A visual detection method for bobbin positioning of cheese

Abstract

The invention relates to a visual detection method for the positioning of a bobbin yarn rod. The steps include: setting up a vision system and a robot visual detection system, the visual system including a visual camera and a light source for lighting; the visual camera collects images of the yarn rod and transmits them to the Robot, the robot performs image processing; and performs visual positioning and calibration for each yarn rod, calibrates and records the centering reference coordinates of each yarn rod of the visual camera; sends a detection request to detect a new yarn rod, and writes it into the current request The number of the yarn rod; judge in real time whether the yarn rod number at the current position is the same, send a command to continue the request when the position is different, and move to the top of the yarn rod requested by the vision system and return the current yarn rod number to show that it is in place when the position is the same; When the system reads that the current yarn rod number is equal to the requested number, it detects and records the detection coordinate results to complete the visual detection of yarn rod positioning. The invention realizes the online detection of the yarn rod head, and improves the detection efficiency and detection stability.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to a visual detection method for the positioning of package yarn rods. Background technique [0002] A process in the dyeing process of cheese yarn is yarn loading, that is, loading the spindle onto the yarn rod in the sarong. With the continuous use of the sarong, the yarn rod will appear normal deviation and skew. When the skewness is too large, it will affect the automatic loading of the spindle. The larger the deviation distance of the yarn rod, the longer the yarn loading and unloading time, and the lower the accuracy. The problem of a single yarn cage will also affect the subsequent workshop work, and in serious cases, it may cause a safety accident. When the skewness exceeds a certain amount, the yarn rod needs to be corrected. At present, the calibration of the yarn rods is still done manually. The workers need to measure and record the data of each rod, and then compare the ...

AI Technical Summary

Problems solved by technology

[0004] In view of the above problems, the object of the present invention is to provide a visual detection method for the positioning of the bobbin yarn rod. The method automatically detects the position of the bobbin rod head on the bobbin sarong through the machine vision, and solves the difficulty of judging the degree of skewness of the bobbin rod. The problem

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