EP2065493B1 - Methode et dispositif pour l'identification automatique de tubes de bobines - Google Patents

Methode et dispositif pour l'identification automatique de tubes de bobines Download PDF

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Publication number
EP2065493B1
EP2065493B1 EP08019888.0A EP08019888A EP2065493B1 EP 2065493 B1 EP2065493 B1 EP 2065493B1 EP 08019888 A EP08019888 A EP 08019888A EP 2065493 B1 EP2065493 B1 EP 2065493B1
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EP
European Patent Office
Prior art keywords
bobbin
bobbin tube
tube
identified
tubes
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.)
Ceased
Application number
EP08019888.0A
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German (de)
English (en)
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EP2065493A3 (fr
EP2065493A2 (fr
Inventor
Achim Steins
Heinz-Dieter Göbbels
Bert Hurtz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Saurer Spinning Solutions GmbH and Co KG
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Saurer Germany GmbH and Co KG
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Publication date
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Publication of EP2065493A2 publication Critical patent/EP2065493A2/fr
Publication of EP2065493A3 publication Critical patent/EP2065493A3/fr
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Publication of EP2065493B1 publication Critical patent/EP2065493B1/fr
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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/26—Arrangements facilitating the inspection or testing of yarns or the like in connection with spinning or twisting
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/32—Counting, measuring, recording or registering devices

Definitions

  • the invention relates to a method and a device for the automated identification of bobbin tubes which are used at workstations of textile machines producing cross-wound bobbins, in particular in a multi-batch operation of such textile machines on the basis of characteristic features of the bobbin tubes.
  • a roving bobbin transport system which connect roving machines, so-called flyers, with ring spinning machines connected downstream in the production process.
  • the ringspinnmaschinen speaking roving bobbin transport devices are each connected via a converter indirectly with a roving bobbin transport path to which a plurality of flyers are connected. Since the flyers on the transport path different yarn lots are delivered, the sleeves are the Roving bobbins are marked in color according to their yarn section.
  • the converters arranged in the area of the ring spinning machines each cooperate with a color sensor, which detects the color of the sleeves of the delivered roving bobbins and causes the converter to remove only roving bobbins from the transport path whose sleeves have a specific, predefinable color.
  • the color sensors used are commercially available sensor devices that can distinguish up to eight different sleeve colors.
  • the use of such color sensors for detecting the color of a reusable, monochrome Vorgarnhülse or a reusable, monochrome Spinnkopshülse has proven in practice quite well. However, such color sensors are not applicable when it comes to distinguish sleeves that are not monochrome colored, but have other characteristics.
  • Such, usually inexpensive made of cardboard "disposable" sleeves have, for example, on the sleeve surface on a pattern or a certain imprint, through which the respective bobbin tube is clearly identifiable.
  • the spinning head sleeve to be examined is irradiated with light and the light reflected from the spinning head sleeve by a light Image recording device, such as a CCD video camera, recorded and converted into digital image data.
  • the digital image data are fed to an evaluation computer which subjects the image matrix corresponding to the digital image data to edge filtering in order to determine the edge contours contained in the image matrix in this way. Depending on the edge contours obtained, it is then concluded that the presence or absence of thread remnants is present on the examined spinning head sleeve.
  • CCD cameras are also related to textile machines DD-266 078 A1 known.
  • coil body are checked contactless by means of a CCD camera on their geometry and their position and then stored tip-oriented.
  • DD-PS 150 699 or the DE 27 49 682 C2 Photoelectric or opto-electronic devices for detecting and sorting objects according to their external shape known.
  • Such a device which is able to identify objects based on their external shape, is also in the DE 43 05 562 A1 described.
  • packaging waste such as plastic bottles, passed by an image-resolving sensor and obtained from the image information obtained shape characteristics.
  • the packaging waste is then sorted out, based on the obtained shape characteristics in channels that are intended for items with the appropriate features.
  • the sorting method described comprises a multiplicity of process steps, some of which are quite different.
  • the objects are first shifted in a direction corresponding to the longitudinal direction of the objects before successive objects are each scanned in a raster format.
  • Binary image elements are then created from the raster waveform of the scanned objects, which are compared with each other. For certain deviations, a binary object screening signal is also generated and the subject in question, which has an undesired orientation, is rejected.
  • the object of the invention is to develop a method and / or a device which makes it possible to automatically machine bobbins for textile machines both on the basis of their color and on the basis of other characteristic features, for example a special pattern , to identify.
  • an image of the bobbin tube to be identified is created by at least one camera and transmitted to an image processing device.
  • this image is then checked for specifiable, characteristic features, such as patterning and / or color, and the characteristics determined are compared with the characteristic features of already classified bobbin tubes whose images are stored in a memory.
  • characteristic features such as patterning and / or color
  • the bobbin tube in question is considered to be reliably identified. That is, the identified bobbin tube can be readily conveyed by machine to a work station on which runs a yarn lot identified by the respective bobbin tubes.
  • an image of the bobbin tube to be identified which serves as a so-called pattern space in the image processing device, is split into several in the image processing device Image sections, so-called templates divided, which differ preferably both in terms of their shape and size, as well as with respect to their location within the sample space.
  • the templates differ both in their shape and size, as in their position in the sample space, it is ensured that both coil patterns, which are preferably perpendicular to the sleeve axis, as well as coil patterns which are arranged more parallel to the sleeve axis the templates are detected with sufficient certainty and can be reliably processed and identified in the image processing device. It was determined experimentally that nine correspondingly formed and arranged images are sufficient in order to always be able to reliably detect all the patterns of a bobbin tube.
  • the characteristic features to which the bobbin tubes are checked for the purpose of identification are, in particular, the color and the pattern of the bobbin tube.
  • the determination of the respective color of the bobbin tube is preferably carried out, as explained in claim 4, according to the so-called "color matching method".
  • this method as set forth in claim 6, an analysis of the color spectrum of the bobbin, for example in an HSL color space instead. That is, it comes in the image processing device to an evaluation of color information of the image information created by the CCD camera.
  • the image information of the present bobbin tube is compared with image information of already classified bobbin tubes and checked for agreement with predetermined color information.
  • the pattern matching method finds in the determination of the patterning of the bobbin a similar method, the so-called "pattern matching method” application.
  • the pattern of the bobbin tube is deduced in the image processing device from the distribution of the different gray values within the documents to be checked.
  • the "pattern matching method” a quantization of the templates takes place. That is, the totality of the surface of each template is broken down into individual surface elements, which are individually checked for the distribution of different gray levels.
  • the templates are divided into grids and checked each grid for specific features. For example, it starts with a relatively coarse grid and gradually refines the grid. In this way, it is ensured that all the important features characterizing the bobbin tube in question are reliably determined and thus the bobbin tube is unequivocally identified.
  • the image of a bobbin to be identified is compared with the images of already classified bobbins stored in a memory, and then, as explained in claim 7, the respective degree of conformity is determined.
  • the degree of agreement is rated on a scale between 0 and 1000.
  • the identification of a submitted bobbin tube in less than 2 sec. (Claims 8), which means, with the inventive method is easily a bobbin tube throughput realized that ensures smooth operation at any time of textile machines, which have a variety of jobs ,
  • the images of the bobbin tubes, which are checked in the image processing device and compared with each other, may be partially distorted due to the sleeve geometry.
  • templates of the same type are always compared with one another in the image processing device.
  • the device for carrying out the method according to the invention has, as described in claim 12, at least one CCD camera for receiving an image of a to be identified bobbin tube and an associated light source.
  • the CCD camera is connected via a signal line to a digital image processing device in which the recorded by the CCD camera image of the coil sleeve to be identified for characteristic features checked and compared with images of already classified bobbin tubes, which are stored in an associated memory ,
  • the present bobbin tube is identified as being identified.
  • the software of the digital image processing device is preferably integrated in the machine software of the central control unit of the textile machine. That is, no separate computer is needed, but it is used on existing hardware of the textile machine.
  • the method according to the invention can be realized relatively inexpensively in this way.
  • the light source for illuminating the bobbin tubes to be examined is preferably a constant, diffuse light source (FIG. 14), that is to say a light source in which the emitted light beams have no preferred direction.
  • coil bobbins which have a relatively smooth surface, as is often the case, for example, with bobbin sleeves made of plastic, overexpose the sleeve surface.
  • the inserted CCD camera is preferably inclined with respect to the central longitudinal axis of the bobbin tube at an angle.
  • the method according to the invention can be used advantageously in textile machines producing cross-wound bobbins which operate in multi-batch operation
  • the images of the already classified bobbin tubes which are used on the textile machine are preferably stored in an associated memory of the image processing device as set out in claim 16.
  • a device equipped in this way is then able to automatically identify all bobbin cases used on the textile machine in their pattern correctly.
  • the device according to the invention is usually sufficiently equipped with a single CCD camera, it may also be advantageous to use a multi-camera system (claims 17).
  • a multi-camera system (claims 17).
  • a device equipped with only one camera it is not always possible to reliably detect bobbins whose pattern in the longitudinal direction of the bobbin has a period corresponding to the entire length of bobbin, that is, a bobbin in which, for example, the The front is white and the back is black.
  • Fig.1 schematically a device for carrying out the method according to the invention is shown.
  • the device essentially comprises a CCD camera 1, which is connected via a signal line 6 to an image processing device 4.
  • a display device 5 is connected to the image processing device 4 via a signal line 7, a memory 3 and a signal line 8, a display device 5 is connected.
  • a light source 16 preferably a constant, diffuse light source, is furthermore provided.
  • the CCD camera 1 is preferably arranged at an angle ⁇ relative to the coil axis 17 of the bobbin tube 2 to be identified such that the field of view detectable by the camera 1 in the region of the purging sleeve 2 comprises at least half the bobbin tube length.
  • the image processing device 4 and the associated memory 3 and the display device 5 need not, as in the embodiment of Fig.1 represented as each separate components may be formed, but both the memory 3 and the display device 5 may of course also be integrated directly into the image processing device 4. Furthermore, the image processing device 4 in turn can be part of the central control unit of a textile machine producing cross-wound bobbins.
  • An image 9 of the bobbin tube 2 produced by the CCD camera 1 is first subjected to a pre-processing 10 in the image processing device 4.
  • the figure 9, which also serves as a sample space 14, is doing, as in the Figures 3-5 shown in several templates 15 divided, which differ both in their shape and their size, as well as their position in the sample space 14.
  • the so-called feature extraction 11, 15 characteristic features of the bobbin tube 2 are worked out on the basis of the templates, which are then reduced to a specific pattern of the bobbin tube (step 12).
  • the so-called “pattern matching” and “color matching” are preferably used in which image extracts are taken from the overall image of FIG. 9, which are stored as templates 15.
  • a specific pattern of the bobbin tube 2 is determined from the distribution of the different gray values within a template 15 to be evaluated, which is stored in a memory 3. That is, for classifying a bobbin tube 2, a pattern of the originals 15 of this bobbin tube is stored as a certain kind of gray level distribution, respectively.
  • the color information of a document 15 is stored such that the relative frequency of each of the eight basic colors of, for example, an HSL color space (black, white, red, yellow, green, cyan, blue, magenta) in one Histogram, with areas that appear gray appearing in addition to the eight primary colors
  • HSL color space black, white, red, yellow, green, cyan, blue, magenta
  • the pattern of the respectively present bobbin tube 2 is compared with the samples of already classified bobbin tubes, or in correspondence with the bobbin tube 2 Checked pattern of one of the already classified bobbins.
  • finding matches the degree of match is indicated by means of a score that can take values between 0 and 1000.
  • a predefinable threshold value is reached, the respective bobbin tubes 2 are identified as being automated.
  • the Figures 3 - 5 show a created by the CCD camera 1 Figure 9 of the bobbin tube surface, which forms a pattern space 14.
  • the pattern space 14 in the horizontal is divided into 640 pixels or pixels (pixels) and vertically in 480 pixels.
  • the pattern space 14 is scanned graphically in the digital image processing device 4 on the basis of three templates 15.1, 15.2 and 15.3, which differ in each case with respect to their shape, their size and their position in the sample space 14.
  • the templates are arranged, for example, at the upper edge of the sample space 14.
  • the template 15.2 is aligned with coil patterns which are more parallel to the Spool sleeve axis are arranged, it is necessary for a suitable statistical evaluation of the individual measurements created per template to create a neutral counterweight.
  • This counterweight is achieved by the third type of submission format.
  • the template 15.3 is 150 pixels wide and 150 pixels high. With such a square template both types of pattern shapes can be detected the same.
  • templates 15.4 - 15.6 are similar in principle, but somewhat smaller in size.
  • the templates 15.4 - 15.6 are positioned slightly differently in the pattern space 14.
  • the template 15.4 is 100 pixels wide and 50 pixels high
  • the template 15.5 is 50 pixels wide and 100 pixels high.
  • the templates 15.4 and 15.5 are arranged in the region of the upper edge of the pattern space 14 and positioned so that they partially overlap.
  • the square template 15.6 is located slightly more in the middle of the pattern space 14 and has a size of 100 X 100 pixels.
  • templates 15.7 - 15.9 are, as in Figure 5 represented, arranged at the upper edge of the sample space 14 and differ in each case in particular with respect to their size from the templates 15.1 - 15.6 described above.
  • the template 15.7 is only 100 pixels wide and only 25 pixels high.
  • the template 15.8 has a horizontal extent of only 25 pixels and is 100 pixels high. At the upper edge of the pattern space 14, in addition to the templates 15.8 and 15.7, the square template 15.9 is still positioned, the dimension of which is 50 ⁇ 50 pixels.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)

Claims (17)

  1. Procédé pour l'identification automatisée de tubes de bobines qui sont utilisés sur des postes de travail de machines textiles produisant des bobines croisées, en particulier lors d'une exploitation en plusieurs lots de telles machines textiles, à l'aide de caractéristiques distinctives des tubes de bobines,
    caractérisé
    en ce que des informations d'image actuellement enregistrées d'un tube de bobine (2) à identifier sont comparées, dans un équipement (4) de traitement d'images et à l'aide des caractéristiques distinctives, à des informations d'image de tubes de bobines précédemment enregistrés et déjà classifiés, et en ce que, dans le cas d'au moins une concordance constatable du présent tube de bobine (2) avec un des tubes de bobines déjà classifiés, le tube de bobine concerné (2) est considéré comme identifié, sachant qu'afin de vérifier les caractéristiques distinctives des tubes de bobines, la zone de motif (14) respectivement prédéterminée par la reproduction du tube de bobine est divisée en plusieurs modèles (15) qui se différencient quant à leur forme et/ou à leur taille et/ou à leur position.
  2. Procédé selon la revendication 1, caractérisé en ce qu'au moins une caméra (1) réalise une reproduction d'un tube de bobine (2) à identifier et la transmet à un équipement (4) de traitement d'images,
    en ce que, dans l'équipement (4) de traitement d'images, l'enregistrement du tube de bobine (2) à identifier est vérifié quant aux caractéristiques distinctives prédéterminables,
    en ce que les caractéristiques déterminées du tube de bobine (2) à identifier sont comparées à des caractéristiques distinctives de tubes de bobines déjà classifiés, dont les reproductions sont mémorisées dans une mémoire (3),
    et en ce que, en cas de constatation d'au moins une concordance de caractéristiques distinctives du tube de bobine (2) à identifier avec des caractéristiques d'un des tubes de bobines déjà classifiés, le tube de bobine concerné (2) est identifié en conséquence.
  3. Procédé selon l'une des revendications précédentes, caractérisé en ce que, afin d'identifier un tube de bobine (2), on vérifie différentes caractéristiques distinctives du tube de bobine (2), en particulier la couleur et/ou le dessin du tube de bobine (2).
  4. Procédé selon la revendication 3, caractérisé en ce que la détermination de la couleur respective d'un tube de bobine (2) s'effectue selon le procédé appelé « color matching ».
  5. Procédé selon la revendication 4, caractérisé en ce que, lors du procédé « color matching », on effectue une analyse du spectre de couleurs du tube de bobine (2) dans un espace de couleur HSL.
  6. Procédé selon la revendication 3, caractérisé en ce que la détermination du dessin respectif d'un tube de bobine (2) s'effectue selon le procédé appelé « pattern matching », selon lequel on détermine le dessin des modèles (15) à vérifier du tube de bobine à partir de la répartition des différentes valeurs de gris à l'intérieur de ceux-ci.
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que le degré de concordance des modèles (15) d'un tube de bobine (2) à identifier avec les modèles (15) mémorisés dans une mémoire (3) d'un des tubes de bobines déjà classifiés est évalué sur une échelle comprise entre 0 et 1000, et l'atteinte d'une valeur de seuil prédéterminable est interprétée comme identification du tube de bobine concerné (2).
  8. Procédé selon l'une des revendications précédentes, caractérisé en ce que l'identification d'un tube de bobine (2) à évaluer s'effectue en moins de 2 secondes.
  9. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'on compare dans l'équipement (4) de traitement d'images des reproductions de tubes de bobines qui sont partiellement déformées en raison de la géométrie de tube des tubes de bobines.
  10. Procédé selon l'une des revendications précédentes, caractérisé en ce que, afin de supprimer la déformation des modèles (15) des tubes de bobines à identifier dans l'équipement (4) de traitement d'images, on effectue une correction mathématique au moyen d'algorithmes correspondants.
  11. Procédé selon l'une des revendications précédentes, caractérisé en ce que, afin d'éviter des déformations des modèles (15) des reproductions des tubes de bobines, on effectue une correction optique au moyen d'une lentille adaptée.
  12. Dispositif pour la mise en oeuvre du procédé selon l'une des revendications précédentes, caractérisé
    en ce que sont présentes une source lumineuse (16) et au moins une caméra DTC (1) destinée à réaliser une reproduction du tube de bobine (2) à identifier,
    en ce que la caméra DTC (1) est raccordée par l'intermédiaire d'une ligne de signaux (6) à l'équipement numérique (4) de traitement d'images, qui est conçu de telle sorte que la reproduction du tube de bobine (2) à identifier peut être vérifiée quant aux caractéristiques distinctives et comparée à des reproductions des tubes de bobines déjà classifiés qui sont mémorisées dans une mémoire (3),
    et en ce que, en cas de concordance des caractéristiques distinctives de la reproduction du tube de bobine (2) avec une des reproductions des tubes de bobines déjà classifiés, le tube de bobine (2) à vérifier est considéré comme identifié,
    sachant qu'afin de vérifier les caractéristiques distinctives des tubes de bobines, la zone de motif (14) respectivement prédéterminée par la reproduction du tube de bobine est divisée en plusieurs modèles (15) qui se différencient quant à leur forme et/ou à leur taille et/ou à leur position.
  13. Dispositif selon la revendication 12, caractérisé en ce que le logiciel de l'équipement (4) de traitement d'images est intégré dans le logiciel machine d'une unité de commande centrale de la machine textile produisant des bobines croisées.
  14. Dispositif selon la revendication 12, caractérisé en ce que la source lumineuse (16) est réalisée sous la forme d'une source lumineuse diffuse constante.
  15. Dispositif selon la revendication 12, caractérisé en ce que la caméra (1) est disposée en étant inclinée sous un angle (α) par rapport à l'axe médian longitudinal (17) du tube de bobine (2).
  16. Dispositif selon la revendication 12, caractérisé en ce que les reproductions des tubes de bobines déjà classifiés qui sont utilisés sur la machine textile pendant l'exploitation en plusieurs lots sont respectivement mémorisées dans la mémoire (3).
  17. Dispositif selon la revendication 12, caractérisé en ce qu'il est prévu un système multi-caméras.
EP08019888.0A 2007-12-01 2008-11-14 Methode et dispositif pour l'identification automatique de tubes de bobines Ceased EP2065493B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007057921A DE102007057921A1 (de) 2007-12-01 2007-12-01 Verfahren und Vorrichtung zum automatisierten Identifizieren von Spulenhülsen

Publications (3)

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EP2065493A2 EP2065493A2 (fr) 2009-06-03
EP2065493A3 EP2065493A3 (fr) 2014-05-14
EP2065493B1 true EP2065493B1 (fr) 2016-04-13

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EP (1) EP2065493B1 (fr)
CN (1) CN101445977A (fr)
DE (1) DE102007057921A1 (fr)

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CN104030089B (zh) * 2014-06-10 2016-08-24 北京大恒图像视觉有限公司 一种具有区分纱管颜色功能的理管机
CN104475344B (zh) * 2014-11-04 2017-02-15 上海维宏电子科技股份有限公司 基于机器视觉实现纺织纱管分拣的方法
DE102014016784A1 (de) * 2014-11-13 2016-05-19 Saurer Germany Gmbh & Co. Kg Erkennung von Fadenresten auf stehend angeordneten Spinnkopshülsen
CN105562362A (zh) * 2015-12-30 2016-05-11 上海日耀机械有限公司 纱管分拣设备及其控制方法
CN106733680B (zh) * 2016-11-21 2019-02-12 上海常良智能科技有限公司 基于图像识别的化纤纸管分类传输系统
DE102018118942A1 (de) * 2018-08-03 2020-02-06 Maschinenfabrik Rieter Ag Verfahren zur Herstellung von Kreuzspulen an einer Vielzahl in Längsrichtung einer Textilmaschine nebeneinander angeordneter Arbeitsstellen sowie Textilmaschine zur Herstellung von Kreuzspulen
CN109941834A (zh) * 2019-03-30 2019-06-28 杭州锐冠科技有限公司 一种纱棒输送装置
CN110950181B (zh) * 2019-12-24 2021-11-26 北自所（北京）科技发展有限公司 纱筒识别流转方法及纱筒识别流转装置
DE102020108339A1 (de) 2020-03-26 2021-09-30 Saurer Spinning Solutions Gmbh & Co. Kg Kreuzspulen herstellende Textilmaschine bzw. Verfahren zum Betreiben einer Kreuzspulen herstellenden Textilmaschine
DE102020131278A1 (de) * 2020-11-26 2022-06-02 Saurer Spinning Solutions Gmbh & Co. Kg Verfahren sowie Vorbereitungseinrichtung zum Vorbereiten von Spinnkopsen
DE102022106040A1 (de) 2022-03-16 2023-09-21 Rieter Automatic Winder GmbH Verfahren und Vorrichtung zum Betreiben einer Spulmaschine

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Publication number Publication date
EP2065493A3 (fr) 2014-05-14
DE102007057921A1 (de) 2009-06-04
CN101445977A (zh) 2009-06-03
EP2065493A2 (fr) 2009-06-03

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