CN107177912A - A kind of automatic doffer control system with vision - Google Patents
A kind of automatic doffer control system with vision Download PDFInfo
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- CN107177912A CN107177912A CN201710228578.6A CN201710228578A CN107177912A CN 107177912 A CN107177912 A CN 107177912A CN 201710228578 A CN201710228578 A CN 201710228578A CN 107177912 A CN107177912 A CN 107177912A
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- Prior art keywords
- control system
- end effector
- servomotor
- vision
- spindle
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Classifications
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
- D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
- D01H9/04—Doffing arrangements integral with spinning or twisting machines
Abstract
The present invention provides a kind of automatic doffer control system with vision, including control system, end effector, photoelectric sensor, vision control system, front and rear servo-driver, up and down left and right servo-driver, servo-driver, main car servo-driver, front and rear servomotor, up and down left and right servomotor, servomotor and main car servomotor；Main car servomotor is responsible for doffer and moved along a straight line along spinning machine；Front and rear servomotor, left and right servomotor, up and down servomotor be responsible for end effector and do three-dimensional motion relative to doffer.Beneficial effects of the present invention：The present invention realized by the way of machine vision and optical, mechanical and electronic integration full-automatic doffer advance, pull out yarn, doff, all processes of insertion tube pipe, yarn position is precisely determined by the control mode with machine vision, the efficient, quick, accurate of the process of doffing is realized, human cost is reduced.
Description
Technical field
The present invention relates to the automatic control technology field of the AC servo motor of textile industry, and in particular to a kind of band vision
Automatic doffer control system.
Background technology
Textile industry is made that tremendous contribution for the economic development of country, while textile industry, which belongs to a kind of, works extremely intensive
Industry, China about 1/13 population be engaged in related work.The principal element of restriction China textile industry development is weaving apparatus
Automaticity it is low, weaving is high with mechanical equipment fault rate, is extremely difficult to the requirement quickly produced.
Possess advanced technology country of the world, such as Germany, Japan, the U.S. in fabrication processes, weaving apparatus is completely real
Show automated production, and our countries just realize semi-automation production in recent years.By taking the intelligent doffer used as an example, newly
After century, the drawbacks of China also has most factory to be doffed using manually realization, and artificial maximum is exactly that easy generation is tired,
So as to produce some unexpected accidents.Some is realizing the process, collective's intelligence of doffing using collective intelligence doffer
Can the use of doffer can lighten one's labor really power, but this will greatly increase the production cost of factory, because collective intelligence
The use condition of doffer is one-to-one, i.e., the one intelligent doffer of machine correspondence one.Only a few factory is using independent
Formula intelligence doffer, but failure can continuously emerges in the intelligent doffer of domestic production, it is difficult to work requirements be met, so intelligence
Limitation is also compared in the application in China of doffer.
For the link of doffing of fabrication processes, one kind is badly in need of in the country can be with fast insert-pull, efficiency high and fault rate is low
The intelligent doffer of full-automation, make up the deficiency of existing doffer.
The content of the invention
In view of this, object of the present invention is to provide a kind of automatic doffer control system with vision in motion
During precisely crawl spindle control method of servo motor, doffer is precisely captured spindle, realize the height for the process of doffing
It is effect, low failure, quick, human cost is reduced, the performance of enterprises is improved.
Embodiments of the invention provide a kind of automatic doffer control system with vision, including control system, end are held
Row device, photoelectric sensor, vision control system, front and rear servo-driver, up and down left and right servo-driver, servo-driver, master
Car servo-driver, front and rear servomotor, up and down left and right servomotor, servomotor and main car servomotor；The photoelectricity
Sensor is used for during the owner's car that doffs does linear uniform motion along spinning machine the fixed range for detecting each spindle of streamline
With spindle number, the operating position of end effector motion is determined；The vision control system is used to identify end effector
And spindle, the accurate location of the accurate location for determining end effector and the spindle that will be captured, pass through the accurate location of spindle
The desired locations of end effector are calculated, the accurate location of end effector is compared with desired locations and obtains deviation, really
Determining robot arm end effector crawl spindle needs mobile orientation；Main car servomotor is responsible for doffer and transported along spinning machine straight line
It is dynamic；Front and rear servomotor, left and right servomotor, up and down servomotor be responsible for end effector and do three maintenance and operations relative to doffer
It is dynamic, wherein front and rear Serve Motor Control end effector is moved forward and backward relative to automatic doffer；Left and right Serve Motor Control
End effector does side-to-side movement relative to automatic doffer；Serve Motor Control end effector is relative to automatic doffing up and down
Machine moves up and down.
Further, the vision control system is in communication with each other by serial ports with control system, and control system passes through wire
Respectively with front and rear servo-driver, up and down left and right servo-driver, servo-driver, main car servo-driver, photoelectric sensor
It is connected, front and rear servo-driver is connected by wire with front and rear servomotor, left and right servo-driver passes through wire and a left side
Right servomotor is connected, servo-driver is connected by wire with servomotor up and down, main car servo-driver leads to up and down
Wire is crossed with main car servomotor to be connected.
Further, the photoelectric sensor detects streamline during doffer does linear uniform motion along spinning machine
The fixed range and spindle number of each spindle, motor message, control system root are sent when reaching crawl number to control system
End effector, which is provided, according to the fixed range of each spindle of streamline moves to operating position；Control system servo-driver to the left and right
Send control signal, left and right Serve Motor Control end effector relative to automatic doffer direction of travel counter motion to full
The position of yarn spool simultaneously keeps geo-stationary, then servomotor, up and down servomotor drive end before and after control system control
Actuator runs to operating position, so that end effector keeps geo-stationary with spindle, completes tracing control.
Further, vision control system includes camera and Vision information processing device；Vision control system is gathered simultaneously
Visual information is handled, end effector and spindle is identified, its corresponding pixel is split from background image, end is obtained
The accurate location of the accurate location for holding actuator and the spindle that will be captured, calculates end by the accurate location of spindle and performs
The desired locations of device, the accurate location of end effector is compared with desired locations and obtains deviation, vision control system according to
Deviation, which provides end effector, to be needed mobile position and sends location data to control system, end effector is directed at yarn
Ingot.
Further, the main car actual speed of main car encoder output moves left and right speed as negative-feedback and end effector
Degree inputs to control system after being compared, control system controls the rotating speed of left and right servomotor according to fiducial value, compensates main car
Speed.
Further, control system plans manipulator motion pose according to cartesian space coordinate, is asked by inverse kinematics
Solution joint position set-point control machinery arm eliminates position deviation, control end effector alignment yarn on the basis of desired position
Ingot.
Further, when controlling end effector alignment spindle, vision control system sends plug yarn to control system
Ingot is instructed, and end effector performs Plug Action.
Further, the control system uses PLC control system.
The beneficial effect brought of technical scheme that embodiments of the invention are provided is：The use machine vision and light of the present invention
The mode of electromechanical integration realize full-automatic doffer advance, pull out yarn, doff, all processes of plug hole pipe, by using machine
The control mode of vision precisely determines yarn position, realizes the efficient, quick, accurate of the process of doffing, reduces human cost.
Brief description of the drawings
Fig. 1 is the structured flowchart of the automatic control system of doffer of the present invention.
Fig. 2 is the Vision information processing schematic flow sheet of vision control system of the present invention.
Fig. 3 is vision control system of the present invention to end effector positioning flow schematic diagram.
In figure：1st, PLC control system；2nd, vision control system；21st, Vision information processing device；3rd, photoelectric sensor；4、
End effector；5th, front and rear servo-driver；6th, left and right servo-driver；7th, servo-driver up and down；8th, main car servo-drive
Device；9th, front and rear servomotor；10th, left and right servomotor；11st, servomotor up and down；12 main car servomotors；13rd, IMAQ；
14th, image characteristics extraction；15th, cartesian space coordinate is asked for；16th, target location gives.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is further described.
Fig. 1 is refer to, The embodiment provides a kind of automatic doffer control system with vision, including PLC
Control system 1, end effector 4, photoelectric sensor 3, vision control system 2, front and rear servo-driver 5, left and right servo-drive
Device 6, up and down servo-driver 7, main car servo-driver 8, front and rear servomotor 9, up and down left and right servomotor 10, servomotor
11 and main car servomotor 12.
Main car servomotor 12 is responsible for doffer and moved along a straight line along spinning machine, front and rear servomotor 9, left and right servomotor
10th, servomotor 11 is responsible for end effector 4 and does three-dimensional motion relative to doffer up and down, wherein front and rear servomotor 9 is controlled
End effector 4 is moved forward and backward relative to automatic doffer；Left and right servomotor 10 controls end effector 4 relative to automatic
Doffer does side-to-side movement；The control of servomotor 11 end effector 4 moves up and down relative to automatic doffer up and down.
Vision control system is in communication with each other by serial ports with PLC control system 1, PLC control system 1 by wire respectively with
Front and rear servo-driver 5, up and down left and right servo-driver 6, servo-driver 7, main car servo-driver 8, the phase of photoelectric sensor 3
Connection, front and rear servo-driver 5 is connected by wire with front and rear servomotor 9, left and right servo-driver 6 passes through wire and a left side
Right servomotor 10 is connected, up and down servo-driver 7 be connected by wire with servomotor 11 up and down, main car servo-drive
Device 8 is connected by wire with main car servomotor 12.
Photoelectric sensor 3 detects the fixation of each spindle of streamline during doffer does linear uniform motion along spinning machine
Distance and spindle number, send motor message, control system is according to each yarn of streamline when reaching crawl number to control system
The fixed range of ingot provides end effector 4 and moves to operating position；Servo-driver 6 sends control letter to control system to the left and right
Number, left and right servomotor 10 controls end effector 4 relative to the direction of travel counter motion of automatic doffer to full yarn spool
Position and keep geo-stationary, then PLC control system 1 control front and rear servomotor 9, up and down servomotor 11 drive end
Actuator 4 runs to operating position, so that end effector 4 keeps geo-stationary with spindle, completes tracing control.
Vision control system 2 includes camera and Vision information processing device 21；Vision control system 2 is gathered and handled and regards
Feel information, identify end effector 4 and spindle, its corresponding pixel is split from background image, end is identified
Actuator 4 and spindle, its corresponding pixel is split from background image, obtains the position of end effector 4 in video camera
The position of coordinate system and the spindle that will capture in the position of camera coordinate system,；Vision information processing device is estimated using position
Calculating method is calculated in the position of camera coordinate system spindle position and the position of end effector 4, then according to video camera
External parameter, kinematical equation obtain the accurate location of end effector 4 and spindle.End is calculated by the accurate location of spindle
Hold the desired locations of actuator 4；The accurate location of end effector 4 is compared with desired locations and obtains deviation, visual spatial attention
System 2 according to deviation provide end effector 4 need movement position and send location data to PLC control system 1, make end
Actuator 4 is directed at spindle, is instructed while vision control system 2 sends plug spindle to PLC control system 1, end effector 4 is held
Row Plug Action.Complete after once plug task, end effector 4 returns to initial position and waits photoelectric sensor 3 to send next
Individual motor message, carries out plug spindle motion next time.
Fig. 2 is refer to, the Vision information processing device of vision control system 2 of the present invention includes following functional module：
IMAQ 13:Vision signal is converted to the optical imagery of camera pickuping image booster, image is sent to
Capture card is digitized, and forms digital image data；
Image characteristics extraction 14:Digital image data is handled, the point on image is divided into different subsets；
Cartesian space coordinate asks for 15:By determining the relation between plane of delineation coordinate and pixel coordinate, by numeral
Image is connected with world coordinate system；
Target location given 16:Target location set-point is solved according to cartesian space coordinate.
It refer to vision control system 2 in Fig. 3, the present invention and following methods realization be located through to end effector 4：
S301, sets up the linear model of video camera, according to video camera model and the environment that doffs to joining inside and outside video camera progress
Number demarcation；
S302, target object is identified by Threshold segmentation, and its corresponding pixel is split from background image, its
Method and step is：
(1) histogram of original image is obtained：
For digital picture, gray level r is centrifugal pump rk(k=0,1,2 ..., L-1, L is the number of gray level)；I-th
Gray level riThe frequency n of appearanceiRepresent, the corresponding probable value P (r of the gray-level pixelsi) be:
N is the sum of all pixels of piece image in formula, and ri meets normalizing condition
(2) formula is pressed
Transforming function transformation function, obtain the gray level of each in original image riCorresponding Si；
(3) S is mergedi；
(4) according to the S after mergingiChange the gray level of each pixel of original image；
S303, spindle actual target locations are obtained with video camera.Spindle is world coordinates in the coordinate system of space
System, the position of spindle is (x, y, z) by the coordinate representation of the coordinate system, projects obtained image and is used as coordinate using the border of image
Axle constitutes image coordinate system, and the position put on image can be expressed as (u, v) in this coordinate system, it is assumed that the projection relation of camera is
Linear relationship, but because end effector 4 is moved in the plane, projection relation is represented by
Matrix in formula represents position and posture of the video camera in world coordinate system, completes to take the photograph by solving these parameters
The demarcation of camera；
S304, the physical location of end effector 4 is obtained with video camera.The image recognition of end effector 4 passes through mould
Plate matching is carried out, and is first obtained the small image comprising end effector 4 as template, g (x, y) is set to, if moving region figure
As being f (x, y), then end effector 4 is recognized by comparing the similitude for the image-region that template and template are covered, both
Similitude is expressed as
D=∑s | f (x+x0.y+y0)-g (x, y) |
The smaller then similitudes of d are bigger, the point corresponding to the d of minimum taken as the image coordinate of end effector 4, by
Camera parameters through solution solve world coordinates；
S305, vision control system 2 does not stop to update the expected pose that need to reach of end effector 4 to reflect object space
Change.
A kind of automatic doffer control system course of work with vision of the present invention is as follows：PLC control system 1 uses speed
Compensation way is to the carry out track of end effector 4 and speed planning and controls the precisely crawl spindle of end effector 4.PLC is controlled
The output signal of system 1 driving doffer processed does linear uniform motion along spinning machine, and uniform rectilinear's fortune is done along spinning machine in doffer
During dynamic, the fixed range and spindle number of the detection each spindle of streamline of photoelectric sensor 3, when reaching crawl number to control
System processed sends motor message, control system according to the fixed range of each spindle of streamline provide end effector 4 move to it is dynamic
Make position；End effector 4 accelerates according to operating position and arrives operating position, while end effector 4 maintains left and right screw mandrel
With main vehicle speed size equidirectional on the contrary, making end effector 4 keep geo-stationary, completion tracking with spindle in the direction of motion
Control.Meanwhile, vision control system 2 identifies end effector 4 and spindle by the visual information of doffer working environment,
Its corresponding pixel is split from background image, obtain the position of end effector 4 in the position of camera coordinate system and
The spindle that will be captured is in the position of camera coordinate system.Vision information processing device is using location-estimation algorithm to spindle position
Calculated with the position of end effector 4 in the position of camera coordinate system, then according to video camera external parameter, kinematics side
Journey obtains the accurate location of end effector 4 and spindle.The expectation position of end effector 4 is calculated by the accurate location of spindle
Put, accurate location is compared with desired locations and obtains deviation, vision control system 2 provides the need of end effector 4 according to deviation
The position to be moved simultaneously sends location data to PLC control system 1, and PLC control system 1 plans machine according to cartesian space coordinate
Tool arm motion pose, position is eliminated by inverse kinematics joint position set-point control machinery arm on the basis of desired position
Deviation is put, end effector 4 is directed at spindle, is instructed while vision control system 2 sends plug spindle to PLC control system 1,
End effector 4 performs Plug Action.Complete after once plug task, end effector 4 returns to initial position and waits photoelectric transfer
Sensor 3 sends next motor message, carries out plug spindle motion next time.
Herein, the involved noun of locality such as forward and backward, upper and lower is to be located at parts in accompanying drawing in figure and zero
The position of part each other is intended merely to the clear of expression technology scheme and conveniently come what is defined.It should be appreciated that the noun of locality
Use should not limit the claimed scope of the application.
In the case where not conflicting, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (8)
1. a kind of automatic doffer control system with vision, it is characterised in that：Including control system, end effector, photoelectricity
Sensor, vision control system, front and rear servo-driver, up and down left and right servo-driver, servo-driver, main car servo-drive
Device, front and rear servomotor, up and down left and right servomotor, servomotor and main car servomotor；The photoelectric sensor is used for
The fixed range and spindle number of each spindle of streamline are detected during the owner's car that doffs does linear uniform motion along spinning machine,
Determine the operating position of end effector motion；The vision control system is used to identify end effector and spindle, it is determined that
The accurate location of the accurate location of end effector and the spindle that will be captured, calculates end by the accurate location of spindle and holds
The desired locations of row device, the accurate location of end effector is compared with desired locations and obtains deviation, mechanical arm tail end is determined
Actuator crawl spindle needs mobile orientation；Main car servomotor is responsible for doffer and moved along a straight line along spinning machine；Front and rear servo
Motor, left and right servomotor, up and down servomotor be responsible for end effector and do three-dimensional motion relative to doffer, wherein front and rear watch
Motor control end effector is taken to move forward and backward relative to automatic doffer；Left and right Serve Motor Control end effector is relative
Side-to-side movement is done in automatic doffer；Serve Motor Control end effector moves up and down relative to automatic doffer up and down.
2. a kind of automatic doffer control system with vision as claimed in claim 1, it is characterised in that：The visual spatial attention
System is in communication with each other by serial ports with control system, control system by wire respectively with front and rear servo-driver, left and right servo
Driver, up and down servo-driver, main car servo-driver, photoelectric sensor are connected, and front and rear servo-driver passes through wire
It is connected with front and rear servomotor, left and right servo-driver is connected by wire with left and right servomotor, servo-drive up and down
Device is connected by wire with servomotor up and down, main car servo-driver is connected by wire with main car servomotor.
3. a kind of automatic doffer control system with vision as claimed in claim 1, it is characterised in that：The photoelectric sensing
Device detects the fixed range and spindle number of each spindle of streamline during doffer does linear uniform motion along spinning machine, when
Motor message is sent to control system when reaching crawl number, control system provides end according to the fixed range of each spindle of streamline
Actuator motions are held to operating position；Servo-driver sends control signal, left and right Serve Motor Control to control system to the left and right
End effector relative to automatic doffer direction of travel counter motion is to the position of full yarn spool and keeps geo-stationary, so
Afterwards control system control before and after servomotor, up and down servomotor drive end effector run to operating position so that last
Hold actuator to keep geo-stationary with spindle, complete tracing control.
4. a kind of automatic doffer control system with vision as claimed in claim 1, it is characterised in that：Vision control system
Including camera and Vision information processing device；Vision control system gathers and handles visual information, identifies end effector
And spindle, its corresponding pixel is split from background image, the accurate location of end effector is obtained and will capture
Spindle accurate location, the desired locations of end effector are calculated by the accurate location of spindle, by end effector
Accurate location compares with desired locations obtains deviation, and vision control system provides end effector according to deviation needs movement
Position simultaneously sends location data to control system, end effector is directed at spindle.
5. a kind of automatic doffer control system with vision as claimed in claim 1, it is characterised in that：Main car encoder is defeated
The main car actual speed gone out moves left and right as negative-feedback and end effector and control system is inputed to after speed is compared, and controls
System processed controls the rotating speed of left and right servomotor according to fiducial value, compensates the speed of main car.
6. a kind of automatic doffer control system with vision as claimed in claim 1, it is characterised in that：Control system according to
Cartesian space coordinate plans manipulator motion pose, by inverse kinematics joint position set-point control machinery arm in the phase
Position deviation, control end effector alignment spindle are eliminated on the basis of the position of prestige.
7. a kind of automatic doffer control system with vision as claimed in claim 1, it is characterised in that：Held in control end
When row device is directed at spindle, vision control system sends plug spindle to control system and instructed, and end effector performs Plug Action.
8. a kind of automatic doffer control system with vision as claimed in claim 1, it is characterised in that：The control system
Using PLC control system.
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| CN201710228578.6A CN107177912A (en) | 2017-04-10 | 2017-04-10 | A kind of automatic doffer control system with vision |
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| CN201710228578.6A CN107177912A (en) | 2017-04-10 | 2017-04-10 | A kind of automatic doffer control system with vision |
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| CN201710228578.6A Pending CN107177912A (en) | 2017-04-10 | 2017-04-10 | A kind of automatic doffer control system with vision |
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Application publication date: 20170919 |