Cotton product grabbing method and device, cotton product grabbing equipment and readable storage medium

Abstract

The invention relates to a cotton product grabbing method and device, cotton product grabbing equipment and a readable storage medium. The method comprises the steps that the initial size value, the initial placing position, the inserting needle radial value and the pressing column radial value of a cotton product are obtained; determining an optimized size value and a target placement position of the cotton product according to the initial size value, the initial placement position, the radial value of the contact pin and the radial value of the compression column; and according to the optimized size value and the target placement position, a grabbing control instruction of the cotton product is determined. According to the method, accurate grabbing and position control processing can be conducted on cotton products with different size values and different placement positions, and the problem that the follow-up cotton pasting efficiency is affected due to the fact that the cotton grabbing efficiency of a cotton pasting machine is extremely low due to the fact that the cotton product grabbing stability is insufficient is effectively solved; while the timeliness requirement of the modern industry for large-scale production is met, the grabbing efficiency and stability of the cotton products are further improved.

Description

Technical Field

[0001] This application relates to the field of laser processing, and in particular to a method, apparatus, equipment and readable storage medium for gripping cotton products. Background Technology

[0002] With the continuous development of production and processing technology and the increasing diversity of production and processing demands, the requirements for the production and processing process are becoming increasingly stringent. Automatic cotton applicator machines, as a new type of equipment, replace manual labor in applying cotton to templates.

[0003] However, existing cotton applicators suffer from insufficient stability in grasping cotton products, resulting in extremely low cotton-grabbing efficiency, which in turn affects the subsequent cotton applicator efficiency and makes it difficult to meet the timeliness requirements of modern industry for large-scale production. Summary of the Invention

[0004] Therefore, it is necessary to provide a cotton product gripping method, apparatus, cotton product gripping equipment, and readable storage medium to address the above-mentioned technical problems.

[0005] A method for gripping cotton products, applied to a cotton product gripping device, the cotton product gripping device including a plurality of pins facing the cotton product and pressure columns spaced apart from the pins, the cotton product gripping method comprising: Obtain the initial size value, initial placement position, radial value of the insert pin, and radial value of the pressure column of the cotton product; Based on the initial size value, the initial placement position, the radial value of the insert pin, and the radial value of the pressure column, the optimized size value and target placement position of the cotton product are determined; Based on the optimized size value and the target placement position, the gripping control command for the cotton product is determined.

[0006] In one embodiment, determining the optimized size and target placement of the cotton product based on the initial size value, the initial placement position, the radial value of the insert pin, and the radial value of the pressure post includes: The safe zone for the pin and the avoidance zone for the pressure post are determined based on the radial values ​​of the pin and the pressure post. Based on the initial size value, the initial placement position, the pin safety area, and the pressure column avoidance area, the optimized size value and target placement position of the cotton product are determined.

[0007] In one embodiment, determining the optimized size and target placement of the cotton product based on the initial size value, the initial placement position, the pin safety area, and the pressure post avoidance area includes: The maximum value of the interval between adjacent pins is determined based on the pin safety area, and the optimized size constraint value of the cotton product is determined based on the pressure column avoidance area. Based on the initial size value, the initial placement position, the maximum value of the interval between adjacent pins, and the optimized size constraint value, the optimized size value and the target placement position of the cotton product are determined.

[0008] In one embodiment, determining the maximum value of the interval between adjacent inserts based on the insert safety area and determining the optimized size constraint value of the cotton product based on the pressure column avoidance area includes: Based on the pressure column avoidance area, determine the placeable area for the cotton products; Based on the available placement area, the optimal size constraint value for the cotton product is determined.

[0009] In one embodiment, determining the optimized size value and target placement position of the cotton product based on the initial size value, the initial placement position, the maximum value of the interval between adjacent pins, and the optimized size constraint value includes: Based on the initial placement position, the end pin distance value of the cotton product is determined, and the end pin distance value is the distance between the end of the cotton product and the pin. Based on the endpoint pin distance value and the maximum value of the adjacent pin interval, the initial placement position is adjusted, and the target placement position of the cotton product is determined. Based on the target placement position and the optimized size constraint value, the initial size value is adjusted, and the optimized size value of the cotton product is determined.

[0010] In one embodiment, adjusting the initial placement position based on the endpoint pin distance value and the maximum value of the adjacent pin interval, and determining the target placement position of the cotton product, includes: When the distance between the endpoint pins is greater than the maximum value of the interval between adjacent pins, the initial placement position is adjusted until the distance between the endpoint pins is equal to or less than the maximum value of the interval between adjacent pins, and the placement position at this time is taken as the target placement position of the cotton product. The step of adjusting the initial size value based on the target placement position and the optimized size constraint value, and determining the optimized size value of the cotton product, includes: If the target placement location does not exist, the cotton product is resized using the optimized size constraint value as a constraint condition to reduce the initial size value, and the optimized size value of the cotton product is determined.

[0011] In one embodiment, the cotton product grasping method further includes: The ratio of the optimized size value to the maximum value of the adjacent pin spacing is rounded up, and the rounded value is used as the minimum number of pins used.

[0012] A cotton product gripping device, comprising: The acquisition module is used to acquire the initial size value, initial placement position, radial value of the insertion pin, and radial value of the pressure column of the cotton product. The size and position determination module, connected to the acquisition module, is used to determine the optimized size and target placement position of the cotton product based on the initial size value, the initial placement position, the radial value of the insert pin, and the radial value of the pressure column. The grasping instruction determination module, connected to the size and position determination module, is used to determine the grasping control instruction for the cotton product based on the optimized size value and the target placement position.

[0013] A cotton product gripping device includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the method described above.

[0014] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0015] A computer program product that, when run on a terminal device, causes the terminal device to perform any of the methods described above.

[0016] The beneficial effects of the embodiments provided in this application include: This cotton product gripping method is applied to a cotton product gripping device that includes multiple pins facing the cotton product and pressure columns spaced apart from the pins. During the cotton product gripping planning process, the initial size value, initial placement position, radial value of the pins, and radial value of the pressure columns of the cotton product are used to optimize the size and position of the cotton product. This yields optimized size values ​​and target placement positions that can coordinate with the action area of ​​the pins that grip the cotton product and the action area of ​​the pressure columns that do not require positional constraints on the cotton product. Based on the optimized size values ​​and target placement positions, gripping control commands are generated to adjust the cotton product gripping process. This method enables precise gripping and position control of cotton products with different size values ​​and placement positions, effectively improving the problem of insufficient cotton product gripping stability in cotton applicators, which leads to extremely low cotton gripping efficiency and affects subsequent applicating efficiency. It can further improve the efficiency and stability of cotton product gripping while meeting the timeliness requirements of modern industrial large-scale production. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a method for grasping cotton products in one embodiment; Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment; Figure 3 This is a schematic diagram of the pressure column avoidance area in one embodiment; Figure 4 This is a schematic diagram of the pin safety range in one embodiment; Figure 5 This is a schematic diagram of the cotton product size optimization process in one embodiment; Figure 6 This is a schematic diagram of the cotton product size optimization process in one embodiment; Figure 7 This is a schematic diagram of the specific process of step 104 in one embodiment; Figure 8 This is a schematic block diagram of the cotton product gripping device in one embodiment; Figure 9 This is a schematic block diagram of the specific structure of the size and position determination module 40 in one embodiment; Figure 10 This is a schematic block diagram of the specific structure of the size and position determination module 40 in one embodiment; Figure 11 This is a schematic diagram of the structure of a cotton product gripping device in one embodiment. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0021] Figure 1 This is a flowchart illustrating a method for grasping cotton products in one embodiment.

[0022] In this embodiment, as Figure 1 As shown, the cotton product gripping method is applied to a cotton product gripping device, which includes a plurality of pins facing the cotton product and pressure columns spaced apart from the pins. The cotton product gripping method includes steps 102 to 106.

[0023] Step 102: Obtain the initial size value, initial placement position, radial value of the insert pin, and radial value of the pressure column of the cotton product.

[0024] The initial size value can be the size of the cotton product before size optimization. The initial placement position can be the placement position of the cotton product before position adjustment. The radial value of the insert pin can be the radial dimension of the insert pin. The radial value of the pressure post can be the radial dimension of the pressure post.

[0025] The initial size values ​​include the initial length and initial width of the cotton product. The initial length of the cotton product can be the size of the cotton product along its length before size optimization. The initial width of the cotton product can be the size of the cotton product along its width before size optimization.

[0026] The scenarios for obtaining the initial size value, initial placement position, pin radial value, and pressure column radial value of cotton products include: measuring the cotton product, pin, and pressure column using a size measurement unit to obtain the initial size value, pin radial value, and pressure column radial value, and analyzing the cotton product using a position detection unit to obtain the initial placement position of the cotton product.

[0027] Step 104: Determine the optimized size and target placement of the cotton product based on the initial size value, initial placement position, radial value of the insert pin, and radial value of the pressure column.

[0028] The optimized size value can be the size of the cotton product after optimization, which can match the action area of ​​the pins that grip the cotton product and the action area of ​​the pressure column that does not need to constrain the position of the cotton product. The target placement position can be the placement position of the cotton product after position adjustment, which can match the action area of ​​the pins that grip the cotton product and the action area of ​​the pressure column that does not need to constrain the position of the cotton product.

[0029] It should be noted that for cotton products whose initial size can be matched with the pins and pressure posts on the cotton product gripping device, the optimized size can be the same as the initial size; for cotton products whose initial placement position can be matched with the pins and pressure posts on the cotton product gripping device, the initial placement position and the target placement position can also be the same.

[0030] The scenarios for determining the optimal size and target placement of cotton products based on initial size values, initial placement positions, needle radial values, and pressure column radial values ​​include: determining the needle safety zone and pressure column avoidance zone based on the needle radial values ​​and pressure column radial values; and determining the optimal size and target placement of cotton products based on initial size values, initial placement positions, needle safety zones, and pressure column avoidance zones.

[0031] Step 106: Determine the gripping control command for the cotton product based on the optimized size value and the target placement position.

[0032] Gripping control commands are instructions that control the gripping process of cotton products. Gripping control commands include needle gripping commands and pressure bar limit commands. The needle gripping command controls the movement trajectory of the needle during the gripping process to grip the cotton product. The pressure bar limit command controls the movement trajectory of the pressure bar during the gripping process to constrain the position of the cotton product.

[0033] The situations in which the gripping control instructions for cotton products are determined based on the optimized size values ​​and the target placement position include: determining the needle gripping instruction for cotton products based on the optimized size values; and determining the pressure column limit instruction for cotton products based on the target placement position.

[0034] The cotton product gripping method provided in this embodiment is applied to a cotton product gripping device including multiple pins facing the cotton product and pressure columns spaced apart from the pins. During the cotton product gripping planning process, the cotton product is optimized in size and position based on its initial size value, initial placement position, pin radial value, and pressure column radial value. This yields optimized size values ​​and target placement positions that can coordinate with the pin action area for gripping the cotton product and the pressure column action area for not needing to positionally constrain the cotton product. Based on the optimized size values ​​and target placement positions, gripping control commands that can adjust the cotton product gripping process are generated. This method enables precise gripping and position control of cotton products with different size values ​​and placement positions, effectively improving the problem of insufficient cotton product gripping stability in cotton applicators, which leads to extremely low cotton gripping efficiency and affects subsequent applicating efficiency. It can further improve the efficiency and stability of cotton product gripping while meeting the timeliness requirements of modern industrial large-scale production.

[0035] Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0036] In this embodiment, as Figure 2 As shown, step 104 includes sub-steps 202 to 204.

[0037] Step 202: Determine the maximum value of the interval between adjacent pins based on the safe area of ​​the pins, and determine the optimized size constraint value of the cotton product based on the pressure column avoidance area.

[0038] The safe zone for inserting a pin can be the area covered by the cotton fabric to ensure the pin is fully inserted into the fabric. The clearance zone for pressure pillars can be the area that the cotton fabric must avoid covering to ensure the cotton fabric being gripped by the pin is easily lifted. The maximum interval between adjacent pins can be the maximum interval between the safe zones of adjacent pins. The optimized size constraint can be the maximum allowable size of the cotton fabric due to the restriction of the clearance zone for pressure pillars.

[0039] Optionally, the safety area for the insert pin can be a circular area expanding outward from the insert pin, or a polygonal area expanding outward from the insert pin. The clearance area for the pressure pillar can be a circular area expanding outward from the pressure pillar, or a polygonal area expanding outward from the pressure pillar.

[0040] like Figure 3 As shown, a circle is drawn outward from the pressure column as the center, which is the pressure column avoidance area D1. D1 is determined by the diameter D of the pressure column. 柱 Generally, D1 will be set higher than D. 柱 If we make it larger, and give the two a margin, then the basic condition is D1 > D2. 柱 D1 is not a fixed value and can be set according to the actual diameter of the pressure column and the edge distance requirements. During the cotton product gripping process, the cotton product to be gripped does not need to cover the pressure column avoidance area, and the placement of the cotton product to be gripped cannot cover the pressure column avoidance area. This effectively improves the problem of cotton strips being misaligned due to the gripping action, and also improves the problem of cotton products to be gripped being unable to be gripped due to being pressed by the pressure column, further improving the accuracy and efficiency of cotton product gripping.

[0041] like Figure 4 As shown, a circle is drawn outward from the pin as the center, which is the pin safety range D2. D2 is determined by the pin diameter D. 针 It is determined that the insert pin should be inserted inside the cotton product to avoid the pin reaching the edge of the cotton product or even protruding outside the cotton product. Generally, D2 should be set to be larger than the pin diameter D. 针 Make it larger so that there is a distance between the pin and the edge of the cotton product, so the basic condition is D2>D. 针 D2 is not a fixed value and can be set according to the actual diameter of the pin and the edge distance requirements. During the cotton product gripping process, the cotton product to be gripped should be placed in a position that covers the safe area of ​​the pin, which effectively improves the problem of cotton products falling off due to insufficient gripping force caused by the pin inserting into the edge of the cotton product, and further enhances the gripping stability of cotton products.

[0042] The scenarios for determining the maximum interval between adjacent pins based on the pin safety area and determining the optimized size constraint value of the cotton product based on the pressure column avoidance area include: determining the placeable area of ​​the cotton product based on the pressure column avoidance area; and determining the optimized size constraint value of the cotton product based on the placeable area. The placeable area can be the remaining area where the cotton product can be placed after removing the pressure column avoidance area.

[0043] The specific scenarios for determining the optimal size constraint values ​​of cotton products based on the placement area include: determining the permissible length constraint value and width constraint value of cotton products based on the values ​​of the placement area along the length and width directions.

[0044] Step 204: Based on the initial size value, initial placement position, maximum interval between adjacent pins, and optimized size constraint value, determine the optimized size value and target placement position of the cotton product.

[0045] Optimized dimensional values ​​include optimized length and optimized width values ​​for cotton products. The optimized length value can be the value extended along the length direction after dimensional optimization. The optimized width value can be the value extended along the width direction after dimensional optimization.

[0046] In one embodiment, the method for gripping cotton products further includes: rounding up the ratio of the optimized size value to the maximum value of the interval between adjacent pins, and using the rounded value as the minimum number of pins used. The rounding process can be performed when the ratio of the optimized size value to the maximum value of the interval between adjacent pins is not an integer, in which case the rounded value is the smallest integer greater than the ratio.

[0047] The ratio of the optimized size value to the maximum spacing between adjacent pins is rounded up, and the rounded value is used as the minimum number of pins to be used, as follows: N≥L / S Therefore, the minimum number of inserts required is determined by the optimized dimensions of the cotton fabric and the maximum spacing between adjacent inserts. According to the formula, at least one insert is required. Figures 5 to 6 As shown, the optimized size value of the cotton product will be smaller than the maximum interval between adjacent pins, which can ensure that a sufficient number of pins are inserted into the cotton product. This effectively improves the problem of insufficient pin usage during the cotton product gripping process due to the cotton product being too long or too wide, thus affecting the gripping stability.

[0048] Figure 7 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0049] In this embodiment, as Figure 7 As shown, step 104 includes sub-steps 702 to 706.

[0050] Step 702: Determine the distance between the end pins of the cotton product based on the initial placement position.

[0051] The endpoint pin distance value can be the distance between the endpoint of the cotton product and the pin. Optionally, the endpoint pin distance value includes the starting point pin distance value and the ending point pin distance value. The starting point pin distance value can be the minimum value between the starting point of the cotton product at the initial placement position and the safe area of ​​the pin. The ending point pin distance value can be the minimum value between the ending point of the cotton product at the initial placement position and the safe area of ​​the pin.

[0052] Step 704: Based on the distance between the endpoint pins and the maximum interval between adjacent pins, adjust the initial placement position and determine the target placement position of the cotton product.

[0053] Position adjustment can be the process of moving or rotating the cotton product to align its placement with the safe area of ​​the pin, thereby enabling the cotton product to be grasped.

[0054] The initial placement position is adjusted based on the endpoint pin distance value and the maximum interval between adjacent pins, and the target placement position of the cotton product is determined in the following situations: when the endpoint pin distance value is greater than the maximum interval between adjacent pins, the initial placement position is adjusted until the endpoint pin distance value is equal to or less than the maximum interval between adjacent pins, and the placement position at this time is taken as the target placement position of the cotton product.

[0055] Step 706: Based on the target placement location and optimized size constraints, adjust the initial size values ​​and determine the optimized size values ​​for the cotton product.

[0056] Size adjustment can be a process of adjusting the initial values ​​of the length and width of the cotton product so that the size of the cotton product can match the clearance area of ​​the pressure column, thereby constraining the position of the cotton product that does not need to be gripped.

[0057] The following scenarios involve adjusting the initial size value based on the target placement location and the optimized size constraint value, and determining the optimized size value of the cotton product: If the target placement location does not exist, the cotton product is resized using the optimized size constraint value as a constraint to reduce the initial size value, and the optimized size value of the cotton product is then determined.

[0058] Resizing can be a process of dividing cotton products along their length and / or width to reduce the initial size value while meeting the optimized size constraints. It should be noted that when resizing cotton products, the size should be kept as small as possible but close to the optimized size constraints. This effectively mitigates the problem of excessive gripping due to smaller product sizes, thus ensuring efficient cotton product gripping.

[0059] By adjusting the position of the cotton product, the problem of insufficient gripping force or balance caused by an insufficient number of pins during the cotton product gripping process is effectively improved, which affects the gripping stability and leads to a large positional deviation of the cotton product. In cases where the optimized size value cannot be met after position adjustment (for longer or irregularly shaped cotton products), size adjustment of the cotton product can be performed to achieve the coordinated effect of the optimized size value of the cotton product with the pins and pressure columns, thereby improving the gripping accuracy while ensuring the gripping stability of the cotton product.

[0060] In addition, during the cotton product gripping process, the needles are controlled by individual cylinders and numbered sequentially. First, the computer-aided placement of the cotton product within the gripping structure is calculated, and the corresponding needle number is determined. Then, the system controls the gripping device to move and rotate based on the position information. Next, the gripping device is lowered onto the surface of the cotton product. Then, according to the needle number used, the corresponding cylinder is controlled to extend the needle and insert it into the cotton product. Finally, the gripping device is raised.

[0061] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least one sub-step described above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps. It should be noted that the different embodiments described above can be combined with each other.

[0062] Figure 8 This is a schematic block diagram of the cotton product gripping device in one embodiment.

[0063] In this embodiment, as Figure 8 As shown, the cotton product gripping device is applied to a machining trajectory including an interpolation axis and a coupling axis. The cotton product gripping device includes an acquisition module 20, a size and position determination module 40, and a gripping instruction determination module 60.

[0064] The acquisition module 20 is used to acquire the initial size value, initial placement position, radial value of the insert pin, and radial value of the pressure column of the cotton product.

[0065] The size and position determination module 40 is connected to the acquisition module 20 and is used to determine the optimized size and target placement position of the cotton product based on the initial size value, initial placement position, radial value of the insert pin, and radial value of the pressure column.

[0066] The gripping instruction determination module 60 is connected to the size and position determination module 40 and is used to determine the gripping control instruction for cotton products based on the optimized size value and the target placement position.

[0067] In this embodiment, each module is used to execute Figure 1 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0068] The cotton product gripping device provided in this embodiment is applied to a cotton product gripping device including multiple needles facing the cotton product and pressure columns spaced apart from the needles. During the cotton product gripping planning process, the cotton product is optimized in size and position based on its initial size value, initial placement position, needle radial value, and pressure column radial value. This yields optimized size values ​​and target placement positions that can cooperate with the needle action area for gripping the cotton product and the pressure column action area for not needing to positionally constrain the cotton product. Based on the optimized size values ​​and target placement positions, gripping control commands that can adjust the cotton product gripping process are generated. This enables precise gripping and position control of cotton products with different size values ​​and placement positions, effectively improving the problem of insufficient cotton product gripping stability in cotton applicators, which leads to extremely low cotton gripping efficiency and affects subsequent applicator efficiency. It can further improve the efficiency and stability of cotton product gripping while meeting the timeliness requirements of modern industrial large-scale production.

[0069] Figure 9 This is a schematic block diagram of the specific structure of the size and position determination module 40 in one embodiment.

[0070] In this embodiment, as Figure 9 As shown, the dimension and position determination module 40 includes a constraint parameter determination unit 420 and a dimension and position determination unit 440.

[0071] The constraint parameter determination unit 420 is used to determine the maximum value of the interval between adjacent pins based on the pin safety area, and to determine the optimized size constraint value of the cotton product based on the pressure column avoidance area.

[0072] The size and position determination unit 440 is connected to the constraint parameter determination unit 420 and is used to determine the optimized size value and target placement position of the cotton product based on the initial size value, the initial placement position, the maximum value of the interval between adjacent pins, and the optimized size constraint value.

[0073] In this embodiment, each unit is used to perform Figure 2 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 2 as well as Figure 2The relevant descriptions in the corresponding embodiments will not be repeated here.

[0074] Figure 10 This is a schematic block diagram of the specific structure of the size and position determination module 40 in one embodiment.

[0075] In this embodiment, as Figure 10 As shown, the size and position determination module 40 includes a pin action constraint unit 410, a target position determination unit 430, and an optimized size determination unit 450.

[0076] The pin-adjustment constraint unit 410 is used to determine the pin-adjustment distance value at the end of the cotton product based on the initial placement position.

[0077] The target position determination unit 430 is connected to the pin action constraint unit 410. It is used to adjust the initial placement position based on the end pin distance value and the maximum value of the interval between adjacent pins, and to determine the target placement position of the cotton product.

[0078] The optimized size determination unit 450 is connected to the target position determination unit 430. It is used to adjust the initial size value according to the target placement position and the optimized size constraint value, and determine the optimized size value of the cotton product.

[0079] In this embodiment, each unit is used to perform Figure 7 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 7 as well as Figure 7 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0080] The units in this embodiment are used to perform the steps in the corresponding embodiments described above. For details, please refer to the relevant descriptions in the corresponding embodiments described above, which will not be repeated here.

[0081] The division of the various modules in the above-described cotton product gripping device is only for illustrative purposes. In other embodiments, the cotton product gripping device can be divided into different modules as needed to complete all or part of the functions of the above-described cotton product gripping device.

[0082] Specific limitations regarding the cotton product gripping device can be found in the limitations of the cotton product gripping method described above, and will not be repeated here. Each module in the aforementioned cotton product gripping device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the cotton product gripping device in hardware form or independent of it, or they can be stored in the memory of the cotton product gripping device in software form, so that the processor can call and execute the corresponding operations of each module.

[0083] Figure 11 This is a schematic diagram of the structure of a cotton product gripping device in one embodiment.

[0084] In this embodiment, as Figure 11 As shown, the cotton product gripping device includes a memory A1 and a processor A2; it may also include a display screen A3, a communication interface, and a bus. Optionally, the cotton product gripping device can be a laser cotton product gripping device.

[0085] The memory A1, processor A2, display screen A3, and communication interface can communicate with each other via a bus; the display screen A3 is configured to display the user operation interface preset in the initial setting mode, and the display screen A3 can also display the process control window; the communication interface can transmit information; the memory A1 stores computer programs, and the processor A2 can call the logical instructions in the memory A1 to execute the methods in the above embodiments.

[0086] Furthermore, the logic instructions in the aforementioned memory A1 can be implemented as software functional units and, when sold or used as independent workpieces, can be stored in a computer-readable storage medium.

[0087] Memory A1, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of this application. Processor A2 executes functional applications and data processing by running the software programs, instructions, or modules stored in memory A1, thereby implementing the methods in the above embodiments.

[0088] Memory A1 includes a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, memory A1 may include high-speed random access memory and may also include non-volatile memory.

[0089] Processor A2 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0090] This application also provides a computer-readable storage medium. One or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, cause the processors to perform the methods described above.

[0091] This application also provides a computer program product that, when run on a terminal device, causes the terminal device to execute the methods described in the above embodiments.

[0092] The cotton product gripping method, apparatus, equipment, and readable storage medium provided in the above embodiments are applied to a cotton product gripping device including multiple pins facing the cotton product and pressure columns spaced apart from the pins. During the cotton product gripping planning process, the cotton product is optimized in size and position based on its initial size, initial placement position, pin radial value, and pressure column radial value. This yields optimized size values ​​and target placement positions that can coordinate with the pin action area for gripping the cotton product and the pressure column action area for not needing positional constraints on the cotton product. Based on these optimized size values ​​and target placement positions, gripping control commands are generated to adjust the cotton product gripping process. This enables precise gripping and position control of cotton products with different size values ​​and placement positions, effectively improving the problem of insufficient gripping stability in cotton product gripping machines, which leads to extremely low gripping efficiency and affects subsequent cotton application efficiency. It can meet the timeliness requirements of modern industrial large-scale production while further improving the efficiency and stability of cotton product gripping, possessing significant economic and practical value.

[0093] Any references to memory, storage, databases, or other media used in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for gripping cotton products, applied to a cotton product gripping device, the cotton product gripping device comprising a plurality of pins facing the cotton product and pressure columns spaced apart from the pins, characterized in that, The method for grasping cotton products includes: Obtain the initial size value, initial placement position, radial value of the insert pin, and radial value of the pressure column of the cotton product; Based on the initial size value, the initial placement position, the radial value of the insert pin, and the radial value of the pressure column, the optimized size value and target placement position of the cotton product are determined; Based on the optimized size value and the target placement position, the gripping control command for the cotton product is determined.

2. The method for grasping cotton products according to claim 1, characterized in that, The step of determining the optimized size and target placement position of the cotton product based on the initial size value, the initial placement position, the radial value of the insert pin, and the radial value of the pressure post includes: The safe zone for the pin and the avoidance zone for the pressure post are determined based on the radial values ​​of the pin and the pressure post. Based on the initial size value, the initial placement position, the pin safety area, and the pressure column avoidance area, the optimized size value and target placement position of the cotton product are determined.

3. The method for grasping cotton products according to claim 2, characterized in that, The step of determining the optimized size and target placement of the cotton product based on the initial size value, the initial placement position, the pin safety area, and the pressure post avoidance area includes: The maximum value of the interval between adjacent pins is determined based on the pin safety area, and the optimized size constraint value of the cotton product is determined based on the pressure column avoidance area. Based on the initial size value, the initial placement position, the maximum value of the interval between adjacent pins, and the optimized size constraint value, the optimized size value and the target placement position of the cotton product are determined.

4. The method for grasping cotton products according to claim 3, characterized in that, The step of determining the maximum value of the interval between adjacent inserts based on the insert safety area and determining the optimized size constraint value of the cotton product based on the pressure column avoidance area includes: Based on the pressure column avoidance area, determine the placeable area for the cotton products; Based on the available placement area, the optimal size constraint value for the cotton product is determined.

5. The method for grasping cotton products according to claim 3, characterized in that, The step of determining the optimized size value and target placement position of the cotton product based on the initial size value, the initial placement position, the maximum value of the interval between adjacent pins, and the optimized size constraint value includes: Based on the initial placement position, the end pin distance value of the cotton product is determined, and the end pin distance value is the distance between the end of the cotton product and the pin. Based on the endpoint pin distance value and the maximum value of the adjacent pin interval, the initial placement position is adjusted, and the target placement position of the cotton product is determined. Based on the target placement position and the optimized size constraint value, the initial size value is adjusted, and the optimized size value of the cotton product is determined.

6. The method for grasping cotton products according to claim 5, characterized in that, The step of adjusting the initial placement position based on the endpoint pin distance value and the maximum interval between adjacent pins, and determining the target placement position of the cotton product, includes: When the distance between the endpoint pins is greater than the maximum value of the interval between adjacent pins, the initial placement position is adjusted until the distance between the endpoint pins is equal to or less than the maximum value of the interval between adjacent pins, and the placement position at this time is taken as the target placement position of the cotton product. The step of adjusting the initial size value based on the target placement position and the optimized size constraint value, and determining the optimized size value of the cotton product, includes: If the target placement location does not exist, the cotton product is resized using the optimized size constraint value as a constraint condition to reduce the initial size value, and the optimized size value of the cotton product is determined.

7. The method for grasping cotton products according to claim 3, characterized in that, The method for grasping cotton products also includes: The ratio of the optimized size value to the maximum value of the adjacent pin spacing is rounded up, and the rounded value is used as the minimum number of pins used.

8. A cotton product gripping device, characterized in that, include: The acquisition module is used to acquire the initial size value, initial placement position, radial value of the insertion pin, and radial value of the pressure column of the cotton product. The size and position determination module, connected to the acquisition module, is used to determine the optimized size and target placement position of the cotton product based on the initial size value, the initial placement position, the radial value of the insert pin, and the radial value of the pressure column. The grasping instruction determination module, connected to the size and position determination module, is used to determine the grasping control instruction for the cotton product based on the optimized size value and the target placement position.

9. A cotton product gripping device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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