Pallet recycling method, electronic device and storage medium

An electronic device comprised in a yarn spindle packaging system, wherein the electronic device communicates with an image acquisition device and a pallet diversion device respectively, comprising:

• at least one processor;
• and
• a memory connected in communication with the at least one processor;
• wherein the memory stores an instruction executable by the at least one processor, and the instruction, when executed by the at least one processor, enables the at least one processor to execute:
• after a robot grabs M yarn spindles to be packaged from a yarn spindle trolley through N grippers, controlling the image acquisition device to shoot towards the N grippers to obtain a grabbing result representation image;
• wherein each of the N grippers is capable of grabbing one yarn spindle to be packaged, N≥2 and N is an integer, 0≤M≤N and M is an integer;
• wherein the grabbing result representation image comprises N multi-view images corresponding to the N grippers one by one, and the target pallet group comprises a total of N yarn spindle pallets corresponding to the N grippers one by one, to establish a one-to-one correspondence between the N yarn spindle pallets and the N multi-view images;
• after the robot places the M yarn spindles to be packaged one by one on M yarn spindle pallets comprised in a target pallet group arranged on a main line of an assembly line, and when determining that there is a pallet to be recycled in the target pallet group based on the grabbing result representation image, by:
• for each of the N multi-view images, in a case of it is determined that there is no yarn spindle image for representing a yarn spindle to be packaged in the multi-view image, determining that there is a pallet to be recycled in the target pallet group, and taking a yarn spindle pallet corresponding to the multi-view image among the N yarn spindle pallets as the first pallet to be recycled;
• and
• in a case of it is determined that there is a yarn spindle image for representing a yarn spindle to be packaged in the multi-view image and determining that the yarn spindle image has a defect feature through a defect detection network, determining that there is a pallet to be recycled in the target pallet group, and taking a yarn spindle pallet corresponding to the multi-view image among the N yarn spindle pallets as the second pallet to be recycled;
• and
• controlling the pallet diversion device to divert the pallet to be recycled from the main line of the assembly line to a branch line of the assembly line to realize recycling of the pallet to be recycled;
• wherein the pallet to be recycled is an empty first pallet to be recycled or a second pallet to be recycled on which a yarn spindle to be packaged is initially evaluated as a graded yarn spindle.