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EP2304086B1 - Textile machine having a moveable service unit - Google Patents

Textile machine having a moveable service unit Download PDF

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Publication number
EP2304086B1
EP2304086B1 EP09765513A EP09765513A EP2304086B1 EP 2304086 B1 EP2304086 B1 EP 2304086B1 EP 09765513 A EP09765513 A EP 09765513A EP 09765513 A EP09765513 A EP 09765513A EP 2304086 B1 EP2304086 B1 EP 2304086B1
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EP
European Patent Office
Prior art keywords
workstation
service assembly
detected
textile machine
workstations
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
Application number
EP09765513A
Other languages
German (de)
French (fr)
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EP2304086A1 (en
Inventor
Heinz-Dieter Göbbels
Erwin Peters
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.)
Oerlikon Textile GmbH and Co KG
Original Assignee
Oerlikon Textile GmbH and Co KG
Priority date (The priority date 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 date listed.)
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Publication date
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Publication of EP2304086A1 publication Critical patent/EP2304086A1/en
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Publication of EP2304086B1 publication Critical patent/EP2304086B1/en
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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
    • D01H13/005—Service carriages travelling along the machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/22—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores
    • B65H54/26—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores having one or more servicing units moving along a plurality of fixed winding units
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H15/00—Piecing arrangements ; Automatic end-finding, e.g. by suction and reverse package rotation; Devices for temporarily storing yarn during piecing
    • D01H15/013—Carriages travelling along the machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the invention relates to a textile machine with a plurality of workstations and at least one movable along the workstations service unit for operation and / or maintenance of the individual workstations, wherein the at least one service unit has at least one camera. Furthermore, the invention relates to a method for operating the textile machine.
  • Such a textile machine may, for example, be an open-end spinning machine, in particular a rotor spinning machine.
  • a yarn is spun from a sliver in a spinning rotor, withdrawn from the spinning rotor by a thread withdrawal tube and then wound onto a spool, in particular a cross-wound bobbin.
  • service units have long been known. These can be moved along the workstations and, if necessary, temporarily used at one of the workplaces. Depending on the design of jobs, the service units can take on different tasks, such as piecing after a yarn breakage or a bobbin change.
  • the service unit can make the bobbin change and insert a new empty tube in the winding device of the spinning machine and provide a required during open-end spinning for piecing after a bobbin change auxiliary thread.
  • service units are known which provide cans with sliver for the spinning process and transport away. Service units can also take care of maintenance and cleaning tasks. For example, service units are used to clean the spinning rotor. These are service units equipped with brushes, scrapers, blowing or suction devices.
  • Service units are used in addition to rotor spinning machines in other textile machines, such as in winding machines. For example, they may wind a thread from a spinning cop, which is the product of a ring spinning machine, onto a cross-wound bobbin.
  • a service unit can also perform the cheese change here.
  • the service units have a plurality of handling devices with the associated drive and control devices.
  • the operations performed by the service unit must be coordinated with the workstation facilities.
  • both the handling devices of the service unit and the facilities of the workstations on means for detecting the states and the positions of the respective institutions.
  • the states and positions can be detected by suitable sensors.
  • the states and positions are often derived from the control signals without checking the actual position by measurements.
  • the position of a handling tool driven by a stepper motor can be deduced from the number of steps given to the stepper motor.
  • the DE 38 41 464 A1 discloses a textile machine with units for maintenance and / or operation of the working units.
  • the working units and the aggregates are common Facilities for calling, receiving the call, for dialogue and low-dispersion, bidirectional, wireless data transmission equipped.
  • the devices have antennas in the form of coils.
  • the call coil sends a job from a job to indicate a control or maintenance request.
  • the passing service unit receives the call and then initiates the positioning in front of the calling workstation. For this purpose, first the speed of the service unit is slowed down and the traction drive of the unit is set to creep or crawl.
  • the service unit virtually scans itself to the right position via several positioning coils that transmit different signals.
  • the DE 195 12 592 B4 discloses a textile machine, namely a winder, in which the work stations and the service unit are each equipped with an infrared interface and the infrared transmitter of the work stations permanently emit individual workstation identifications. From these signals, the control of the service unit is able to determine its location and its direction of travel. The request of the service unit via a machine bus, which also ensures the communication between the workstations and a central control device. Also according to the communication and positioning coils described above Here at each workstation an infrared interface is required. One way of accurately positioning the service unit in front of a workstation is described by DE 195 12 592 B4 Not.
  • the EP 0 960 964 A1 discloses a traveling service unit having an optical detection system for detecting a yarn break at a work site. It is proposed to form this optical detection system as a video camera. Thus, the serviceability of the job is displayed to the service unit. At the same time, the service unit should be positioned on the basis of the video camera captured images in front of the job with the thread breakage. The image detail and the orientation of the camera have just been selected so that if no thread breakage is present, exactly one thread is detected when the service unit is positioned precisely in front of the workstation. If the service unit is not positioned exactly in front of the workstation, two threads are visible. That is, it is also the thread of the neighboring job to see.
  • the method described does not seem particularly reliable.
  • the yarn path can vary at least slightly, which leads to an inaccuracy in the positioning.
  • the method fails if two yarn breaks occur at adjacent workstations. There are thus additional positioning required.
  • the invention is therefore based on the object, based on the aforementioned prior art, the control of the service unit and, where appropriate, the corresponding control of the workstation to be operated or maintained easily and reliably.
  • the camera is set up to generate components of the service unit and / or workstations containing images and to transmit to a control unit of the textile machine for detection and evaluation of the components and / or their current absolute or relative position, which achieved Information used to control the service unit and / or the pending for operation and / or control workstation.
  • the invention further develops the known idea of using a camera in a service unit.
  • a simple camera By using a simple camera, the number of active components for the implementation of the control functions can be significantly reduced, since no corresponding counterpart to the jobs is necessary. This applies to the multitude of workstations that are usually present on the textile machines, even if more than one camera per service unit is required to initiate the control tasks.
  • a further camera can be dispensed with by means of a movable camera.
  • the camera does not require any special design.
  • a hardware for example, a simple and inexpensive webcam known from PC and Internet applications can be used. Unlike in the prior art, however, components of the service unit and / or the job are detected. Such a detection is today easily possible based on known image processing methods.
  • the evaluation routines specific to the textile machine can be integrated as software in the existing control of the service unit or in the central control of the textile machine.
  • Such a camera system is thus versatile and can be used for a variety of control tasks. This allows a camera to replace a variety of sensors and provide monitoring beyond the sensors. By detecting components of the aggregates, the reliability is increased compared to the exclusive detection of the thread. Overall, a simple and reliable control is possible.
  • the service unit has a controllable by a control unit drive, by means of which it can be positioned by means of the detection and evaluation of the relative position of the components as needed to carry out the operation or maintenance of the job before it.
  • characteristic features of the workplace can be detectable by means of the evaluation of the images, and the position of the service aggregate can be detected from the position of the characteristic features within the images.
  • the position of the service unit based on the position of a characteristic feature of the job and a characteristic feature of the service unit to each other be detected.
  • the detection of the features can be done by comparison with a stored in the memory of the control unit real or a simplified image of the job. It is also possible to use mathematical algorithms for evaluating the camera image.
  • Such characteristic features may be, for example, distinctive edges or a simple LED.
  • each workstation has an individual feature, the workstations are identifiable on the basis of the individual feature and it is at a covered part of the job around this individual characteristic.
  • each job can be provided with one or more characters.
  • the evaluation of the images can be done for example by means of an OCR recognition.
  • OCR stands for Optical Character Recognition and is known from PC applications.
  • the characters may represent a sequential numbering of jobs.
  • a barcode with different coding at each workstation is an individual feature.
  • the described possibilities to create an individual feature are easy to implement and without much effort. If necessary, for example, a numbering is available anyway to give an operator the opportunity to identify the jobs.
  • states of the workstation and / or of the service unit can be detected on the basis of the detected components of the workstation and / or of the service unit.
  • Such conditions may be, for example, the positions of movable components of the workstation or service unit.
  • other sensors for position determination can be omitted.
  • the camera system also offers other options than a simple limit switch. Intermediate items can be recorded. As a result, actions can be triggered early.
  • Such a condition detection can serve the fault diagnosis.
  • the camera image can be transmitted to the operator via a data line, for example the Internet.
  • the detected components are handling devices of the workstation and / or the service unit. Their positions can be determined from the images.
  • a bus system for communication between the workstations and the service unit.
  • a communication system allows a service-requiring or maintenance-requiring workstation the request of the service unit and allows communication during maintenance or operation of the job.
  • states detected by the camera can be transmitted to the workstation control.
  • known bus systems can be used, such as CAN bus, Interbus, Profibus or an Ethernet-based fieldbus.
  • a method for operating a textile machine with a plurality of workstations and at least one movable along the workstations service unit for operation and / or maintenance of the individual work stations will also propose, wherein the at least one service unit has at least one camera and wherein by means of the camera Parts of the service unit and / or the jobs included images that evaluates images to capture the components and are used on the basis of the detected components to control the service unit and / or the workplace.
  • the method according to the invention is on the pictures of the components of Service unit and / or the jobs detected at least one characteristic feature of the service unit and / or the job and it is determined from the position of the at least one characteristic feature, the actual position of the service unit with respect to the job.
  • the position of the at least one characteristic feature is detected within the images.
  • the position of at least one characteristic feature of the job and at least one characteristic feature of the service unit to each other are detected.
  • the actual position of the service unit is used to transfer the service unit in a target position in which the operation or maintenance of the job is carried out as needed.
  • the camera detects an individual feature of a workstation and the detected feature is used to identify the workstation.
  • states of the workstation and / or the service unit are determined on the basis of the detected components.
  • actions of the service unit or the workstation are triggered depending on the detected states.
  • it can also be checked whether an action required for the needs-based operation of the workstation can be carried out at all or, if necessary, the requirement of an operator is required. It is also possible on the basis of determined states to monitor the correct execution of actions of the service unit or the workstation.
  • the actual positions of handling devices of the job and / or the service unit are determined based on the images of the components of the job and / or the service unit.
  • the actual position of the handling devices can be used to transfer the handling device into a desired position.
  • FIG. 1 an open-end spinning machine 1 is shown, which has a plurality of jobs 2, which are each equipped with an open-end spinning device 3 and a winding device 4.
  • the open-end spinning machine 1 also has two identical service units 16.
  • a sliver initially placed in sliver cans 5 is spun into threads, which are wound on the winding devices 4 to cheeses 8.
  • the winding devices 4 are, as in Fig.2 shown, equipped with a coil frame 9 for rotatably supporting an empty tube 11 and a cheese 8 and with a winding drum 25 for rotating these elements.
  • the open-end spinning machine 1 also has a central control unit 6, which is connected via a bus system 26 to the workstation's own control devices 10.
  • such textile machines 1 have a cross-coil transport device 12 for disposing finished cross-wound bobbins 8 and an empty tube supply device, which consists essentially of an empty tube magazine 15 and sleeve feed paths 21.
  • the service unit 16 is on guide rails 13, 14, which are arranged on or on the open-end rotor spinning machine 1, movable.
  • the service unit 16 is in Fig. 2 shown in more detail. It has a controllable drive 35 for the method and positioning. To control the drive 35, this is connected to the control device 17 of the service unit 16.
  • the control device 17 of the service unit 16 is also connected to the bus system 26 of the textile machine 1 like the workstation's own control devices 10 and the central control unit 6.
  • a camera 50 is mounted to the service unit.
  • the camera 50 is connected via a data line 60 to the control device 17 of the service unit 16.
  • the images of the camera 50 are transmitted via the data line 60 to the control device 17 and evaluated there to control the service unit and the workplace.
  • the images can also be forwarded via the bus system 26 to other control devices of the textile machine for evaluation become.
  • This can be, for example, the central control unit 6 or the control device 10 of the workstation requiring service.
  • the camera 50 can be pivoted by means of an adjusting device, not shown. Alternatively, or additionally, the camera may be slidable along a guide.
  • the service unit 16 has, as in Fig.2 illustrated, various handling devices that allow the service unit 16, if necessary, to perform a cheese / empty tube replacement, while the open-end spinning device 3 of the relevant job 2 to provide a piecing available.
  • a service unit 16 has, for example, a so-called (not shown) compassionöffner and an engageable on the surface of the cheese 8 (also not shown) ejection and drive arm.
  • a service unit 16 is equipped with a device 27 for cleaning the open-end spinning device 3, an auxiliary thread supply device 23 for providing a piecing thread as well as with a thread applying and thread laying device 28.
  • each job is marked in plain text with a number marked 61.
  • These numbers are detected by the camera 50 of the service unit 16 in passing.
  • the control device 17 of the service unit 16 continuously determines the position of the service unit. For example, it can be recognized when the start or end region of the textile machine has been reached.
  • characteristic features of the jobs can be detected by the camera. Such a feature is for example the edge 62.
  • the Control 17 to count the overrun jobs 2 on the basis of the characteristic features 62 and also to determine the position of the service unit.
  • the service units 16 intervene automatically when there is a need for action at one of the workstations 2. Such a need for action exists, for example, if at one of the jobs 2, the cheese 8 is fully wound and must be replaced with an empty tube. As soon as the service unit 16 is informed via the bus system 26 of the open-end spinning machine 1 that there is a need for action at one of the workstations 2, the service unit 16 runs to the relevant workstation 2. As described above, the control device 17 constantly records the position of the service unit , When the requesting workstation is reached, the speed of the service aggregate is slowed down to accurately and appropriately position it in front of the workstation. For positioning, the position of the edge 62 of the workstation 2 within the camera image is monitored.
  • the service unit 16 When the edge 62 reaches a reference position within the image, the service unit 16 is also positioned as needed. As an alternative to the reference position of the edge 62 within the image, the edge 62 may also be positioned relative to a characteristic feature of the service aggregate captured in the image detail.
  • the job 2 request is first checked. If the job 2 has requested a cheese change, because the cheese 8 has reached its prescribed diameter or a predetermined thread length, the camera frame 50 is first detected by the camera 50 and evaluated its position. Only when this evaluation confirms a full cheese 8, the process continues. This way will created by the camera 50, a redundancy of the state detection. Then it is checked by means of the camera system, whether a free space for the full cross-wound bobbin 8 to be ejected is present on the cross-bobbin transport device 12. An additional sensor is not required. Compared to a simple sensor designed as a light barrier, the camera has a larger detection range and thus increases the certainty that the cross-coil transport device 12 is actually free.
  • the service unit 16 transferred after opening the creel by means of the ejection and drive the finished cross-wound bobbin 8 on the cheese package transport 12 and then changes a new empty tube 11 by means not shown gripper arm of the service unit 16 with a gripper for detecting and holding the empty tube in the creel, wherein the empty tube has been provided on the tube feed path 21 from the empty tube magazine 15.
  • This process is monitored by the camera 50, so that, for example, a sensor on the gripper, which signals the detection of the empty tube, can be omitted.
  • the correct fit of the empty tube in the coil frame is also monitored by means of the camera system.
  • the suction nozzle 40 is pivoted from its lower end position to an intermediate position. This clears the way for the device 27 for cleaning the spinning device 3.
  • the camera 50 detects the actual position of the suction nozzle 40 and thus ensures the positioning in the correct intermediate position. At the same time the camera monitors the execution of the cleaning and the subsequent closing of the box lid of the spinning device 3.
  • a piecing thread 24 is provided by the auxiliary thread supply device 23 of the service unit 16.
  • the auxiliary thread supply device is set in motion as soon as the camera system reports the correct insertion of the empty tube. Then the piecing thread 24 is withdrawn from a supply spool 30 by a yarn delivery mechanism 29 and pneumatically transferred via a pivotally mounted delivery pipe 31 into the region of the workstation's own suction nozzle 40, which sucks the yarn end.
  • the correct transfer positions are also monitored by the camera system.
  • the transfer positions represent intermediate positions for the described handling devices, which in practice are generally not monitored by sensors, so that the camera system offers additional security here.
  • the delivery tube 31 then transports the piecing thread 24 into the region of a thread laying device 28, which in turn brings the piecing thread into the area of the empty tube 11 held in the reel frame 9 of the work station 2, wherein the free end of the piecing thread from the suction nozzle 40 is also fed to a work-station-specific piecing element 41 which prepares the thread end, as usual.
  • the camera is always panned so that the respective active handling device is detected on the images.
  • the evaluation of the images is then adapted to the camera position. That is, different comparison images are used depending on the position.
  • two cameras with a fixed image detail can also be used to monitor the processes shown.
  • a camera would monitor the cross-coil transport device 12 and the gripper arm for the empty tube 11 and the second camera would the Coil frame 9, the suction nozzle 40 and the spinning device 3 detect.
  • the exemplary embodiment described does not represent a conclusive representation of the possible applications of a camera system integrated into the service unit.
  • a camera (not shown) could also monitor the sliver feed and determine the level of the sliver cans 5.
  • the camera has the advantage that it takes over several control and monitoring functions and thus can replace a variety of sensors.
  • the use of a camera according to the invention thus leads to a cost advantage.
  • reliability is increased because the camera offers wider detection capabilities than simple sensors.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Looms (AREA)

Description

Die Erfindung betrifft eine Textilmaschine mit einer Vielzahl von Arbeitsstellen und mindestens einem entlang der Arbeitsstellen verfahrbaren Serviceaggregat zur Bedienung und/oder Wartung der einzelnen Arbeitstellen, wobei das mindestens eine Serviceaggregat mindestens eine Kamera aufweist. Ferner betrifft die Erfindung ein Verfahren zum Betreiben der Textilmaschine.The invention relates to a textile machine with a plurality of workstations and at least one movable along the workstations service unit for operation and / or maintenance of the individual workstations, wherein the at least one service unit has at least one camera. Furthermore, the invention relates to a method for operating the textile machine.

Bei einer solchen Textilmaschine kann es sich zum Beispiel um eine Offenend-Spinnmaschine, insbesondere eine Rotorspinnmaschine, handeln. Hierbei wird aus einem Faserband in einem Spinnrotor ein Garn gesponnen, durch ein Fadenabzugsröhrchen aus dem Spinnrotor abgezogen und dann auf eine Spule, insbesondere eine Kreuzspule, aufgewickelt. Für solche Spinnmaschinen sind Serviceaggregate seit langem bekannt. Diese sind entlang der Arbeitsstellen verfahrbar und werden bei Bedarf vorübergehend an einer der Arbeitsstellen eingesetzt. Je nach Ausbildung der Arbeitsstellen können die Serviceaggregate verschiedene Aufgaben übernehmen, so zum Beispiel das Anspinnen nach einem Fadenbruch oder einem Spulenwechsel. Genauso kann das Serviceaggregat den Spulenwechsel vornehmen und eine neue Leerhülse in die Spulvorrichtung der Spinnmaschine einlegen und einen beim Offenendspinnen für das Anspinnen nach einem Spulenwechsel benötigten Hilfsfaden bereitstellen. Weiterhin sind Serviceaggregate bekannt, die Kannen mit Faserband für den Spinnprozess bereitstellen und abtransportieren. Serviceaggregate können auch Wartungs- und Reinigungsaufgaben übernehmen. So werden Serviceaggregate zum Beispiel zur Reinigung des Spinnrotors eingesetzt. Dazu sind Serviceaggregate mit Bürsten, Schabern, Blas- oder Saugeinrichtungen ausgestattet.Such a textile machine may, for example, be an open-end spinning machine, in particular a rotor spinning machine. Here, a yarn is spun from a sliver in a spinning rotor, withdrawn from the spinning rotor by a thread withdrawal tube and then wound onto a spool, in particular a cross-wound bobbin. For such spinning machines service units have long been known. These can be moved along the workstations and, if necessary, temporarily used at one of the workplaces. Depending on the design of jobs, the service units can take on different tasks, such as piecing after a yarn breakage or a bobbin change. Likewise, the service unit can make the bobbin change and insert a new empty tube in the winding device of the spinning machine and provide a required during open-end spinning for piecing after a bobbin change auxiliary thread. Furthermore, service units are known which provide cans with sliver for the spinning process and transport away. Service units can also take care of maintenance and cleaning tasks. For example, service units are used to clean the spinning rotor. These are service units equipped with brushes, scrapers, blowing or suction devices.

Serviceaggregate werden neben Rotorspinnmaschinen auch in anderen Textilmaschinen eingesetzt, so zum Beispiel in Spulmaschinen. Solche können zum Beispiel einen Faden von einem Spinnkops, der das Produkt einer Ringspinnmaschine ist, auf eine Kreuzspule spulen. Ein Serviceaggregat kann auch hier den Kreuzspulenwechsel durchführen.Service units are used in addition to rotor spinning machines in other textile machines, such as in winding machines. For example, they may wind a thread from a spinning cop, which is the product of a ring spinning machine, onto a cross-wound bobbin. A service unit can also perform the cheese change here.

Zur Durchführung der beschriebenen Aufgaben weisen die Serviceaggregate eine Vielzahl von Handhabungseinrichtungen mit den zugehörigen Antriebs- und Steuerungseinrichtungen auf. Gleichzeitig müssen die vom Serviceaggregat durchgeführten Abläufe mit den Einrichtungen der Arbeitsstellen koordiniert werden. Dazu weisen sowohl die Handhabungseinrichtungen des Serviceaggregats als auch die Einrichtungen der Arbeitsstellen Mittel zur Erfassung der Zustände und der Positionen der jeweiligen Einrichtungen auf. Die Zustände und Positionen können dabei durch geeignete Sensorik erfasst werden. In der Praxis ist man jedoch bemüht, die Nutzung von Sensoren auf das unbedingt nötige Maß zu beschränken, da durch jeden Sensor zusätzliche Kosten entstehen. Vor allem bei Sensoren an den Arbeitsstellen summieren sich die Kosten aufgrund der Vielzahl der Arbeitsstellen. Deshalb werden häufig die Zustände und die Positionen aus den Steuersignalen abgeleitet ohne die tatsächliche Position durch Messungen zu überprüfen. So lässt sich die Position eines durch einen Schrittmotor angetrieben Handhabungswerkzeugs aus der Anzahl der dem Schrittmotor vorgegebenen Schritte ableiten.To carry out the described tasks, the service units have a plurality of handling devices with the associated drive and control devices. At the same time, the operations performed by the service unit must be coordinated with the workstation facilities. For this purpose, both the handling devices of the service unit and the facilities of the workstations on means for detecting the states and the positions of the respective institutions. The states and positions can be detected by suitable sensors. In practice, however, efforts are being made to limit the use of sensors to the absolutely necessary level, since additional costs are incurred by each sensor. Especially with sensors at the workstations, the costs add up due to the large number of jobs. Therefore, the states and positions are often derived from the control signals without checking the actual position by measurements. Thus, the position of a handling tool driven by a stepper motor can be deduced from the number of steps given to the stepper motor.

Die DE 38 41 464 A1 offenbart eine Textilmaschine mit Aggregaten zur Wartung und/oder Bedienung der Arbeitseinheiten. Die Arbeitseinheiten und die Aggregate sind mit gemeinsamen Einrichtungen zum Ruf, zum Empfang des Rufes, zur Dialogführung und zur streuungsarmen, bidirektionalen, drahtlosen Datenübermittlung ausgestattet. Die Einrichtungen weisen als Spulen ausgebildete Antennen auf. So sendet die Rufspule einer Arbeitsstelle ein Signal aus, um einen Bedien- oder Wartungswunsch anzuzeigen. Das vorbeifahrende Serviceaggregat empfängt den Ruf und leitet sodann die Positionierung vor der rufenden Arbeitsstelle ein. Dazu wird zunächst die Geschwindigkeit des Serviceaggregats verlangsamt und der Fahrantrieb des Aggregats auf Schleich- beziehungsweise Kriechfahrt eingestellt. Über mehrere Positionierspulen, die verschiedene Signale aussenden, tastet sich das Serviceaggregat quasi an die richtige Position heran. Zum Austausch der Signale und damit zum Erkennen der Position des Serviceaggregats ist ein geringer Abstand zwischen den Spulen im Millimeter- bis Zentimeterbereich erforderlich. Dieser geringe Abstand stellt hohe Anforderungen an die Genauigkeit der Gesamtanordnung und birgt die Gefahr von Kollisionen zwischen dem Serviceaggregat und den Arbeitsstellen. Des Weiteren müssen nicht nur an den Serviceaggregaten sondern an jeder Arbeitsstelle Sende- und Empfangseinrichtungen vorhanden sein. Bei der Vielzahl der Arbeitsstellen ist dies ein nicht unerheblicher Kostenaufwand.The DE 38 41 464 A1 discloses a textile machine with units for maintenance and / or operation of the working units. The working units and the aggregates are common Facilities for calling, receiving the call, for dialogue and low-dispersion, bidirectional, wireless data transmission equipped. The devices have antennas in the form of coils. Thus, the call coil sends a job from a job to indicate a control or maintenance request. The passing service unit receives the call and then initiates the positioning in front of the calling workstation. For this purpose, first the speed of the service unit is slowed down and the traction drive of the unit is set to creep or crawl. The service unit virtually scans itself to the right position via several positioning coils that transmit different signals. To exchange the signals and thus to recognize the position of the service unit, a small distance between the coils in the millimeter to centimeter range is required. This small distance places high demands on the accuracy of the overall arrangement and involves the risk of collisions between the service unit and the work stations. Furthermore, not only at the service units but at each workstation transmitting and receiving devices must be present. In the large number of jobs, this is a significant cost.

Die DE 195 12 592 B4 offenbart eine Textilmaschine, nämlich eine Spulmaschine, bei der die Arbeitstellen und das Serviceaggregat jeweils mit einer Infrarotschnittstelle ausgestattet sind und die Infrarotsender der Arbeitstellen permanent individuelle Arbeitsstellenkennungen abstrahlen. Aus diesen Signalen ist die Steuerung des Serviceaggregats in der Lage, seinen Standort und seine Fahrtrichtung zu bestimmen. Die Anforderung des Serviceaggregats erfolgt über einen Maschinenbus, der auch die Kommunikation zwischen den Arbeitsstellen und einer Zentralsteuereinrichtung gewährleistet. Entsprechend den oben beschriebenen Kommunikations- und Positionierspulen ist auch hier an jeder Arbeitsstelle eine Infrarotschnittstelle erforderlich. Eine Möglichkeit, das Serviceaggregat vor einer Arbeitsstelle exakt zu positionieren, beschreibt die DE 195 12 592 B4 nicht.The DE 195 12 592 B4 discloses a textile machine, namely a winder, in which the work stations and the service unit are each equipped with an infrared interface and the infrared transmitter of the work stations permanently emit individual workstation identifications. From these signals, the control of the service unit is able to determine its location and its direction of travel. The request of the service unit via a machine bus, which also ensures the communication between the workstations and a central control device. Also according to the communication and positioning coils described above Here at each workstation an infrared interface is required. One way of accurately positioning the service unit in front of a workstation is described by DE 195 12 592 B4 Not.

Die EP 0 960 964 A1 offenbart ein verfahrbares Serviceaggregat mit einem optischen Erfassungssystem zur Detektion eines Fadenbruchs an einer Arbeitsstelle. Es wird vorgeschlagen, dieses optische Erfassungssystem als Videokamera auszubilden. So wird dem Serviceaggregat die Bedienbedürftigkeit der Arbeitsstelle angezeigt. Gleichzeitig soll das Serviceaggregat anhand der mit der Videokamera erfassten Bilder vor der Arbeitsstelle mit dem Fadenbruch positioniert werden. Der Bildausschnitt und die Ausrichtung der Kamera sind gerade so gewählt, dass, wenn kein Fadenbruch vorhanden ist, bei exakter Positionierung des Serviceaggregats vor der Arbeitsstelle genau ein Faden erfasst wird. Wenn das Serviceaggregat nicht exakt vor der Arbeitsstelle positioniert ist, sind zwei Fäden zu sehen. Das heißt, es ist zusätzlich der Faden der Nachbararbeitsstelle zu sehen. Bei einem Fadenbruch darf also bei exakter Positionierung kein Faden zu sehen sein. Zumindest im Hinblick auf die Positionierung erscheint die beschriebene Methode nicht besonders zuverlässig. Zum einen kann der Fadenlauf zumindest geringfügig variieren, was zu einer Ungenauigkeit bei der Positionierung führt. Zum anderen versagt die Methode, wenn zwei Fadenbrüche an benachbarten Arbeitsstellen auftreten. Es sind somit zusätzliche Positioniereinrichtungen erforderlich.The EP 0 960 964 A1 discloses a traveling service unit having an optical detection system for detecting a yarn break at a work site. It is proposed to form this optical detection system as a video camera. Thus, the serviceability of the job is displayed to the service unit. At the same time, the service unit should be positioned on the basis of the video camera captured images in front of the job with the thread breakage. The image detail and the orientation of the camera have just been selected so that if no thread breakage is present, exactly one thread is detected when the service unit is positioned precisely in front of the workstation. If the service unit is not positioned exactly in front of the workstation, two threads are visible. That is, it is also the thread of the neighboring job to see. When a thread break so no thread can be seen with exact positioning. At least in terms of positioning, the method described does not seem particularly reliable. On the one hand, the yarn path can vary at least slightly, which leads to an inaccuracy in the positioning. On the other hand, the method fails if two yarn breaks occur at adjacent workstations. There are thus additional positioning required.

Der Erfindung liegt daher die Aufgabe zu Grunde, ausgehend von dem vorgenannten Stand der Technik die Steuerung des Serviceaggregats und gegebenenfalls die korrespondierende Steuerung der zu bedienenden oder zu wartenden Arbeitsstelle einfach und zuverlässig zu gestalten.The invention is therefore based on the object, based on the aforementioned prior art, the control of the service unit and, where appropriate, the corresponding control of the workstation to be operated or maintained easily and reliably.

Die Aufgabe wird erfindungsgemäß durch die kennzeichnenden Merkmale des Vorrichtungsanspruches 1 sowie des Verfahrensanspruches 13 gelöst. Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche.The object is achieved by the characterizing features of the device claim 1 and the method claim 13. Advantageous developments of the invention are the subject of the dependent claims.

Zur Lösung der Aufgabe ist die Kamera darauf eingerichtet, Bestandteile des Serviceaggregats und/oder der Arbeitsstellen enthaltende Bilder zu erzeugen und an eine Steuereinheit der Textilmaschine zur Erfassung und Auswertung der Bestandteile und/oder ihrer gegenwärtigen absoluten oder relativen Position zu übermitteln, die die damit erzielten Informationen zur Steuerung des Serviceaggregats und/oder der zur Bedienung und/oder Steuerung anstehenden Arbeitsstelle verwendet.To solve the problem, the camera is set up to generate components of the service unit and / or workstations containing images and to transmit to a control unit of the textile machine for detection and evaluation of the components and / or their current absolute or relative position, which achieved Information used to control the service unit and / or the pending for operation and / or control workstation.

Die Erfindung entwickelt die bekannte Idee der Verwendung einer Kamera in einem Serviceaggregat weiter. Durch die Verwendung einer einfachen Kamera kann die Zahl der zur Realisierung der Steuerungsfunktionen aktiven Komponenten erheblich reduziert werden, da kein entsprechendes Gegenstück an den Arbeitsstellen notwendig ist. Das gilt bei der Vielzahl der Arbeitsstellen, die üblicherweise an den Textilmaschinen vorhanden sind, selbst dann, wenn mehr als eine Kamera pro Serviceaggregat zur Initiierung der Steuerungsaufgaben erforderlich ist. Durch eine bewegliche Kamera kann gegebenenfalls auch auf eine weitere Kamera verzichtet werden. Die Kamera bedarf keiner speziellen Ausführung. Es kann als Hardware zum Beispiel eine einfache und preiswerte Webcam verwendet werden, wie sie aus PC- und Internetanwendungen bekannt ist. Anders als im Stand der Technik werden jedoch Bestandteile des Serviceaggregats und/oder der Arbeitsstelle erfasst. Eine solche Erfassung ist heute auf Basis bekannter Bildverarbeitungsverfahren problemlos möglich. Die für die Textilmaschine spezifischen Auswerteroutinen können als Software in die bestehende Steuerung des Serviceaggregats oder in die Zentralsteuerung der Textilmaschine integriert werden.The invention further develops the known idea of using a camera in a service unit. By using a simple camera, the number of active components for the implementation of the control functions can be significantly reduced, since no corresponding counterpart to the jobs is necessary. This applies to the multitude of workstations that are usually present on the textile machines, even if more than one camera per service unit is required to initiate the control tasks. If necessary, a further camera can be dispensed with by means of a movable camera. The camera does not require any special design. As a hardware, for example, a simple and inexpensive webcam known from PC and Internet applications can be used. Unlike in the prior art, however, components of the service unit and / or the job are detected. Such a detection is today easily possible based on known image processing methods. The evaluation routines specific to the textile machine can be integrated as software in the existing control of the service unit or in the central control of the textile machine.

Ein solches Kamerasystem wird damit vielseitig einsetzbar und kann für die verschiedensten Steuerungsaufgaben verwendet werden. Damit kann eine Kamera eine Vielzahl von Sensoren ersetzen und über die Sensoren hinausgehende Überwachungsmöglichkeiten bereitstellen. Durch die Erfassung von Bestandteilen der Aggregate wird die Zuverlässigkeit gegenüber der ausschließlichen Erfassung des Fadens erhöht. Insgesamt wird eine einfache und zuverlässige Steuerung ermöglicht.Such a camera system is thus versatile and can be used for a variety of control tasks. This allows a camera to replace a variety of sensors and provide monitoring beyond the sensors. By detecting components of the aggregates, the reliability is increased compared to the exclusive detection of the thread. Overall, a simple and reliable control is possible.

Gemäß einer bevorzugten Ausführungsform der erfindungsgemäßen Vorrichtung weist das Serviceaggregat einen durch eine Steuereinheit steuerbaren Antrieb auf, durch den es mittels der Erfassung und Auswertung der relativen Position der Bestandteile bedarfsgerecht zur Durchführung der Bedienung oder Wartung der Arbeitsstelle vor derselben positionierbar ist. Dabei können mittels der Auswertung der Bilder charakteristische Merkmale der Arbeitsstelle erfassbar sein und aus der Position der charakteristischen Merkmale innerhalb der Bilder die Position des Serviceaggregats erfasst werden. Alternativ kann die Position des Serviceaggregats anhand der Position eines charakteristischen Merkmals der Arbeitsstelle und eines charakteristischen Merkmals des Serviceaggregats zueinander erfassbar sein. Die Erfassung der Merkmale kann dabei durch Vergleich mit einem im Speicher der Steuereinheit abgelegten realen oder einem vereinfachten Abbild der Arbeitsstelle erfolgen. Es können auch mathematische Algorithmen zur Auswertung des Kamerabildes verwendet werden. Solche charakteristischen Merkmale können zum Beispiel markante Kanten oder eine einfache LED sein.According to a preferred embodiment of the device according to the invention, the service unit has a controllable by a control unit drive, by means of which it can be positioned by means of the detection and evaluation of the relative position of the components as needed to carry out the operation or maintenance of the job before it. In this case, characteristic features of the workplace can be detectable by means of the evaluation of the images, and the position of the service aggregate can be detected from the position of the characteristic features within the images. Alternatively, the position of the service unit based on the position of a characteristic feature of the job and a characteristic feature of the service unit to each other be detected. The detection of the features can be done by comparison with a stored in the memory of the control unit real or a simplified image of the job. It is also possible to use mathematical algorithms for evaluating the camera image. Such characteristic features may be, for example, distinctive edges or a simple LED.

In einer weiteren bevorzugten Ausführungsform der erfindungsgemäßen Vorrichtung weist jede Arbeitsstelle ein individuelles Merkmal auf, die Arbeitsstellen sind anhand des individuellen Merkmals identifizierbar und es handelt sich bei einem erfassten Bestandteil der Arbeitsstelle um dieses individuelle Merkmal.In a further preferred embodiment of the device according to the invention, each workstation has an individual feature, the workstations are identifiable on the basis of the individual feature and it is at a covered part of the job around this individual characteristic.

Als individuelles Merkmal kann jede Arbeitsstelle mit einem oder mehreren Schriftzeichen versehen sein. Die Auswertung der Bilder kann zum Beispiel mittels einer OCR-Erkennung erfolgen. OCR steht für Optical Character Recognition und ist aus PC-Anwendungen bekannt. Die Schriftzeichen können zum Beispiel eine fortlaufende Nummerierung der Arbeitsstellen wiedergeben. Alternativ stellt auch ein Barcode mit unterschiedlicher Codierung an jeder Arbeitsstelle ein individuelles Merkmal dar. Die beschriebenen Möglichkeiten, ein individuelles Merkmal zu erzeugen, sind leicht und ohne viel Aufwand zu realisieren. Gegebenenfalls ist zum Beispiel eine Nummerierung ohnehin vorhanden, um einer Bedienperson die Möglichkeit zu geben, die Arbeitsstellen zu identifizieren.As an individual feature, each job can be provided with one or more characters. The evaluation of the images can be done for example by means of an OCR recognition. OCR stands for Optical Character Recognition and is known from PC applications. For example, the characters may represent a sequential numbering of jobs. Alternatively, a barcode with different coding at each workstation is an individual feature. The described possibilities to create an individual feature are easy to implement and without much effort. If necessary, for example, a numbering is available anyway to give an operator the opportunity to identify the jobs.

Gemäß einer weiteren Ausführungsform der erfindungsgemäßen Vorrichtung sind anhand der erfassten Bestandteile der Arbeitsstelle und/oder des Serviceaggregats Zustände der Arbeitsstelle und/oder des Serviceaggregats erfassbar.In accordance with a further embodiment of the device according to the invention, states of the workstation and / or of the service unit can be detected on the basis of the detected components of the workstation and / or of the service unit.

Solche Zustände können zum Beispiel die Positionen beweglicher Bauteile der Arbeitsstelle oder des Serviceaggregats sein. Auf diese Weise können gegebenenfalls andere Sensoren zur Positionsbestimmung entfallen. Auch bietet das Kamerasystem andere Möglichkeiten als ein einfacher Endschalter. Es können Zwischenpositionen erfasst werden. Dadurch können Aktionen schon frühzeitig ausgelöst werden.Such conditions may be, for example, the positions of movable components of the workstation or service unit. In this way, if necessary, other sensors for position determination can be omitted. The camera system also offers other options than a simple limit switch. Intermediate items can be recorded. As a result, actions can be triggered early.

Weiterhin kann eine solche Zustandserfassung der Fehlerdiagnose dienen. Dadurch können nicht nur automatische Reaktionen des Serviceaggregats oder der Arbeitsstelle ausgelöst werden, sondern es ist auch eine Fehlerdiagnose durch eine in größerer Entfernung befindliche Bedienperson möglich. Dazu kann das Kamerabild über eine Datenleitung, zum Beispiel das Internet, zu der Bedienperson übertragen werden.Furthermore, such a condition detection can serve the fault diagnosis. As a result, not only can automatic responses of the service unit or the workstation be triggered, but it is also a fault diagnosis by a larger Distance available operator possible. For this purpose, the camera image can be transmitted to the operator via a data line, for example the Internet.

In einer bevorzugten Ausführungsform handelt es sich bei den erfassten Bestandteilen um Handhabungseinrichtungen der Arbeitsstelle und/oder des Serviceaggregats. Deren Positionen sind anhand der Bilder ermittelbar.In a preferred embodiment, the detected components are handling devices of the workstation and / or the service unit. Their positions can be determined from the images.

Vorteilhafterweise ist zur Kommunikation zwischen den Arbeitsstellen und dem Serviceaggregat ein Bussystem vorhanden. Ein solches Kommunikationssystem erlaubt einer bedien- oder wartungsbedürftigen Arbeitsstelle die Anforderung des Serviceaggregats und ermöglicht die Kommunikation während der Wartung oder Bedienung der Arbeitsstelle. So können zum Beispiel mittels der Kamera erfasste Zustände an die Arbeitstellensteuerung übermittelt werden. Dazu können bekannte Bussysteme verwendet werden, wie zum Beispiel CAN-Bus, Interbus, Profibus oder ein Ethernet-basierter Feldbus.Advantageously, a bus system is present for communication between the workstations and the service unit. Such a communication system allows a service-requiring or maintenance-requiring workstation the request of the service unit and allows communication during maintenance or operation of the job. Thus, for example, states detected by the camera can be transmitted to the workstation control. For this purpose, known bus systems can be used, such as CAN bus, Interbus, Profibus or an Ethernet-based fieldbus.

Zur Lösung der Aufgabe wird ferner ein Verfahren zum Betreiben einer Textilmaschine mit einer Vielzahl von Arbeitsstellen und mindestens einem entlang der Arbeitsstellen verfahrbaren Serviceaggregat zur Bedienung und/oder Wartung der einzelnen Arbeitstellen vorschlagen, wobei das mindestens eine Serviceaggregat mindestens eine Kamera aufweist und wobei mittels der Kamera Bestandteile des Serviceaggregats und/oder der Arbeitsstellen enthaltende Bilder aufgenommen, die Bilder zur Erfassung der Bestandteile auswertet und anhand der erfassten Bestandteile zur Steuerung des Serviceaggregats und/oder der Arbeitsstelle verwendet werden.To solve the problem, a method for operating a textile machine with a plurality of workstations and at least one movable along the workstations service unit for operation and / or maintenance of the individual work stations will also propose, wherein the at least one service unit has at least one camera and wherein by means of the camera Parts of the service unit and / or the jobs included images that evaluates images to capture the components and are used on the basis of the detected components to control the service unit and / or the workplace.

In einer bevorzugten Ausgestaltung des erfindungsgemäßen Verfahrens wird auf den Bildern der Bestandteile des Serviceaggregats und/oder der Arbeitsstellen mindestens ein charakteristisches Merkmal des Serviceaggregats und/oder der Arbeitsstelle erfasst und es wird aus der Position des mindestens einen charakteristischen Merkmals die Ist-Position des Serviceaggregats in Bezug auf die Arbeitsstelle ermittelt.In a preferred embodiment of the method according to the invention is on the pictures of the components of Service unit and / or the jobs detected at least one characteristic feature of the service unit and / or the job and it is determined from the position of the at least one characteristic feature, the actual position of the service unit with respect to the job.

Gemäß einer Ausführungsvariante wird die Position des mindestens einen charakteristischen Merkmals innerhalb der Bilder erfasst.According to one embodiment, the position of the at least one characteristic feature is detected within the images.

Gemäß einer anderen Ausführungsvariante werden die Position mindestens eines charakteristischen Merkmals der Arbeitsstelle und mindestens eines charakteristischen Merkmals des Serviceaggregats zueinander erfasst.According to another embodiment, the position of at least one characteristic feature of the job and at least one characteristic feature of the service unit to each other are detected.

Vorteilhafterweise wird die Ist-Position des Serviceaggregats dazu verwendet, das Serviceaggregat in eine Sollposition zu überführen, in der die Bedienung oder Wartung der Arbeitsstelle bedarfsgerecht durchgeführt wird.Advantageously, the actual position of the service unit is used to transfer the service unit in a target position in which the operation or maintenance of the job is carried out as needed.

In einer weiteren Ausgestaltung des erfindungsgemäßen Verfahrens erfasst die Kamera ein individuelles Merkmal einer Arbeitsstelle und es wird das erfasste Merkmal zur Identifizierung der Arbeitsstelle herangezogen.In a further embodiment of the method according to the invention, the camera detects an individual feature of a workstation and the detected feature is used to identify the workstation.

In einer weiteren Ausgestaltung des erfindungsgemäßen Verfahrens werden anhand der erfassten Bestandteile Zustände der Arbeitsstelle und/oder des Serviceaggregates ermittelt.In a further embodiment of the method according to the invention, states of the workstation and / or the service unit are determined on the basis of the detected components.

Vorteilhafterweise werden in Abhängigkeit der erfassten Zustände Aktionen des Serviceaggregats oder der Arbeitsstelle ausgelöst. So kann auch überprüft werden, ob eine für die bedarfsgerechte Bedienung der Arbeitsstelle erforderliche Aktion überhaupt ausgeführt werden kann oder gegebenenfalls die Anforderung einer Bedienperson erforderlich ist. Es ist auch möglich, anhand der ermittelten Zustände die korrekte Durchführung von Aktionen des Serviceaggregats oder der Arbeitsstelle zu überwachen.Advantageously, actions of the service unit or the workstation are triggered depending on the detected states. Thus, it can also be checked whether an action required for the needs-based operation of the workstation can be carried out at all or, if necessary, the requirement of an operator is required. It is also possible on the basis of determined states to monitor the correct execution of actions of the service unit or the workstation.

Gemäß einer bevorzugten Ausführungsform werden die Ist-Positionen von Handhabungseinrichtungen der Arbeitsstelle und/oder des Serviceaggregats anhand der Bilder der Bestandteile der Arbeitsstelle und/oder des Serviceaggregats ermittelt. Die Ist-Position der Handhabungseinrichtungen kann dazu verwendet werden, die Handhabungseinrichtung in eine Sollposition zu überführen.According to a preferred embodiment, the actual positions of handling devices of the job and / or the service unit are determined based on the images of the components of the job and / or the service unit. The actual position of the handling devices can be used to transfer the handling device into a desired position.

Die Erfindung wird nachfolgend anhand eines in den Zeichnungen dargestellten Ausführungsbeispiels näher erläutert. Als Beispiel für eine erfindungsgemäße Textilmaschine wird eine Offenend-Spinnmaschine mit Serviceaggregaten zum Spulenwechsel und Wiederanspinnen nach demselben sowie zum Reinigen der Spinnvorrichtung beschrieben.The invention will be explained in more detail with reference to an embodiment shown in the drawings. As an example of a textile machine according to the invention an open-end spinning machine is described with service units for bobbin change and Wiederanspinnen after the same and for cleaning the spinning device.

Es zeigen:

Fig. 1
eine erfindungsgemäße Textilmaschine mit zwei verfahrbaren Serviceaggregaten;
Fig. 2
eine Arbeitsstelle der Textilmaschine mit einem davor angeordneten Serviceaggregat in Seitenansicht;
Fig. 3
eine Vorderansicht mehrer nebeneinander angeordneter Arbeitsstellen.
Show it:
Fig. 1
a textile machine according to the invention with two movable service units;
Fig. 2
a workplace of the textile machine with a service unit arranged in front in side view;
Fig. 3
a front view of several side by side arranged jobs.

In Fig. 1 ist eine Offenend-Spinnmaschine 1 dargestellt, die eine Vielzahl von Arbeitsstellen 2 aufweist, die jeweils mit einer Offenend-Spinnvorrichtung 3 sowie einer Spuleinrichtung 4 ausgerüstet sind. Die Offenend-Spinnmaschine 1 weist ferner zwei identische Serviceaggregate 16 auf.In Fig. 1 an open-end spinning machine 1 is shown, which has a plurality of jobs 2, which are each equipped with an open-end spinning device 3 and a winding device 4. The open-end spinning machine 1 also has two identical service units 16.

In den Spinnvorrichtungen 3 wird ein in Spinnkannen 5 vorgelegtes Faserband zu Fäden versponnen, die auf den Spuleinrichtungen 4 zu Kreuzspulen 8 aufgewickelt werden. Die Spuleinrichtungen 4 sind, wie in Fig.2 dargestellt, mit einem Spulenrahmen 9 zum drehbaren Haltern einer Leerhülse 11 beziehungsweise einer Kreuzspule 8 sowie mit einer Spultrommel 25 zum Rotieren dieser Elemente ausgestattet. Die Offenend-Spinnmaschine 1 weist außerdem eine Zentralsteuereinheit 6 auf, die über ein Bussystem 26 mit arbeitsstelleneigenen Steuereinrichtungen 10 verbunden ist. Des Weiteren verfügen derartige Textilmaschinen 1 über eine Kreuzspulentransporteinrichtung 12 zum Entsorgen fertig gestellter Kreuzspulen 8 und über eine Leerhülsenversorgungseinrichtung, die im Wesentlichen aus einem Leerhülsenmagazin 15 sowie Hülsenzuführbahnen 21 besteht.In the spinning devices 3, a sliver initially placed in sliver cans 5 is spun into threads, which are wound on the winding devices 4 to cheeses 8. The winding devices 4 are, as in Fig.2 shown, equipped with a coil frame 9 for rotatably supporting an empty tube 11 and a cheese 8 and with a winding drum 25 for rotating these elements. The open-end spinning machine 1 also has a central control unit 6, which is connected via a bus system 26 to the workstation's own control devices 10. Furthermore, such textile machines 1 have a cross-coil transport device 12 for disposing finished cross-wound bobbins 8 and an empty tube supply device, which consists essentially of an empty tube magazine 15 and sleeve feed paths 21.

Das Serviceaggregat 16 ist an Führungsschienen 13, 14, die an beziehungsweise auf der Offenend-Rotorspinnmaschine 1 angeordnet sind, verfahrbar. Das Serviceaggregat 16 ist in Fig. 2 genauer dargestellt. Es weist zum Verfahren und Positionieren einen steuerbaren Antrieb 35 auf. Zur Steuerung des Antriebs 35 ist dieser mit der Steuereinrichtung 17 des Serviceaggregats 16 verbunden. Die Steuereinrichtung 17 des Serviceaggregats 16 ist außerdem wie die arbeitsstelleneigenen Steuereinrichtungen 10 und die Zentralsteuereinheit 6 an das Bussystem 26 der Textilmaschine 1 angeschlossen. An das Serviceaggregat ist eine Kamera 50 montiert. Die Kamera 50 ist über eine Datenleitung 60 mit der Steuereinrichtung 17 des Serviceaggregats 16 verbunden. Die Bilder der Kamera 50 werden über die Datenleitung 60 an die Steuereinrichtung 17 übermittelt und dort zur Steuerung des Serviceaggregats und der Arbeitsstelle ausgewertet. Alternativ können die Bilder über das Bussystem 26 zur Auswertung auch an andere Steuereinrichtungen der Textilmaschine weitergeleitet werden. Das kann zum Beispiel die Zentralsteuereinheit 6 oder die Steuereinrichtung 10 der bedienbedürftigen Arbeitstelle sein. Die Kamera 50 kann mittels einer nicht dargestellten Verstelleinrichtung geschwenkt werden. Alternativ, oder zusätzlich, kann die Kamera entlang einer Führung verschiebbar sein.The service unit 16 is on guide rails 13, 14, which are arranged on or on the open-end rotor spinning machine 1, movable. The service unit 16 is in Fig. 2 shown in more detail. It has a controllable drive 35 for the method and positioning. To control the drive 35, this is connected to the control device 17 of the service unit 16. The control device 17 of the service unit 16 is also connected to the bus system 26 of the textile machine 1 like the workstation's own control devices 10 and the central control unit 6. To the service unit, a camera 50 is mounted. The camera 50 is connected via a data line 60 to the control device 17 of the service unit 16. The images of the camera 50 are transmitted via the data line 60 to the control device 17 and evaluated there to control the service unit and the workplace. Alternatively, the images can also be forwarded via the bus system 26 to other control devices of the textile machine for evaluation become. This can be, for example, the central control unit 6 or the control device 10 of the workstation requiring service. The camera 50 can be pivoted by means of an adjusting device, not shown. Alternatively, or additionally, the camera may be slidable along a guide.

Das Serviceaggregat 16 weist, wie in Fig.2 dargestellt, verschiedene Handhabungseinrichtungen auf, die es dem Serviceaggregat 16 ermöglichen, im Bedarfsfall einen Kreuzspulen-/Leerhülsenwechsel durchzuführen und dabei der Offenend-Spinnvorrichtung 3 der betreffenden Arbeitsstelle 2 einen Anspinnfaden zur Verfügung zu stellen. Ein solches Serviceaggregat 16 verfügt beispielsweise über einen so genannten (nicht dargestellten) Rahmenöffner und einen an die Oberfläche der Kreuzspule 8 anstellbaren (ebenfalls nicht dargestellten) Ausstoß- und Antriebsarm. Des Weiteren ist ein solches Serviceaggregat 16 mit einer Einrichtung 27 zum Reinigen der Offenend-Spinnvorrichtung 3, einer Hilfsfadenliefereinrichtung 23 zum Bereitstellen eines Anspinnfadens sowie mit einer Fadenanlege- und Fadenverlegeeinrichtung 28 ausrüstet.The service unit 16 has, as in Fig.2 illustrated, various handling devices that allow the service unit 16, if necessary, to perform a cheese / empty tube replacement, while the open-end spinning device 3 of the relevant job 2 to provide a piecing available. Such a service unit 16 has, for example, a so-called (not shown) Rahmenöffner and an engageable on the surface of the cheese 8 (also not shown) ejection and drive arm. Furthermore, such a service unit 16 is equipped with a device 27 for cleaning the open-end spinning device 3, an auxiliary thread supply device 23 for providing a piecing thread as well as with a thread applying and thread laying device 28.

Wie in Fig. 3 zu sehen, weisen die Arbeitsstellen 2 eine fortlaufende Nummerierung auf. Jede Arbeitsstelle ist in Klarschrift mit einer mit 61 bezeichneten Nummer gekennzeichnet. Diese Nummern werden von der Kamera 50 des Serviceaggregats 16 im Vorbeifahren erfasst. Auf diese Weise ermittelt die Steuereinrichtung 17 des Serviceaggregats 16 kontinuierlich die Position des Serviceaggregates. So kann zum Beispiel erkannt werden, wann der Anfangs- beziehungsweise Endbereich der Textilmaschine erreicht ist. Weiterhin können während der Fahrt zusätzlich oder alternativ charakteristische Merkmale der Arbeitsstellen mittels der Kamera erfasst werden. Ein solches Merkmal ist zum Beispiel die Kante 62. Somit vermag die Steuereinrichtung 17 die überfahrenen Arbeitsstellen 2 anhand der charakteristischen Merkmale 62 abzuzählen und auch so die Position des Serviceaggregats zu bestimmen.As in Fig. 3 to see the jobs 2 on a consecutive numbering. Each job is marked in plain text with a number marked 61. These numbers are detected by the camera 50 of the service unit 16 in passing. In this way, the control device 17 of the service unit 16 continuously determines the position of the service unit. For example, it can be recognized when the start or end region of the textile machine has been reached. Furthermore, during or additionally characteristic features of the jobs can be detected by the camera. Such a feature is for example the edge 62. Thus, the Control 17 to count the overrun jobs 2 on the basis of the characteristic features 62 and also to determine the position of the service unit.

Die Serviceaggregate 16 greifen selbsttätig ein, wenn an einer der Arbeitsstellen 2 ein Handlungsbedarf besteht. Ein solcher Handlungsbedarf liegt beispielsweise vor, wenn an einer der Arbeitsstellen 2 die Kreuzspule 8 fertig gespult ist und gegen eine Leerhülse ausgetauscht werden muss. Sobald das Serviceaggregat 16 über das Bussystem 26 der Offenend-Spinnmaschine 1 mitgeteilt bekommt, dass an einer der Arbeitsstellen 2 ein Handlungsbedarf besteht, läuft das Serviceaggregat 16 zu der betreffenden Arbeitsstelle 2. Wie oben beschrieben, erfasst die Steuereinrichtung 17 dabei ständig die Position des Serviceaggregats. Wenn die anfordernde Arbeitsstelle erreicht ist, wird die Geschwindigkeit des Serviceaggregats zur genauen und bedarfsgerechten Positionierung desselben vor der Arbeitsstelle verlangsamt. Zur Positionierung wird die Position der Kante 62 der Arbeitsstelle 2 innerhalb des Kamerabildes überwacht. Wenn die Kante 62 eine Referenzposition innerhalb des Bildes erreicht, ist auch das Serviceaggregat 16 bedarfsgerecht positioniert. Alternativ zu der Referenzposition der Kante 62 innerhalb des Bildes kann die Kante 62 auch relativ zu einem charakteristischen Merkmal des Serviceaggregats, welches in dem Bildausschnitt erfasst wird, positioniert werden.The service units 16 intervene automatically when there is a need for action at one of the workstations 2. Such a need for action exists, for example, if at one of the jobs 2, the cheese 8 is fully wound and must be replaced with an empty tube. As soon as the service unit 16 is informed via the bus system 26 of the open-end spinning machine 1 that there is a need for action at one of the workstations 2, the service unit 16 runs to the relevant workstation 2. As described above, the control device 17 constantly records the position of the service unit , When the requesting workstation is reached, the speed of the service aggregate is slowed down to accurately and appropriately position it in front of the workstation. For positioning, the position of the edge 62 of the workstation 2 within the camera image is monitored. When the edge 62 reaches a reference position within the image, the service unit 16 is also positioned as needed. As an alternative to the reference position of the edge 62 within the image, the edge 62 may also be positioned relative to a characteristic feature of the service aggregate captured in the image detail.

Nachdem das Serviceaggregat 16 richtig positioniert ist, wird zunächst die Anforderung der Arbeitsstelle 2 überprüft. Wenn die Arbeitsstelle 2 einen Kreuzspulenwechsel angefordert hat, weil die Kreuzspule 8 ihren vorgeschriebenen Durchmesser oder eine vorgegebene Fadenlänge erreicht hat, wird von der Kamera 50 zunächst der Spulenrahmen 9 erfasst und seine Position ausgewertet. Erst wenn diese Auswertung eine volle Kreuzspule 8 bestätigt, wird der Vorgang fortgesetzt. Auf diese Weise wird mittels der Kamera 50 eine Redundanz der Zustandserfassung geschaffen. Dann wird mittels des Kamerasystems überprüft, ob auf der Kreuzspulentransporteinrichtung 12 ein freier Platz für die auszuwerfende volle Kreuzspule 8 vorhanden ist. Ein zusätzlicher Sensor dafür ist nicht erforderlich. Im Vergleich zu einem einfachen als Lichtschranke ausgebildeten Sensor hat die Kamera einen größeren Erfassungsbereich und erhöht somit die Sicherheit, dass die Kreuzspulentransporteinrichtung 12 tatsächlich frei ist.After the service unit 16 is properly positioned, the job 2 request is first checked. If the job 2 has requested a cheese change, because the cheese 8 has reached its prescribed diameter or a predetermined thread length, the camera frame 50 is first detected by the camera 50 and evaluated its position. Only when this evaluation confirms a full cheese 8, the process continues. This way will created by the camera 50, a redundancy of the state detection. Then it is checked by means of the camera system, whether a free space for the full cross-wound bobbin 8 to be ejected is present on the cross-bobbin transport device 12. An additional sensor is not required. Compared to a simple sensor designed as a light barrier, the camera has a larger detection range and thus increases the certainty that the cross-coil transport device 12 is actually free.

Dann überführt das Serviceaggregat 16 nach dem Öffnen des Spulenrahmens mittels des Ausstoß- und Antriebsarmes die fertig gestellte Kreuzspule 8 auf die Kreuzspulentransporteinrichtung 12 und wechselt anschließend eine neue Leerhülse 11 mittels eines nicht darstellten Greiferarmes des Serviceaggregates 16 mit einem Greifer zum Erfassen und Halten der Leerhülse in den Spulenrahmen ein, wobei die Leerhülse über die Hülsenzuführbahn 21 vom Leerhülsenmagazin 15 bereitgestellt wurde. Auch dieser Vorgang wird von der Kamera 50 überwacht, so dass beispielsweise ein Sensor am Greifer, der das Erfassen der Leerhülse signalisiert, entfallen kann. Der richtige Sitz der Leerhülse im Spulenrahmen wird mittels des Kamerasystems ebenfalls überwacht.Then the service unit 16 transferred after opening the creel by means of the ejection and drive the finished cross-wound bobbin 8 on the cheese package transport 12 and then changes a new empty tube 11 by means not shown gripper arm of the service unit 16 with a gripper for detecting and holding the empty tube in the creel, wherein the empty tube has been provided on the tube feed path 21 from the empty tube magazine 15. This process is monitored by the camera 50, so that, for example, a sensor on the gripper, which signals the detection of the empty tube, can be omitted. The correct fit of the empty tube in the coil frame is also monitored by means of the camera system.

Während des Einlegens der Leerhülse 11 in den Spulenrahmen 9 wird die Saugdüse 40 aus ihrer unteren Endposition in eine Zwischenposition hoch geschwenkt. Dadurch wird der Weg für die Einrichtung 27 zum Reinigen der Spinnvorrichtung 3 frei gemacht. Dabei erfasst die Kamera 50 die Ist-Position der Saugdüse 40 und stellt damit die Positionierung in der richtigen Zwischenposition sicher. Gleichzeitig überwacht die Kamera die Durchführung der Reinigung und das anschließende Verschließen des Boxdeckels der Spinnvorrichtung 3.During insertion of the empty tube 11 in the creel 9, the suction nozzle 40 is pivoted from its lower end position to an intermediate position. This clears the way for the device 27 for cleaning the spinning device 3. In this case, the camera 50 detects the actual position of the suction nozzle 40 and thus ensures the positioning in the correct intermediate position. At the same time the camera monitors the execution of the cleaning and the subsequent closing of the box lid of the spinning device 3.

Während die Kreuzspulen-Transporteinrichtung 12 die Kreuzspule 8 zu einer maschinenendseitig angeordneten Übergabestelle befördert, wird durch die Hilfsfadenliefereinrichtung 23 des Serviceaggregates 16 ein Anspinnfaden 24 bereitgestellt. Die Hilfsfadenliefereinrichtung wird in Gang gesetzt, sobald das Kamerasystem das richtige Einlegen der Leerhülse meldet. Dann wird der Anspinnfaden 24 durch ein Fadenlieferwerk 29 von einer Vorratsspule 30 abgezogen und über ein schwenkbar gelagertes Lieferrohr 31 pneumatisch in den Bereich der arbeitsstelleneigenen Saugdüse 40 überführt, die das Fadenende ansaugt. Auch die richtigen Übergabepositionen werden von dem Kamerasystem überwacht. Die Übergabepositionen stellen dabei für die beschriebenen Handhabungseinrichtungen Zwischenpositionen dar, die in der Praxis in der Regel nicht sensorisch überwacht werden, so dass das Kamerasystem hier eine zusätzliche Sicherheit bietet. Anschließend befördert das Lieferrohr 31 den Anspinnfaden 24 in den Bereich einer Fadenverlegeeinrichtung 28, die den Anspinnfaden ihrerseits in den Bereich der im Spulenrahmen 9 der Arbeitsstelle 2 gehalterten Leerhülse 11 bringt, wobei das freie Ende des Anspinnfadens von der Saugdüse 40 außerdem an ein arbeitsstelleneigenes Anspinnorgan 41 übergeben wird, das das Fadenende, wie üblich, vorbereitet.While the cross-wound bobbin transporting device 12 conveys the cross-wound bobbin 8 to a transfer point arranged on the machine end side, a piecing thread 24 is provided by the auxiliary thread supply device 23 of the service unit 16. The auxiliary thread supply device is set in motion as soon as the camera system reports the correct insertion of the empty tube. Then the piecing thread 24 is withdrawn from a supply spool 30 by a yarn delivery mechanism 29 and pneumatically transferred via a pivotally mounted delivery pipe 31 into the region of the workstation's own suction nozzle 40, which sucks the yarn end. The correct transfer positions are also monitored by the camera system. The transfer positions represent intermediate positions for the described handling devices, which in practice are generally not monitored by sensors, so that the camera system offers additional security here. The delivery tube 31 then transports the piecing thread 24 into the region of a thread laying device 28, which in turn brings the piecing thread into the area of the empty tube 11 held in the reel frame 9 of the work station 2, wherein the free end of the piecing thread from the suction nozzle 40 is also fed to a work-station-specific piecing element 41 which prepares the thread end, as usual.

Während des beschriebenen Prozesses wird die Kamera immer so geschwenkt, dass die jeweils aktive Handhabungseinrichtung auf den Bildern erfasst wird. Die Auswertung der Bilder wird dann an die Kameraposition angepasst. Das heißt, es werden in Abhängigkeit der Position andere Vergleichsbilder verwendet.During the described process, the camera is always panned so that the respective active handling device is detected on the images. The evaluation of the images is then adapted to the camera position. That is, different comparison images are used depending on the position.

Alternativ zu der dargestellten schwenkbaren Kamera 50 können zur Überwachung der dargestellten Vorgänge auch zwei Kameras mit festem Bildausschnitt verwendet werden. Dabei würde eine Kamera die Kreuzspulentransporteinrichtung 12 und den Greiferarm für die Leerhülse 11 überwachen und die zweite Kamera würde den Spulenrahmen 9, die Saugdüse 40 und die Spinnvorrichtung 3 erfassen.As an alternative to the illustrated pivotable camera 50, two cameras with a fixed image detail can also be used to monitor the processes shown. In this case, a camera would monitor the cross-coil transport device 12 and the gripper arm for the empty tube 11 and the second camera would the Coil frame 9, the suction nozzle 40 and the spinning device 3 detect.

Das beschriebene Ausführungsbeispiel stellt keine abschließende Darstellung der Anwendungsmöglichkeiten eines in das Serviceaggregat integrierten Kamerasystems dar. Insbesondere hinsichtlich der Erfassung der Zustände der Arbeitstellen oder des Serviceaggregats gibt es eine Vielzahl weiterer Möglichkeiten. Bei entsprechender Positionierung einer Kamera (nicht dargestellt) könnte man auch die Faserbandzufuhr überwachen und den Füllstand der Spinnkannen 5 ermitteln.The exemplary embodiment described does not represent a conclusive representation of the possible applications of a camera system integrated into the service unit. In particular with regard to the detection of the states of the work stations or of the service unit, there are a multiplicity of further possibilities. With appropriate positioning of a camera (not shown) could also monitor the sliver feed and determine the level of the sliver cans 5.

Die Kamera hat dabei den Vorteil, dass sie mehrere Steuerungs- und Überwachungsfunktionen übernimmt und damit eine Vielzahl von Sensoren ersetzen kann. Der erfindungsgemäße Einsatz einer Kamera führt damit zu einem Kostenvorteil. Gleichzeitig wird die Zuverlässigkeit erhöht, da die Kamera weiter reichende Erfassungsmöglichkeiten bietet als einfache Sensoren.The camera has the advantage that it takes over several control and monitoring functions and thus can replace a variety of sensors. The use of a camera according to the invention thus leads to a cost advantage. At the same time, reliability is increased because the camera offers wider detection capabilities than simple sensors.

Claims (23)

  1. Textile machine (1) comprising a large number of workstations (2) and at least one service assembly (16) which can be moved along the workstations (2) for operating and/or maintaining the individual workstations (2), the at least one service assembly (16) having at least one camera (50), characterised in that the camera (50) is set up to produce images containing components of the service assembly (16) and/or of the workstations (2) and to transmit them to a control unit (17, 6, 10) of the textile machine (1) to detect and evaluate the components and/or their current absolute or relative position, the control unit using the information gained thereby to control the service assembly (16) and/or the workstation (2) requiring operation and/or control.
  2. Textile machine (1) according to claim 1, characterised in that the service assembly (16) has a drive (35) which can be controlled by a control unit (17), by means of which drive it can be positioned by means of the detection and evaluation of the relative position of the components, as necessary, to carry out the operation or maintenance of the workstation (2) in front of said workstation.
  3. Textile machine (1) according to claim 2, characterised in that the components detected are characteristic features (62) of the service assembly and/or the workstation.
  4. Textile machine (1) according to claim 3, characterised in that the position of the service assembly (16) can be detected from the position of the characteristic features (62) within the images.
  5. Textile machine (1) according to claim 3, characterised in that the position of the service assembly (16) can be detected using the position of a characteristic feature (62) of the workstation (2) and a characteristic feature of the service assembly (16) in relation to one another.
  6. Textile machine (1) according to claim 1, characterised in that each workstation (2) has an individual feature (61), by means of which it can be identified and a detected component of the workstation (2) is this individual feature (61).
  7. Textile machine (1) according to claim 6, characterised in that each workstation (2) is provided with one or more characters (61) as an individual feature.
  8. Textile machine (1) according to claim 7, characterised in that the characters (61) reflect a continuous numbering of the workstations (2).
  9. Textile machine (1) according to claim 6, characterised in that each workstation (2) is provided with a barcode as the individual feature.
  10. Textile machine (1) according to claim 1, characterised in that states of the workstation (2) requiring operation and/or control and/or the service assembly (16) can be detected using the detected components.
  11. Textile machine (1) according to claim 10, characterised in that the detected components are handling mechanisms of the workstation (2) and/or the service assembly (16) and the positions thereof can be determined using the images.
  12. Textile machine (1) according to any one of the preceding claims, characterised in that a bus system (26) is provided for communication between the workstations (2) and the service assembly (16).
  13. Method for operating a textile machine (1) with a large number of workstations (2) and at least one service assembly (16) which can be moved along the workstations (2) to operate and/or maintain the individual workstations (2), the service assembly (16) having at least one camera (50), characterised in that images containing components of the service assembly (16) and/or the workstations (2) are recorded by means of the camera (50) and in that the images are evaluated to detect the components and are used, with the aid of the detected components, to control the service assembly (16) and/or the workstation (2) requiring operation and/or control.
  14. Method according to claim 13, characterised in that at least one characteristic feature (62) of the service assembly (16) and/or of the workstation (2) is detected on the images of the components of the service assembly (16) and/or the workstations (2) and the actual position of the service assembly (16) in relation to the workstation (2) is determined from the position of the at least one characteristic feature.
  15. Method according to claim 14, characterised in that the position of the at least one characteristic feature (62) is detected within the images.
  16. Method according to claim 14, characterised in that the position of at least one characteristic feature (62) of the workstation (2) and at least one characteristic feature of the service assembly (16) in relation to one another are detected.
  17. Method according to any one of claims 14 to 16, characterised in that the actual position of the service assembly (16) is used to transfer the service assembly (16) into a desired position and in that the operation or maintenance of the workstation (2) is carried out, as necessary, in the desired position.
  18. Method according to claim 13, characterised in that the camera (50) detects an individual feature (61) of a workstation (2) and the detected feature (61) is used to identify the workstation.
  19. Method according to claim 13, characterised in that a state of the workstation (2) and/or the service assembly (16) is determined using the detected components.
  20. Method according to claim 19, characterised in that actions of the service assembly (16) or the workstation (2) are triggered depending on the state.
  21. Method according to claim 19, characterised in that the correct implementation of the actions of the service assembly (16) or of the workstation (2) is monitored with the aid of the detected states.
  22. Method according to claim 19, characterised in that the actual positions of handling mechanisms of the workstation (2) and/or of the service assembly (16) are determined using the images of the components of the workstation (2) and/or the service assembly (16).
  23. Method according to claim 22, characterised in that the actual position of the handling mechanisms is used to transfer the handling mechanism into a desired position.
EP09765513A 2008-06-21 2009-05-27 Textile machine having a moveable service unit Active EP2304086B1 (en)

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DE102008029575A DE102008029575A1 (en) 2008-06-21 2008-06-21 Textile machine with a movable service unit
PCT/EP2009/003749 WO2009152933A1 (en) 2008-06-21 2009-05-27 Textile machine having a moveable service unit

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DE102005011143A1 (en) * 2005-03-10 2006-09-14 Sick Ag Device for controlling safety relevant function of robot or machine tool has means to change contour of safety area depending on displacement, position and operational data and on transmitted control data of robot or machine tool
DE202007010884U1 (en) * 2007-08-03 2007-09-27 Sick Ag Monitoring device with tracking of the image sensor to keep a hazardous moving machine part in the field of view

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EP4091976A1 (en) * 2021-05-18 2022-11-23 Murata Machinery, Ltd. Yarn winding machine and teaching method
DE102021127096A1 (en) 2021-10-19 2023-04-20 Maschinenfabrik Rieter Ag Cross-bobbin-producing textile machine with a large number of similar work stations arranged next to one another and an operating device that can be moved along the work stations, as well as a method for operating such a cross-bobbin-producing textile machine
EP4169859A1 (en) 2021-10-19 2023-04-26 Maschinenfabrik Rieter AG Textile machine producing crosswound bobbins with a plurality of similar working units arranged side by side and a service device movable along the working units and method of operating such a textile machine

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DE102008029575A1 (en) 2009-12-24
CN102066629A (en) 2011-05-18
WO2009152933A1 (en) 2009-12-23
CN102066629B (en) 2013-03-13
EP2304086A1 (en) 2011-04-06

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