Gripper Calibration via Image Detection for Yarn Spindle Positioning
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Solution Overview
Problem
In production workshops where robots grab spindles with yarn, inaccurate positioning due to mechanical wear leads to damage or failure in grabbing the spindle, necessitating a method for calibrating the grabbing position.
Innovation Solution
A control method that involves obtaining target images of the mechanical gripper and the spindle with yarn, detecting their center positions, and generating a calibration instruction if the position relationship does not meet preset requirements, allowing for calibration of either the gripper or the spindle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If mechanical gripper is used for grabbing spindles with yarn, then automation is improved, but positioning accuracy deteriorates due to mechanical wear
Solution Approach 1:
The system performs preliminary calibration by capturing images of the mechanical gripper and spindle with yarn before the grabbing operation. The calibration data is prepared in advance to compensate for positioning errors, allowing the automated system to operate with corrected position information that accounts for mechanical wear.
Solution Approach 2:
The system uses image collection devices to capture the actual positions of the mechanical gripper and spindle with yarn, compares these positions with expected positions, and generates calibration instructions based on the detected deviations. This feedback loop enables continuous correction of positioning errors caused by mechanical wear.
2Measurement precision
If calibration is performed to improve positioning accuracy, then grabbing precision is improved, but system complexity increases due to additional image collection and processing
Solution Approach 1:
The system introduces image collection devices as intermediary components to capture visual information about the mechanical gripper and spindle with yarn. These images serve as mediators that enable the system to detect position deviations and generate calibration instructions without requiring direct physical measurement or complex sensing mechanisms.
Solution Approach 2:
The system creates visual copies (images) of the mechanical gripper and spindle with yarn using image collection devices. These digital copies are then processed to extract position information and generate calibration data, replacing the need for complex physical measurement systems while maintaining high precision.
3Measurement precision
If image collection is performed to detect center positions, then positioning accuracy is improved, but time consumption increases due to image processing
Solution Approach 1:
The system captures images of the mechanical gripper and spindle with yarn in advance before the actual grabbing operation. This preliminary image collection allows time for processing without delaying the production workflow, as the calibration can be performed during idle time or in parallel with other operations.
Solution Approach 2:
The system replaces traditional mechanical measurement and positioning systems with optical image collection and digital image processing. This substitution enables high-precision position detection through software algorithms rather than complex mechanical sensors, reducing both hardware complexity and processing time.
Data Source
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AI summary
Provided is a control method and apparatus, and a storage medium. The method includes: obtaining (S101, S501) a first target image collected by a first collection device and a second target image collected by a second collection device, in a case of it is determined that characteristic information of a mechanical gripper satisfies a first preset requirement; detecting (S102, S502) a first center position of the mechanical gripper in the first target image, and detecting a second center position of a target spindle with yarn in the second target image; and generating (S103) a calibration instruction, in a case of it is determined that a target position relationship between the first center position and the second center position does not satisfy a second preset requirement, where the calibration instruction is used to calibrate a center position of the mechanical gripper or a center position of the target spindle with yarn.