阅读说明：本技术 一种自动断纱巡回检测装置及控制方法 (Automatic broken yarn itinerant detection device and control method ) 是由 丁滨 许子科 洪汀荃 周赛琲 杨春孟 苗雨露 赵文通 于 2020-06-17 设计创作，主要内容包括：本发明提出了一种自动断纱巡回检测装置及控制方法,涉及纺织技术领域。一种自动断纱巡回检测装置,包括移动组件、传感组件、信号传输单元、路线识别轨道、控制单元和上位机。传感组件包括图像传感器,图像传感器设置在移动组件上。信号传输单元设置在移动组件上,能够实现上位机、控制单元和图像传感器之间的信息交换。控制单元用于控制移动组件移动在路线识别轨道上移动和停留。该装置代替人工巡检,能够及时发现断纱并报告断纱工位,提示工人马上处理,可使一个工人能够看守处理更多台绕纱机器。此外本发明还提出一种自动断纱巡回检测装置的控制方法,用于控制上述自动断纱巡回检测装置,使自动断纱巡回检测装置高效有序的进行断纱巡检工作。(The invention provides an automatic broken yarn itinerant detection device and a control method, and relates to the technical field of textiles. An automatic broken yarn itinerant detection device comprises a moving assembly, a sensing assembly, a signal transmission unit, a route identification track, a control unit and an upper computer. The sensing assembly includes an image sensor disposed on the moving assembly. The signal transmission unit is arranged on the movable assembly, and information exchange among the upper computer, the control unit and the image sensor can be realized. The control unit is used for controlling the moving assembly to move and stop on the route identification track. The device replaces the manual work to patrol and examine, can in time discover broken yarn and report the broken yarn station, and the suggestion workman handles at once, can make a workman can watch on and handle more many winding machines. In addition, the invention also provides a control method of the automatic broken yarn itinerant detection device, which is used for controlling the automatic broken yarn itinerant detection device to enable the automatic broken yarn itinerant detection device to efficiently and orderly carry out broken yarn itinerant detection.)

1. The utility model provides an automatic broken yarn itinerant detection device, its characterized in that, including removing subassembly, route discernment, be used for controlling to remove the subassembly and remove the control unit who removes and stop on route discernment track, sensing subassembly, signal transmission unit and host computer, the sensing subassembly includes image sensor, image sensor sets up remove on the subassembly, signal transmission unit sets up remove on the subassembly, just signal transmission unit respectively with host computer, control unit and image sensor communication connection.

2. The automatic yarn-breaking itinerant detection device according to claim 1, wherein the moving assembly comprises a moving trolley, a driving motor arranged on the moving trolley and a driving power supply arranged on the moving trolley, the driving motor is used for driving the moving trolley to move, the driving motor is connected to the control unit, and the driving power supply is connected to the driving motor.

3. The automatic yarn-breaking itinerant detection device according to claim 2, wherein a steering assembly for controlling the steering of the travelling trolley is arranged on the travelling trolley, and the steering assembly comprises a steering gear and a rotating motor for driving the steering gear to rotate.

4. The automatic yarn-breaking itinerant detection device according to claim 2, wherein the image sensor is arranged on the top of the moving trolley, the image sensor is of a rotary structure, and the control unit can control the image sensor to collect images and rotate.

5. The automatic yarn breakage itinerant detection device according to claim 2, wherein the route recognition track comprises a magnetic guide rail and a path recognition module provided on the traveling carriage, the path recognition module is connected to the control unit, and the control unit can control the traveling carriage to move along the magnetic guide rail.

6. The automatic yarn breakage itinerant detection device according to claim 5, wherein a start-end point and a plurality of stations are provided on the route recognition track.

7. The automatic yarn breakage itinerant detection device according to claim 1, wherein the signal transmission unit includes a wireless transmission module that is communicatively connected to the image sensor, the control unit, and the upper computer, respectively.

8. A control method of the automatic yarn breakage circuit detecting device according to any one of claims 1 to 7, characterized by comprising the steps of:

(1) the method comprises the steps that magnetic guide rails are laid in an environment in advance, a path recognition module obtains magnetic information on the magnetic guide rails, a control unit judges the magnetic information of the magnetic guide rails and controls the moving state of the mobile trolley according to the judgment, when the magnetic information is obtained, the path recognition module also recognizes nearest site magnetic information or start and end point magnetic information and transmits the nearest site magnetic information or the start and end point magnetic information to the control unit, meanwhile, the control unit controls an image sensor to start to collect image information, then continues to recognize the nearest magnetic information of the magnetic guide rails, and the step (1) is repeated to enable the mobile trolley to adjust the moving state along the magnetic guide rails according to the inspection requirement;

(2) after the moving trolley moves along the magnetic guide rail, the image sensor acquires the image characteristics of the detected position, transmits the image characteristic information back to the control unit, and repeats the step (2) again after a periodic time interval ti;

(3) the control unit transmits the image characteristic information and the station information/starting and ending point information to the upper computer through the signal transmission unit, the upper computer detects the yarn breakage condition according to the image characteristic information of the detected position in the step (2), if the yarn is broken, an original picture is stored, the position number of a yarn breakage point spindle is predicted, an alarm is sent to a worker, and if the yarn is not broken, the next image characteristic information is continuously judged;

wherein, the step (3) comprises the following steps:

s31: carrying out canny edge detection on the image to obtain the yarn contour and morphological expansion, and then opening the operation to eliminate noise;

s32: detecting straight lines by utilizing probability Hough transformation, solving the inclination angle of each straight line, grouping the straight lines according to the inclination angle distribution, finding out the group with the most distribution, and performing rotation correction on the picture according to the angle of the group with the most distribution;

s33: the canny edge detection is used for obtaining the yarn contour, median filtering is carried out on the picture, the picture is expanded, and morphological opening operation is carried out on the picture;

s34: detecting straight lines by utilizing probabilistic Hough transform, grouping the detected straight lines according to x coordinate distribution, solving the uppermost, lowermost, leftmost and rightmost coordinates of each group of straight lines, and combining each group into a straight line;

s35: sorting the combined straight lines according to an x coordinate, and solving the size of a straight line interval, wherein a yarn reference interval d is equal to w/n, w is the number of transverse pixel points of the picture, and n is the number of yarns to be presented in a visual field when no yarn is lost;

s36: and if the yarn is broken, calculating the spindle position number N as (N2-N1) T/T.

9. The control method of the automatic yarn-break circuit detecting device according to claim 8, wherein the control unit in the step (2) receives the start and end points each time until the start and end points are received againThe point is used as a cycle time length T, the T can be recalculated every time the mobile trolley arrives at the station, the current ingot position number N (N2-N1) T/T + N1 can be calculated according to the ingot position number starting number N1, the ingot position number ending number N2, the single cycle time length T and the current accumulated time length T, and the average speed v of the mobile trolley can be calculated according to the magnetic guide rail length S and the single cycle time length T₀＝S/T。

10. The method for controlling an automatic yarn breakage itinerant detecting device according to claim 8, wherein the periodic time interval in the step (3) is ti, d x n/2u < ti < d x n/u, d is a spindle spacing distance, n is the number of spindles, u is a moving speed of the traveling carriage, and ti is a common reference value of 3 d/u.

Technical Field

The invention relates to the technical field of spinning, in particular to an automatic broken yarn itinerant detection device and a control method.

Background

In a preparation stage of a warp beam for a machine such as a textile machine, yarns are pulled out from a plurality of yarn feeders installed in a creel device at once and are wound around the warp beam by a winding device or the like. In a plurality of yarns drawn out from the creel device, even if one of the yarns is broken, the number of yarns wound around the warp beam is insufficient, and therefore, it is necessary to detect the broken yarn for all the yarns in the winding step. When a yarn breakage occurs, the worker wants to be able to determine which yarn feeder has the yarn breakage in order to repair the yarn breakage. At present, yarn breakage detection in the yarn making industry is basically in two modes of manual inspection and photoelectric detection, the manual inspection is needed for the yarn breakage detection, and a real-time detection device is needed to be additionally arranged on each yarn making station, so that the cost is very high. During the spinning process, if yarn breakage, flaws and the like exist, the production speed and the quality of the yarn are influenced. In order to timely find the conditions of yarn breakage and the like in the production process and timely process the conditions, workers usually detect the conditions in a visual inspection mode, the detection mode easily causes missed detection, the detection strength is high, the visual fatigue of the workers is caused, and the vision of the workers can be influenced after long-term work.

Disclosure of Invention

The invention aims to provide an automatic broken yarn itinerant detection device which can replace manual inspection, discover broken yarns in time by utilizing a machine vision technology, report broken yarn stations and prompt workers to immediately process the broken yarns, so that one worker can watch and process more yarn winding machines.

Another object of the present invention is to provide a control method for an automatic yarn breakage itinerant detection device, which can control the automatic yarn breakage itinerant detection device to efficiently and orderly perform yarn breakage itinerant detection, thereby further improving the working efficiency.

The embodiment of the invention is realized by the following steps:

in a first aspect, the embodiment of the application provides an automatic broken yarn itinerant detection device, including removing the subassembly, route discernment, be used for controlling the control unit that removes and stops on route discernment track of removal subassembly, sensing component, signal transmission unit and host computer, sensing component includes image sensor, and image sensor sets up on removing the subassembly, and signal transmission unit respectively with host computer, control unit and image sensor communication connection.

In some embodiments of the present invention, the moving assembly includes a moving trolley, a driving motor disposed on the moving trolley, and a driving power source disposed on the moving trolley, the driving motor is used for driving the moving trolley to move, the driving motor is connected to the control unit, and the driving power source is connected to the driving motor.

In some embodiments of the present invention, the mobile cart is provided with a steering assembly for controlling the mobile cart to steer, and the steering assembly includes a steering gear and a rotating motor for driving the steering gear to rotate.

In some embodiments of the present invention, the image sensor is disposed on the top of the mobile cart, the image sensor is of a rotary structure, and the control unit can control the image sensor to collect images and rotate.

In some embodiments of the present invention, the route identification track includes a magnetic guide rail and a route identification module disposed on the mobile cart, the route identification module is connected to the control unit, and the control unit can control the mobile cart to move along the magnetic guide rail.

In some embodiments of the present invention, the route identification track is provided with a start point and an end point and a plurality of stations.

In some embodiments of the present invention, the signal transmission unit includes a wireless transmission module, and the wireless transmission module is respectively connected to the image sensor, the control unit and the upper computer in a communication manner.

In a second aspect, an embodiment of the present application provides a control method for an automatic broken yarn itinerant detection device, including the following steps:

(1) the method comprises the steps that magnetic guide rails are laid in the environment in advance, a path recognition module obtains magnetic information on the magnetic guide rails, a control unit judges the magnetic information of the magnetic guide rails and controls the moving state of the mobile trolley according to the judgment, when the magnetic information is obtained, the path recognition module also recognizes nearest station magnetic information or start and end point magnetic information and transmits the nearest station magnetic information or the start and end point magnetic information to the control unit, meanwhile, the control unit controls an image sensor to start collecting image information, then continues to recognize the nearest magnetic information of the magnetic guide rails, and the step (1) is repeated to enable the mobile trolley to adjust the moving state along the magnetic guide rails according to the inspection requirement.

(2) And (3) after the moving trolley moves along the magnetic guide rail, the image sensor acquires the image characteristics of the detected position, transmits the image characteristic information back to the control unit, and repeats the step (2) again after a periodic time interval ti.

(3) And (3) the control unit transmits the image characteristic information and the station information/starting and ending point information to the upper computer through the signal transmission unit, the upper computer detects the yarn breakage condition according to the image characteristic information of the detected position in the step (2), if the yarn is broken, an original picture is stored, the yarn breakage point spindle position number is predicted, an alarm is sent to a worker, and if the yarn is not broken, the next image characteristic information is continuously judged.

Wherein, the step (3) comprises the following steps:

s31: canny edge detection is carried out on the image to obtain the yarn contour and morphological expansion, and then the operation is started to eliminate noise.

S32: detecting straight lines by utilizing probability Hough transformation, solving the inclination angle of each straight line, grouping the straight lines according to the inclination angle distribution, finding out the group with the most distribution, and performing rotation correction on the picture according to the angle of the group with the most distribution.

S33: and (4) obtaining the yarn contour by canny edge detection, carrying out median filtering on the picture, expanding the picture, and carrying out morphological opening operation on the picture.

S34: and detecting straight lines by utilizing probabilistic Hough transform, grouping the detected straight lines according to x coordinate distribution, solving the uppermost, lowermost, leftmost and rightmost coordinates of each group of straight lines, and combining each group into a straight line.

S35: sorting the combined straight lines according to an x coordinate, and solving the size of a straight line interval, wherein a yarn reference interval d is equal to w/n, w is the number of transverse pixel points of the picture, and n is the number of yarns to be presented in a visual field when no yarn is lost;

s36: and if the yarn is broken, calculating the spindle position number N as (N2-N1) T/T.

In some embodiments of the present invention, the control unit in step (2) receives the start mark each time, receives the start mark again as a cycle time length T, recalculates T each time when arriving at the station, calculates the current ingot position number N ═ N (N2-N1) T/T + N1 according to the ingot position number start number N1, the end number N2, the single cycle time length T, and the current accumulated time length T, and calculates the average speed v of the mobile car according to the magnetic guide length S and the single cycle time length T₀＝S/T。

In some embodiments of the present invention, if the periodic time interval in the step (3) is ti, then d × n/2u < ti < d × n/u, d is the interval distance between the spindles, n is the number of spindles, u is the moving speed of the moving trolley, and after one cycle, based on the calculated speed, a common reference value of ti is: 3 d/u.

Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:

the invention provides an automatic broken yarn itinerant detection device and a control method thereof, wherein the automatic broken yarn itinerant detection device comprises a moving assembly, a sensing assembly, a signal transmission unit, a route identification track, a control unit and an upper computer. The moving assembly is used as a carrier of the sensing assembly and the control unit and can drive the sensing assembly and the control unit to move. The control unit is used for controlling the image sensor to carry out image acquisition work and controlling the moving assembly to move on the route identification track. The sensing assembly comprises an image sensor, the image sensor is arranged on the moving assembly, the image sensor can collect image characteristic information of the detection position and transmit the collected information to the control unit. The signal transmission unit is arranged on the moving assembly, the signal transmission unit is respectively connected to the upper computer, the control unit and the image sensor, information exchange among the upper computer, the control unit and the image sensor can be achieved, and the control unit is used for controlling the moving assembly to move and stop on the route identification track. This automatic broken yarn itinerant detection device can replace the manual work to patrol and examine, utilizes machine vision technique in time to discover broken yarn and report the broken yarn station, and the suggestion workman handles at once, can make a workman can watch on and handle more many winding machines.

The embodiment also provides a control method of the automatic broken yarn itinerant detection device, which comprises the following steps: (1) the method comprises the following steps that magnetic guide rails are laid in an environment in advance, a path recognition module acquires magnetic information on the magnetic guide rails, a control unit judges the magnetic information of the magnetic guide rails and controls the moving state of the mobile trolley according to the judgment, when the magnetic information is acquired, the path recognition module also recognizes nearest station magnetic information or start and end point magnetic information and transmits the nearest station magnetic information or the start and end point magnetic information to the control unit, the control unit controls an image sensor to start image information acquisition, then continues to recognize the nearest magnetic information of the magnetic guide rails, and the step (1) is repeated to enable the mobile trolley to adjust the moving state along the magnetic guide rails according to the inspection requirement; (2) after the moving trolley moves along the magnetic guide rail, the image sensor acquires the image characteristics of the detected position, transmits the image characteristic information back to the control unit, and repeats the step (2) again after a periodic time interval ti; (3) the control unit transmits the image characteristic information and the station information/starting and ending point information to the upper computer through the signal transmission unit, the upper computer detects the yarn breakage condition according to the image characteristic information of the detected position in the step (2), if the yarn is broken, an original picture is stored, the yarn breakage point spindle position number is predicted, an alarm is sent to a worker, and if the yarn is not broken, the next image characteristic information is continuously judged; wherein, the step (3) comprises the following steps: s31: carrying out canny edge detection on the image to obtain the yarn contour and morphological expansion, and then opening the operation to eliminate noise; s32: detecting straight lines by utilizing probability Hough transformation, solving the inclination angle of each straight line, grouping the straight lines according to the inclination angle distribution, finding out the group with the most distribution, and performing rotation correction on the picture according to the angle of the group with the most distribution; s33: the canny edge detection is used for obtaining the yarn contour, median filtering is carried out on the picture, the picture is expanded, and morphological opening operation is carried out on the picture; s34: detecting straight lines by utilizing probabilistic Hough transform, grouping the detected straight lines according to x coordinate distribution, solving the uppermost, lowermost, leftmost and rightmost coordinates of each group of straight lines, and combining each group into a straight line; s35: sorting the combined straight lines according to an x coordinate, and solving the size of a straight line interval, wherein a yarn reference interval d is equal to w/n, w is the number of transverse pixel points of the picture, and n is the number of yarns to be presented in a visual field when no yarn is lost; s36: and if the yarn is broken, calculating the spindle position number N as (N2-N1) T/T. The control method utilizes the magnetic guide rail and the path identification module, utilizes the path identification module to identify the starting point and the starting and ending points on the magnetic guide rail, transmits the identification information to the control unit, and utilizes the control unit to control the moving trolley to move according to logic judgment, thereby realizing the automatic movement of the moving trolley. The automatic yarn breakage patrol inspection device can control the automatic yarn breakage patrol inspection device to efficiently and orderly perform yarn breakage patrol inspection work, and further improves the work efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a control block diagram of an embodiment of the present invention;

FIG. 3 is a flow chart illustrating control of the moving components in an embodiment of the present invention;

FIG. 4 is a control flow chart of the automatic yarn breakage itinerant detecting device in the embodiment of the present invention.

Icon: the method comprises the steps of 1-detected position, 2-control unit, 3-moving trolley, 4-magnetic guide rail, 5-path identification module, 6-image sensor, 7-signal transmission unit, 8-driving power supply, 9-driving motor and 10-steering assembly.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the product of the present invention is used, the description is only for convenience and simplicity, but the indication or suggestion that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, cannot be construed as limiting the present invention.

In the description of the embodiments of the present invention, "a plurality" represents at least 2.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.