CPC B25J 9/163 (2013.01) [B25J 9/1697 (2013.01); G06V 10/7715 (2022.01); G06V 10/82 (2022.01); G06V 20/50 (2022.01)] | 20 Claims |
1. A control method, comprising:
in a case of a first spindle with yarn with a first identifier is transported on a transport channel and it is determined that a first number of first spindles with yarn located in a preset area needs to be detected, detecting the first number of first spindles with yarn located in the preset area; wherein the transport channel is a channel for transporting spindles with yarn in an automatic packaging workshop and is used to transport the transported spindles with yarn to the preset area; the preset area is a working area radiated by a first mechanical arm; and the first mechanical arm is used to grab a plurality of spindles with yarn in the radiated working area and transfer the plurality of spindles with yarn grabbed to a target position; and
in a case of the first number of first spindles with yarn located in the preset area is less than a total number of spindles with yarn that the first mechanical arm can grab, determining a target number of first spindles with yarn that need to be replenished, and generating a first control instruction; wherein the first control instruction is used to instruct a second mechanical arm to grab the target number of first spindles with yarn from a target trolley associated with the first identifier of the first spindle with yarn, and place the target number of first spindles with yarn in the transport channel or preset area.
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