A creel assembly having an outer wall defines an interior space, a plurality of yarn package engagement locations distributed within the interior space, a gantry that is movable secured within the interior space, and at least one processor. The gantry is positioned to selectively engage yarn packages within the interior space. In use, the gantry can selectively access the plurality of yarn package engagement locations. The processor is communicatively coupled to the gantry and receives an input corresponding to a selected action by the gantry. Modular creel systems can be formed from a plurality of the disclosed creel assemblies. Methods of using and assembling the disclosed creel assemblies and modular creel systems are also disclosed.

A cable conveying apparatus including a first feed robot configured to feed a box containing cable, a first transfer robot configured to take the cable out of the box fed by the first feed robot and insert the cable into a pallet, and a scanner placed in a path of one of the first feed robot, the first transfer robot, and the box, the scanner being configured to acquire information about the cable.

Systems and methods for loading and delivering stalk subassemblies and yarn packages are disclosed herein. Such systems and methods can have at least one processor, at least one automated guided vehicle, at least one creel assembly, and an automated creel loading assembly. The at least one automated guided vehicle can be communicatively coupled to the at least one processor. The at least one processor can be configured to selectively direct an automated guided vehicle to engage a respective stalk subassembly. Upon engagement between the automated guided vehicle and the stalk subassembly, the processor can be configured to selectively direct the automated guided vehicle to move about and between the selected operative position within the creel assembly and a loading position proximate the automated creel loading assembly.

A gripping tool, a gripping device, and a gripping method for reel-type and/or disk-type gripping objects, in particular SMD rolls. The gripping tool, which can be automatically handled and operated, has a frame having a connection, in particular a robot connection, and has a gripper having a controllable adjusting device, wherein the gripper is provided and designed for laterally guiding and for centrally gripping and supporting the gripped object.

The present invention relates to a transport vehicle for a textile mill having a driving unit which is designed to drive autonomously to a defined destination within a textile mill, a carrying unit which is arranged on the driving unit, the carrying unit having an upper carrying surface facing away from the driving unit for carrying a unit to be transported which can have a textile material loaded onto it and unloaded from it. The transport vehicle further has a loading and unloading device with a loading and unloading arm having a conveyor unit for loading the textile material onto the unit to be transported and unloading the textile material from it. In order to be able to handle textile material within a textile mill in an improved manner, there is provision for the unit to be transported to be formed by a package buffer fixed on the upper carrying surface and each having a plurality of storage points for storing at least one wound or non-wound tube body, and/or by a tube handling unit fixedly arranged on the carrying unit at least for autonomously handling the tube body which can be stored in at least one storage point arranged on the upper carrying surface. In this case, the loading and unloading device is fixed to the carrying unit, in particular to the upper carrying surface, or to the unit to be transported, in which case the storage point can be loaded and unloaded by the loading and unloading device with the tube body.

Disclosed is a system for the loading of yarn packages on a creel assembly. The system may include a creel assembly with at least one lateral face having a plurality of receiving bullhorns arranged outwardly according to a horizontal axis to engage a respective yarn package, and a loading device movable along a path arranged along the creel assembly. The loading device may include a detection means to identify an empty receiving bullhorn of the creel assembly, a positioning means to adjust a bullhorn carrying a yarn package to be loaded onto the creel assembly so that the free end of this bullhorn is placed in front of the free end of the empty receiving bullhorn of the creel assembly, and a transfer mechanism for the effecting translation of the yarn package to the empty receiving bullhorn of the creel assembly.

Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

A lifting system for inner yarn rails is provided. The system includes an in-air conveying rail, and a carrier unit, wherein the in-air conveying rail is configured to convey the carrier unit, and the carrier unit is configured to carry a winding package; an inner yarn-carrier-lifting section is arranged on the in-air conveying rail, the inner yarn-carrier-lifting section is positioned on both sides of a twisting machine; when the inner yarn-carrier-lifting section rises, it communicates with the in-air conveying rail; when the inner yarn-carrier-lifting section descends, it approaches the position of a spindle bucket of the twisting machine.

Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.