Patent ID: 11969903
Assignee: ZHEJIANG HENGYI PETROCHEMICAL CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A control method, comprising:
obtaining a first target image collected by a first collection device and a second target image collected by a second collection device, in a case of determining that characteristic information of a mechanical gripper satisfies a first preset requirement; wherein the first collection device is configured to perform image collection for the mechanical gripper; and the second collection device is configured to perform image collection for a target spindle with yarn on a loading cart to be grabbed by the mechanical gripper;
detecting a first center position of the mechanical gripper in the first target image;
detecting a second center position of the target spindle with yarn in the second target image; and
generating a calibration instruction, in a case of determining that a target position relationship between the first center position and the second center position does not satisfy a second preset requirement, wherein the calibration instruction is used to calibrate a center position of the mechanical gripper or to calibrate a center position of the target spindle with yarn to be grabbed by the mechanical gripper.