Journal of Textile Research ›› 2023, Vol. 44 ›› Issue (11): 199-207.doi: 10.13475/j.fzxb.20220506701

• Machinery & Accessories • Previous Articles     Next Articles

Empty tube state detection method of intubation robot

DAI Ning1,2(), LIANG Huijiang3, HU Xudong1, QI Dongming2,4, XU Yushan3, TU Jiajia1, SHI Weimin1   

  1. 1. Key Laboratory of Modern Textile Machinery & Technology of Zhejiang Province, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
    2. College of Textile Science and Engineering(International Institute of Silk), Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
    3. Zhejiang Kangli Automation Technology Co., Ltd., Shaoxing, Zhejiang 312500, China
    4. Key Laboratory of Green Cleaning Technology & Detergent of Zhejiang Province, Lishui, Zhejiang 323000, China
  • Received:2022-05-20 Revised:2022-12-05 Online:2023-11-15 Published:2023-12-25

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Abstract:

Objective Manual tube change in winding requires workers for continuous inspection to observe the quantity of tube yarn used in each spindle, which is time-consuming and laborious. It is now possible to solve this problem by using intubation robot to carry out intubation. In this research, an empty tube state detection method based on image recognition is proposed to monitor whether a yarn tube is in each position evenly arranged in the tube storage discs.

Method The empty tube inspection mechanism embedded with a control system and a camera module is fixed on the vertical mechanical column, moving horizontally with the intubation robot. By capturing the spindle position signal sent by the intubation robot, the embedded system can complete the image acquisition of the spindle position, carry out image processing by the learning, adjustment, block and localization, correction processing links, and transmit the real-time situation of the tube yarn in each row of holes after processing to the intubation robot by the communication interface.

Results After the test preparation stage is completed, the image of the storage tube yarn disc at the best shooting position is captured according to the external interrupt signal triggered by the intubation robot, and the empty tube detection algorithm is called for real-time operation. In order to increase the visibility of the detection results, the identified tube storage yarn disc, tube yarn hole and tube are marked with red, blue and green outlines respectively. In order to facilitate the test and analysis of the experimental detection results, the center position and radius of the storage tube yarn disc, storage tube yarn hole, and yarn tube is stored in the external flash memory chip in real-time according to the processing results of empty tube detection algorithm. The tubes in the storage tube yarn disc are increased and decreased repeatedly and tested repeatedly. Finally, the detection results are calculated for statistics. It can be seen from the start recognition time and the end recognition time that the whole recognition process is only 160 ms, and the image processing speed is at the millisecond level. The recognition result data is sorted out (Fig. 13). According to the statistical data, only 2 storage tube yarn holes in this storage tube yarn disc have tube yarn, which is consistent with the actual situation. In order to verify the stability of the test results, the tube yarns in the 1-9 storage tube yarn holes in the 1-9 spindle storage tube yarn discs are taken out in turn, and tube yarns are placed in the remaining storage tube yarn holes, and the 10 and 11 spindle storage tube yarn discs are placed in the full tube and empty tube states respectively (Tab. 1). The detection device performs reciprocating detection with the intubation robot for a long time of 24 h, and the detection results are stored in the external flash memory chip in real-time. After statistical analysis, it is found that the data is periodic, and the test results are in line with the actual situation, meeting the requirements of the intubation robot for the stability and accuracy of the empty pipe detection mechanism (Fig. 13).

Conclusion At present, the testing agency has conducted a pilot test on the intubation robot of a textile enterprise in Zhejiang. The practical application results show that the empty tube detection system has the advantages of fast image processing speed, high recognition accuracy and stability, easy installation and low cost, and can meet the requirements of the intubation robot for the empty tube detection of the storage yarn disc of the yarn bank type automatic winder.

Key words: intubation robot, winding machine, empty tube detection mechanism, image acquisition, image processing

CLC Number: 

  • TP103.7

Fig. 1

Schematic diagram of winding process"

Fig. 2

Schematic diagram of structure of storage tube yarn disc. (a) Rotating part; (b) Fixed part; (c) Whole structure"

Fig. 3

Structure and working principle of intubation robot"

Fig. 4

Capture status of camera module during inspection process of intubation robot. (a) Position 1; (b) Position 2; (c) Position 3"

Fig. 5

Image diagram of full tube in yarn hole of storage tube"

Tab. 1

Empty tube inspection result data statistics"

序号 圆心横
坐标/像素		 圆心纵
坐标/像素		 半径/像素
1 342 233 181
2 327 96 42
3 417 120 42
4 243 135 42
5 470 195 42
6 205 219 42
7 229 310 42
8 397 353 42
9 374 357 7
10 397 356 42
11 373 357 6
12 305 363 42

Fig. 6

Preparation stage of winder empty tube detection. (a) Learning link; (b) Adjustment link; (c) Block and localization link; (d) Correction link"

Fig. 7

Schematic diagram of principle of Hough circle detection"

Fig. 8

Algorithm for grading processing of winder empty tube detection. (a)Main program; (b) Subroutine 1; (c) Subroutine 2; (d) Auxiliary program"

Fig. 9

Physical map. (a) Intubation robot;(b) Empty tube detection agency"

Fig. 10

Structure block diagram of embedded image processing module"

Fig. 11

Test preparation stage results. (a) Focusing; (b) Color learning"

Fig. 12

Detect image results"

Fig. 13

Statistical results of 100 groups of random order data"

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