dynamic compensation control module, so as to realize the accurate insertion of the blade between the reeds. The safety monitoring unit includes an imaging sensor and a pressure sensor, which are used to monitor the shape changes and real-time pressure of the expanding needle, the piercing knife, and the reed during the working process. When the pressure of the expanding needle, the piercing knife, and the reed exceeds the threshold, an emergency brake is triggered and an alarm signal is generated. When the imaging sensor detects a situation of missing or excessive threading, an alarm program is started and an automatic repair program or a manual intervention program is run.

3. The reed hook wire threading system according to claim 2, characterized in that: The connection between one end of the needle expander and the bracket is either a threaded connection or a clamping connection, and the other end of the needle expander is used to detachably clamp the tail of the needle expander.

4. The reed hook wire threading system according to claim 2, characterized in that: The positioning detection system works in conjunction with the supplementary lighting system to achieve dynamic calibration through the following steps: Image enhancement stage: Turn on the supplementary lighting system, use the visual sensor of the positioning detection system to collect grayscale images of the reed arrangement area, and combine the telecentric lens to obtain reed image data; Deformation recognition stage: The geometric features of the gap between adjacent reeds are calculated using a point cloud model to identify local adhesion or tilting caused by compression; Path correction stage: Input the deformation recognition results into the dynamic compensation control module to generate the spatial coordinate offset of the end of the piercing blade, ensuring that the piercing blade enters along the center line of the gap after the needle expansion is separated.

5. A reed hook wire threading system according to claim 2, characterized in that: The dynamic compensation control module adopts a dual-mode control strategy combining fuzzy PID algorithm and deep learning model: Fuzzy PID control: Based on the real-time position deviation fed back by the positioning detection system, the torque output of the cutting drive motor is dynamically adjusted to suppress the oscillation of the guide rail caused by inertia; Deep learning model: A convolutional neural network trained based on historical reed cutting data predicts the probability distribution of reed deformation. When the deformation probability in any area exceeds the threshold, the cutting path is adjusted to a safe offset in advance to avoid hard contact with deformed reeds.

6. A reed hook wire threading system according to claim 2, characterized in that: The drive device of the piercing mechanism includes a three-degree-of-freedom motion device. Its end effector is connected to the piercing blade through a magnetorheological elastomer joint. The magnetorheological elastomer joint can dynamically adjust its stiffness coefficient under current excitation, so that the end of the piercing blade can apply controllable pressure to the locally dented reed while avoiding the deformed reed, thereby achieving online repair.

7. A reed hook wire threading system according to claim 2, characterized in that: It also includes a reed data model, which includes parameters such as reed type, length, thickness, and material. This data is used to record the corresponding data before threading the reed, improving the reed threading system's ability to record reed data and to record and store new reed data.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor; The memory is used to store programs; The processor executes the program to implement the method of claim 1.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of claim 1.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of claim 1.

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