Research of Real-time Grabbing Yarn Tube System Based on Machine Vision

The current yarn tube manipulator just finishes yarn tube grabbing work according to the fixed coordinates. In the actual production process, equipment problems or human factors which make the spindles not on fixed coordinates cause the damage of the manipulator. Real-time grabbing yarn tube system with visual sensing has been designed and a extraction algorithm of spindles coordinates based on a mixed image morphology and Hough transform algorithm has been proposed. Through the combination of the yarn tube image characteristics which are extracted by the algorithm and the visual measurement model which is established by pinhole imaging principle, the mapping relation of yarn tube image coordinates and world coordinates has been gained to get the location information of yarn tube in real time. Results show that the proposed method could make the robot complete the grabbing job precisely and efficiently, under which the system meet the requirement of spinning and dyeing production line.