Description:TECHNICAL FIELD
[0001] The present invention relates to a yarn winding system.

BACKGROUND
[0002] Patent Literature 1 (Japanese Unexamined Utility Model Publication No. H2-33278) discloses a doffing cart in which a CCD camera adopted to monitor a shape of a side surface (including an edge) of a package in the middle of winding is mounted on the doffing cart moving along a large number of winding units arranged side by side, and a defect detecting means adopted to stop the winding unit on the spot when there is a defect is provided.

SUMMARY
[0003] In the doffing cart, the side surface of the package in the middle of winding is monitored by the CCD camera. Since the package is wound at a high speed, there is a possibility that the state of the side surface cannot be accurately acquired when the side surface of the package in the middle of winding is monitored by the camera. In addition, in a case where the side surface of the package in Patent Literature 1 is monitored, even when an abnormality is not grasped on the side surface of the package, an abnormality may occur on another surface other than the side surface of the package. For this reason, the accuracy of abnormality determination of the package may deteriorate.
[0004] An object of one aspect of the present invention is to provide a yarn winding system capable of improving the accuracy of abnormality determination of a package.
[0005] A yarn winding system according to one aspect of the present invention includes: a textile machine including a plurality of winding units, each of the winding units forming a package; a travelling cart provided so as to be capable of traveling along a direction in which the plurality of winding units are arranged; and a controller configured to control operations of each of the winding units and the travelling cart, in which each of the plurality of winding units includes a yarn supplying part configured to be capable of supplying a yarn and a winding part configured to wind the yarn supplied from the yarn supplying part around the package by rotating the package in a winding direction at a first speed, the travelling cart includes an image capturing device configured to capture an image of at least one of a first surface and a second surface of the package, in which the first surface and the second surface are orthogonal to a rotation axis of the package, and the controller is configured to cause the image capturing device of the travelling cart to capture the image of at least one of the first surface and the second surface of the package when a rotation speed of the package is a second speed lower than the first speed, and to determine presence or absence of an abnormality of the package based on an image capturing result of image capturing by the image capturing device.
[0006] In the yarn winding system according to one aspect of the present invention, the controller causes the image capturing device of the travelling cart to capture the image of at least one of the first surface and the second surface of the package when the rotation speed of the package is the second speed lower than the first speed. Therefore, in the yarn winding system, the image capturing result in which the state of the first surface and/or the second surface appears can be obtained as compared with a case in which the image of the first surface and/or the second surface is captured when the package is rotated at the first speed. Therefore, in the yarn winding system, it is possible to accurately acquire the state of the first surface and/or the second surface of the package. Therefore, in the yarn winding system, the accuracy of abnormality determination of the package can be improved.
[0007] In one embodiment, the second speed may be at least one of a speed when the package is rotated in an unwinding direction opposite the winding direction, a speed when rotation of the package is decelerated in a case of stopping the rotation of the package, and a speed when the rotation of the package is accelerated from a start of the rotation of the package to the first speed. In this configuration, in the process of forming the package, the image of the first surface and/or the second surface of the package can be captured at least once.
[0008] In one embodiment, the controller may be configured to abnormally stop, when determining that there is the abnormality in the package, the winding unit forming the package. In this configuration, the yarn can be avoided from being unnecessarily wound around the package in which the abnormality has occurred.
[0009] In one embodiment, the controller may be configured to resume the winding of the yarn in the winding part upon receiving an input instructing winding of the yarn in the winding part with respect to the abnormally stopped one of the winding units. In this configuration, since the winding of the yarn can be resumed after an operator confirms the package and removes the abnormality thereof, deterioration in production efficiency can be prevented.
[0010] In one embodiment, the controller may be configured to specify a type of the abnormality of the package based on the image capturing result, and to execute at least one of a notification of abnormality occurrence, abnormally stopping one of the winding units and continuation of the winding of the yarn by the winding part according to the type of the abnormality of the package. Some abnormality types of the package do not affect the quality of the package. Therefore, control according to a quality standard can be performed by executing the operation according to the type of the abnormality of the package.
[0011] In one embodiment, the controller may be configured to continuously perform the winding of the yarn in the winding part upon determining that there is the abnormality in the package and the type of the abnormality is a predetermined type. In this configuration, even if the abnormality occurs in the package, the winding of the yarn in the package is not stopped, thereby making it possible to prevent deterioration in production efficiency.
[0012] In one embodiment, the controller may be configured to set the abnormally stopped one of the winding units as the predetermined type of the abnormally upon receiving an input of setting the type of the abnormality of the package determined to have the abnormality as the predetermined type. In this configuration, when the operator confirms the package in which the winding of the yarn by the winding part is stopped, determines that the abnormality of the package satisfies the quality standard, and performs an input of setting the abnormality as the predetermined abnormality, the formation of the package determined to have the abnormality is continuously performed thereafter. Therefore, deterioration in production efficiency can be prevented.
[0013] In one embodiment, the winding units may each include a yarn monitoring device configured to monitor the yarn to be wound around the package and a yarn joining device configured to join the yarn on a side of the yarn supplying part and the yarn on a side of the package, and the controller may be configured to cut the yarn based on a monitoring result of the yarn monitoring device and to rotate the package at the second speed in a process of yarn joining in the yarn joining device after the yarn has been cut. In the process of forming the package, the yarn may be cut a plurality of times due to a yarn defect. In the process of the yarn joining in the yarn joining device after the yarn is cut, the package is rotated in the unwinding direction at the second speed. Therefore, in the process of forming the package, it is possible to secure at least one opportunity of capturing the image of the package by the image capturing device.
[0014] In one embodiment, the yarn supplying part may be configured to supply the yarn by unwinding and drawing out the yarn from a yarn supplying bobbin, the winding units may each include a detection part configured to detect a storage amount of the yarn in the yarn supplying bobbin and the yarn joining device configured to join the yarn on the side of the yarn supplying part and the yarn on the side of the package, and the controller may be configured to replace the yarn supplying bobbin in each of the winding units based on a detection result of the detection part, and to rotate the package at the second speed in the process of the yarn joining in the yarn joining device after the yarn supplying bobbin has been replaced. In the process of forming the package, the yarn joining caused by the replacement of the yarn supplying bobbin may occur a plurality of times. In the process of the yarn joining in the yarn joining device, the package is rotated in the unwinding direction at the second speed. Therefore, in the process of forming the package, it is possible to secure at least one opportunity of capturing the image of the package by the image capturing device.
[0015] In one embodiment, the travelling cart may be a doffing device configured to doff the package from each of the winding units, and the controller may be configured to cause the image of at least one of the first surface and the second surface of the package to be captured in a process of at least a doffing operation in the doffing device. In the process of the doffing operation by the doffing device, the rotation speed becomes the second speed when the rotation of the package is stopped. Therefore, image capturing is instructed in the process of the doffing operation, thereby making it possible to secure at least one opportunity of capturing the image of the package by the image capturing device.
[0016] In one embodiment, the controller may be configured to cause the doffing device to doff the package upon determining that there is the abnormality in the package. In this configuration, the yarn is not wound around the package determined to have the abnormality. Therefore, the yarn can be avoided from being unnecessarily wound around the package having the abnormality.
[0017] In one embodiment, the image capturing device may be provided at a position where the image capturing device captures the image of a part of at least one of the first surface and the second surface of the package at a position where the doffing device performs doffing of the package, and the controller may be configured to determine the presence or absence of the abnormality of the package based on a plurality of image capturing results of the image capturing by the image capturing device. In this configuration, even when there is an area that is a blind spot in the angle of view of the image capturing device, it is possible to determine the abnormality on the entire first surface and/or second surface of the package by using the plurality of image capturing results.
[0018] In one embodiment, the image capturing device may include a first image capturing device and a second image capturing device, in which the first image capturing device captures the image of the first surface of the package, and the second image capturing device captures the image of the second surface of the package. In this configuration, the images of the first surface and the second surface of the package can be captured at the same timing (simultaneously). Therefore, the time related to the image capturing can be shortened.
[0019] In one embodiment, the winding part provided in each of the plurality of winding units may include a cradle arm provided on one side in the direction in which the plurality of winding units are arranged and is configured to release holding of the package by being operated by the doffing device, the second image capturing device may be provided on the one side in the direction in which the plurality of winding units are arranged and the first image capturing device may be provided on the other side in the direction in which the plurality of winding units are arranged, and may be disposed closer to the package at the position where the doffing device performs the doffing of the package than the second image capturing device in said direction. Depending on the arrangement interval of the plurality of winding units, when the image of the package of one winding unit is captured, the cradle arm of the winding unit adjacent to the one winding unit may enter the angle of view of the first image capturing device, and a part of the end surface of the package, the image of which is to be captured, may be blocked by the cradle arm, and the image thereof cannot be captured. Therefore, the first image capturing device is disposed closer to the package than the second image capturing device, thereby making it possible to prevent the cradle arm from entering the angle of view of the first image capturing device.
[0020] In one embodiment, the controller may be configured to cause the image capturing device to capture the image of the package in order from one of the winding units on one side in the direction in which the plurality of winding units are arranged, and to cause the travelling cart to stand by in proximity of one of the winding units serving as an image capturing target. In this configuration, the presence or absence of the abnormality of the package can be determined in each winding unit. In addition, since the travelling cart is caused to stand by in proximity of the winding unit serving as an image capturing target, the moving time of the travelling cart can be shortened, and an efficient operation can be performed.
[0021] In one embodiment, the controller may be configured to set a higher priority in order from one of the winding units on one side in the direction in which the plurality of winding units are arranged, to cause the travelling cart to stand by in proximity of one of the winding units having a highest priority, and to lower a priority of one of the winding units for which the image of the package has been captured below a lowest priority. In this configuration, the priority is set according to a status (an operation state or the like) of the winding unit, thereby enabling the image of the package to be efficiently captured.
[0022] According to one aspect of the present invention, the accuracy of abnormality determination of a package can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS
[0023] FIG. 1 is a front view illustrating an automatic winder;
FIG. 2 is a side view illustrating a winder unit in FIG. 1;
FIG. 3 is a diagram illustrating a configuration of the winder unit;
FIGS. 4A, 4B, 4C, 4D, 4E, 4F, 4G, and 4H are diagrams illustrating an example of an abnormality of a package; and
FIG. 5A is a front view illustrating a doffing device, and FIG. 5B is a side view illustrating the doffing device.

DETAILED DESCRIPTION
[0024] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and a redundant description is omitted.
[0025] As illustrated in FIG. 1, an automatic winder (a yarn winding system) 1 includes a plurality of winder units (winding units) 3 arranged side by side, an end frame 5, and a doffing device (a travelling cart) 7. The plurality of winder units 3 constitute a textile machine. The plurality of winder units 3 are arranged side by side (arranged) in the longitudinal direction of the automatic winder 1. Each winder unit 3 forms a package P by unwinding a yarn Y from a yarn supplying bobbin SB and winding the yarn Y around a winding bobbin WB while traversing the yarn Y.
[0026] The end frame 5 is arranged at one end in a direction (hereinafter, referred to as a “juxtaposition direction”) in which the plurality of winder units 3 are arranged. The end frame 5 is provided with a machine control device (a controller) 50, a display screen 52, and an input unit 54. The machine control device 50 intensively manages and controls each unit of the automatic winder 1. The display screen 52 can display information relating to a setting content and a state of the winder unit 3, and the like. An operator can perform a setting operation of the winder unit 3 by performing an appropriate operation using the input unit 54. The machine control device 50 can communicate with each of the plurality of winder units 3 and the doffing device 7 by, for example, a controller area network (CAN). That is, each of the plurality of winder units 3 and the doffing device 7 can communicate with each other via the machine control device 50.
[0027] When the package P is fully wound (a state in which a prescribed amount of yarn is wound around the package P) in each winder unit 3, the doffing device 7 travels to the position of the corresponding winder unit 3, detaches (dispenses) the fully wound package, and sets an empty winding bobbin WB.
[0028] As illustrated in FIGS. 2 and 3, the winder unit 3 includes a unit controller 10, a yarn supplying device (a yarn supplying part) 12, a winding device (a winding part) 14, and a communication part 16. The unit controller 10 includes, for example, a central processing unit (CPU) and a read only memory (ROM). The ROM stores a program for controlling each configuration of the winder unit 3. The CPU executes the program stored in the ROM. The unit controller 10 controls the operation of each unit in the winder unit 3.
[0029] The yarn supplying device 12 supports the yarn supplying bobbin SB placed on a conveyance tray (not illustrated) at a predetermined position. The yarn supplying device 12 unwinds the yarn Y from the yarn supplying bobbin SB, and pulls out the yarn Y from the yarn supplying bobbin SB. The yarn supplying device 12 is arranged to be able to supply the yarn Y. The yarn supplying device 12 is not limited to a conveyance tray type device, and may be, for example, a magazine type device.
[0030] The winding device 14 winds the yarn Y around the winding bobbin WB to form the package P. The winding device 14 includes a cradle 17 and a winding drum 18. The cradle 17 sandwiches the winding bobbin WB so as to rotatably support the winding bobbin WB (or the package P). The winding drum 18 traverses the yarn Y on the surface of the package P and rotates the package P. The winding drum 18 is rotationally driven by a drum drive motor 19. The package P is driven and rotated by rotationally driving the winding drum 18 in a state in which the outer periphery of the package P is in contact with the winding drum 18. A spiral traverse groove is formed on the outer peripheral surface of the winding drum 18. The yarn Y unwound from the yarn supplying bobbin SB is wound around the surface of the package P while being traversed with a constant width by the traverse groove. Thus, the package P having a constant winding width can be formed.
[0031] When winding the yarn Y around the package P, the winding device 14 rotates (rotation in the winding direction is defined as forward rotation) the package P in the winding direction. At this time, the winding device 14 rotates the package P at a winding speed (a first speed). Specifically, the drum drive motor 19 of the winding device 14 rotationally drives the winding drum 18 so as to allow the package P to be rotated at the winding speed based on a drive command from the unit controller 10. The drive command may include setting of a target speed, an acceleration time, a deceleration time, and the like, and commands such as forward rotation, stop, and reverse rotation.
[0032] A case in which the rotation speed of the package P is lower than the winding speed will be described. When a yarn joining is performed by a yarn joining device 26, the winding device 14 rotates (rotation in the release direction is defined as reverse rotation) the package P in the unwinding direction which is a direction opposite the winding direction. At this time, the winding device 14 rotates the package P at an unwinding speed (a second speed) lower than the winding speed. Specifically, the drum drive motor 19 of the winding device 14 rotationally drives the winding drum 18 so as to allow the package P to be rotated at the unwinding speed based on the drive command from the unit controller 10. When starting the winding of the yarn Y in the package P, the winding device 14 rotates (performs forward rotation of) the package P in the winding direction. At this time, the winding device 14 rotates the package P at the speed (the second speed) of accelerating at a predetermined acceleration from the start of rotation until reaching the winding speed. Specifically, the drum drive motor 19 of the winding device 14 rotates and drives the winding drum 18 by accelerating the package P to the winding speed at the acceleration based on the drive command from the unit controller 10. When stopping the rotation of the package P, the winding device 14 stops the rotation of the package P in the winding direction or the unwinding direction. At this time, the winding device 14 rotates the package P at the speed (the second speed) reduced from the winding speed or the unwinding speed to a low speed at a predetermined deceleration until the package P stops. Specifically, the drum drive motor 19 of the winding device 14 rotationally drives the winding drum 18 so as to allow the package P to be decelerated and rotated at the deceleration until the package P stops based on the drive command from the unit controller 10. Each of the winding speed, the unwinding speed, the acceleration, and the deceleration is a speed set in advance, and can be freely and selectively set by an operator or the like.
[0033] The communication part 16 communicates with the doffing device 7. The communication part 16 and the doffing device 7 are provided to be able to communicate with each other by wireless communication such as infrared communication. The communication part 16 transmits and receives information (a signal, a command, a piece of data, and the like). The communication part 16 transmits information output from the unit controller 10 to the doffing device 7. The communication part 16 receives the information transmitted from the doffing device 7, and outputs the received information to the unit controller 10.
[0034] Each winder unit 3 includes an unwinding assisting device 20, a tension applying device 22, a tension detecting device 24, the yarn joining device 26, and a yarn monitoring device 28 arranged in this order from the yarn supplying device 12 between the yarn supplying device 12 and the winding device 14 in the travelling direction of the yarn Y. A first catching and guiding device 30 and a second catching and guiding device 32 are arranged in proximity to the yarn joining device 26.
[0035] The unwinding assisting device 20 prevents the yarn Y unwound from the yarn supplying bobbin SB from being excessively swung by a centrifugal force, and appropriately unwinds the yarn Y from the yarn supplying bobbin SB. The unwinding assisting device 20 includes a chase portion detecting sensor (a detection part) 21 adapted to detect a height of a chase portion of the yarn supplying bobbin SB. The chase portion refers to a yarn layer end downstream of the yarn supplying bobbin SB in the travelling direction of the winding operation. The chase portion detecting sensor 21 detects a position of the chase portion, which is a yarn unwinding portion, in the yarn supplying bobbin SB. The chase portion detecting sensor 21 is configured as, for example, a transmissive photosensor including a light projecting unit and a light receiving unit. The chase portion detecting sensor 21 outputs a detection signal (a detection result) of the chase portion to the unit controller 10.
[0036] The tension applying device 22 applies a predetermined tension to the travelling yarn Y. In the present embodiment, the tension applying device 22 is a gate-type device in which movable comb teeth are arranged with respect to fixed comb teeth.
[0037] The tension detecting device 24 detects the tension of the travelling yarn Y between the yarn supplying device 12 and the winding device 14. When the yarn Y is disconnected for some reason between the yarn supplying device 12 and the winding device 14 in the travelling direction of the yarn Y, the yarn joining device 26 joins the yarn Y on the side of the yarn supplying device 12 and the yarn Y on the side of the winding device 14.
[0038] The yarn monitoring device 28 monitors the state of the yarn Y travelling through a yarn path, and detects the presence or absence of a yarn defect based on monitored information. The yarn defect is, for example, at least one of a thickness abnormality of the yarn Y, a foreign substance contained in the yarn Y, yarn breakage, and the like. When detecting the yarn defect, the yarn monitoring device 28 outputs defect information to the unit controller 10.
[0039] The first catching and guiding device 30 is swingable from a standby position on the side of the yarn supplying device 12 to a catching position on the side of the winding device 14. The first catching and guiding device 30 catches the yarn Y at the catching position and guides the yarn Y to the yarn joining device 26. The second catching and guiding device 32 is swingable from a catching position on the side of the yarn supplying device 12 to a position on the side of the winding device 14, in which the caught yarn Y is guided to the yarn joining device 26 at the position.
[0040] When the package P is fully wound in the winder unit 3, the unit controller 10 outputs a doffing request command to request doffing to the communication part 16. The unit controller 10 detects the full winding of the package P based on the length of the yarn Y wound around the package P. The unit controller 10 outputs the doffing request signal to the communication part 16, and controls the operations of the winding device 14 and the yarn joining device 26.
[0041] The unit controller 10 outputs a drive command related to the doffing of the package P to a motor driver that controls the operation of the drum drive motor 19. Specifically, when doffing the package P, the unit controller 10 outputs, to the motor driver, the drive command to stop the rotation of the package P in the winding device 14. At this time, the unit controller 10 outputs an image capturing command to the communication part 16. The image capturing command is a command to instruct a first camera 72 and a second camera 73 (described later) of the doffing device 7 to perform image capturing. When the doffing of the package P is completed, the unit controller 10 outputs, to the motor driver, a drive command to rotate (perform forward rotation of) the package P in the winding direction in the winding device 14.
[0042] The unit controller 10 controls replacement of the yarn supplying bobbin SB in the yarn supplying device 12 based on the detection signal of the chase portion, in which the detection signal is output from the chase portion detecting sensor 21. The unit controller 10 acquires a storage amount of the yarn Y in the yarn supplying bobbin SB based on the detection signal output from the chase portion detecting sensor 21. The unit controller 10 instructs replacement of the yarn supplying bobbin SB when the storage amount of the yarn Y in the yarn supplying bobbin SB becomes equal to or less than a predetermined amount. The unit controller 10 controls the operation related to the replacement of the yarn supplying bobbin SB, and controls the operations of the winding device 14 and the yarn joining device 26.
[0043] The unit controller 10 outputs a drive command related to the replacement of the yarn supplying bobbin SB to the motor driver that controls the operation of the drum drive motor 19. Specifically, when replacing the yarn supplying bobbin SB, the unit controller 10 outputs, to the motor driver, the drive command to stop the rotation of the package P in the winding device 14. The unit controller 10 cuts the yarn Y simultaneously with the drive command of the rotation stop of the package P or after the rotation stop, and instructs the yarn joining device 26 to perform the yarn joining when the replacement of the yarn supplying bobbin SB is completed. In the process of the yarn joining by the yarn joining device 26, the unit controller 10 outputs, to the motor driver, a drive command to rotate (perform reverse rotation of) the package P in the unwinding direction in the winding device 14. At this time, the unit controller 10 outputs an image capturing command to the communication part 16. When the yarn joining in the yarn joining device 26 is completed, the unit controller 10 outputs, to the motor driver, a drive command to rotate (perform forward rotation of) the package P in the winding direction in the winding device 14. A timing at which the unit controller 10 outputs the image capturing command is not limited to when the winding device 14 rotates (reversely rotates) the package P in the unwinding direction. For example, the unit controller 10 may output the image capturing command when the package P is stopped after the package P is reversely rotated, when deceleration is performed to stop the package P, or when the package P is accelerated after the yarn joining is completed.
[0044] When the defect information is output from the yarn monitoring device 28, the unit controller 10 outputs a drive command related to the yarn joining to the motor driver that controls the operation of the drum drive motor 19. Specifically, when the defect of the yarn Y is detected, the unit controller 10 outputs, to the motor driver, a drive command to stop the rotation of the package P in the winding device 14. The unit controller 10 cuts the yarn Y at the same time as the rotation stop of the package P or after the rotation stop, and instructs the yarn joining device 26 to perform the yarn joining. In the process of the yarn joining by the yarn joining device 26, the unit controller 10 outputs, to the motor driver, a drive command to rotate (perform reverse rotation of) the package P in the unwinding direction in the winding device 14. At this time, the unit controller 10 outputs an image capturing command to the communication part 16. When the yarn joining in the yarn joining device 26 is completed, the unit controller 10 outputs, to the motor driver, a drive command to rotate (perform forward rotation of) the package P in the winding direction in the winding device 14. A timing at which the unit controller 10 outputs the image capturing command is not limited to when the winding device 14 rotates (reversely rotates) the package P in the unwinding direction. For example, the unit controller 10 may output the image capturing command when the package P is stopped after the package P is reversely rotated, when deceleration is performed to stop the package P, or when the package P is accelerated after the yarn joining is completed.
[0045] The process of the yarn joining is a process from the deceleration (deceleration from forward rotation) of the package P after the yarn cutting to the winding start of the package P after the yarn joining (until reaching the first speed). Preferably, the process of the yarn joining is a process from the rotation of the package P in the unwinding direction to the stop of the package P (from the rotation in the unwinding direction to the stop: stop at the time of the yarn joining).
[0046] The unit controller 10 performs determination control of determining the presence or absence of an abnormality of the package P based on the state of a first surface S1 (refer to FIG. 5A) of the package P and the state of a second surface S2 (refer to FIG. 5A) of the package P. The abnormality of the package P is different from a normal state (an ideal package P). Therefore, the abnormality of the package P does not necessarily mean that there is a problem in quality of the package P.
[0047] The unit controller 10 determines the presence or absence of the abnormality of the package P based on one or a plurality of pieces of image capturing data (image capturing results) transmitted from the doffing device 7. The unit controller 10 determines the presence or absence of the abnormality of the package P by, for example, image processing of the image capturing data. The unit controller 10 can determine the presence or absence of the abnormality of the package P by comparing a reference image (an image of the package P having no abnormality) with an image of the image capturing data. The unit controller 10 may determine the presence or absence of the abnormality of the package P using a learned model constructed by machine learning. Various known methods can be adopted as a method of determining the presence or absence of the abnormality of the package P in the unit controller 10.
[0048] The unit controller 10 can also specify a type of the abnormality of the package P together with the presence or absence of the abnormality of the package P. FIGS. 4A, 4B, 4C, 4D, 4E, 4F, 4G, and 4H are diagrams illustrating an example of the abnormality of the package P. FIG. 4A illustrates an example of a phenomenon in which the yarn Y falls from the first surface S1 (the second surface S2) of the package P, that is, so-called cob-webbing, and FIG. 4B illustrates an example of a phenomenon in which the cut end of the yarn Y protrudes from the first surface S1 (the second surface S2) of the package P, that is, so-called end surface drop. FIG. 4C illustrates an example of a phenomenon in which the first surface S1 (the second surface S2) of the package P bulges, that is, so-called bulge winding, and FIG. 4D illustrates an example of so-called wrinkles in which the yarn Y around the winding bobbin WB rises and flies out on the first surface S1 (the second surface S2) of the package P.
[0049] FIG. 4E illustrates an example of a phenomenon in which the yarn Y around the winding bobbin WB becomes a spider web on the first surface S1 (the second surface S2) of the package P, that is, a so-called spider web, and FIG. 4F illustrates an example of a phenomenon in which the yarn Y is wound along the same path on the first surface S1 (the second surface S2) of the package P, that is, so-called ribbon winding. FIG. 4G illustrates an example of a phenomenon in which the distal end of the yarn Y is released in a whisker-like shape on the first surface S1 (the second surface S2) of the package P, that is, so-called whisker winding, and FIG. 4H illustrates an example of a phenomenon in which a step is formed on the first surface S1 (the second surface S2) of the package P, that is, so-called annual ring winding.
[0050] The unit controller 10 may determine the presence or absence of the abnormality of the package P based on one piece of image capturing data according to the type of the abnormality of the package P. For example, when a feature appears on the entire first surface S1 (the second surface S2) of the package P as in the bulge winding illustrated in FIG. 4C, the unit controller 10 can determine the presence or absence of the abnormality of the package P based on one piece of image capturing data. Furthermore, in a case where similarity of the plurality of pieces of image capturing data is high (for example, in the case of image capturing data captured when the package P is stopped), the unit controller 10 may determine the presence or absence of the abnormality of the package P based on one piece of image capturing data among the plurality of pieces of image capturing data.
[0051] The type of the abnormality of the package P includes a level of the abnormality. The level of the abnormality is set according to a degree of abnormality in the type of abnormality. For example, when the abnormality is cob-webbing, the level of the abnormality is set to “large” cob-webbing, “small” cob-webbing, and the like. The level of the abnormality can be determined by various methods. For example, the level of the abnormality can be determined by subdividing the level (the degree of abnormality) with respect to the type of abnormality and learning the subdivided level in machine learning. Alternatively, the level of the abnormality can be determined, using image processing, based on the number of places recognized as an abnormality. The unit controller 10 determines the presence or absence of the abnormality of the package P, and determines the level of the abnormality when determining that the abnormality is present in the package P.
[0052] When determining that the abnormality is present in the package P, the unit controller 10 executes at least one of a notification of abnormality occurrence, abnormal stop of the winder unit 3, and continuation of the winding of the yarn Y by the winding device 14 according to the level of the abnormality. In the present embodiment, a content to be notified as the notification of the abnormality occurrence is at least one of the result of determining that the abnormality is present in the package P and the state of the winder unit 3 associated with the determination result. As a method of the notification, the abnormality occurrence may be displayed on the display screen 52, a lamp provided in the winder unit 3 may be turned on (blink), an alarm sound or the like may be sounded, or a combination thereof may be executed.
[0053] In the present embodiment, the abnormal stop of the winder unit 3 is the stop of the winding of the yarn Y by the winding device 14. In this case, the winding of the yarn Y by the winding device 14 is not resumed if the abnormality is not removed from the package P by an operator or the doffing by the doffing device 7 is not carried out. When the operator determines that the abnormality of the package P is slight, the winding of the yarn Y by the winding device 14 may be resumed without removing the abnormality from the package P. In this case, since the abnormality is not removed from the package P, it can be determined again that the same abnormality is present in the package P. Therefore, the unit controller 10 ignores the abnormality once determined in the package P.
[0054] Specifically, the unit controller 10 acquires a portion in which the yarn Y is wound around the package P after determining that there is the abnormality in the package P based on a diameter of the package P in an image determined to have the abnormality and a diameter of the package P in a newly captured image, and performs the abnormality determination in the portion. As a result, since the portion determined to have the abnormality in the package P is excluded from a target of the abnormality determination, the abnormality determined once can be ignored (not determined to be abnormal). In addition, the unit controller 10 can ignore the abnormality once determined based on the level of the abnormality. Specifically, the unit controller 10 does not determine, as an abnormality, an abnormality having a level which is the same as a level previously determined as an abnormality. The unit controller 10 does not determine, as an abnormality, an abnormality having a level lower than the level previously determined as the abnormality. As a result, since a previous level at which it is determined that there is an abnormality in the package P is excluded from the target of the abnormality determination, the abnormality determined once can be ignored.
[0055] The unit controller 10 stores the determination result of the package P when executing the continuation of the winding of the yarn Y by the winding device 14. Thus, the operator can determine whether the control according to the type of abnormality of the package P is appropriate by checking a record. Specifically, the operator can appropriately review the operation of the winder unit 3 registered according to the type of abnormality of the package P.
[0056] When stopping the winding of the yarn Y by the winding device 14, the unit controller 10 outputs, to the motor driver, the drive command to stop the rotation of the package P in the winding device 14. When stopping the winding of the yarn Y by the winding device 14, the unit controller 10 requests the doffing device 7 to perform doffing of the package P.
[0057] When receiving an input of instructing the winding of the yarn Y in the winding device 14 in response to the stop of the winding of the yarn Y by the winding device 14, the unit controller 10 resumes the winding of the yarn Y in the winding device 14. Specifically, when eliminating the abnormality of the package P in the winder unit 3 in which the winding of the yarn Y is stopped, the operator performs the input of instructing the winding. Alternatively, the operator confirms the package P in the winder unit 3 in which the winding of the yarn Y is stopped. Then, when determining to continue the winding of the yarn Y (when determining that the process or the like of eliminating the abnormality in the package P is not necessary), the operator performs the input of instructing the winding. For example, the operator may perform the input of instructing the winding of the yarn Y in the input unit 54 of the end frame 5, or may perform the input of instructing the winding of the yarn Y by an operation unit (not illustrated) of the winder unit 3.
[0058] The unit controller 10 may control the operation of the winder unit 3 according to the type of abnormality of the package P. For each type of abnormality of the package P, control such as stop of the rotation of the package P, doffing request of the package P, continuation of the winding of the yarn Y in the package P, or the like may be set. The unit controller 10 executes various operations corresponding to the type of abnormality of the package P. A correspondence relationship between the type of abnormality of the package P and the operation corresponding thereto may be set in advance before the winder unit 3 starts the operation, or may be set by being input from the operator or the like in the input unit 54 of the end frame 5 in response to the notification of the abnormality and the stop of the winding of the yarn Y in the winding device 14.
[0059] Next, the doffing device 7 will be described in detail.
[0060] The doffing device 7 is provided to be able to travel in the juxtaposition direction of the plurality of winder units 3. The doffing device 7 moves between the plurality of winder units 3 to perform the doffing of the package P (perform the dispensing of the package P). The package P doffed by the doffing device 7 is discharged to, for example, a placement unit (not illustrated) provided in the vicinity of each winder unit 3, and is collected by various means. The doffing device 7 may doff not only the fully-wound package P but also the non-fully-wound package P or the empty winding bobbin WB.
[0061] As illustrated in FIG. 3, the doffing device 7 includes a communication part 70, a doffing controller 71, the first camera (first image capturing device) 72, the second camera (second image capturing device) 73, a first illumination 74, and a second illumination 75. Although not illustrated in the drawing, the doffing device 7 further includes a bobbin supplying unit adopted to supply the empty winding bobbin WB to the winder unit 3, a package discharging unit adapted to doff and discharge the fully-wound package P from the winder unit 3, a yarn pull-out arm adapted to catch a lower yarn from the yarn supplying bobbin SB and guide the lower yarn to the empty winding bobbin WB, and the like.
[0062] The communication part 70 communicates with the communication part 16 of the winder unit 3. The communication part 70 transmits and receives information. The communication part 70 transmits the information output from the doffing controller 71 to the winder unit 3. The communication part 70 receives the information transmitted from the winder unit 3, and outputs the received information to the doffing controller 71.
[0063] The doffing controller 71 controls various operations of the doffing device 7, such as travel control and image capturing processing in the doffing device 7. The doffing controller 71 includes, for example, a CPU and a ROM. The ROM stores a program for controlling each configuration of the doffing device 7. The CPU executes the program stored in the ROM. The doffing controller 71 receives, from the unit controller 10 via the communication part 70, a doffing request signal of requesting the doffing of the package P when the package P is fully wound in one winder unit 3. The doffing controller 71 causes the winder unit 3 to travel and execute a doffing operation based on the doffing request signal.
[0064] The doffing controller 71 controls, based on an image capturing command output from the communication part 70, the first camera 72 and the second camera 73, and the first illumination 74 and the second illumination 75. The doffing controller 71 outputs, based on the image capturing command, the image capturing command to the first camera 72 and the second camera 73, and outputs an irradiation command to the first illumination 74 and the second illumination 75. The doffing controller 71 outputs image capturing data output from each of the first camera 72 and the second camera 73 to the communication part 70. The communication part 70 transmits the image capturing data to the winder unit 3 and the machine control device 50. The image capturing data can also be stored (managed) in the doffing controller 71.
[0065] Each of the first camera 72 and the second camera 73 captures an image of the package P. The first camera 72 captures an image of the first surface S1 of the package P. The first surface S1 is a surface orthogonal (substantially orthogonal) to a rotation axis A of the package P. The first surface S1 is an end surface of a small-diameter-side end in the package P. The second camera 73 captures an image of the second surface S2 of the package P. The second surface S2 is a surface orthogonal to the rotation axis A of the package P. The second surface S2 is an end surface of a large-diameter-side end in the package P.
[0066] As illustrated in FIGS. 5A and 5B, the first camera 72 and the second camera 73 are installed in a housing 76 of the doffing device 7. Specifically, the first camera 72 is arranged on the right side in the juxtaposition direction of the winder units 3 (the travelling direction of the doffing device 7) when the doffing device 7 is viewed from the back surface side (a direction in which FIG. 1 is viewed from the back side of the paper surface). That is, the first camera 72 is arranged on the left side of the housing 76 when the doffing device 7 is viewed from the front surface side (a direction in which FIG. 1 is viewed toward the back side of the paper surface). The second camera 73 is arranged on the left side in the juxtaposition direction of the winder units 3 when the doffing device 7 is viewed from the back surface side. That is, the second camera 73 is arranged on the right side of the housing 76 when the doffing device 7 is viewed from the front surface side.
[0067] Each of the first camera 72 and the second camera 73 captures the image of the package P based on the image capturing command output from the doffing controller 71. Each of the first camera 72 and the second camera 73 may capture an image for a predetermined time or may capture a predetermined number (one or more) of images. Each of the first camera 72 and the second camera 73 outputs the image capturing data to the doffing controller 71.
[0068] Each of the first illumination 74 and the second illumination 75 irradiates the package P with light. Each of the first illumination 74 and the second illumination 75 is, for example, an LED light. Each of the first illumination 74 and the second illumination 75 emits (turns on) light based on an irradiation instruction output from the doffing controller 71. The first illumination 74 irradiates the first surface S1 of the package P with light. The second illumination 75 irradiates the second surface S2 of the package P with light. Each of the first illumination 74 and the second illumination 75 is fixed to the housing 76 by a bracket (not illustrated).
[0069] Next, a description will be given as to an operation related to determination of the presence or absence of the abnormality of the package P in the automatic winder 1.
[0070] In the present embodiment, the doffing device 7 sequentially captures images of the package P from the winder unit 3 arranged at one end in the juxtaposition direction (an end on the side where the end frame 5 is arranged) toward the winder unit 3 arranged at the other end in the juxtaposition direction. Specifically, the doffing device 7 captures the images of the package P based on the image capturing command. The doffing device 7 may receive only the image capturing command from the winder unit 3 (the unit controller 10), or may receive the image capturing command and rotation information indicating a rotation state (stop in progress, reverse rotation (start), acceleration in progress (start), deceleration in progress, first speed, and the like) of the package P. That is, the winder unit 3 may transmit only the image capturing command to the doffing device 7, or may transmit the image capturing command and the rotation information thereto.
[0071] In the winder unit 3, numbers (for example, 1 to N) are sequentially set from one end to the other end in the juxtaposition direction. The doffing device 7 sequentially captures the images of the package P in the order of numbers (in ascending order of numbers) set in the winder unit 3. When the winder unit 3 that is not operated temporarily exists, and the like, the image of the package P of the winder unit 3 subsequent to the winder unit 3 is captured. When the winder unit 3 is operated, the doffing device 7 is moved to the winder unit 3 so as to capture the image of the package P. When the abnormality determination of the package P cannot be made in the winder unit 3, the doffing device 7 may wait for an image capturing opportunity in the winder unit 3 without updating the standby position (without moving to the next winder unit 3), or may move to the next winder unit 3 regardless of the success/failure of the abnormality determination of the package P. When the abnormality determination of the package P cannot be made, the doffing device 7 may rotate the package P before doffing the package P so as to capture the image of the package P.
[0072] The doffing device 7 waits in front of (in the vicinity of) the winder unit 3, which is a target of image capturing of the package P, and captures the image of the package P based on the image capturing command output from the unit controller 10. Specifically, when receiving the image capturing command transmitted from the winder unit 3 which is the target of the image capturing of the package P, the doffing device 7 captures the image of the package P of the winder unit 3. When the doffing request instruction is transmitted from the winder unit 3 different from the winder unit 3 which is the target of the image capturing of the package P, the doffing device 7 executes the doffing operation in the different winder unit 3, and returns to the original standby position after the end of the doffing operation. When the doffing operation is executed in the winder unit 3 different from the winder unit 3 which is the target of the image capturing of the package P, image capturing may be executed if the image capturing of the package P is possible.
[0073] As described above, in the automatic winder 1 according to the present embodiment, the unit controller 10 causes the first camera 72 and the second camera 73 of the doffing device 7 to capture the images of the first surface S1 and the second surface S2 of the package P when the rotation speed of the package P is at a speed lower than the winding speed (unwinding speed, acceleration, deceleration, and rotation stop). The automatic winder 1 can acquire the image capturing data in which the states of the first surface S1 and the second surface S2 appear as compared with a case in which the images of the first surface S1 and the second surface S2 are captured when the package P is rotated at the winding speed. Therefore, the automatic winder 1 can accurately acquire the states of the first surface S1 and the second surface S2 of the package P. Therefore, in the automatic winder 1, the accuracy of the abnormality determination of the package P can be improved.
[0074] The low speed does not mean that the speed is low at the time of comparing the speed in the rotation direction with the winding speed (the first speed), the unwinding speed (the second speed), and the like, but means that the speed is low at the time of comparing magnitudes of the speed with the winding speed, the unwinding speed, and the like. That is, the low speed is not a vector quantity but a speed in a scalar quantity.
[0075] In the automatic winder 1 according to the present embodiment, when determining that there is an abnormality in the package P, the unit controller 10 abnormally stops the winder unit 3 forming the package P. In this configuration, the yarn Y can be avoided from being unnecessarily wound around the package P in which the abnormality has occurred.
[0076] In the automatic winder 1 according to the present embodiment, the unit controller 10 resumes the winding of the yarn Y in the winding device 14 when receiving the input of instructing the winder unit 3 abnormally stopped to perform the winding of the yarn Y in the winding device 14. In this configuration, since the winding of the yarn can be resumed after the operator confirms the package P and removes the abnormality, deterioration in production efficiency can be prevented.
[0077] In the automatic winder 1 according to the present embodiment, the unit controller 10 may specify a type of abnormality of the package P based on the image capturing data, and execute, according to the type of abnormality of the package P, at least one of the notification of abnormality occurrence, the abnormal stop of the winder unit 3, and the continuation of the winding of the yarn Y by the winding device 14. Some abnormality types of the package P do not affect the quality or the like of the package P. Therefore, an operation in response to the type of abnormality of the package P is executed, thereby making it possible to perform control according to the quality standard.
[0078] In the automatic winder 1 according to the present embodiment, when determining that there is the abnormality in the package P, the unit controller 10 causes, when the type of abnormality is a predetermined type, the winding device 14 to continue the winding of the yarn Y. In this configuration, even if the abnormality occurs in the package P, the winding of the yarn in the package P is not stopped, thereby making it possible to prevent deterioration in production efficiency.
[0079] In the automatic winder 1 according to the present embodiment, the unit controller 10 sets, when receiving an input in which a type of abnormality of the package P determined to have the abnormality is set as a predetermined type, the winder unit 3 abnormally stopped as the predetermined type of abnormality. In this configuration, when the operator confirms the package P of the winder unit 3 abnormally stopped, determines that the abnormality of the package P satisfies the quality standard, and inputs that the abnormality is a predetermined abnormality, the formation of the package P determined to have the abnormality is continuously performed thereafter. Therefore, deterioration in production efficiency can be prevented.
[0080] In the automatic winder 1 according to the present embodiment, the winder unit 3 includes the yarn monitoring device 28 adapted to monitor the yarn Y wound around the package P, and the yarn joining device 26 adapted to join the yarn Y on the side of the yarn supplying bobbin SB and the yarn Y on the side of the package P. The unit controller 10 cuts the yarn Y based on the monitoring result of the yarn monitoring device 28, and rotates the package P at the unwinding speed in the process of the yarn joining in the yarn joining device 26 after cutting of the yarn Y. In the process of forming the package P, the cutting of the yarn Y caused by a yarn defect may occur a plurality of times. In the process of the yarn joining in the yarn joining device 26 after the cutting of the yarn Y, the package P is rotated in the unwinding direction at the unwinding speed. Therefore, in the process of forming the package P, it is possible to secure at least one opportunity of capturing the image of the package P using the first camera 72 and the second camera 73.
[0081] In the automatic winder 1 according to the present embodiment, the winder unit 3 includes the chase portion detecting sensor 21 adapted to detect the height of the chase portion of the yarn supplying bobbin SB. The unit controller 10 acquires the storage amount of the yarn Y in the yarn supplying bobbin SB based on the detection signal of the chase portion output from the chase portion detecting sensor 21. The unit controller 10 replaces the yarn supplying bobbin SB in the winder unit 3 based on the storage amount of the yarn Y, and rotates the package P at the unwinding speed in the process of the yarn joining in the yarn joining device 26 after the replacement of the yarn supplying bobbin SB is performed. In the process of forming the package P, the yarn joining caused by the replacement of the yarn supplying bobbin SB may occur a plurality of times. In the process of the yarn joining in the yarn joining device 26, the package P is rotated in the unwinding direction at the unwinding speed. Therefore, in the process of forming the package P, it is possible to secure at least one opportunity of capturing the image of the package P using the first camera 72 and the second camera 73.
[0082] In the automatic winder 1 according to the present embodiment, the unit controller 10 captures the images of the first surface S1 and the second surface S2 of the package P in the process of the doffing operation in the doffing device 7. In the process of the doffing operation by the doffing device 7, the rotation speed is decelerated when the rotation of the package P is stopped. Therefore, by instructing image capturing in the process of the doffing operation, it is possible to secure at least one opportunity of capturing the image of the package P by the first camera 72 and the second camera 73.
[0083] In the automatic winder 1 according to the present embodiment, the unit controller 10 may cause the doffing device 7 to perform the doffing of the package P when determining that there is the abnormality in the package P. In this configuration, the yarn Y is not wound around the package P determined to have the abnormality. Therefore, the yarn Y can be avoided from being unnecessarily wound around the package P having the abnormality.
[0084] In the automatic winder 1 according to the present embodiment, each of the first camera 72 and the second camera 73 is provided at a position where the images of the first surface S1 or the second surface S2 of the package P are captured at a position where the doffing device 7 doffs the package P. The unit controller 10 may determine the presence or absence of the abnormality of the package P based on a plurality of pieces of image capturing data obtained by performing image capturing using each of the first camera 72 and the second camera 73. In this configuration, even in a case where there is an area that is a blind spot in the angle of view of each of the first camera 72 and the second camera 73, it is possible to determine the abnormality on the whole surfaces of the first surface S1 and the second surface S2 of the package P by using the plurality of pieces of image capturing data.
[0085] In the automatic winder 1 according to the present embodiment, the doffing device 7 includes the first camera 72 that captures the image of the first surface S1 of the package P and the second camera 73 that captures the image of the second surface S2 of the package P. In this configuration, the images of the first surface S1 and the second surface S2 of the package P can be captured at the same timing (simultaneously). Therefore, the time related to the image capturing can be shortened.
[0086] In the automatic winder 1 according to the present embodiment, the unit controller 10 causes the first camera 72 and the second camera 73 to capture the image of the package P in order from the winder unit 3 on one side in the juxtaposition direction of the plurality of winder units 3. The doffing controller 71 causes the doffing device 7 to stand by in the vicinity of the winder unit 3 serving as an image capturing target. In this configuration, the presence or absence of the abnormality of the package P can be determined in each winder unit 3. Furthermore, since the doffing device 7 is caused to stand by in the vicinity of the winder unit 3 serving as an image capturing target, a moving time of the doffing device 7 can be shortened, and an efficient operation can be performed.
[0087] Although the embodiments of the present invention have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications can be made without departing from the gist thereof.
[0088] In the embodiments described above, a description has been given, as an example, as to a mode in which a yarn winding system is the automatic winder 1. However, the yarn winding system may be a spinning machine. In this case, the winding unit is a spinning unit. Further, the travelling cart may be a yarn joining cart, a blow cleaner, or a dedicated cart for image capturing.
[0089] In the embodiments described above, a description has been given, as an example, as to a mode in which the travelling cart is the doffing device. However, the travelling cart may be, for example, a blow cleaner or a dedicated cart for image capturing.
[0090] In the embodiments described above, a description has been given, as an example, as to a mode in which the doffing device 7 includes the first camera 72 and the second camera 73. However, the number of cameras (image capturing devices) may be one. In this case, it is sufficient to have a configuration in which the image of each of the first surface S1 and the second surface S2 of the package P is captured by one camera. For example, a stop position for the first surface S1 and a stop position for the second surface S2 of the package P may be set as a stop position of the doffing device 7, and an image capturing viewpoint may be configured to be switched at the respective positions.
[0091] In the embodiments described above, as illustrated in FIG. 5A, a description has been given, as an example, as to a mode in which the first camera 72 and the second camera 73 are arranged at bilaterally symmetrical positions in the housing 76 of the doffing device 7. That is, the first camera 72 and the second camera 73 are respectively disposed at positions where a distance between the first camera 72 and the package P and a distance between the second camera 73 and the package P are equal to each other at the position where the doffing of the package P is performed. However, the positions at which the first camera 72 and the second camera 73 are respectively arranged are not limited thereto. For example, the first camera 72 may be disposed closer to the package P at the position where the doffing of the package P is performed than the second camera 73 in the travelling direction (the juxtaposition direction of the winder unit 3).
[0092] In the winding device 14 of the winder unit 3, the cradle arm of the cradle 17 is arranged on one side in the juxtaposition direction of the winder unit 3. The cradle arm is operated by the doffing device 7 to release the holding of the package P. In such a configuration, in a case where the first camera 72 is provided on the other side in the juxtaposition direction of the winder unit 3, and the second camera 73 is provided on one side in the juxtaposition direction, when the image of the package P of one winder unit 3 is captured, the cradle arm of the winder unit 3 adjacent to the one winder unit 3 enters the angle of view of the first camera 72, and a part of the first surface S1 (end surface) of the package P, the image of which is to be captured, is blocked by the cradle arm, and the image thereof cannot be captured, depending on the interval of the arrangement of the plurality of winder units 3. Therefore, the first camera 72 is disposed closer to the package P than the second camera 73, thereby making it possible to prevent the cradle arm from entering the angle of view of the first camera 72. Therefore, the first camera 72 can appropriately capture the image of the first surface S1 of the package P.
[0093] In the embodiments described above, a description has been given, as an example, as to a mode in which the presence or absence of the abnormality of the package P is determined in the unit controller 10. However, the determination of the presence or absence of the abnormality of the package P may be performed by the doffing controller 71 of the doffing device 7 or may be performed by the machine control device 50.
[0094] In the embodiments described above, a description has been given, as an example, as to a mode in which the unit controller 10 specifies the presence or absence of the abnormality of the package P and the type of the abnormality of the package P. However, the unit controller 10 may not specify the type of the abnormality of the package P. That is, the unit controller 10 may determine only the presence or absence of the abnormality of the package P.
[0095] In the embodiments described above, a description has been given, as an example, as to a mode in which the level of the abnormality is determined after the determination of the abnormality in the unit controller 10, and, when it is determined that the abnormality exists in the package P, at least one of the notification of abnormality occurrence, the abnormal stop of the winder unit 3, and the continuation of the winding of the yarn Y by the winding device 14 is executed according to the level of the abnormality. However, the unit controller 10 may not determine the level of the abnormality.
[0096] In the embodiments described above, a description has been given, as an example, as to a mode in which the winder unit 3 and the doffing device 7 communicate with each other by wireless communication. However, the communication between the winder unit 3 and the doffing device 7 may be performed via the machine control device 50.
[0097] In the embodiments described above, a description has been given, as an example, as to a mode in which the doffing device 7 includes the doffing controller 71. However, the operation of the doffing device 7 may be controlled by the machine control device 50.
[0098] In the embodiments described above, a description has been given, as an example, as to a mode in which each winder unit 3 includes the unit controller 10. However, the operation of the winder unit 3 may be controlled by the machine control device 50.
[0099] In the embodiments described above, a description has been given, as an example, as to a mode in which the doffing device 7 causes the first camera 72 and the second camera 73 to capture the image of the package P in order from the winder unit 3 on one side in the juxtaposition direction of the plurality of winder units 3. However, the unit controller 10 may set a higher priority in order from the winder unit 3 on one side in a direction in which the plurality of winder units 3 are arranged, cause the doffing device 7 to stand by in the vicinity of the winder unit 3 having the highest priority, and lower the priority of the winder unit 3 in which image capturing of the package P is performed than the lowest priority. In this configuration, the priority is set according to a status (an operation state or the like) of the winder unit, so that the efficient image capturing of the package P becomes possible.
[0100] When an image capturing opportunity of the package P, such as yarn cutting based on the monitoring result of the yarn monitoring device 28 of the winder unit 3, occurs in the winder unit 3, the unit controller 10 may cause the travelling cart to capture the image of the package P each time. In this case, a travel request for the travelling cart becomes the image capturing command. When the travelling cart is the doffing device 7, the doffing operation is preferentially executed rather than the image capturing of the package P.
, Claims:We claim:

1. A yarn winding system comprising:
a textile machine including a plurality of winding units, each of the winding units forming a package;
a travelling cart provided so as to be capable of traveling along a direction in which the plurality of winding units are arranged; and
a controller configured to control operations of each of the winding units and the travelling cart, wherein
each of the plurality of winding units includes a yarn supplying part configured to be capable of supplying a yarn and a winding part configured to wind the yarn supplied from the yarn supplying part around the package by rotating the package in a winding direction at a first speed,
the travelling cart includes an image capturing device configured to capture an image of at least one of a first surface and a second surface of the package, the first surface and the second surface being orthogonal to a rotation axis of the package, and
the controller is configured to
cause the image capturing device of the travelling cart to capture the image of at least one of the first surface and the second surface of the package when a rotation speed of the package is a second speed being lower than the first speed, and
determine presence or absence of an abnormality of the package based on an image capturing result of image capturing by the image capturing device.

2. The yarn winding system as claimed in claim 1, wherein the second speed is at least one of a speed when the package is rotated in an unwinding direction opposite the winding direction, a speed when rotation of the package is decelerated in a case of stopping the rotation of the package, and a speed when the rotation of the package is accelerated from a start of the rotation of the package to the first speed.

3. The yarn winding system as claimed in claim 1 or 2, wherein the controller is configured to abnormally stop, when determining that there is the abnormality in the package, the winding unit forming the package.

4. The yarn winding system as claimed in claim 3, wherein the controller is configured to resume the winding of the yarn in the winding part upon receiving an input instructing winding of the yarn in the winding part with respect to the abnormally stopped one of the winding units.

5. The yarn winding system as claimed in one of claims 1 to 4, wherein
the controller is configured to
specify a type of the abnormality of the package based on the image capturing result, and
execute at least one of a notification of abnormality occurrence, abnormally stopping one of the winding units and continuation of the winding of the yarn by the winding part according to the type of the abnormality of the package.

6. The yarn winding system as claimed in claim 5, wherein the controller is configured to continuously perform the winding of the yarn in the winding part upon determining that there is the abnormality in the package and the type of the abnormality is a predetermined type.

7. The yarn winding system as claimed in claim 6, wherein the controller is configured to set the abnormally stopped one of the winding units as the predetermined type of the abnormality upon receiving an input of setting the type of the abnormality of the package determined to have the abnormality as the predetermined type.

8. The yarn winding system as claimed in one of claims 1 to 7, wherein
the winding units each include a yarn monitoring device configured to monitor the yarn to be wound around the package and a yarn joining device configured to join the yarn on a side of the yarn supplying part and the yarn on a side of the package, and
the controller is configured to cut the yarn based on a monitoring result of the yarn monitoring device and to rotate the package at the second speed in a process of yarn joining in the yarn joining device after the yarn has been cut.

9. The yarn winding system as claimed in one of claims 1 to 8, wherein
the yarn supplying part is configured to supply the yarn by unwinding and drawing out the yarn from a yarn supplying bobbin,
the winding units each include a detection part configured to detect a storage amount of the yarn in the yarn supplying bobbin and a yarn joining device configured to join the yarn on the side of the yarn supplying part and the yarn on the side of the package, and
the controller is configured to replace the yarn supplying bobbin in each of the winding units based on a detection result of the detection part and to rotate the package at the second speed in a process of the yarn joining in the yarn joining device after the yarn supplying bobbin has been replaced.

10. The yarn winding system as claimed in one of claims 1 to 9, wherein
the travelling cart is a doffing device configured to doff the package from each of the winding units, and
the controller is configured to cause the image of at least one of the first surface and the second surface of the package to be captured in a process of at least a doffing operation in the doffing device.

11. The yarn winding system as claimed in claim 10, wherein the controller is configured to cause the doffing device to doff the package upon determining that there is the abnormality in the package.
12. The yarn winding system as claimed in claim 10 or 11, wherein
the image capturing device is provided at a position where the image capturing device captures the image of a part of at least one of the first surface and the second surface of the package at a position where the doffing device performs doffing of the package, and
the controller is configured to determine the presence or absence of the abnormality of the package based on a plurality of image capturing results of the image capturing by the image capturing device.

13. The yarn winding system as claimed in one of claims 10 to 12, wherein the image capturing device includes a first image capturing device and a second image capturing device, the first image capturing device capturing the image of the first surface of the package, and the second image capturing device capturing the image of the second surface of the package.

14. The yarn winding system as claimed in claim 13, wherein
the winding part provided in each of the plurality of winding units includes a cradle arm provided on one side in the direction in which the plurality of winding units are arranged and is configured to release holding of the package by being operated by the doffing device,
the second image capturing device is provided on the one side in the direction in which the plurality of winding units are arranged, and
the first image capturing device is provided on another side in the direction in which the plurality of winding units are arranged and is disposed closer to the package at the position where the doffing device performs the doffing of the package than the second image capturing device in said direction.

15. The yarn winding system as claimed in one of claims 1 to 14, wherein
the controller is configured to
cause the image capturing device to capture the image of the package in order from one of the winding units on one side in the direction in which the plurality of winding units are arranged, and
cause the travelling cart to stand by in proximity of one of the winding units serving as an image capturing target.

16. The yarn winding system as claimed in one of claims 1 to 14, wherein
the controller is configured to
set a higher priority in order from one of the winding units on one side in the direction in which the plurality of winding units are arranged,
cause the travelling cart to stand by in proximity of one of the winding units having a highest priority, and
lower a priority of one of the winding units for which the image of the package has been captured below a lowest priority.