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Doffing robot scheduling method and system

A scheduling method and robot technology, applied in control/regulation systems, instruments, motor vehicles, etc., can solve the problems of long waiting time for spinning machines, affecting the production efficiency of textile workshops, and mutual interference between robots, so as to facilitate programming and realization , obstacle avoidance rules and path planning algorithms are simple and easy to arrange

Active Publication Date: 2020-05-19
CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of the simultaneous operation of multiple doffing robots in the textile workshop, a reasonable scheduling system is required to assign tasks and plan running trajectories for each robot. Otherwise, robots may interfere with each other and collide. If the scheduling is unreasonable , there may be problems such as too long waiting time for spinning machine doffing, too much downtime, etc., which will affect the production efficiency of the textile workshop

Method used

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  • Doffing robot scheduling method and system
  • Doffing robot scheduling method and system
  • Doffing robot scheduling method and system

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Embodiment 1

[0044] This embodiment provides a scheduling method for doffing robots. According to the layout characteristics of the textile workshop, a topology map matching the environment of the textile workshop is set. The topology map is composed of points and lines. The points represent the actual coordinates of the workshop where the doffing robot runs in the textile workshop, and the lines represent the path of the doffing robot. Points can be RFID tags, QR codes, etc. that can represent the actual coordinates of the workshop, and each point has a unique number corresponding to it. Lines can be magnetic strips, ribbons, etc. that can guide the trajectory of the doffing robot, and the specific forms of points and lines are determined according to the navigation method of the doffing robot.

[0045] Such as figure 2 as shown, figure 2 A schematic diagram of the topological map of the textile workshop. The spinning machines are fixedly installed in the textile workshop in a neat and...

Embodiment 2

[0066] Such as Figure 4 As shown, this embodiment provides a doffing robot scheduling system on the basis of Embodiment 1. By setting a topology map that matches the textile workshop environment, and combining the actual coordinates of the workshop to plan the running path of the doffing robot, multiple Scheduling by doffing robots; the system includes:

[0067] The planning module 21 is used for the upper computer to plan the running path for each doffing robot performing tasks according to the topological map matched with the textile workshop environment and in combination with the actual coordinates of the textile workshop;

[0068] The scheduling module 22 is used for the upper computer to put the doffing tasks into the request queue according to the order of the doffing requests proposed by the spinning machine, and assign the planned path to the idle doffing robot to schedule the idle doffing robot to execute Task;

[0069] The confirmation module 23 is used for the u...

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Abstract

The invention provides a method for scheduling doffing robots. The method which is used for scheduling a plurality of doffing robots by setting a topological map matched with the environment of a textile workshop and planning the running paths of the doffing robots in combination with the actual coordinates of the workshop. The invention provides the method and a system for scheduling the doffingrobots. The arrangement characteristics of a spinning workshop are reasonably utilized; the doffing robots can execute respective tasks in the spinning workshop at the same time, mutual interference and mutual collision are avoided, the task and the operation path of each robot can be reasonably planned, the use efficiency of each robot is improved, the downtime of a spinning machine is shortened,and therefore, the production efficiency of the spinning machine is improved.

Description

technical field [0001] The invention relates to the technical field of automatic control of the textile industry, in particular to a scheduling method and system for a doffing robot. Background technique [0002] Dozens to hundreds of spinning machines are usually arranged in a textile workshop, and these spinning machines usually perform spinning operations continuously for 24 hours. Each spinning machine will finish spinning a batch of spindles every two to three hours. At this time, it needs to perform operations such as doffing, tube insertion, and bobbin transportation. At present, small and medium-sized textile enterprises mostly use manual doffing, which has the characteristics of high labor intensity and low production efficiency. The use of intelligent doffing robots can replace manual operations and realize functions such as automatic doffing, automatic intubation, and automatic transportation. Obviously, a single doffing robot cannot meet the production needs of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0289G05D1/0295Y02P90/02
Inventor 肖剑郑彬张同华赵永廷高鹏孙小勇王小军
Owner CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI