CN110992358B - Method and device for positioning yarn rod of yarn cage, storage medium and processor - Google Patents
Method and device for positioning yarn rod of yarn cage, storage medium and processor Download PDFInfo
- Publication number
- CN110992358B CN110992358B CN201911311695.4A CN201911311695A CN110992358B CN 110992358 B CN110992358 B CN 110992358B CN 201911311695 A CN201911311695 A CN 201911311695A CN 110992358 B CN110992358 B CN 110992358B
- Authority
- CN
- China
- Prior art keywords
- yarn
- position information
- rods
- cage
- bars
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06B—TREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
- D06B23/00—Component parts, details, or accessories of apparatus or machines, specially adapted for the treating of textile materials, not restricted to a particular kind of apparatus, provided for in groups D06B1/00 - D06B21/00
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30124—Fabrics; Textile; Paper
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Quality & Reliability (AREA)
- Textile Engineering (AREA)
- Treatment Of Fiber Materials (AREA)
Abstract
The invention discloses a method and a device for positioning a yarn rod of a yarn cage, a storage medium and a processor. Wherein the method comprises the following steps: in the non-production process of the yarn cage, respectively detecting positions of a plurality of yarn rods of the yarn cage on a target station to obtain first position information of the plurality of yarn rods; determining a plurality of first yarn rods from the plurality of yarn rods in the production process of the yarn cage, and respectively detecting the positions of the plurality of first yarn rods on the target station to obtain second position information of the plurality of first yarn rods; determining first position information of a plurality of first yarn rods from the first position information of the plurality of yarn rods, and determining pose deviation of the yarn cage through the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods; target position information of each yarn rod in the production process of the yarn cage is determined based on the pose deviation and the first position information of each yarn rod. The invention solves the technical problem of low positioning precision of the yarn cage in the production process.
Description
Technical Field
The invention relates to the field of computers, in particular to a method and a device for positioning a yarn rod of a yarn cage, a storage medium and a processor.
Background
At present, in the automatic process of a textile dyeing and finishing process, because each yarn cage is large in size, the number of yarn rods on the yarn cage is large (tens or hundreds), if all the yarn rods are photographed for a single time in the process, accurate identification and positioning of each yarn rod are difficult to realize, and all the yarn rods are photographed one by one to be positioned, so that the whole working beat can be influenced due to the large number of the yarn rods.
In addition, in the automatic process of the textile dyeing and finishing process, the yarn cages are placed on the tray and conveyed directly at the stations, and the errors of the yarn rods mainly comprise three items, namely the positioning errors of the tray, the positioning errors of the yarn cages on the tray and the errors of the yarn rods relative to the yarn cages. At present, only the error of a yarn rod relative to a yarn cage is detected, and the positioning error of the yarn cage on a tray is difficult to mechanically control due to the large size of the tray and the yarn cage, so that the problem of low positioning accuracy of the yarn cage in the production process exists.
Aiming at the technical problem of low positioning precision of the yarn cage in the production process, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for positioning a yarn rod of a yarn cage, a storage medium and a processor, which are used for at least solving the technical problem of low positioning precision of the yarn cage in the production process.
According to one aspect of an embodiment of the present invention, a method of positioning a yarn shaft of a yarn cage is provided. The method may include: in the non-production process of the yarn cage, respectively detecting positions of a plurality of yarn rods of the yarn cage on a target station to obtain first position information of the plurality of yarn rods; determining a plurality of first yarn rods from the plurality of yarn rods in the production process of the yarn cage, and respectively detecting the positions of the plurality of first yarn rods on the target station to obtain second position information of the plurality of first yarn rods, wherein the yarn cage in the production process is deployed on a tray of the target station; determining first position information of a plurality of first yarn rods from first position information of the plurality of yarn rods, and determining pose deviation of the yarn cage through the first position information of the plurality of first yarn rods and second position information of the plurality of first yarn rods, wherein the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods correspond to each other one by one, and the pose deviation comprises position deviation and pose angle deviation of the yarn cage in a production process relative to the yarn cage in a non-production process; target position information of each yarn rod in the production process of the yarn cage is determined based on the pose deviation and the first position information of each yarn rod.
Optionally, determining the pose deviation of the yarn cage by the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars comprises: and processing the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods by a least square method to obtain pose deviation.
Optionally, detecting positions of a plurality of yarn rods of the yarn cage on the target station respectively to obtain first position information of the plurality of yarn rods, including: a first acquisition step of acquiring first image information of a current yarn bar to be detected in a plurality of yarn bars; a first determining step of determining first position information of a current yarn bar to be measured based on the first image information, and determining the current yarn bar to be measured as a yarn bar with the determined first position information; a first judging step of judging whether the number of the yarn bars with the determined first position information reaches the number of the plurality of yarn bars, if not, determining the next yarn bar of the yarn bars with the determined first position information as the current yarn bar to be detected, returning to the first obtaining step, and if so, ending.
Optionally, detecting the positions of the plurality of first yarn bars on the target station respectively to obtain second position information of the plurality of first yarn bars includes: a second obtaining step of obtaining second image information of a first yarn bar to be tested currently in one of the plurality of first yarn bars; a second determining step of determining second position information of the first yarn bar to be currently measured based on the second image information, and determining the first yarn bar to be currently measured as a first yarn bar with the determined second position information; and a second judging step of judging whether the number of the yarn bars with the determined second position information reaches the number of the plurality of first yarn bars, if not, determining the next yarn bar of the first yarn bar with the determined second position information as the current first yarn bar to be detected, returning to the second obtaining step, and if so, ending.
Optionally, the error in the second position information of the plurality of first yarn bars eliminates the positioning error of the tray on the target station and the positioning error of the yarn cage on the tray.
Optionally, the first position information of each first yarn rod eliminates positioning errors of each first yarn rod relative to the yarn cage.
Optionally, after determining the target position information for each yarn rod during the production of the yarn cage based on the pose deviation and the first position information for each yarn rod, the method further comprises: the control robot performs a pick-and-place operation for each yarn rod based on the target position information for each yarn rod.
According to another aspect of the embodiments of the present invention, there is also provided a positioning device for a yarn rod of a yarn cage. The device comprises: the first detection unit is used for respectively detecting the positions of a plurality of yarn rods of the yarn cage on a target station when the yarn cage is in a non-production process, so as to obtain first position information of the plurality of yarn rods; the second detection unit is used for determining a plurality of first yarn rods from the plurality of yarn rods in the production process of the yarn cage, and respectively detecting the positions of the plurality of first yarn rods on the target station to obtain second position information of the plurality of first yarn rods, wherein the yarn cage in the production process is deployed on a tray of the target station; a first determining unit, configured to determine first position information of a plurality of first yarn rods from first position information of a plurality of yarn rods, and determine pose deviations of the yarn cages according to the first position information of the plurality of first yarn rods and second position information of the plurality of first yarn rods, where the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods correspond to each other one by one, and the pose deviations include position deviations and pose angular deviations of the yarn cages in a production process relative to yarn cages in a non-production process; and the second determining unit is used for determining target position information of each yarn rod in the production process of the yarn cage based on the pose deviation and the first position information of each yarn rod.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium. The storage medium comprises a stored program, wherein the device in which the storage medium is controlled to execute the yarn rod positioning method of the yarn cage according to the embodiment of the invention when the program runs.
According to another aspect of an embodiment of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program runs to execute the yarn rod positioning method of the yarn cage.
In the embodiment of the invention, when the yarn cage is in a non-production process, the positions of a plurality of yarn rods of the yarn cage on a target station are detected respectively, so that first position information of the plurality of yarn rods is obtained; determining a plurality of first yarn rods from the plurality of yarn rods in the production process of the yarn cage, and respectively detecting the positions of the plurality of first yarn rods on the target station to obtain second position information of the plurality of first yarn rods, wherein the yarn cage in the production process is deployed on a tray of the target station; determining first position information of a plurality of first yarn rods from first position information of the plurality of yarn rods, and determining pose deviation of the yarn cage through the first position information of the plurality of first yarn rods and second position information of the plurality of first yarn rods, wherein the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods correspond to each other one by one, and the pose deviation comprises position deviation and pose angle deviation of the yarn cage in a production process relative to the yarn cage in a non-production process; target position information of each yarn rod in the production process of the yarn cage is determined based on the pose deviation and the first position information of each yarn rod. That is, the invention detects the positions of all yarn rods on the yarn cage on the target station and records the first position information of each yarn rod in the non-production process; in the production process, only the second position information of a few second yarn rods on the yarn cage is detected, the accurate positioning of all the yarn rods on the yarn cage in the production process is further realized by combining the second position information in the production process, the detection and the positioning of all the yarn rods on the yarn cage in the non-production time are solved, and the first position information is recorded; the on-line detection only needs to detect the second position information of a few yarn rods on the yarn cage, and the accurate positioning of all the yarn rods on the yarn cage is realized quickly by combining the second position information of the off-line detection, so that the technical problem of low positioning precision of the yarn cage in the production process is solved, and the technical effect of improving the positioning precision of the yarn cage in the production process is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a method of positioning a yarn rod of a yarn cage according to an embodiment of the present application;
FIG. 2 is a flow chart of a method of off-line detecting positional information of a yarn rod of a yarn cage in accordance with an embodiment of the present application;
FIG. 3 is a flow chart of a method of online detection of position information of a yarn rod of a yarn cage according to an embodiment of the present application; and
fig. 4 is a flow chart of a positioning device for a yarn rod of a yarn cage according to an embodiment of the application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided a method embodiment of a method of positioning a yarn rod of a yarn cage, it being noted that the steps shown in the flowchart of the figures may be performed in a computer system such as a set of computer executable instructions, and, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than what is shown or described herein.
Fig. 1 is a flow chart of a method of positioning a yarn rod of a yarn cage according to an embodiment of the invention. As shown in fig. 1, the method may include the steps of:
step S102, respectively detecting positions of a plurality of yarn rods of the yarn cage on a target station in a non-production process of the yarn cage to obtain first position information of the plurality of yarn rods.
In the technical scheme provided in the step S102, the yarn cage is a carrier that needs to carry out multiple transfer on the cheeses in the automatic process of the textile dyeing and finishing process, and the yarn cage can be provided with a plurality of yarn rods, for example, the number of the yarn rods is 120, and the yarn rods can be densely arranged on the yarn cage, wherein each yarn rod can be threaded with a plurality of cheeses, and the picking and placing of the cheeses can be realized by a robot, so that the positioning of the yarn rods on the yarn cage is very important.
The yarn cage of the embodiment can be conveyed on each station, the position of each yarn rod of the yarn cage on the target station can be detected in the non-production process of the yarn cage, and the first position information of each yarn rod is obtained, wherein the production process, namely the non-working period of the yarn cage, does not occupy working beats, the first position information can be represented by coordinate values on the target station, and the target station is the station where the yarn cage is to enter the operation, so that the position of each yarn rod on the target station in the non-production process is detected offline, and the position error of each yarn rod on the yarn cage relative to the yarn cage can be eliminated through the offline detection.
Alternatively, the embodiment can detect the yarn rods on the yarn cage one by one through the cooperation of the vision system and the robot, that is, each first yarn rod is subjected to positioning detection on the target station, so that first position information of each yarn rod is obtained, and recording and storing are performed, wherein a camera of the vision system can be installed at the tail end of the robot, and the robot can be a cheese loading and unloading robot.
Step S104, determining a plurality of first yarn rods from the plurality of yarn rods in the production process of the yarn cage, and respectively detecting the positions of the plurality of first yarn rods on the target station to obtain second position information of the plurality of first yarn rods.
In the technical solution provided in the above step S104 of the present invention, after the positions of the plurality of yarn rods of the yarn cage on the target station are detected respectively to obtain the first position information of the plurality of yarn rods, the plurality of first yarn rods may be determined from the plurality of yarn rods in the production process of the yarn cage, and the positions of the plurality of first yarn rods on the target station are detected respectively to obtain the second position information of the plurality of first yarn rods, where the yarn cage in the production process is deployed on the tray of the target station.
In this embodiment, the inspection of the yarn cages during production, i.e. the on-line inspection of the automation of the textile dyeing and finishing process, is carried out by disposing the yarn cages during production on the pallets of the target stations, with consequent positioning errors of the yarn cages with respect to the pallets and of the pallets themselves on the production line. This embodiment allows to determine during the production a first plurality of bars, which may be a few bars on the cage, not less than 2, for example 6, to minimize the impact on the overall production cycle, after the cage is in place on the target station.
After the first plurality of yarn bars are determined from the first plurality of yarn bars, the positions of the first plurality of yarn bars at the target station are detected during the production process, that is, each first yarn bar is subjected to positioning detection at the target station, so that the actual second position information (actually measured position data) of each first yarn bar during the production process is obtained, recorded and stored.
Alternatively, this embodiment may also be used to detect the first plurality of yarn rods on the yarn cage individually by means of a vision system in combination with a robot.
And S106, determining first position information of the plurality of first yarn rods from the first position information of the plurality of yarn rods, and determining pose deviation of the yarn cage through the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods.
In the technical solution provided in the above step S106 of the present invention, after the positions of the plurality of yarn rods of the yarn cage on the target station are detected respectively to obtain the first position information of the plurality of yarn rods, and the positions of the plurality of first yarn rods on the target station are detected respectively to obtain the second position information of the plurality of first yarn rods, the first position information of the plurality of first yarn rods is determined from the first position information of the plurality of yarn rods, and the pose deviation of the yarn cage is determined by the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods, wherein the first position information of the plurality of first yarn rods corresponds to the second position information of the plurality of first yarn rods one by one, and the pose deviation includes the position deviation and the pose angle deviation of the yarn cage in the production process relative to the yarn cage in the non-production process.
In this embodiment, since the plurality of yarn bars includes the plurality of first yarn bars, the first position information of the plurality of yarn bars under off-line detection includes first position information of the plurality of first yarn bars under off-line detection, which corresponds one-to-one with second position information of the plurality of first yarn bars under on-line detection, a pose deviation of the yarn cage is determined by the first position information of the plurality of first yarn bars under off-line detection and the second position information of the plurality of first yarn bars under on-line detection, which includes a position deviation of the yarn cage in the production process with respect to the whole of the yarn cage in the non-production process and a pose angle deviation, that is, the whole pose deviation calculation of the yarn cage is realized by the positioning of the plurality of first yarn bars under off-line detection and the positioning under on-line detection.
Step S108, determining target position information of each yarn rod in the production process of the yarn cage based on the pose deviation and the first position information of each yarn rod.
In the technical solution provided in the above step S108 of the present invention, after the pose deviation of the yarn cage is determined by the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars, the target position information of each yarn bar during the yarn cage production process is determined based on the pose deviation and the first position information of each yarn bar.
In the embodiment, the position deviation reflects the integral position deviation and the attitude angle deviation of the yarn cage under the online detection and the offline detection, so that each piece of first position information obtained under the offline detection can be further calculated based on the position deviation to obtain the actual target position information of each yarn rod in the production process, and the accurate calculation of the actual positions of all yarn rods of the yarn cage in the production process is realized.
Through the step S102 and the step S108, during non-production, detecting the positions of all the yarn rods on the yarn cage on the target station, and recording the first position information of each yarn rod; in the production process, only the second position information of a few second yarn rods on the yarn cage is detected, the accurate positioning of all the yarn rods on the yarn cage in the production process is further realized by combining the second position information in the production process, the detection and the positioning of all the yarn rods on the yarn cage in the non-production time are solved, and the first position information is recorded; the on-line detection only needs to detect the second position information of a few yarn rods on the yarn cage, and the accurate positioning of all the yarn rods on the yarn cage is realized quickly by combining the second position information of the off-line detection, so that the technical problem of low positioning precision of the yarn cage in the production process is solved, and the technical effect of improving the positioning precision of the yarn cage in the production process is achieved.
The above-described method of this embodiment is further described below.
As an optional embodiment, step S106, determining the pose deviation of the yarn cage by the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars includes: and processing the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods by a least square method to obtain pose deviation.
In this embodiment, when determining the pose deviation of the yarn cage by the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars is implemented, the least square method may be used to calculate the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars to fit the pose deviation of the yarn cage.
Optionally, the method of processing the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods according to this embodiment by using the least square method to obtain the pose deviation is only a preferred implementation manner of the embodiment of the present invention, but the method of calculating the pose deviation according to the embodiment of the present invention is not limited to the least square method, and any method that can be used to calculate the pose deviation of the yarn cage by using the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods is within the scope of this embodiment, and is not illustrated herein one by one.
As an optional embodiment, step S102, detecting positions of a plurality of yarn rods of a yarn cage on a target station, respectively, to obtain first position information of the plurality of yarn rods, includes: a first acquisition step of acquiring first image information of a current yarn bar to be detected in a plurality of yarn bars; a first determining step of determining first position information of a current yarn bar to be measured based on the first image information, and determining the current yarn bar to be measured as a yarn bar with the determined first position information; a first judging step of judging whether the number of the yarn bars with the determined first position information reaches the number of the plurality of yarn bars, if not, determining the next yarn bar of the yarn bars with the determined first position information as the current yarn bar to be detected, returning to the first obtaining step, and if so, ending.
In this embodiment, when the positions of the plurality of yarn bars of the yarn cage on the target station are detected respectively, the first obtaining step may be performed first when the first position information of the plurality of yarn bars is obtained, under the off-line detection, the first image information of one current yarn bar to be detected among the plurality of yarn bars is obtained, where the number of the plurality of yarn bars may be m, the current yarn bar to be detected may be the n-th yarn bar among the m yarn bars, optionally, under the off-line detection, the yarn cage to be detected with the m yarn bars enters the target station, n=1 may be first, the camera of the vision system is installed at the end of the cheese loading and unloading robot, and is operated above the n-th yarn bar to be detected currently, the first image information is obtained, and the first determining step is performed, the first position information of the n-th yarn bar may be obtained by further combining with the position of the robot, the first position information of the n-th yarn bar may be the coordinates of the yarn bar on the target station, and the number of the n-th yarn bar may be determined to be n-th yarn bar, for example, and then the first position information of the n-th yarn bar may be determined to be equal to the number of the first position information of the first bar to be determined, and the first position information of the n-th yarn bar to be determined. If it is determined that the number of the yarn bars with the determined first position information does not reach the number of the plurality of yarn bars, that is, n is not equal to m yet, the next yarn bar of the yarn bars with the determined first position information among the plurality of yarn bars may be determined as the current yarn bar to be detected, that is, n=n+1, the first obtaining step is returned, the first determining step and the first determining step are continuously performed until the number of the yarn bars with the determined first position information reaches the number of the plurality of yarn bars, and then the process is ended, that is, the first position information of all yarn bars of the yarn cage under the offline detection is completed, and the first position information of all yarn bars of the yarn cage under the offline detection is recorded and stored.
As an optional embodiment, step S104, detecting the positions of the plurality of first yarn rods on the target station, to obtain second position information of the plurality of first yarn rods, includes: a second obtaining step of obtaining second image information of a first yarn bar to be tested currently in one of the plurality of first yarn bars; a second determining step of determining second position information of the first yarn bar to be currently measured based on the second image information, and determining the first yarn bar to be currently measured as a first yarn bar with the determined second position information; and a second judging step of judging whether the number of the yarn bars with the determined second position information reaches the number of the plurality of first yarn bars, if not, determining the next yarn bar of the first yarn bar with the determined second position information as the current first yarn bar to be detected, returning to the second obtaining step, and if so, ending.
In this embodiment, when the positions of the plurality of first yarn bars on the target station are detected respectively to obtain the second position information of the plurality of first yarn bars, a second obtaining step may be performed first, in the on-line detection, a second image information of a designated first yarn bar currently to be detected in the plurality of second yarn bars is obtained, wherein the number of the plurality of first yarn bars may be k, the current first yarn bar may be the nth first yarn bar in the k first yarn bars, optionally, in the on-line detection, a yarn cage to be provided with the plurality of first yarn bars enters the target station, a camera of the vision system may be first made to perform n=1, a photographing is performed on the nth first yarn bar to be currently detected to obtain second image information, a second determining step is performed on the second image information, the second position information of the nth first yarn bar may be further combined with the position information of the robot, the second position information of the nth first yarn bar may be the nth first position information of the first yarn bar may be k, and the number of the first yarn bars may be determined to be n=1, and if the number of first yarn bars is not equal to the first position information of the first yarn bar currently to be determined to be the first position information of the first yarn bar, and the number of first position information of the first yarn bars is not equal to the first position information of the first position of the first yarn bars to be determined to be n=1, and continuing to execute the second determining step and the second judging step until the number of the first yarn rods with the determined second position information reaches the number of the first yarn rods, and ending the process, namely, recording and keeping the second position information of all the yarn rods of the yarn cage under the on-line detection after the detection of the second position information of the first yarn rods of the yarn cage under the on-line detection.
As an alternative embodiment, the error of the second position information of the plurality of first yarn bars eliminates the positioning error of the tray on the target station and the positioning error of the yarn cage on the tray.
In this embodiment, the errors of the yarn rods under the on-line detection mainly comprise the tray positioning error and the positioning error of the yarn cages on the tray, and since the embodiment combines the first position information of the plurality of first yarn rods under the off-line detection and the second position information of the plurality of first yarn rods under the on-line detection to determine the pose deviation of the yarn cages, the pose deviation is the result of considering the positioning error of the tray on the target station and the positioning error of the yarn cages on the tray, and further the target position information of each yarn rod in the production process of the yarn cages is determined based on the pose deviation and the first position information of each yarn rod, thereby eliminating the positioning error of the tray on the target station and the positioning error of the yarn cages on the tray.
As an alternative embodiment, the first position information of each first yarn rod eliminates positioning errors of each first yarn rod relative to the yarn cage.
In the embodiment, under the off-line detection, the position error of the yarn rod relative to the yarn rod on the yarn cage can be detected and recorded, and the actually detected first position information of each first yarn rod can eliminate the positioning error of each first yarn rod relative to the yarn cage, so that the embodiment can eliminate the positioning error of each first yarn rod relative to the yarn cage and the positioning error of the yarn cage relative to the tray and the tray on the production line by combining the off-line detection with the on-line detection, and the technical effect of the positioning precision of the yarn cage in the production process is effectively improved.
As an alternative embodiment, in step S108, after determining the target position information of each yarn rod in the production process of the yarn cage based on the pose deviation and the first position information of each yarn rod, the method further comprises: the control robot performs a pick-and-place operation for each yarn rod based on the target position information for each yarn rod.
In the embodiment, after the target position information of each yarn rod in the production process of the yarn cage is determined based on the pose deviation and the first position information of each yarn rod, the robot can be guided to control the robot to finish the picking and placing operation on all the yarn rods based on the target position information of each yarn rod, so that the problem that the robot cannot effectively finish the picking and placing operation on all the yarn rods due to low positioning accuracy of the yarn cage in the production process is avoided, and the efficiency of the robot to finish the picking and placing operation on all the yarn rods is improved.
The method for positioning the yarn rods of the yarn cage in the embodiment is a quick yarn rod positioning method of the yarn cage combining offline detection and online detection, the position error of each yarn rod on the yarn cage relative to the yarn cage can be eliminated through offline detection, the second position information of only a few yarn rods in a plurality of yarn rods is detected in the online detection process, so that the influence on the whole production beat is small, the second position information of the few yarn rods in the online detection process and the first position information of the few yarn rods in the offline detection process are combined to determine the overall pose deviation of the yarn cage, the first position information of each yarn rod detected under the offline detection process is further calculated based on the overall pose deviation of the yarn cage, the target position information of each yarn rod is obtained, the positioning error of the yarn cage relative to a tray and the tray on a production line can be eliminated, the positioning accuracy of the yarn cage in the production process is improved, and the accuracy and the reliability of a robot for picking and placing the yarn rods of the yarn cage are remarkably improved.
Example 2
The technical solution of the embodiment of the present invention will be illustrated in the following with reference to a preferred embodiment.
In the textile dyeing and finishing process, the cheese needs to be transferred for many times in the automatic process, and a carrier mainly adopts a yarn cage, yarn rods which are densely distributed are designed on the yarn cage, and a plurality of cheeses can be put on each yarn rod. The taking and placing of the cheeses can be realized by a robot, so that the accurate positioning of the yarn rods on the yarn cage is very important. Machine vision is the preferred scheme for solving the positioning problem, but because the yarn cage size is big, the yarn pole quantity on the yarn cage is more (tens even hundreds), and in the course of the technology, through single shooting be difficult to realize the accurate discernment and the location of all yarn poles, adopt vision system to fix a position all yarn poles one by one and influence great to the takt, consequently this kind of general vision system can not obtain the application in production.
In the related art, the position errors of the yarn rods on the yarn cage are detected and recorded in an off-line visual detection mode in production, namely, after the yarn cage is in place in a non-production period, the yarn rods are detected and positioned one by one in a visual mode, the detected position information is determined to be the actual position information of all the yarn rods on the stations, and in production, a robot is guided to complete corresponding picking and placing operation according to the actual position information of the yarn rods recorded in the system.
In the automatic process of the textile dyeing and finishing process, the yarn cage is placed on the tray and is directly conveyed at the station, and the error of the yarn rod mainly comprises three items of the positioning error of the tray, the positioning error of the yarn cage on the tray and the error of the yarn rod relative to the yarn cage.
The related art only detects the error of the yarn rod relative to the yarn cage, but because the size of the tray and the yarn cage is larger (the diameter is not smaller than 1.5 m), the other two errors are difficult to mechanically control, and the error of 5-10mm is shown on the production line, so that the technical problem of low positioning precision of the yarn cage in the production process exists, and the related picking and placing operation of the robot in the production has larger influence.
In consideration of the technical characteristics of the integrity of the yarn rods of the yarn cage and the technical problems, the embodiment provides a detection positioning method combining off-line detection and on-line detection, wherein the off-line detection detects and positions all the yarn rods on the yarn cage in a non-production time period and records related position information; the on-line detection only needs to detect a few yarn rods (not less than 2) on the yarn cage, and records relevant position information, and further combines the off-line detection recorded position information data to quickly realize accurate positioning of all the yarn rods on the yarn cage.
In this embodiment, the camera of the vision system may be mounted at the end of the cheese handling robot to cooperate with the robot to detect and position the yarn bars on the yarn cage.
The off-line detection of the embodiment is carried out in a non-production period, and the vision system cooperates with the robot to detect and position the positions of all yarn rods on the yarn cage on the station one by one, so that first position information of all yarn rods is obtained. After the end of the first position information detected for all the yarn bars, the first position information for all the yarn bars on the yarn cage can be recorded.
The online detection of the embodiment is carried out in the production process, after the yarn cage is in place, the vision system is matched with the robot to detect and position a few (not less than 2) yarn rods of all yarn rods on the yarn cage, so that second position information of the few yarn rods is obtained, and the second position information is actual position information of the few yarn rods on a station in the actual generation process.
And finally, calculating the target position information of each yarn rod on the yarn cage according to the integral position deviation and the attitude angle deviation of the yarn cage and combining the first position information of all yarn rods recorded by the offline detection, wherein the position information of each yarn rod can be used for indicating the actual position with higher accuracy of each yarn rod on a station in the production process.
Fig. 2 is a flow chart of a method of off-line detection of position information of a yarn rod of a yarn cage according to an embodiment of the invention. As shown in fig. 2, the method may include the steps of:
step S201, judging whether the yarn cage is in place.
In this embodiment, the off-line detection is performed during the non-working period, so as not to occupy the takt time, and for a yarn cage with m yarn rods, it is determined whether the yarn cage is in place, that is, whether the yarn cage is at a station, if so, step S202 is performed, if not, step S201 is continuously performed, and n=1 may be preceded by the step of entering the station;
in step S202, the vision system is operated to above the nth yarn bar of the m yarn bars in cooperation with the robot.
The vision system camera of this embodiment is mounted at the end of the robot and can be run over the nth of the m yarn bars in cooperation with the robot after the presence of the yarn cage is determined.
And step S203, photographing the nth yarn rod of the m yarn rods through a vision system to obtain and record the first position information of the nth yarn rod of the m yarn rods on the station.
In the embodiment, the image obtained by photographing the nth yarn rod of the m yarn rods is identified, and the first position information of the nth yarn rod of the m yarn rods on the station is obtained by combining the positions of the robots.
Step S204, judging whether n is equal to m.
If n is equal to m, step S205 is performed, and if n is not equal to m, n=n+1 is made to continue to perform step S202.
Step S205, determining that the first position information of all the yarn bars is detected.
When it is determined that n is equal to m, it may be determined that the first position information of all the yarn bars has been detected, i.e., the off-line detection is completed, and the first position information of each yarn bar of the yarn cage is recorded and maintained.
Fig. 3 is a flow chart of a method of on-line detecting position information of a yarn rod of a yarn cage according to an embodiment of the present invention. As shown in fig. 3, the method may include the steps of:
step S301, judging whether the yarn cage is in place.
In this embodiment, the on-line detection may detect only k yarn bars (k > =2) among the plurality of yarn bars, and k yarn bars to be detected may be specified in advance. Judging whether the yarn cage is in place or not, if yes, executing step S302, if not, continuing executing step S301, and when the yarn cage enters a station, enabling n=1;
in step S302, the vision system is operated to above the nth yarn bar of the k yarn bars in cooperation with the robot.
The vision system camera of this embodiment is mounted at the end of the robot and can be run over the nth of the k yarn bars in cooperation with the robot after the screen cage is determined to be in place.
And step S303, photographing the nth yarn rod of the k yarn rods through a vision system to obtain and record second position information of the nth yarn rod of the k yarn rods on the station.
In the embodiment, the image obtained by photographing the nth yarn rod of the k yarn rods is identified, and the second position information of the nth yarn rod of the k yarn rods on the station is obtained by combining the positions of the robots.
Step S304, judge whether n equals k.
If n is equal to k, step S305 is performed, and if n is not equal to k, n=n+1 is made to continue to perform step S302.
Step S305, calculating the position deviation and attitude angle deviation of the current yarn cage relative to the yarn cage position during the offline detection by the least square method according to the second position information of the k yarn rods and the first position information of the k yarn rods recorded during the offline detection.
Step S306, further calculating the first position information of all the yarn rods based on the position deviation and the attitude angle deviation to obtain target position information of all the yarn rods, and guiding the robot to finish the picking and placing operation on all the yarn rods.
The method for positioning the yarn rods of the yarn cage in the embodiment is a quick yarn rod positioning method of the yarn cage combining offline detection and online detection, the position error of each yarn rod on the yarn cage relative to the yarn cage can be eliminated through offline detection, the second position information of only a few yarn rods in a plurality of yarn rods is detected in the online detection process, so that the influence on the whole production beat is small, the second position information of the few yarn rods in the online detection process and the first position information of the few yarn rods in the offline detection process are combined to determine the overall pose deviation of the yarn cage, the first position information of each yarn rod detected under the offline detection process is further calculated based on the overall pose deviation of the yarn cage, the target position information of each yarn rod is obtained, the positioning error of the yarn cage relative to a tray and the tray on a production line can be eliminated, the positioning accuracy of the yarn cage in the production process is improved, and the accuracy and the reliability of a robot for picking and placing the yarn rods of the yarn cage are remarkably improved.
Example 3
The embodiment of the invention also provides a yarn rod positioning device of the yarn cage. It should be noted that the positioning device for the yarn rod of the yarn cage according to this embodiment may be used to perform the positioning method for the yarn rod of the yarn cage according to the embodiment of the present invention.
Fig. 4 is a flow chart of a positioning device for a yarn rod of a yarn cage according to an embodiment of the invention. As shown in fig. 4, the positioning device 40 of the yarn rod of the yarn cage may include: a first detection unit 41, a second detection unit 42, a first determination unit 43, and a second determination unit 44.
The first detecting unit 41 is configured to detect positions of a plurality of yarn rods of the yarn cage on the target station respectively when the yarn cage is in a non-production process, so as to obtain first position information of the plurality of yarn rods.
And the second detecting unit 42 is configured to determine a plurality of first yarn rods from the plurality of yarn rods during the production process of the yarn cage, and detect positions of the plurality of first yarn rods on the target station respectively, so as to obtain second position information of the plurality of first yarn rods, where the yarn cage during the production process is deployed on a tray of the target station.
The first determining unit 43 is configured to determine first position information of the plurality of first yarn rods from the first position information of the plurality of yarn rods, and determine pose deviations of the yarn cages by the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods, where the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods correspond one to one, and the pose deviations include position deviations and pose angular deviations of the yarn cages in a production process relative to the yarn cages in a non-production process.
A second determining unit 44 for determining target position information of each yarn rod during the production of the yarn cage based on the pose deviation and the first position information of each yarn rod.
Alternatively, the first determination unit 43 includes: and the processing module is used for processing the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods by a least square method to obtain pose deviation.
Alternatively, the first detection unit 41 includes: the first acquisition module is used for acquiring first image information of a current yarn rod to be detected in the plurality of yarn rods through a first acquisition step; the first determining module is used for determining first position information of the current yarn rod to be detected based on the first image information through the first determining step, and determining the current yarn rod to be detected as a yarn rod with the determined first position information; the first judging module is used for judging whether the number of the yarn bars with the determined first position information reaches the number of the plurality of yarn bars through the first judging step, if not, determining the next yarn bar of the yarn bars with the determined first position information as the current yarn bar to be detected, returning to the first obtaining step, and if so, ending.
Optionally, the second detection unit 42 includes: the second acquisition module is used for acquiring second image information of one current first yarn rod to be detected in the plurality of first yarn rods through a second acquisition step; the second determining module is used for determining second position information of the first yarn rod to be detected currently based on the second image information through the second determining step, and determining the first yarn rod to be detected currently as a first yarn rod with the determined second position information; and the second judging module is used for judging whether the number of the yarn bars with the determined second position information reaches the number of the first yarn bars or not through the second judging step, if not, determining the next yarn bar of the first yarn bar with the determined second position information as the current first yarn bar to be detected, returning to the second acquiring step, and if so, ending.
Optionally, the error in the second position information of the plurality of first yarn bars eliminates the positioning error of the tray on the target station and the positioning error of the yarn cage on the tray.
Optionally, the first position information of each first yarn rod eliminates positioning errors of each first yarn rod relative to the yarn cage.
Optionally, the apparatus further comprises: and a control unit for controlling the robot to perform a picking and placing operation of each yarn rod based on the target position information of each yarn rod after determining the target position information of each yarn rod in the production process of the yarn cage based on the pose deviation and the first position information of each yarn rod.
In this embodiment, the first detecting unit 41 detects the positions of the plurality of yarn rods of the yarn cage on the target station respectively during the non-production process of the yarn cage, so as to obtain the first position information of the plurality of yarn rods; the second detecting unit 42 is configured to determine a plurality of first yarn rods from the plurality of yarn rods during the production process of the yarn cage, and detect positions of the plurality of first yarn rods on the target station respectively, so as to obtain second position information of the plurality of first yarn rods, where the yarn cage during the production process is deployed on a tray of the target station; determining first position information of a plurality of first yarn bars from the first position information of the plurality of yarn bars by the first determining unit 43, and determining pose deviation of the yarn cage by the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars, wherein the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars correspond to each other one by one, and the pose deviation comprises position deviation and pose angle deviation of the yarn cage in a production process relative to the yarn cage in a non-production process; the target position information of each yarn rod during the production of the yarn cage is determined by the second determining unit 44 based on the pose deviation and the first position information of each yarn rod. That is, this embodiment detects the position of all the yarn bars on the yarn cage at the target station during non-production and records the first position information for each yarn bar; in the production process, only the second position information of a few second yarn rods on the yarn cage is detected, the accurate positioning of all the yarn rods on the yarn cage in the production process is further realized by combining the second position information in the production process, the detection and the positioning of all the yarn rods on the yarn cage in the non-production time are solved, and the first position information is recorded; the on-line detection only needs to detect the second position information of a few yarn rods on the yarn cage, and the accurate positioning of all the yarn rods on the yarn cage is realized quickly by combining the second position information of the off-line detection, so that the technical problem of low positioning precision of the yarn cage in the production process is solved, and the technical effect of improving the positioning precision of the yarn cage in the production process is achieved.
Example 4
The embodiment of the application also provides a storage medium. The storage medium comprises a stored program, wherein the device in which the storage medium is controlled to execute the yarn rod positioning method of the yarn cage according to the embodiment of the application when the program runs.
Example 5
The embodiment of the application also provides a processor. The processor is used for running a program, wherein the program runs to execute the yarn rod positioning method of the yarn cage.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (9)
1. A method of positioning a yarn shaft of a yarn cage, comprising:
respectively detecting positions of a plurality of yarn rods of the yarn cage on a target station in a non-production process of the yarn cage to obtain first position information of the plurality of yarn rods;
determining a plurality of first yarn rods from the plurality of yarn rods in the production process, and respectively detecting the positions of the plurality of first yarn rods on the target station to obtain second position information of the plurality of first yarn rods, wherein the yarn cages in the production process are deployed on a tray of the target station;
determining first position information of the first yarn rods from the first position information of the first yarn rods, and determining pose deviations of the yarn cages according to the first position information of the first yarn rods and the second position information of the first yarn rods, wherein the first position information of the first yarn rods and the second position information of the first yarn rods correspond to each other one by one, and the pose deviations comprise position deviations and pose angular deviations of the yarn cages in the production process relative to the yarn cages in the non-production process;
Determining a pose deviation of the yarn cage from the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars, comprising: processing the first position information of the plurality of first yarn rods and the second position information of the plurality of first yarn rods by a least square method to obtain the pose deviation;
and determining target position information of each yarn rod in the production process of the yarn cage based on the pose deviation and the first position information of each yarn rod.
2. The method of claim 1, wherein detecting the positions of the plurality of yarn bars of the yarn cage at the target station, respectively, yields first position information of the plurality of yarn bars, comprising:
a first obtaining step of obtaining first image information of a current yarn bar to be detected in the plurality of yarn bars;
a first determining step of determining first position information of the current yarn bar to be measured based on the first image information, and determining the current yarn bar to be measured as a yarn bar with the determined first position information;
and a first judging step of judging whether the number of the yarn bars with the determined first position information reaches the number of the plurality of yarn bars, if not, determining the next yarn bar of the yarn bar with the determined first position information as the current yarn bar to be detected, returning to the first acquiring step, and if so, ending.
3. The method of claim 1, wherein detecting the positions of the plurality of first yarn bars on the target station, respectively, yields second position information for the plurality of first yarn bars, comprising:
a second obtaining step of obtaining second image information of a first yarn bar to be currently tested in the plurality of first yarn bars;
a second determining step of determining second position information of the current first yarn bar to be measured based on the second image information, and determining the current first yarn bar to be measured as a first yarn bar with the determined second position information;
and a second judging step of judging whether the number of the yarn bars with the determined second position information reaches the number of the plurality of first yarn bars, if not, determining the next yarn bar of the first yarn bar with the determined second position information as the current first yarn bar to be detected, returning to the second obtaining step, and if so, ending.
4. A method according to any one of claims 1 to 3, wherein the error in the second position information of the first plurality of yarn bars eliminates the positioning error of the tray on the target station and the positioning error of the yarn cage on the tray.
5. A method according to any one of claims 1 to 3, wherein the first position information of each of the first yarn bars eliminates positioning errors of each of the first yarn bars relative to the yarn cage.
6. A method according to any one of claims 1 to 3, characterized in that after determining the target position information for each of the yarn bars during the production of the yarn cage based on the pose deviation and the first position information for each of the yarn bars, the method further comprises:
and the control robot executes the picking and placing operation of each yarn rod based on the target position information of each yarn rod.
7. A positioning device for a yarn shaft of a yarn cage, comprising:
the first detection unit is used for respectively detecting the positions of a plurality of yarn rods of the yarn cage on a target station when the yarn cage is in a non-production process, so as to obtain first position information of the plurality of yarn rods;
the second detection unit is used for determining a plurality of first yarn rods from the plurality of yarn rods in the production process of the yarn cage, respectively detecting the positions of the plurality of first yarn rods on the target station, and obtaining second position information of the plurality of first yarn rods, wherein the yarn cage in the production process is deployed on a tray of the target station;
A first determining unit configured to determine first position information of the plurality of first yarn bars from first position information of the plurality of yarn bars, and determine pose deviations of the yarn cages from the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars, wherein the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars correspond one to one, and the pose deviations include position deviations and pose angular deviations of the yarn cages in the production process relative to the yarn cages in the non-production process;
the first determining unit is further configured to process the first position information of the plurality of first yarn bars and the second position information of the plurality of first yarn bars by a least square method to obtain the pose deviation;
and the second determining unit is used for determining target position information of each yarn rod in the production process of the yarn cage based on the pose deviation and the first position information of each yarn rod.
8. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the method of positioning the yarn rods of a yarn cage according to any one of claims 1 to 6.
9. A processor for running a program, wherein the program runs to perform the method of positioning the yarn shaft of a yarn cage according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911311695.4A CN110992358B (en) | 2019-12-18 | 2019-12-18 | Method and device for positioning yarn rod of yarn cage, storage medium and processor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911311695.4A CN110992358B (en) | 2019-12-18 | 2019-12-18 | Method and device for positioning yarn rod of yarn cage, storage medium and processor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110992358A CN110992358A (en) | 2020-04-10 |
| CN110992358B true CN110992358B (en) | 2023-10-20 |
Family
ID=70095604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911311695.4A Active CN110992358B (en) | 2019-12-18 | 2019-12-18 | Method and device for positioning yarn rod of yarn cage, storage medium and processor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110992358B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010169521A (en) * | 2009-01-22 | 2010-08-05 | Nec Corp | Position detection device, position detection method, program |
| CN108288272A (en) * | 2018-02-08 | 2018-07-17 | 首都师范大学 | Yarn recognition methods and device |
| CN110501342A (en) * | 2019-08-20 | 2019-11-26 | 北京信息科技大学 | A kind of cheese yarn bar positioning visible detection method |
| CN110514664A (en) * | 2019-08-20 | 2019-11-29 | 北京信息科技大学 | A kind of cheese Sha Gan detection and localization robot and method |
-
2019
- 2019-12-18 CN CN201911311695.4A patent/CN110992358B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010169521A (en) * | 2009-01-22 | 2010-08-05 | Nec Corp | Position detection device, position detection method, program |
| CN108288272A (en) * | 2018-02-08 | 2018-07-17 | 首都师范大学 | Yarn recognition methods and device |
| CN110501342A (en) * | 2019-08-20 | 2019-11-26 | 北京信息科技大学 | A kind of cheese yarn bar positioning visible detection method |
| CN110514664A (en) * | 2019-08-20 | 2019-11-29 | 北京信息科技大学 | A kind of cheese Sha Gan detection and localization robot and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110992358A (en) | 2020-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DK2279141T3 (en) | Shelving with automatic warehouse registration | |
| CN109117824B (en) | Commodity management method and device, electronic equipment and storage medium | |
| US20160334777A1 (en) | Numerical controller capable of checking mounting state of tool used for machining | |
| US10725060B2 (en) | Image-based tray alignment and tube slot localization in a vision system | |
| CN105046220A (en) | Multi-target tracking method, apparatus and equipment | |
| CN110802030B (en) | Package sorting method, device and equipment and readable storage medium | |
| EP3690583B1 (en) | Trace data acquisition system, trace data acquisition method, and program | |
| CN110926852B (en) | Automatic film changing system and method for digital pathological section | |
| CN112507820A (en) | Method, device and system for automatically checking goods and electronic equipment | |
| KR20220069929A (en) | Pick-up robot, pick-up method and computer-readable storage medium | |
| CN110992358B (en) | Method and device for positioning yarn rod of yarn cage, storage medium and processor | |
| CN113053786B (en) | Method and apparatus for processing out-of-control behavior in semiconductor process | |
| CN113919794A (en) | Method for rapidly analyzing lifting capacity of components in batches | |
| CN112906421A (en) | Product two-dimensional code identification method | |
| CN116468366A (en) | Inventory system, inventory method, inventory stand, electronic device and computer medium | |
| CN109410176B (en) | Method and device for monitoring assembly state of goods shelf and storage medium | |
| CN114578074A (en) | Starting method and system of sample detection system and computer readable storage device | |
| CN108957384A (en) | A kind of turnover box and electric energy measuring equipment discriminating direction method and apparatus | |
| CN112474391B (en) | Frozen tube selection method based on visual auxiliary verification | |
| CN110533014A (en) | The operation detecting method and device of intelligent equipment | |
| CN114625133A (en) | Method for automatically collecting data by utilizing inspection machine and related product thereof | |
| CN113064190A (en) | Method, device, equipment and storage medium for positioning entrance and exit of parking lot | |
| CN110832502B (en) | Image-based pipe top circle detection with multiple candidates | |
| CN105893192A (en) | Method and device for recording test data | |
| CN118534843A (en) | Control method, device, equipment and medium for production line simulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |