Yarn spindle packaging system and control method thereof, control device, and electronic device, storage medium, and program

Abstract

To provide a yarn spindle packaging system, a control method, a control device, and an electronic device, a storage medium, and a program.SOLUTION: A yarn spindle packaging system comprises: a control device, a scheduling device, a plurality of stand-alone devices, and a plurality of AGV devices. The control device is used to generate request information. The scheduling device is used to generate a scheduling command, on the basis of the request information and the plurality of AGV devices. Each of the stand-alone devices is used for a packaging task of the stand-alone device and a device control parameter transmitted from the control device. A target AGV device is used for: deciding a first stand-alone device and a second stand-alone device corresponding to the target AGV device on the basis of the scheduling command; and conveying to a target yarn spindle package from the first stand-alone device to the second stand-alone device.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to the field of smart chemical fiber technology, and in particular to a wound yarn package packaging system, a control method thereof, a control device thereof, an electronic device, a storage medium, and a program. [Background technology]

[0002] In the process of wrapping a yarn package, wrapping the yarn package includes multiple wrapping steps, each of which is realized by a different stand-alone device. Conventionally, the transport of the yarn package from the current stand-alone device to the next stand-alone device is usually realized by a conveyor belt. However, the method of transporting the yarn package by a conveyor belt lacks flexibility and cannot realize the smartification of the entire process of wrapping the yarn package. Therefore, how to realize the smart winding package transport has become a technical problem that needs to be solved as soon as possible. Summary of the Invention [Problem to be solved by the invention]

[0003] The present disclosure provides a wound yarn package packaging system, a control method thereof, a control device thereof, an electronic device, a storage medium, and a program. [Means for solving the problem]

[0004] In a first aspect, the present disclosure provides a wound yarn package packaging system, comprising a control device, a scheduling device, a plurality of standalone devices, and a plurality of Automated Guided Vehicle (AGV) devices, wherein the control device is adapted to generate packaging tasks and device control parameters for each standalone device based on a number and type of wound yarn packages to be packaged; Each standalone device is used for receiving a corresponding packaging task and device control parameters of the standalone device transmitted from the control device, executing the corresponding packaging task of the standalone device based on the corresponding device control parameters of the standalone device, and transmitting operation data corresponding to the corresponding packaging task of the standalone device to the control device; the control device is further used for generating request information based on the operation data returned from each standalone device; The scheduling device is used to generate a scheduling command for scheduling a movement of the target AGV device based on the requirement information and the state information of the plurality of AGV devices; The target AGV device is used to receive a scheduling command corresponding to the target AGV device, determine a first standalone device and a second standalone device corresponding to the target AGV device based on the scheduling command corresponding to the target AGV device, and transport the target wound yarn package to be transported from the first standalone device to the second standalone device.

[0005] In a second aspect, the present disclosure provides a method for controlling a yarn package wrapping system, the method comprising: generating packaging tasks and device control parameters for each standalone device based on the number and type of wound yarn packages to be packaged, and each standalone device performing its corresponding packaging task based on its corresponding device control parameters; generating request information based on the operation data returned from each standalone device; generating a scheduling command based on the request information and corresponding state information of each of the plurality of AGV devices; The target AGV device determines a first stand-alone device and a second stand-alone device corresponding to the target AGV device based on a scheduling command corresponding to the target AGV device, and controls the target AGV device to transport the target wound yarn package to be transported from the first stand-alone device to the second stand-alone device; Here, the wound yarn package packaging system employs the wound yarn package packaging system described in the first embodiment.

[0006] In a third aspect, the present disclosure provides a control device for a yarn package wrapping system, the control device comprising: a first generating module for generating wrapping tasks and device control parameters for each standalone device based on the number and type of wound yarn packages to be wrapped, such that each standalone device performs a corresponding wrapping task of the standalone device based on the corresponding device control parameters of the standalone device; a second generating module for generating request information based on the operation data returned from each standalone device; a scheduling module for generating a scheduling command based on the request information and corresponding state information of each of the plurality of AGV devices; a control module for controlling the target AGV device to determine a first stand-alone device and a second stand-alone device corresponding to the target AGV device based on a scheduling command corresponding to the target AGV device, and to transport the target wound yarn package to be transported from the first stand-alone device to the second stand-alone device; Here, the wound yarn package packaging system employs the wound yarn package packaging system described in the first embodiment.

[0007] In a fourth aspect, the present disclosure provides an electronic device, the device comprising: At least one processor; a memory in communication with the at least one processor; The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, cause the implementation of any one of the methods in the embodiments of the present disclosure.

[0008] In a fifth aspect, there is provided a non-transitory computer-readable storage medium having stored thereon computer instructions for causing a computer to perform any one of the methods according to the embodiments of the present disclosure.

[0009] In a sixth aspect, a program is provided, which, when executed by a processor, implements any one of the methods in the embodiments of the present disclosure.

[0010] According to the technology disclosed herein, the scheduling device can generate a scheduling command based on the status information of the AGV device and the request information generated by the control device to schedule the AGV device, thereby realizing the transportation of smart wound yarn packages between each standalone device of the AGV device, and enhancing the intelligence and flexibility of the wound yarn package packaging system, thereby improving the wound yarn package transportation efficiency.

[0011] It should be understood that the contents described herein are not intended to describe key points or important features of the embodiments of the present disclosure, nor are they used to limit the scope of the present disclosure. Other features of the present disclosure are facilitated by the following description. [Brief description of the drawings]

[0012] The above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent from the following detailed description taken in conjunction with the drawings in which the same or similar reference numerals represent the same or similar elements. [Figure 1] 1 is a schematic diagram showing a configuration of a wound yarn package packaging system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram illustrating a type of standalone device according to an embodiment of the present disclosure. [Diagram 3] 1A to 1C are schematic diagrams showing a transmission mechanism when an AGV device according to an embodiment of the present disclosure transports wound yarn packages in different states. [Figure 4] 1 is a schematic diagram showing the flow of a control method for a yarn package packaging system according to an embodiment of the present disclosure. [Diagram 5] 1 is a flowchart of a process for packaging a wound yarn package according to an embodiment of the present disclosure. [Figure 6] 2 is a second flowchart of a process for packaging a wound yarn package according to an embodiment of the present disclosure. [Figure 7] 11 is a third flowchart of a process for packaging a wound yarn package according to an embodiment of the present disclosure. [Figure 8] 4 is a fourth flowchart of a wound yarn package packaging process according to an embodiment of the present disclosure. [Figure 9] 5 is a fifth flowchart of a process for packaging a wound yarn package according to an embodiment of the present disclosure. [Figure 10] 1 is a schematic diagram showing a configuration of a control device of a wound yarn package packaging system according to an embodiment of the present disclosure. [Figure 11] FIG. 2 is a block diagram of an electronic device for implementing a control method for a yarn package packaging system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. Various details of the embodiments of the present disclosure are included herein for ease of understanding, and they should be considered as merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, in the following description, descriptions of known functions and structures are omitted for clarity and simplicity.

[0014] The terms "first," "second," and "third," etc. in the embodiments and claims of the specification of this disclosure and in the drawings described above are intended to distinguish between similar objects without necessarily being used to describe a particular order or priority. Furthermore, the terms "comprise" and "have" and variations thereof are intended to be non-exclusive inclusions, e.g., inclusion of a series of steps or units. Methods, systems, products, or devices need not be limited to explicitly recited steps or units, but may include other steps or units not explicitly recited or inherent to these processes, methods, products, or devices.

[0015] In the related art, the conventional yarn package packaging line realizes that the yarn package is transported from the current process to the next process by a conveyor belt. However, the method of transporting the yarn package by a conveyor belt is inflexible, which reduces the packaging efficiency of the yarn package. In addition, the method of transporting the yarn package by a conveyor belt is not suitable for packaging various types of yarn packages.

[0016] To at least partially solve one or more of the above problems and other potential problems, the present disclosure proposes a wound yarn package packaging system and a control method and device thereof, in which a control device generates a scheduling command based on request information generated by the control device and status information of multiple AGV devices, the AGV device determines a first standalone device and a second standalone device corresponding to the AGV device based on the scheduling command corresponding to the AGV device, and transports the target wound yarn package to be transported from the first standalone device to the second standalone device, thereby realizing the transportation of the smart wound yarn package between each standalone device of the AGV device, and enhancing the intelligence and flexibility of the wound yarn package packaging system, thereby improving the transportation efficiency of the wound yarn package and the efficiency of the wound yarn package packaging.

[0017] An embodiment of the present disclosure provides a yarn winding package packaging system, as shown in FIG. 1, the system includes a control device 10, a scheduling device 20, a plurality of standalone devices 30, and a plurality of AGV devices 40, where:

[0018] the control device 10 is used to generate wrapping tasks and device control parameters for each standalone device 30 based on the number and type of wound yarn packages to be wrapped; Each standalone device 30 is used for receiving a corresponding packaging task and device control parameters of the standalone device transmitted from the control device 10, executing the corresponding packaging task of the standalone device based on the corresponding device control parameters of the standalone device, and transmitting operation data corresponding to the corresponding packaging task of the standalone device to the control device 10; The control device 10 is further used for generating request information based on the operation data returned from each standalone device 30; The scheduling device 20 is used to generate a scheduling command for scheduling the movement of the target AGV device 40 based on the request information and the state information of the multiple AGV devices 40; The target AGV device 40 is used to receive a scheduling command corresponding to the target AGV device, determine a first standalone device and a second standalone device corresponding to the target AGV device based on the scheduling command corresponding to the target AGV device, and transport the target wound yarn package to be transported from the first standalone device to the second standalone device.

[0019] In an embodiment of the present disclosure, the control device may control multiple standalone devices, the scheduling device may schedule multiple AGV devices, and the control device may be in communication with the scheduling device.

[0020] In an embodiment of the present disclosure, the control device may be a device having an automation control logic, and the control device may be deployed in an electronic device for controlling a yarn package packaging line, and the electronic device may be a server or computer located in a central control room on-site, for controlling the operation of each standalone device and each AGV device located on-site, where the present disclosure is not limited to the type of electronic device in which the control device is located.

[0021] In an embodiment of the present disclosure, the scheduling device may be a device having an automation control logic, and the scheduling device may be deployed in an electronic device for controlling a yarn package packaging line, and the electronic device may be a server or computer located in a central control room on-site, and may be deployed in a server or computer at a packaging site, for controlling the operation of each AGV device at the packaging site, where the present disclosure is not limited to the type of electronic device in which a standalone device exists.

[0022] As shown in FIG. 2, the plurality of stand-alone devices may include various types of devices, such as a robot, a weighing device, a visual inspection device, a bagging device, a palletizing device, a strapping device, and a marking device.

[0023] In an embodiment of the present disclosure, the robot is for removing a wound yarn package from a wound yarn package cart and inserting the wound yarn package into a tray, and may be a robot hand or a device having a robot hand.

[0024] In an embodiment of the present disclosure, the weighing device is for weighing the weight of a wound yarn package.

[0025] In an embodiment of the present disclosure, the appearance inspection device is for performing an appearance inspection of a wound yarn package, and may be an inspection device configured with a camera, and can determine whether or not the wound yarn package has an appearance defect or bobbin damage based on an image of the wound yarn package captured by the camera, and provide an appearance inspection result and a final grade of the wound yarn package.

[0026] In an embodiment of the present disclosure, the bagging device is for applying a packaging bag onto a surface of a wound yarn package.

[0027] In an embodiment of the present disclosure, the palletizing device is for removing packed wound yarn packages from a tray, stacking them, and palletizing them.

[0028] In an embodiment of the present disclosure, the strapping device is for performing a strapping process on a palletized wound yarn package.

[0029] In an embodiment of the present disclosure, the marking device is for attaching a shipping mark to one side of the entire stack of wound yarn packages after palletizing is completed, and the shipping mark contains information such as production information, production process, quality inspection grade, etc. of the wrapped wound yarn package.

[0030] In an embodiment of the present disclosure, a yarn package packaging line includes a plurality of standalone devices, the plurality of standalone devices in a yarn package packaging line are not the same type of devices, and each standalone device is arranged at least one in a packaging line. Specifically, the plurality of standalone devices can include a robot, a weighing device, a visual inspection device, a bagging device, a palletizing device, a strapping device, and a marking device.

[0031] In an embodiment of the present disclosure, the scheduling device may schedule multiple mobile devices, specifically, the scheduling device may schedule AGV devices based on operation data returned from each standalone device, where the mobile devices may include AGV devices, mobile inspection devices, wound yarn package trolleys, etc.

[0032] In the embodiment of the present disclosure, the wound yarn package packaging line can be understood as a part of a wound yarn package packaging system, and the wound yarn package packaging line includes a plurality of standalone devices for performing different packaging operations on a wound yarn package that has been completely wound, and the plurality of standalone devices can be connected to each other via a transfer device. Here, the standalone device can be understood as a device at any station on the wound yarn package packaging line. The AGV device can be understood as a device for moving a tray on the wound yarn package packaging line. The speed of the AGV device can be selected and adjusted by a scheduling device.

[0033] In some embodiments, the packaging task of each standalone device is different. For example, the weighing device is responsible for weighing the weight of the wound yarn package, the visual inspection device is responsible for inspecting the visual appearance of the wound yarn package, and the bagging device is responsible for covering the surface of the wound yarn package with a packaging bag. The packaging task of the standalone device may include the number of target wound yarn packages that need to be packaged, the time when the packaging of the first lot or the first wound yarn package starts, and the time when the packaging of the last lot or the last wound yarn package ends. Here, the packaging task may further include a work start time and a work end time, which may refer to the work start time and the work end time of each standalone device.

[0034] In some examples, the device control parameters may include device control parameters configured for a packaging task of a standalone device, for example, the device control parameters may include interval time, distance, etc.

[0035] In some embodiments, the work data may be data for representing a work state of the standalone device. Specifically, the work data may include data for representing "working", "preparing for work", "work temporarily stopped", "work obstructed", the number of wound yarn packages that have been wrapped, the number of wound yarn packages that have not been wrapped, and other data. Here, each standalone device needs to transmit work data corresponding to a wrapping task to the control device within a first predetermined period. Here, the control device may generate request information based on the work data of each standalone device. The request information is synchronized with a scheduling device, which generates a scheduling command based on the request information and status information of the AGV device, and transmits the scheduling command to one or more target AGV devices, and the target AGV device determines a first standalone device and a second standalone device corresponding to the target AGV device based on the scheduling command, and transports the target wound yarn package to be transported from the first standalone device to the second standalone device. Here, the first standalone device is one of the multiple standalone devices, and the second standalone device is one of the multiple standalone devices other than the first standalone device. For example, the target AGV device may plan an optimal route based on the current location and the location of the first standalone device, and travel from the current location to the first standalone device according to the optimal route. Here, the target AGV device may be an AGV device located in a parking garage or an AGV device located on a packaging line. Here, the target AGV device may be a device that has completed a current transportation task, and may be a device that plans an optimal route based on the current location and the location of the first standalone device when receiving a new scheduling command, and travels from the current location to the first standalone device according to the optimal route.Here, the target AGV device may be a device that is currently executing a transportation task, and when it receives a new scheduling command, it first completes the currently executing transportation task, and then executes a new transportation task based on the new scheduling command after completing the currently executing transportation task.

[0036] In some embodiments, the request information may include the number of target AGV devices. The number of AGV devices required for each standalone device is calculated based on the number of wound yarn packages that each standalone device has already completed for the corresponding packaging task of the standalone device. For example, the number of AGV devices required for transporting the tasks of the A standalone device and the B standalone device is calculated based on the number of wound yarn packages that have been wrapped and the number of wound yarn packages that have not been wrapped in the work data of the A standalone device and the B standalone device, or the number of movements between the A standalone device and the B standalone device (described as task 1) that one AGV device is responsible for is calculated. For example, when three AGV devices (i.e., device 1, device 2, and device 3) are arranged for task 1 as the plan for task 1, or one AGV device (i.e., device 4) is arranged for task 1 as the plan for task 1, the device 4 is set to make three movements by the scheduling device, that is, the device 4 needs to perform the work of transporting different wound yarn packages from the A standalone device to the B standalone device three times.

[0037] In some embodiments, the request information may include a route generated according to operation data of a plurality of standalone devices. Specifically, the operation data of the plurality of standalone devices can be obtained, a first standalone device and a second standalone device to which a plurality of tasks respectively correspond can be determined according to the operation data of the plurality of standalone devices, location information of the plurality of first standalone devices and the second standalone devices obtained from a map database of a control device can be obtained, and a plurality of routes to be assigned can be generated according to the location information, and the routes can be selected and adjusted according to the request.

[0038] Here, the request information may include simultaneously issued multi-threaded task data and simultaneously issued task data for multiple AGV devices.

[0039] In some embodiments, the status information of the AGV device may include a power consumption of the AGV device, a remaining operation time of the AGV device, and a current state of the AGV device, where the remaining operation time may be calculated based on a current power consumption, and the current state may include states such as "AGV device is stored", "AGV device is waiting to be operated", "AGV device is working", "AGV device is waiting to be charged", "AGV device is charging", "AGV device is fully charged", and "AGV device is broken".

[0040] In some embodiments, the scheduling command may include multiple sub-commands for scheduling one target AGV device. The scheduling command may include data such as the identification number (Identity Document, ID) of the first standalone device and the second standalone device, location information, etc. The scheduling command may further include multiple navigation routes, for example, the target AGV device 1 travels from the first parking garage to the weighing device AA in the first area, transports the wound yarn package to be transported at the weighing device AA to the appearance inspection device BB in the first area, and returns to the first parking garage after the task is completed. The scheduling command may also include the running speed of the target AGV device, which may be set according to requirements. Here, the running speed needs to be maintained within a safe running range calculated by the control device.

[0041] Here, the target wound yarn package types include, but are not limited to, Draw Textured Yarn (DTY), Pre-Oriented Yarn (POY), and Full Draw Yarn (FDY).

[0042] In some embodiments, the control device 10 is specifically used for obtaining data of a target wound yarn package to be packaged, including data such as quantity, lot number, expected completion time, whether it is rushed, quality requirements, etc., obtaining a packaging request for the target wound yarn package based on the data, determining a plurality of standalone devices for packaging the target wound yarn package and packaging tasks corresponding to each of the plurality of standalone devices according to the packaging request, and sending the packaging tasks corresponding to the standalone devices to each standalone device. Here, the target wound yarn package is usually the same type of wound yarn package having the same product parameters such as lot number, specification, grade, etc. Here, the target wound yarn package may be a different type of wound yarn package, and the product parameters of the different types of wound yarn packages, such as weight, yarn density, color absorbency, crimp shrinkage rate, etc., may be different.

[0043] In some embodiments, the control device 10 is specifically used for obtaining operation data of each standalone device at a first preset time, and generating request information for instructing the scheduling device to generate a scheduling command based on the operation data. The operation data may include data such as the operation status of each standalone device, the number of wound yarn packages that have been wrapped, and the number of wound yarn packages that have not been wrapped.

[0044] In some embodiments, the scheduling device 20 is specifically used for generating a scheduling command based on the requirement information generated by the control device and the status information of the multiple AGV devices, the scheduling command may include information such as a scheduling route, a scheduling task, a scheduling time, etc., and the scheduling command is for instructing the multiple target AGV devices to perform transportation tasks.

[0045] Here, the control device and the scheduling device may be integrated into one electronic device or may be integrated into different electronic devices, and the scheduling device may communicate with the AGV device.

[0046] In some embodiments, the target AGV device 40 is specifically used for receiving a scheduling command sent from a scheduling device, the scheduling command including a plurality of sub-commands corresponding to IDs of AGV devices, determining a sub-command corresponding to a current AGV device, determining a first standalone device and a second standalone device based on the sub-command, and transporting a target wound yarn package to be transported from the first standalone device to the second standalone device, where the first standalone device is any standalone device among the plurality of standalone devices, and the second standalone device is any standalone device among the plurality of standalone devices other than the first standalone device.

[0047] In some embodiments, the target AGV device 40 is further specifically used to determine a transmission mechanism matching the target wound yarn package to be transported when receiving a control command. A transmission mechanism is provided on the AGV device, and the transmission mechanism is adjustable, e.g., extended or shortened, so as to be more suitable for different numbers of trays. The size of the tray is also adjustable. When wrapping different types of wound yarn packages is not performed simultaneously, obtain corresponding winding package size information of the target wound yarn package to be wrapped, and adjust the state of the tray according to the winding package size information, where the tray is for inserting the wound yarn package.

[0048] In some embodiments, the robot removes the target wound yarn package from the wound yarn package cart via a robot hand and inserts the target wound yarn package into a tray. The robot may be a device having a robot hand. Specifically, the gripping force, gripping angle, gripping number, gripping distance, etc., of the robot can be adjusted according to the packaging requirements of the target wound yarn package.

[0049] In some embodiments, the weighing device may incorporate a scale to grasp a wound yarn package on a tray to obtain wound yarn package weight data and upload the wound yarn package weight data to the control device.

[0050] In some embodiments, the visual inspection device may be composed of multiple cameras. The cameras can be divided into close-range cameras and long-range cameras. Specifically, the close-range cameras are used to detect the details of the target wound yarn package, such as the presence or absence of minor damage, the presence or absence of oil stains, etc. The long-range cameras are used to detect the overall shape of the target wound yarn package, etc.

[0051] In some embodiments, the bagging device is used to apply a packaging bag to a surface of a target wound yarn package, where parameters such as the frequency of the bagging device can be adjusted according to the packaging requirements of the target wound yarn package.

[0052] In some embodiments, the strapping device is used for strapping palletized wound yarn packages, where the length of the packaging bag can be adjusted according to the size of the pallet in the packaging task.

[0053] In some embodiments, the marking device is used to apply a shipping mark to one side of the entire palletized yarn package stack, where the location of the shipping mark can be adjusted according to the packaging requirements of the target yarn package.

[0054] In some embodiments, the plurality of standalone devices may further include a hoist and / or a shuttle car. Specifically, the hoist is used to transport an empty wound yarn package cart to a floor where a wound yarn package packaging line is located according to a first control command sent from a control device. Here, the first control command may be determined based on the position information of a target wound yarn package, and the first control command is used to direct the operation of the hoist. As an example, if the wound yarn package packaging line is on the first floor and the empty wound yarn package cart is on the second floor, the hoist can transport the empty wound yarn package cart from the second floor to the first floor. For example, if the wound yarn package packaging line is on the second floor and the empty wound yarn package cart is on the first floor, the hoist can transport the empty wound yarn package cart from the first floor to the second floor. The shuttle car is used to transport a tray that matches the target type of wound yarn package to a supply station, which is the first station for packaging the wound yarn package, according to a second control command sent from the control device. Here, the second control command is used to direct the operation of the shuttle car.

[0055] This makes it possible to generate requirement information based on the work data returned from each standalone device, generate a scheduling command based on the requirement information, and schedule the AGV device according to the scheduling command to realize smart transportation between each standalone device, thereby increasing the intelligence and flexibility of wound yarn package packaging, and thereby improving the packaging efficiency of the wound yarn package.

[0056] In an embodiment of the present disclosure, the scheduling device 20 is further used to allocate one AGV device to multiple standalone devices for wound yarn packages to be packaged with the same lot number, and to call the same AGV device to transport the wound yarn packages to be packaged between the multiple standalone devices.

[0057] In an embodiment of the present disclosure, the scheduling device 20 is further used to place one AGV device between two adjacent standalone devices among the multiple standalone devices for wound yarn packages to be packaged having the same lot number, and to call the multiple AGV devices to transport the wound yarn packages to be packaged between the multiple standalone devices.

[0058] In some embodiments, the AGV device is used to transport or transfer a target wound yarn package to a target stand-alone device.

[0059] In some embodiments, the entire packaging process of each type of wound yarn package needs to pass through multiple standalone devices on the wound yarn package packaging line, i.e., each target type of wound yarn package needs to pass through multiple stages of the packaging process, each standalone device corresponding to one stage of the packaging process, for example, the multiple standalone devices that the POY wound yarn package needs to pass through include at least a robot, a weighing device, a visual inspection device, a bagging device, a palletizing device, a strapping device, and a marking device, where passing through the robot is the stage of inserting the wound yarn package into an empty tray, passing through the weighing device is the weighing stage, passing through the visual inspection device is the visual inspection stage, passing through the bagging device is the bagging stage, passing through the palletizing device is the palletizing stage, passing through the strapping device is the strapping stage, and passing through the marking device is the stage of printing and attaching a shipping mark. The packaging progress can be understood as the position of the standalone device where the POY wound yarn package is currently located (i.e., the stage to which it currently belongs). Exemplarily, when the target wound yarn package passes through the visual inspection device, i.e., the packaging progress of the target wound yarn package is at the visual inspection stage, the operation data of each of the standalone devices may be uploaded to a control device, the control device generates request information based on the operation data of each of the standalone devices, and transmits the request information to a scheduling device, which generates a scheduling command based on the request information, and schedules multiple target AGV devices to transport the wound yarn package processed by the first standalone device to the second standalone device based on the scheduling command.

[0060] The operation data of each standalone device can be uploaded to the control device in real time, so that the control device can monitor the packaging progress of the target wound yarn package in real time, and thus distribute AGV devices in a timely manner. The control device may also temporarily adjust the transportation task of the AGV device based on the operation data of the standalone device.

[0061] For example, a packaging plant area includes four major areas, designated as Area 1, Area 2, Area 3, and Area 4. Area 1, Area 2, and Area 3 are wound yarn package packaging work areas, and Area 4 is an AGV device storage. Area 1 includes a plurality of first-type standalone devices for packaging POY wound yarn packages, Area 2 includes a plurality of second-type standalone devices for packaging DTY wound yarn packages, and Area 3 includes a plurality of third-type standalone devices for packaging FDY wound yarn packages.For example, when the first lot of wound yarn packages to be packaged in the first area reaches the first standalone device, i.e., the robot, in the first area, and the robot picks up and removes the wound yarn packages to be packaged from the wound yarn package cart, the standalone device robot uploads operation data including the number of wound yarn packages to be packaged to the control device, and the control device generates request information, which may be calculated based on the operation data, based on the operation data uploaded by the robot, and transmits the request information to the scheduling device so that the scheduling device generates a scheduling command, and the scheduling device transmits the scheduling command to a target AGV device, which is used to transport the wound yarn packages to be packaged between multiple standalone devices. For example, the target AGV device waits in a robot completion area and calculates the wound yarn packages that have been picked up by the robot. the target AGV device transports the wound yarn package completed by the palletizing device to the strapping device start area, waits in the strapping device completion area, transports the wound yarn package completed by the strapping device to the marking device start area, waits in the marking device completion area, and stores the wrapped wound yarn package in the warehouse; if there is no other task, the target AGV device returns to the fourth area and waits; whereas if the target AGV device detects that there is a second task, it continues to execute the second task.Alternatively, the first lot of wound yarn packages to be packed in the first area, the first lot of wound yarn packages to be packed in the second area, and the first lot of wound yarn packages to be packed in the third area arrive at the first standalone device, i.e., robot, in each area at the same time, and the first robot in the first area, the second robot in the second area, and the third robot in the third area simultaneously grasp and remove the wound yarn packages to be packed from the wound yarn package trolley, and the first robot, the second robot, and the third robot simultaneously upload operation data to a control device, and the control device generates request information, which may be calculated based on the operation data, based on the operation data uploaded by the multiple robots, and transmits the request information to a scheduling device so that the scheduling device generates a scheduling command, and the scheduling device transmits the scheduling command to a multiple target AG. The target AGV devices are used to transport the wound yarn package to be packaged between two adjacent standalone devices, for example, AGV device 1 waits at a robot completion area in the first area, transports the wound yarn package that has been grasped by the robot to a weighing device start area, then runs from the weighing device start area in the first area to the robot completion area in the second area to wait, transports the wound yarn package that has been grasped by the robot in the second area to the weighing device start area in the second area, then runs from the weighing device start area in the second area to the robot completion area in the third area to wait, transports the wound yarn package that has been grasped by the robot in the third area to the weighing device start area in the third area, and then runs from the weighing device start area in the third area to the robot completion area in the third area to wait, transports the wound yarn package that has been grasped by the robot in the third area to the weighing device start area in the third area, and then runs from the weighing start area in the third area to the fourth area to wait for the second task.Alternatively, the AGV device 1 waits at a robot completion area in the first area and is used to transport the wound yarn package that has been gripped by the robot in the first area to a weighing device start area in the first area, the AGV device 2 waits at a robot completion area in the second area and is used to transport the wound yarn package that has been gripped by the robot in the second area to a weighing device start area in the second area, and the AGV device 3 waits at a robot completion area in the third area and is used to transport the wound yarn package that has been gripped by the robot in the third area to a weighing device start area in the third area, which helps to improve the smartness of wound yarn package packaging and the quality and efficiency of wound yarn package packaging.

[0062] In an embodiment of the present disclosure, each scheduling device 20 is further used to arrange one AGV device for each type of yarn package when different types of yarn packages are packaged simultaneously, and to call an AGV device that matches the target type of yarn package to transport the target type of yarn package between multiple standalone devices, or to arrange multiple AGV devices for each type of yarn package when different types of yarn packages are packaged simultaneously, and to call multiple AGV devices that match the target type of yarn package to transport the target type of yarn package between multiple standalone devices.

[0063] For example, a packaging plant area includes three major areas, designated as area 5, area 6, and area 7, where area 5 has a plurality of first-type standalone devices for packaging POY wound yarn packages, area 6 has a plurality of second-type standalone devices for packaging DTY wound yarn packages, and area 7 has a plurality of AGV devices that can provide transportation services for packaging the wound yarn packages in area 5 and area 6. For example, a wound yarn package to be packaged in POY and a wound yarn package to be packaged in DTY of the same lot arrive at the first standalone device, i.e., a robot, in the fifth and sixth zones at the same time, the robot grasps and removes the wound yarn package to be packaged from the wound yarn package cart, and then uploads the operation data to the control device, the control device generates request information, which may be calculated based on the operation data, based on the operation data uploaded by the robot, and sends the request information to the scheduling device so that the scheduling device generates a scheduling command, and the scheduling device sends the scheduling command to two target AGV devices (referred to as AGV device 8 and AGV device 9), the target AGV device 8 is an AGV device corresponding to the wound yarn package to be packaged in POY in the fifth zone, the target AGV device 8 is used to transport the wound yarn package between multiple standalone devices in the fifth zone, and the target AGV device 9 is an AGV device corresponding to the wound yarn package to be packaged in DTY in the sixth zone, the target AGV device 9 is used to transport the wound yarn package between multiple standalone devices in the sixth zone.Alternatively, the control device generates requirement information, which may be calculated based on the work data uploaded by the robot, based on the work data, and transmits the requirement information to the scheduling device so that the scheduling device generates a scheduling command, and the scheduling device transmits the scheduling command to a plurality of target AGV devices (referred to as AGV device 10 to AGV device 15). Specifically, the AGV device 10, AGV device 11, and AGV device 12 are AGV devices corresponding to wound yarn packages to be packaged for POY in the fifth area, and the AGV device 10, AGV device 11, and AGV device 12 are used to transport the wound yarn packages between a plurality of standalone devices in the fifth area, and the AGV device 13, AGV device 14, and AGV device 15 are AGV devices corresponding to wound yarn packages to be packaged for DTY in the sixth area, and the AGV device 13, AGV device 14, and AGV device 15 are used to transport the wound yarn packages between a plurality of standalone devices in the sixth area.

[0064] This allows for generating scheduling plans for different AGV devices according to the types and numbers of wound yarn packages to be packed, ensuring both the quality of wound yarn package packaging and the efficiency of wound yarn package packaging. In addition, by matching AGV devices corresponding to different types of wound yarn packages, damage caused by mismatching between AGV devices and wound yarn package types during wound yarn package transportation can be avoided, which helps provide support for packaging multiple types of wound yarn packages simultaneously.

[0065] In an embodiment of the present disclosure, the scheduling device 20 is further used for determining a second target AGV device to replace the first target AGV device when alarm information transmitted from the first target AGV device is received, and transmitting a scheduling command to the second target AGV device so that the second target AGV device transports the target wound yarn package to be transported based on the scheduling command from the first standalone device to the second standalone device.

[0066] In some embodiments, when the first target AGV device is in a power shortage state, a failure state, a shutdown state, or the like, it generates alarm information, which may include information such as the state of the AGV device, the position information of the first target device, and tasks that the first target device has not completed, and transmits the alarm information to a control device, the control device generates a scheduling command based on the alarm information of the first target AGV device and determines a second target AGV device, and the control device transmits the scheduling command to the second target AGV device so that the second target AGV device transports the target wound yarn package to be transported based on the scheduling command from the first standalone device to the second standalone device, where the second AGV device may be an idle AGV device closest to the first AGV device.

[0067] In some embodiments, the first target AGV device may transmit alarm information to a control device, and the alarm information may be displayed on a display of the control device. When the control device detects the alarm information, the control device may display presentation information that may indicate a malfunction of the AGV device by using sound, light, text, etc.

[0068] This allows alarm information to be sent promptly to the control device, helping the control device to unify planning and control multiple AGV devices, thereby helping to improve the speed of winding package packaging.

[0069] In an embodiment of the present disclosure, the different AGV devices include those suitable for different states of the wound yarn package, and the scheduling device 20 is further used for determining a state of the target wound yarn package to be transported and determining a target AGV device based on the state.

[0070] In some embodiments, the AGV devices may be classified into a first type AGV device, a second type AGV device, and a third type AGV device according to different types of wound yarn packages, where the first type AGV device is used to transport DTY wound yarn packages, the second type AGV device is used to transport POY wound yarn packages, and the third type AGV device is used to transport FDY wound yarn packages. The AGV devices may be classified into a first step AGV device, a second step AGV device, a third step AGV device, a fourth step AGV device, a fifth step AGV device, a sixth step AGV device and a seventh step AGV device according to different states of the wound yarn packages, the first step AGV device is used for transporting the wound yarn package between the robot and the weighing device, the second step AGV device is used for transporting the wound yarn package between the weighing device and the appearance inspection device, the third step AGV device is used for transporting the wound yarn package between the appearance inspection device and the bagging device, the fourth step AGV device is used for transporting the wound yarn package between the bagging device and the palletizing device, the fifth step AGV device is used for transporting the wound yarn package between the palletizing device and the strapping device, the sixth step AGV device is used for transporting the wound yarn package between the strapping device and the marking device, and the seventh step AGV device is used for transporting the wound yarn package completed by the marking device to the product warehouse.

[0071] Here, the multi-stage AGV device may be unidirectional, i.e., transporting the target wound yarn package to be transported from a first stand-alone device preceding the processing step of the second stand-alone device to a second stand-alone device, or the multi-stage AGV device may be reverse-directional, i.e., transporting the target wound yarn package to be transported from the second stand-alone device to the first stand-alone device preceding the processing step of the second stand-alone device, or the multi-stage AGV device may be bidirectional, i.e., transporting the target wound yarn package to be transported from the first stand-alone device to the second stand-alone device and also transporting the target wound yarn package to be transported from the second stand-alone device to the first stand-alone device.

[0072] This allows the AGV devices to be classified into multiple types according to different states of wound yarn packages, and different AGV devices each perform transportation tasks for wound yarn packages in different states, which helps to realize an intelligent wound yarn package packaging system.

[0073] In an embodiment of the present disclosure, the scheduling device 20 is further used to assign AGV devices to high priority wound yarn package packaging tasks according to the packaging progress of different types of wound yarn packages when packaging of different types of wound yarn packages is performed simultaneously and an idle AGV device does not meet the requirement information.

[0074] In some embodiments, when packaging a first type of wound yarn package and a second type of wound yarn package are performed simultaneously, two AGV devices are required for the weighing device of the first type of wound yarn package, one AGV device is required for the visual inspection device, and two AGV devices are required for the strapping device, while five AGV devices are required for the weighing device of the second type of wound yarn package, three AGV devices are required for the visual inspection device, and two AGV devices are required for the palletizing device. The control device detects that there are only three idle AGV devices in the storage facility, and evaluates the priorities of the first type winding package and the second type winding package, as well as the priorities of the processes of the first type winding package and the second type winding package to obtain a priority evaluation result.If the priority evaluation result shows that the priority of the first type winding package is higher than the priority of the second type winding package, and that the priorities of the processes of the first type winding package are such that the weighing device is higher than the appearance inspection device and that the appearance inspection device is higher than the strapping device, the idle AGV device is assigned to the weighing device and the appearance inspection device of the first type winding package.

[0075] In some embodiments, different types of winding packages have different priorities, different packaging requirements have different priorities for winding packages, and different processes for different winding packages have different priorities, where the priorities can be adjusted according to the requirements information for the winding packages, and the priorities for different processes for different winding packages can be constant or can be adjusted according to the requirements information.

[0076] This allows different priorities for different types and different processes to be determined based on the requirement information, which helps the control device to unify planning and control the entire wound yarn package packaging line, thereby helping to improve the efficiency of wound yarn package packaging.

[0077] In an embodiment of the present disclosure, the control device 10 is further used for receiving corresponding usage information of each of the multiple AGV devices sent from the scheduling device, and adjusting device control parameters and packaging tasks of each standalone device based on the usage information and the operation data returned from each standalone device.

[0078] In some embodiments, the usage information of the plurality of AGVs may include the number of wound yarn packages transported by each AGV device within a first period of time, the time periods during which each AGV device is used within a certain period of time, the time periods during which each AGV device is not used within a certain period of time, and the frequency with which each AGV device transports wound yarn packages within the first period of time, for example, each AGV device completes one transport task per minute. Here, the usage information of the plurality of AGVs may be automatically generated, and the usage information of the plurality of AGVs may be uploaded to the scheduling device upon receiving a request from the scheduling device. Alternatively, the usage information of the plurality of AGVs may be actively uploaded to the scheduling device. Here, the scheduling device receives the usage information uploaded by the plurality of AGV devices, processes the usage information uploaded by the plurality of AGV devices, and sends it to the control device.

[0079] In an embodiment of the present disclosure, the control device is specifically used for instructing the scheduling device to upload usage information of the multiple AGV devices in a first period and sending a first acquisition request to the scheduling device and the multiple standalone devices to instruct each standalone device to upload work data in the first period; receiving the usage information of the multiple AGV devices in the first period uploaded by the scheduling device and the work data in the first period uploaded by each standalone device; and adjusting device control parameters and packaging tasks of each standalone device in a second period based on the usage information of the multiple AGV devices in the first period and the work data uploaded by each standalone device in the first period.

[0080] Specifically, the scheduling device is used for, upon detecting the first acquisition request, sending a second acquisition request to the multiple AGV devices to instruct the multiple AGV devices to upload usage information for the first period, and processing the usage information for the first period uploaded to the multiple AGV devices and sending it to the control device.

[0081] The plurality of AGV devices are specifically used for uploading the usage information in the first period to the scheduling device.

[0082] Each standalone device is specifically used for uploading operation data during a first period to the control device, and performing an operation based on the device control parameters and packaging tasks of each standalone device during the second period.

[0083] Here, the first time period is a time in the past and the second time period is a time in the future.

[0084] This makes it possible to adjust the device control parameters and packaging tasks of each standalone device based on the work data of the AGV device and each standalone device in the first period, which helps to enhance the intelligence and flexibility of the wound yarn package packaging system, and ultimately helps to improve the efficiency of wound yarn package packaging.

[0085] In an embodiment of the present disclosure, the scheduling device 20 is further used for obtaining scheduling data in a first time period, inputting the scheduling data in the first time period into a scheduling model for predicting the scheduling data to obtain a scheduling data prediction value in a second time period output by the scheduling model, determining a candidate AGV device from among the multiple AGV devices based on the scheduling data prediction value, and, upon receiving request information, determining a target AGV device from among the candidate AGV devices based on the request information, where the scheduling model is obtained by training using the scheduling data samples.

[0086] Here, the candidate AGV devices may be multiple, and the target AGV device may be one or multiple.

[0087] In some embodiments, the process of training the scheduling model may include obtaining training data, which is a plurality of AGV usage information samples and each standalone device work data sample, and training a trained model based on the training data to obtain a scheduling model, which is used to predict scheduling data within a predetermined time period to determine a target AGV device from candidate AGV devices based on the scheduling data.

[0088] In the embodiment of the present disclosure, there is no limitation on the method of acquiring the usage information samples of the multiple AGV devices and the work data samples of each standalone device.

[0089] This allows the scheduling model to predict the scheduling data for the next period, so that the scheduling plan can be determined in advance, and the intelligence and flexibility of the yarn packaging system can be increased, thereby improving the effective utilization rate of the AGV device and further improving the speed of yarn packaging.

[0090] In an embodiment of the present disclosure, the AGV device 40 includes a controller and a transmission mechanism, where: The transmission mechanism is used to place the yarn package; The controller is used to determine target parameters that match the target wound yarn package to be transported based on the scheduling command, and to adjust the transmission mechanism based on the target parameters so that the adjusted transmission mechanism matches the target wound yarn package to be transported.

[0091] In some embodiments, the transmission mechanism of the AGV device can be adjusted according to different states of the wound yarn package, so that the same AGV device can be transformed into an AGV device suitable for different wound yarn package states at different times. Since the states of the wound yarn packages in the transmission mechanisms of the multiple AGV devices are different at different process stages, the states of the transmission mechanisms of the multiple AGV devices are also different at different process stages. For example, some transmission mechanisms have trays arranged, and some do not have trays arranged. The size of the transmission mechanism is adjustable, and both the length and width of the transmission mechanism can be adjusted for different states of the wound yarn packages.

[0092] FIG. 3 is a schematic diagram showing a transmission mechanism when an AGV device transports wound yarn packages in different states. As shown in FIG. 3, the AGV device is mainly composed of a controller and a transmission mechanism. When transporting a wound yarn package processed by a weighing device to a visual inspection device, a tray is arranged in the transmission structure for inserting the wound yarn package. When transporting the entire wound yarn package stack processed by a strapping device to a marking device, the entire wound yarn package stack is placed on the transmission mechanism. Taking DTY packaging as an example, DTY is packaged in small cardboard boxes, and after each small cardboard box is packed, a code is printed on the box by a laser, and no marking work is performed thereafter.

[0093] In some embodiments, a controller of the AGV device may analyze a scheduling command sent from a control device, and the controller may analyze the scheduling command to obtain a status of a target wound yarn package to be transported and adjust a transmission mechanism of the AGV device based on the status of the target wound yarn package to be transported. The status of the target wound yarn package may include a process status of the target wound yarn package, such as processed by a weighing device, processed by a visual inspection device, processed by a boxing device, processed by a marking device, etc.

[0094] This allows the compatibility between the target AGV device and the target wound yarn package to be improved by adjusting the transmission mechanism of the AGV device according to the state of the target wound yarn package, thereby allowing one AGV device to serve different standalone devices at different times, and one AGV device to transport target wound yarn packages in different states at different times, thereby increasing the flexibility and diversity of scheduling for the wound yarn package packaging system and improving the efficiency of wound yarn package packaging.

[0095] In an embodiment of the present disclosure, packaging of different types of wound yarn packages may share the wound yarn package packaging system, i.e., may share the control device, the scheduling device, the multiple AGV devices, and at least some of the standalone devices among the multiple standalone devices.

[0096] In some embodiments, when different types of wound yarn packages do not share a standalone device, an AGV device is assigned and scheduled for each type of wound yarn package according to the wrapping progress of each type of wound yarn package, and the AGV device is shareable, i.e., the AGV device can transport different types of wound yarn packages in the first zone, the second zone, and the third zone, respectively.

[0097] This allows different types of wound yarn packages to share at least some of the standalone devices among the control device, the scheduling device, the multiple AGV devices, and the multiple standalone devices, thereby enabling effective utilization of multiple devices in the wound yarn package packaging system and helping to improve the efficiency of wound yarn package packaging.

[0098] In the embodiment of the present disclosure, the plurality of standalone devices may include a first type standalone device, a second type standalone device, and a third type standalone device, where the first type standalone device, the second type standalone device, and the third type standalone device may be located in different areas, where the first type standalone device is a standalone device suitable for packaging a DTY wound yarn package, the second type standalone device is a standalone device suitable for packaging a POY wound yarn package, and the third type standalone device is a standalone device suitable for packaging a FDY wound yarn package. The control device can simultaneously control a plurality of types of standalone devices in the factory area, i.e., the control device A can simultaneously control the first type standalone device, the second type standalone device, the third type standalone device, the scheduling device, and the AGV device. Also, one control device can simultaneously control a plurality of the same types of standalone devices, i.e., the control device B can simultaneously control the first type standalone devices a1-ax, the second type standalone devices b1-by, the third type standalone devices c1-cz, the scheduling device, and the AGV devices d1-dk. The three types of standalone devices mentioned above are all located in different areas, for example, the first type of standalone device is located in a first area, the second type of standalone device is located in a second area, the third type of standalone device is located in a third area, and the scheduling device and the AGV device are located in a fourth area.By separating the first, second and third zones and sharing the scheduling device and AGV device among the first, second and third zones, the scheduling capability of the scheduling device can be fully utilized, multiple AGV devices can be shared among multiple types of wound yarn package packaging lines, the packaging costs of different types of wound yarn packages can be saved, and the confusion of different types of wound yarn package packaging can be effectively avoided.

[0099] An embodiment of the present disclosure provides a control method for a wound yarn package packaging system, and FIG. 4 is a schematic diagram showing a flow of the control method for the wound yarn package packaging system according to an embodiment of the present disclosure, and the control method for the wound yarn package packaging system is applicable to a control device of the wound yarn package packaging system. The control device of the wound yarn package packaging system is disposed in an electronic device. The electronic device includes, but is not limited to, a fixed device and / or a mobile device. For example, the fixed device includes, but is not limited to, a server, and the server may be a cloud server or a normal server. For example, the mobile device includes, but is not limited to, a mobile phone, a tablet, etc. In some possible embodiments, the control method for the wound yarn package packaging system may be implemented by a processor calling computer-readable instructions stored in a memory. As shown in FIG. 4, the control method for the wound yarn package packaging system includes:

[0100] In S401, a packaging task and device control parameters for each standalone device are generated based on the number and type of wound yarn packages to be packaged, and each standalone device executes its corresponding packaging task based on its corresponding device control parameters.

[0101] In S402, request information is generated based on the operation data returned from each standalone device.

[0102] In S403, a scheduling command is generated based on the request information and the corresponding status information of each of the multiple AGV devices.

[0103] In S404, the target AGV device determines a first standalone device and a second standalone device corresponding to the target AGV device based on a scheduling command corresponding to the target AGV device, and controls the target AGV device to transport the target wound yarn package to be transported from the first standalone device to the second standalone device.

[0104] Here, the wound yarn package packaging system employs the wound yarn package packaging system described in any one of the above embodiments.

[0105] In some embodiments, the request information may be generated based on the type of wound yarn package. Specifically, different types of wound yarn packages may have different sizes, weights, defect rates, etc., so separate request information needs to be generated for each type of wound yarn package. The request information includes request information for the AGV device for each type of wound yarn package, specifically including quantity request information.

[0106] In some embodiments, the target wound yarn package type includes at least one of DTY, POY, and FDY.

[0107] In some embodiments, the scheduling device can receive a scheduling command directly input by an operator on a control panel of an electronic device, and can also receive a scheduling command input by an operator via a terminal. The scheduling device can also automatically generate a scheduling command based on a scheduling model, for example, the scheduling model automatically generates a scheduling command based on information such as the number of wound yarn packages, the type of wound yarn packages, and the scheduled delivery time. The scheduling model can generate a scheduling command based on request information. The scheduling command may be embodied by a text description or by scheduling data. The embodiments of the present disclosure do not limit how to specifically train to obtain a scheduling model.

[0108] FIG. 5 shows a flow chart of a process for wrapping a wound yarn package. As shown in FIG. 5, the flow may include:

[0109] In S501, it is determined whether the communication between the control device, the scheduling device, and each standalone device is normal. If the communication is normal, S502 is executed, whereas if the communication is not normal, S501 is executed again.

[0110] Here, the control device can communicate with the Programmable Logic Controller (PLC) of each standalone device. Here, the PLC is a digital calculation controller for automation control equipped with a microprocessor, and can load, store, and execute control instructions in memory at any time. Each standalone device can use one PLC, and different standalone devices correspond to different interfaces on the PLC. Each standalone device can also correspond to one PLC.

[0111] In S502, the control device and the scheduling device are booted and start to operate.

[0112] In S503, it is determined whether the packaging task and device control parameters for the day have been automatically generated, and if so, S504 is executed, whereas if not, the process proceeds to S507.

[0113] In S504, the control device calculates the packaging task and device control parameters of the day based on each lot number library, and then executes S507, where the packaging task of the day can be obtained using the packaging task generation model in this S504.

[0114] In S505, each standalone device returns work data, and then executes S506.

[0115] In S506, the control device generates request information based on the operation data returned from each standalone device, and then executes S507.

[0116] In S507, the client issues a packaging task to each standalone device, transmits request information to the scheduling device, and proceeds to S508.

[0117] In S508, the packaging task and request information is stored in a database, and then the process proceeds to S509 and S511.

[0118] In S509, the scheduling device obtains status information of the multiple AGV devices, and generates a scheduling command based on the request information and the status information of the multiple AGV devices, and then executes S510, where the scheduling command is for scheduling the movement of the target AGV device.

[0119] In S510, a scheduling command is sent to a plurality of target AGV devices.

[0120] In S511, the yarn package cart is placed on the packaging line.

[0121] FIG. 6 shows a flow chart of the yarn winding package packing process, part 2. As shown in FIG. 6, the flow may include:

[0122] In S601, it is determined whether or not an individual wound yarn package system is in operation on the packaging line, and if so, S603 is executed, whereas if not, the process proceeds to S602.

[0123] In S602, before the yarn package cart is placed on the packaging line, information about the yarn package cart is input via the client.

[0124] Here, the yarn winding package cart information includes information such as the lot number, specifications, the number of doffings, and the presence or absence of yarn winding packages at all positions on both sides of the yarn winding package cart.

[0125] In S603, the code reader obtains the barcode of the yarn packaging cart and transmits it to the PLC.

[0126] In S604, the control device obtains the lot number of the yarn package cart.

[0127] Here, the control device acquires the barcode of the yarn winding package cart, and initiates an inquiry request to the individual yarn winding package system based on the barcode of the yarn winding package cart, and acquires the lot number of the yarn winding package cart, the presence or absence of a yarn winding package at all positions on both sides of the yarn winding package cart, detailed information of the yarn winding package, etc.

[0128] In S605, it is verified whether the lot number of the yarn package cart to be placed on the packaging line in the packaging task is the same as the lot number in the packaging task on the packaging line, and if so, S606 is executed, whereas if not, the process proceeds to S607.

[0129] In S606, if the yarn package cart passes the verification, it is permitted to be loaded onto the packaging line, and then S608 is executed.

[0130] In S607, if the yarn package cart fails the verification, it is rejected from being loaded onto the packaging line, and then S613 is executed.

[0131] In S608, the control device stores the yarn package cart information in a database.

[0132] In S609, the control device determines whether the lot is changed, and if so, executes S611, whereas if not, proceeds to S610.

[0133] In S610, the control device sends the positions that need to be gripped on the first and second sides of the yarn package cart to the PLC, and then executes S614.

[0134] In S611, when the last wound yarn package cart in the packaging task for the current lot number is placed on the packaging line, the control device calculates the number of wound yarn packages that need to be further grasped for stacking based on the remaining amount of the packaging task and the number of wound yarn packages on the packaging line, and then executes S612.

[0135] In S612, the control device transmits the final position and quantity that need to be grasped to the PLC, and then S614 is executed.

[0136] In S613, the yarn packaging cart is removed from the packaging line.

[0137] In S614, the yarn package cart arrives at the turntable.

[0138] FIG. 7 shows a third flow chart of the yarn winding package packing. As shown in FIG. 7, the flow may include:

[0139] In S701, a wound yarn package cart arrives at the turntable.

[0140] In S702, it is determined whether all trays have been placed and all Radio Frequency Identification (RFID) numbers have been read, and if so, proceed to S703, whereas if not, proceed to S702.

[0141] In S703, it is determined whether all the multiple AGV devices are placed, and if so, proceed to S704, while if not, continue executing S703.

[0142] In S704, the robot grasps the object, and the PLC controls the operation of each gripping cylinder of the gripper.

[0143] Here, the PLC controls the operation of each gripping cylinder so that the cylinder operates toward a position on the yarn package cart where a wound yarn package is present, and does not operate toward a position on the yarn package cart where no wound yarn package is present.

[0144] In S705, the robot successfully places the yarn package.

[0145] In S706, it is determined whether all the wound yarn packages on the wound yarn package cart have been gripped, and if so, the process proceeds to S707, whereas if not, the process proceeds to S706.

[0146] In S707, the PLC associates the yarn package with the tray.

[0147] In S708, the target AGV device transports the wound yarn package from the robot to the weighing device, and then executes S709.

[0148] In S709, the control device obtains the associated relationship between the yarn package and the tray from the PLC and records it in the database.

[0149] FIG. 8 shows a fourth flow chart of the yarn winding package packing process. As shown in FIG. 8, the flow may include:

[0150] In S801, a scale weighs an individual wound yarn package and transmits the weighing data to the PLC.

[0151] In S802, the control device obtains the weighing data from the PLC, and records the weighing data of the corresponding wound yarn package in a database according to the tray number.

[0152] In S803, the target AGV device transports the wound yarn package from the weighing device to the visual inspection device, and then executes S804.

[0153] In S804, the visual inspection device writes the visual inspection results of all the wound yarn packages into an intermediate table.

[0154] In S805, the appearance inspection device writes the yarn winding package that needs to be downgraded or removed to the PLC. Here, downgrading or removal means that the yarn winding package needs to be downgraded due to an appearance defect and needs to be removed from the yarn winding package of the corresponding lot number.

[0155] In S806, it is determined whether downgrading or removal is necessary, and if so, the process proceeds to S807, whereas if not, the process proceeds to S815.

[0156] At S807, the return path is entered.

[0157] In S808, a manual retest or a retest using a retest device is performed.

[0158] In S809, it is determined whether or not a grade downgrade is to be confirmed, and if so, the process proceeds to S814, whereas if not, the process proceeds to S810.

[0159] In S810, the client issues a passage permission command.

[0160] Here, the pass permission command is used to indicate that the passage of the wound yarn package is permitted, that is, that the downgrading / removal process is not to be performed on the wound yarn package.

[0161] In S811, the PLC corrects the grade of the wound yarn package associated with the corresponding tray back to the original grade based on the passage permission command.

[0162] In S812, the control device obtains the information from the PLC and modifies the grade of the corresponding wound yarn package in the intermediate table written by the appearance inspection device.

[0163] In S813, the tray returns to the main line, and then the process proceeds to S815.

[0164] In S814, the yarn package is transported manually or by a removal mechanism to a downgrading yarn package cart adjacent to the packaging line, and then the process returns to S813.

[0165] In S815, it is determined whether or not there is an empty tray, and if so, the process proceeds to S816, whereas if not, the process proceeds to S819.

[0166] In S816, the PLC controls the removal mechanism to remove the empty tray.

[0167] In S817, the PLC checks and sends a downgrade signal to the control device based on the empty tray signal.

[0168] In S818, the control device confirms the downgrading of the yarn package associated with the tray and does not operate the intermediate table written by the appearance inspection device.

[0169] In S819, the PLC determines whether it needs to perform a lot change operation, and if so, proceeds to S820, while if not, proceeds to S824.

[0170] In S820, it is determined whether or not there is a wound thread package between the position on the tray on the turntable where the wound thread package should be placed and the empty tray detection section before bagging. If so, proceed to S821, whereas if not, continue executing S820.

[0171] In S821, the PLC transmits a request for re-grasping to the control device.

[0172] In S822, it is determined whether the control device sends a gripping task to the PLC, and if so, proceeds to S826, whereas if not, proceeds to S823.

[0173] Here, the grasping task may include the grasping position, the number of grasps, etc.

[0174] In S823, the yarn packaging cart is removed from the packaging line.

[0175] In S824, the target AGV device transports the wound yarn package from the visual inspection device to the bagging device, and then executes S825.

[0176] At S825, a bag is placed over the item.

[0177] In S826, the control device determines whether to change the lot.

[0178] FIG. 9 shows the fifth flow chart of the yarn winding package packing. As shown in FIG. 9, the flow may include:

[0179] In S901, an empty tray is weighed, and the weighing data is written to the PLC.

[0180] In S902, the control device obtains the tray weight data from the PLC and records it in a corresponding table in the database.

[0181] In S903, if the empty tray is a wooden tray, the control device generates a serial number.

[0182] In S904, if the empty tray is a shared tray, the RFID reader / writer reads the tag number and writes it to the PLC.

[0183] In S905, the control device obtains the shared tray number from the PLC.

[0184] In S906, the control device writes the tray number into the corresponding palletizing table.

[0185] In S907, the target AGV device transports the tray to the position of the palletizing device.

[0186] In S908, the PLC issues an operation command to the robot controller to grip the yarn package and the foam board based on the number of layers of palletizing.

[0187] In S909, it is determined whether the grip is complete, and if so, proceed to S910, whereas if not, proceed to S909.

[0188] In S910, the empty tray is returned.

[0189] In S911, the PLC transmits the tray number corresponding to the wound yarn package gripped during palletizing to the control device.

[0190] In S912, the control device releases the associated relationship between the tray number and the yarn package.

[0191] In S913, it is determined whether palletizing is completed, and if so, proceed to S914, while if not, return to S908.

[0192] In S914, the target AGV device transports the wound yarn package from the palletizing device to the strapping device, and then executes S915.

[0193] In S915, the lid of the cardboard box is closed.

[0194] At S916, it is sashed.

[0195] In S917, the entire stack is weighed and the data is stored in the PLC.

[0196] In S918, the control device obtains the metering data for the entire stack from the PLC and records it in a database.

[0197] In S919, the target AGV device transports the wound yarn package from the strapping device to the marking device, and then executes S920.

[0198] At S920, the control device generates marks according to rules defined for the individual wound yarn packages.

[0199] In S921, the control device sends the mark information to a label applicator to print and apply the mark information to a packaging box.

[0200] At S922, the control device transmits the packing box information to a Warehouse Management System (WMS).

[0201] In S923, the PLC controls the AGV device to transport the packing box to the multi-story warehouse and store it.

[0202] In S924, a wrap film is wrapped around the product.

[0203] It should be understood that the flowcharts shown in Figures 5 to 9 are merely exemplary and not limiting, and the above-mentioned processes may be adaptively adjusted or modified according to work requirements, which will not be described herein. Those skilled in the art can make various obvious modifications and / or substitutions based on the examples shown in Figures 5 to 9, and the obtained technical solutions still fall within the disclosure scope of the embodiments of the present disclosure.

[0204] In an embodiment of the present disclosure, the control method of the wound yarn package packaging system may further include distributing one AGV device for multiple standalone devices for wound yarn packages to be packaged having the same lot number, and calling the same AGV device to transport the wound yarn packages to be packaged between the multiple standalone devices.

[0205] In an embodiment of the present disclosure, the control method of the wound yarn package packaging system may further include, for wound yarn packages to be packaged having the same lot number, placing one AGV device between two adjacent standalone devices among the plurality of standalone devices, and calling the plurality of AGV devices to transport the wound yarn packages to be packaged between the plurality of standalone devices.

[0206] For details on how to specifically assign and schedule AGV devices to wound yarn packages of the same lot number, please refer to the above description, and it will not be repeated here.

[0207] This allows different scheduling plans to be generated depending on the wound yarn packages to be packed of the same lot, which helps to improve the flexibility and intelligence of the wound yarn package packing system, and thereby helps to improve the efficiency of wound yarn package packing.

[0208] In an embodiment of the present disclosure, the control method of the wound yarn package packaging system may further include, when packaging of different types of wound yarn packages is performed simultaneously, disposing one AGV device for each type of wound yarn package, calling an AGV device that matches a target type of wound yarn package, and transporting the target type of wound yarn package between multiple standalone devices.

[0209] In an embodiment of the present disclosure, the control method of the wound yarn package packaging system may further include, when packaging of different types of wound yarn packages is performed simultaneously, disposing multiple AGV devices for each type of wound yarn package, calling multiple AGV devices that match the target type of wound yarn package, and transporting the target type of wound yarn package between the multiple standalone devices.

[0210] When wrapping different types of wound yarn packages simultaneously, the above description can be referred to for how to specifically allocate and schedule AGV devices for each target type of wound yarn package, and will not be repeated here.

[0211] As a result, when different target types of wound yarn packages are packaged simultaneously, AGV devices can be assigned and scheduled for each target type of wound yarn package according to the packaging progress of each target type of wound yarn package, thereby realizing the need to package different types of wound yarn packages simultaneously, thereby improving the intelligence of wound yarn package packaging and helping to improve the quality and efficiency of wound yarn package packaging.

[0212] In an embodiment of the present disclosure, the control method of the wound yarn package packaging system further includes: when receiving alarm information transmitted from the first target AGV device, determining a second target AGV device to replace the first target AGV device; and transmitting a scheduling command to the second target AGV device so as to transport the target wound yarn package to be transported by the second target AGV device from the first standalone device to the second standalone device based on the scheduling command.

[0213] Regarding how to specifically determine a second target AGV device to replace the first target AGV device when alarm information transmitted from the first target AGV device is received, the above description may be referred to and will not be repeated here.

[0214] In this way, when an abnormality occurs in the first target AGV device, an alternative second target AGV device can be determined, thereby realizing rational allocation and scheduling of AGV devices, which helps the control device to perform unified control of the entire wound yarn package packaging line, and thereby helps to improve the speed of wound yarn package packaging.

[0215] In an embodiment of the present disclosure, the control method of the wound yarn package packaging system further includes determining a state of a target wound yarn package to be transported and determining a target AGV device based on the state, where different AGV devices are suitable for wound yarn packages of different states.

[0216] Regarding how to specifically determine the target AGV device based on the state of the target wound yarn package to be transported, the above description can be referred to, and will not be repeated here.

[0217] This allows the target AGV device to be determined based on the state of the target wound yarn package, thereby improving the compatibility between the target wound yarn package and the target AGV device, thereby improving the quality and efficiency of wound yarn package packaging.

[0218] In an embodiment of the present disclosure, the control method of the wound yarn package packaging system further includes, when packaging of different types of wound yarn packages is performed simultaneously, if an idle AGV device does not meet the required information, assigning an AGV device to a packaging task of a high priority wound yarn package according to the packaging progress of the different types of wound yarn packages.

[0219] When wrapping different types of wound yarn packages at the same time, the above description can be referred to for details on how to specifically assign a high-priority AGV device, and the description will not be repeated here.

[0220] This allows for flexible packaging of high-priority wound yarn packages by allocating and scheduling AGV devices to the high-priority wound yarn packages, thereby improving the efficiency of packaging of wound yarn packages.

[0221] In an embodiment of the present disclosure, the control method of the yarn package packaging system further includes receiving corresponding usage information of each of the multiple AGV devices sent from the scheduling device, and adjusting device control parameters and packaging tasks of each standalone device based on the usage information and the operation data returned from each standalone device.

[0222] For details on how to specifically adjust the device control parameters and packaging tasks of each standalone device based on the usage information and the operation data returned from each standalone device, please refer to the above description and it will not be repeated here.

[0223] This provides a basis for adjusting the device control parameters and packaging tasks of each standalone device through the usage information of each AGV device and the work data of each standalone device, which helps to realize the intelligence of the yarn package packaging system, improves the flexibility of yarn package packaging, and thereby improves the efficiency of yarn package packaging.

[0224] In an embodiment of the present disclosure, the method for controlling the wound yarn package packing system further includes: obtaining scheduling data in a first time period, inputting the scheduling data in the first time period into a scheduling model for predicting the scheduling data to obtain a scheduling data prediction value in a second time period output by the scheduling model, determining a candidate AGV device from among a plurality of AGV devices based on the scheduling data prediction value, and upon receiving request information, determining a target AGV device from among the candidate AGV devices based on the request information, where the scheduling model is obtained by training using a scheduling data sample.

[0225] Here, the first time period is a time in the past and the second time period is a time in the future.

[0226] This makes it possible to predict scheduling data for the second period based on data for the first period, and to determine a target AGV device from among candidate AGV devices based on the predicted scheduling data, which helps to make the wound yarn package packaging system smarter and improves the wound yarn package packaging efficiency.

[0227] In an embodiment of the present disclosure, a control device for a wound yarn package packaging system is provided, as shown in FIG. 10, the control device for the wound yarn package packaging system includes:

[0228] a first generating module 1001 for generating wrapping tasks and device control parameters for each standalone device based on the number and type of wound yarn packages to be wrapped, such that each standalone device performs a corresponding wrapping task of the standalone device based on the corresponding device control parameters of the standalone device;

[0229] a second generating module 1002 for generating request information based on the operation data returned from each standalone device;

[0230] a scheduling module 1003 for generating a scheduling command based on the request information and corresponding state information of each of the plurality of AGV devices;

[0231] a control module 1004 for controlling the target AGV device to determine a first stand-alone device and a second stand-alone device corresponding to the target AGV device based on a scheduling command corresponding to the target AGV device, and to transport the target wound yarn package to be transported from the first stand-alone device to the second stand-alone device;

[0232] Here, the wound yarn package packaging system employs any one of the wound yarn package packaging systems described above.

[0233] In some embodiments, the control device of the wound yarn package packaging system further includes a first call module (not shown in FIG. 10) used to place one AGV device for multiple standalone devices and call the same AGV device to transport the wound yarn package to be packaged between the multiple standalone devices for wound yarn packages of the same lot number, or to place one AGV device between two adjacent standalone devices among the multiple standalone devices for wound yarn packages of the same lot number, and call the multiple AGV devices to transport the wound yarn package to be packaged between the multiple standalone devices.

[0234] In some embodiments, the control device of the wound yarn package packaging system further includes a second call module (not shown in FIG. 10) that is used to arrange one AGV device for each type of wound yarn package when different types of wound yarn packages are packaged simultaneously, and call an AGV device that matches the target type of wound yarn package to transport the target type of wound yarn package between multiple standalone devices, or to arrange multiple AGV devices for each type of wound yarn package when different types of wound yarn packages are packaged simultaneously, and call multiple AGV devices that match the target type of wound yarn package to transport the target type of wound yarn package between multiple standalone devices.

[0235] In some embodiments, the control device of the wound yarn package packaging system further includes a first determination module (not shown in FIG. 10) for determining a second target AGV device to replace the first target AGV device when alarm information transmitted from the first target AGV device is received, and a transmission module (not shown in FIG. 10) for transmitting a scheduling command to the second target AGV device so as to transport the target wound yarn package to be transported by the second target AGV device from the first standalone device to the second standalone device based on the scheduling command.

[0236] In some embodiments, the control device of the wound yarn package packaging system further includes a second determination module (not shown in FIG. 10) for determining a state of a target wound yarn package to be transported, and a third determination module (not shown in FIG. 10) for determining a target AGV device based on the state, where different AGV devices are suitable for wound yarn packages of different states.

[0237] In some embodiments, the control device of the wound yarn package packaging system further includes an allocation module (not shown in FIG. 10) for assigning an AGV device to a packaging task of a high priority wound yarn package depending on the packaging progress of the different types of wound yarn packages when packaging of different types of wound yarn packages is performed simultaneously and an idle AGV device does not meet the required information.

[0238] In some embodiments, the control device of the wound yarn package packaging system further includes a receiving module (not shown in FIG. 10) for receiving corresponding usage information of each of the multiple AGV devices transmitted from the scheduling device, and an adjustment module (not shown in FIG. 10) for adjusting device control parameters and packaging tasks of each standalone device based on the usage information and the operation data returned from each standalone device.

[0239] In some embodiments, the control device of the wound yarn package packaging system further includes a first acquisition module (not shown in FIG. 10) for acquiring scheduling data for a first period, a second acquisition module (not shown in FIG. 10) for inputting the scheduling data for the first period into a scheduling model for predicting the scheduling data and obtaining a scheduling data prediction value for a second period output by the scheduling model, the scheduling model being trained using the scheduling data samples, a fourth determination module (not shown in FIG. 10) for determining a candidate AGV device from among the multiple AGV devices based on the scheduling data prediction value, and a fifth determination module (not shown in FIG. 10) for determining a target AGV device from among the candidate AGV devices based on the request information upon receiving request information.

[0240] A person skilled in the art can understand the functions of each processing module in the control device of the yarn package packaging system according to the embodiment of the present disclosure by referring to the relevant description of the control method of the yarn package packaging system above, and it should be understood that each processing module in the control device of the yarn package packaging system according to the embodiment of the present disclosure can be realized by an analog circuit that realizes such functions of the embodiment of the present disclosure, or by software executed on an electronic device that executes such functions of the embodiment of the present disclosure.

[0241] According to a control device of a wound yarn package packaging system according to an embodiment of the present disclosure, a scheduling command is generated based on the request information of the control device and the status information of the AGV device, and the AGV device is scheduled based on the scheduling command, thereby realizing smart transportation of wound yarn packages between each standalone device of the AGV device, thereby increasing the smartness and flexibility of the wound yarn package packaging system, and thereby improving the transportation efficiency of the wound yarn packages.

[0242] According to an embodiment of the present disclosure, the present disclosure further provides an electronic device and a non-transitory computer-readable storage medium.

[0243] FIG. 11 is a structural block diagram of an electronic device according to an embodiment of the present disclosure. As shown in FIG. 11, the electronic device includes a memory 1110 and a processor 1120, and the memory 1110 stores a computer program executable by the processor 1120. The number of the memory 1110 and the processor 1120 may be one or more. The memory 1110 may store one or more computer programs, which, when executed by the electronic device, cause the electronic device to perform the method provided by the above method embodiment. The electronic device may further include: The communication interface 1130 is used to communicate with an external device and perform data interaction and transmission.

[0244] When the memory 1110, the processor 1120, and the communication interface 1130 are implemented independently, the memory 1110, the processor 1120, and the communication interface 1130 are connected to each other via a bus and can communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be classified into an address bus, a data bus, a control bus, and the like. For ease of explanation, only one thick line is shown in FIG. 11, but this does not indicate only one bus or only one type of bus.

[0245] Optionally, in a specific implementation, when the memory 1110, the processor 1120, and the communication interface 1130 are integrated on one chip, the memory 1110, the processor 1120, and the communication interface 1130 can communicate with each other via an internal interface.

[0246] It should be understood that the processor may be a Central Processing Unit (CPU) or may be other general purpose processors, Digital Signal Processing (DSP), Application Specific Integrated Circuits (ASIC), Field Programmable Gate Arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware assemblies, etc. The general purpose processor may be a microprocessor or any conventional processor, etc. The processor may be a processor supporting the Advanced RISC Machines (ARM) architecture.

[0247] Additionally, optionally, the memory may include read-only memory and random access memory, and may further include non-volatile random access memory. The memory may be either volatile or non-volatile memory, or may include both volatile and non-volatile memory. Here, non-volatile memory may include Read-Only Memory (ROM), Programmable ROM (PROM), Erasable PROM (EPROM), Electrically EPROM (EEPROM), or flash memory. Volatile memory may include Random Access Memory (RAM), which acts as an external cache. By way of example and not limitation, many forms of RAM are available. For example, static random access memory (Static RAM, SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (Enhanced SDRAM, ESDRAM), synchlink DRAM (Synchlink DRAM, SLDRAM), and direct RAMBUS RAM (DR RAM).

[0248] The above-mentioned embodiments may be implemented in whole or in part in software, hardware, firmware, or any combination thereof. When implemented in software, the whole or in part may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, a process or function according to the embodiments of the present disclosure is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, Bluetooth, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device including a server, a data center, etc. integrated with one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Versatile Disc (DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)). Note that the computer-readable storage medium referred to in this disclosure may be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0249] Those skilled in the art can understand that all or part of the steps for realizing the above embodiments may be implemented by hardware, or may be implemented by instructing relevant hardware by a program, and the program may be stored in a computer-readable storage medium, and the storage medium may be a read-only memory, a magnetic disk, an optical disk, etc.

[0250] In the description of the embodiments of the present disclosure, the reference words "one embodiment", "several embodiments", "examples", "specific examples", or "several examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. And, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. Furthermore, a person skilled in the art may combine different embodiments or examples described in the present disclosure and features of different embodiments or examples to the extent that they are not mutually inconsistent.

[0251] In the description of the embodiments of the present disclosure, unless otherwise stated, " / " means "or", for example, A / B can mean either A or B. "And / or" in the present disclosure is only for describing the related relationship of related objects, and indicates that three types of relationships may exist, for example, A and / or B can indicate the following three types of situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0252] In the description of the embodiments of the present disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying a relative importance, nor should they be construed as implying a number of technical features shown. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present disclosure, "plurality" means two or more, unless otherwise specified.

[0253] The above are merely illustrative examples of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure should be included within the scope of protection of the present disclosure.

[0254] In the description herein, the orientations or positional relationships indicated by terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "up," "down," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like, are based on the orientations or positional relationships shown in the drawings and are intended merely to facilitate and simplify the description of the present disclosure, and are not intended to indicate or suggest that the devices or elements referred to have a particular orientation, be configured, or operate in a particular orientation, and therefore are not to be construed as limitations of the present disclosure.

Claims

1. A wound yarn package wrapping system comprising a control device, a scheduling device, a plurality of standalone devices, and a plurality of AGV devices, the control device is used to generate wrapping tasks and device control parameters for each standalone device based on the number and type of wound yarn packages to be wrapped; Each standalone device is used for receiving a corresponding packaging task and device control parameters of the standalone device transmitted from the control device, executing the corresponding packaging task of the standalone device based on the corresponding device control parameters of the standalone device, and transmitting operation data corresponding to the corresponding packaging task of the standalone device to the control device; The control device is further used for generating request information based on the operation data returned from each standalone device; The scheduling device is used to generate a scheduling command for scheduling a movement of a target AGV device based on the request information and the status information of the plurality of AGV devices; the target AGV device receives a scheduling command corresponding to the target AGV device, determines a first stand-alone device and a second stand-alone device corresponding to the target AGV device based on the scheduling command corresponding to the target AGV device, and transports the target wound yarn package to be transported from the first stand-alone device to the second stand-alone device; Yarn packaging system.

2. The plurality of standalone devices includes at least Including robots, weighing devices, visual inspection devices, bagging devices, palletizing devices, strapping devices, and marking devices, The yarn package packaging system according to claim 1.

3. The scheduling device comprises: For wound yarn packages to be packaged having the same lot number, disposing one AGV device for the plurality of stand-alone devices and calling the same AGV device to transport the wound yarn packages to be packaged between the plurality of stand-alone devices; or and further comprising: disposing one AGV device between two adjacent standalone devices among the plurality of standalone devices for wound yarn packages to be packaged having the same lot number; and calling the plurality of AGV devices to transport the wound yarn packages to be packaged between the plurality of standalone devices. The yarn package packaging system according to claim 1.

4. The scheduling device comprises: When wrapping different types of wound yarn packages simultaneously, one AGV device is provided for each type of wound yarn package, and an AGV device that matches a target type of wound yarn package is called to transport the target type of wound yarn package between the plurality of standalone devices; or When wrapping different types of wound yarn packages at the same time, the method is further used to arrange a plurality of AGV devices for each type of wound yarn package, call a plurality of AGV devices that match a target type of wound yarn package, and transport the target type of wound yarn package between the plurality of standalone devices. The yarn package packaging system according to claim 1.

5. The scheduling device comprises: determining a second target AGV device to replace the first target AGV device when alarm information transmitted from the first target AGV device is received; and transmitting the scheduling command to the second target AGV device so as to transport the target wound yarn package to be transported by the second target AGV device from the first stand-alone device to the second stand-alone device based on the scheduling command. The yarn package packaging system according to claim 3.

6. Different AGV devices are suitable for different conditions of the wound yarn package. The scheduling device comprises: determining a state of the target wound yarn package to be transported; determining the target AGV device based on the state. The yarn package packaging system according to claim 1.

7. The scheduling device comprises: When wrapping different types of wound yarn packages simultaneously, if an idle AGV device does not satisfy the requirement information, the request information is further used to assign an AGV device to a wrapping task of a wound yarn package with a high priority according to the wrapping progress of the different types of wound yarn packages. The yarn package packaging system according to claim 1.

8. The control device comprises: receiving corresponding usage information for each of the plurality of AGV devices transmitted from the scheduling device; and adjusting device control parameters and packaging tasks of each standalone device based on the usage information and the operation data returned from each standalone device. The yarn package packaging system according to claim 1.

9. The scheduling device comprises: Obtaining scheduling data for a first time period; inputting the scheduling data in the first time period into a scheduling model for predicting scheduling data to obtain a scheduling data prediction value in a second time period output by the scheduling model, the scheduling model being obtained by training using a scheduling data sample; and determining a candidate AGV device from among the plurality of AGV devices based on the scheduling data forecast value; and upon receiving the request information, determining the target AGV device from among the candidate AGV devices based on the request information. The yarn package packaging system according to claim 1.

10. the AGV device comprises a controller and a transmission mechanism; The transmission mechanism is used to place a wound yarn package thereon, the controller is used for determining target parameters adapted to the target wound yarn package to be transported based on the scheduling command, and adjusting the transmission mechanism based on the target parameters such that the adjusted transmission mechanism is adapted to the target wound yarn package to be transported. The yarn package packaging system according to claim 1.

11. packaging of different types of wound yarn packages may share at least some of the control device, the scheduling device, the plurality of AGV devices, and the plurality of standalone devices; The yarn package packaging system according to claim 1.

12. the plurality of stand-alone devices include a first type stand-alone device, a second type stand-alone device, and a third type stand-alone device, wherein the first type stand-alone device, the second type stand-alone device, and the third type stand-alone device are disposed in different areas, the first type stand-alone device is a stand-alone device suitable for packaging a draw deformed yarn DTY wound yarn package, the second type stand-alone device is a stand-alone device suitable for packaging a pre-oriented yarn POY wound yarn package, and the third type stand-alone device is a stand-alone device suitable for packaging a fully drawn yarn FDY wound yarn package. The yarn package packaging system according to claim 1.

13. 1. A method for controlling a yarn package wrapping system, comprising: generating packaging tasks and device control parameters for each standalone device based on the number and type of wound yarn packages to be packaged, and each standalone device performing its corresponding packaging task based on its corresponding device control parameters; generating request information based on the operation data returned from each standalone device; generating scheduling directives based on the request information and corresponding status information for each of the plurality of AGV devices; The target AGV device determines a first stand-alone device and a second stand-alone device corresponding to the target AGV device based on a scheduling command corresponding to the target AGV device, and controls the target AGV device to transport the target wound yarn package to be transported from the first stand-alone device to the second stand-alone device; Here, the wound yarn package packaging system employs the wound yarn package packaging system described in claim 1. A method for controlling a yarn package wrapping system.

14. The method for controlling the yarn package packaging system includes: For wound yarn packages to be packaged having the same lot number, disposing one AGV device for the plurality of stand-alone devices and calling the same AGV device to transport the wound yarn packages to be packaged between the plurality of stand-alone devices; or and further comprising: for wound yarn packages to be packaged having the same lot number, disposing one AGV device between two adjacent standalone devices among the plurality of standalone devices, and calling the plurality of AGV devices to transport the wound yarn packages to be packaged between the plurality of standalone devices. A method for controlling a yarn package packaging system according to claim 13.

15. The method for controlling the yarn package packaging system includes: When wrapping different types of wound yarn packages simultaneously, one AGV device is provided for each type of wound yarn package, and an AGV device that matches a target type of wound yarn package is called to transport the target type of wound yarn package between the plurality of standalone devices; or When wrapping different types of wound yarn packages simultaneously, the method further includes disposing a plurality of AGV devices for each type of wound yarn package, calling a plurality of AGV devices that match a target type of wound yarn package, and transporting the target type of wound yarn package between the plurality of standalone devices. A method for controlling a yarn package packaging system according to claim 13.

16. The method for controlling the yarn package packaging system includes: determining a second target AGV device to replace the first target AGV device when alarm information transmitted from the first target AGV device is received; sending the scheduling command to the second target AGV device so as to transport the target wound yarn package to be transported by the second target AGV device from the first stand-alone device to the second stand-alone device based on the scheduling command; A method for controlling a yarn package packaging system according to claim 14.

17. The method for controlling the yarn package packaging system includes: determining a state of the target wound yarn package to be transported; determining the target AGV device based on the conditions; Here, different AGV devices are suitable for different states of the wound yarn package. A method for controlling a yarn package packaging system according to claim 13.

18. The method for controlling the yarn package packaging system includes: and when wrapping different types of wound yarn packages simultaneously, if an idle AGV device does not satisfy the requirement information, assigning an AGV device to a wrapping task of a wound yarn package with a high priority according to a wrapping progress of the different types of wound yarn packages. A method for controlling a yarn package packaging system according to claim 13.

19. The method for controlling the yarn package packaging system includes: receiving corresponding usage information for each of the plurality of AGV devices transmitted from the scheduling device; and adjusting device control parameters and packaging tasks of each standalone device based on the usage information and operation data returned from each standalone device. A method for controlling a yarn package packaging system according to claim 13.

20. The method for controlling the yarn package packaging system includes: Obtaining scheduling data for a first time period; inputting the scheduling data in the first time period into a scheduling model for predicting scheduling data to obtain a scheduling data prediction value in a second time period output by the scheduling model, the scheduling model being obtained by training using a scheduling data sample; and determining a candidate AGV device from among the plurality of AGV devices based on the scheduling data forecast value; and when receiving the request information, determining the target AGV device from among the candidate AGV devices based on the request information. A method for controlling a yarn package packaging system according to claim 13.

21. A control device for a yarn package packaging system, comprising: a first generating module for generating wrapping tasks and device control parameters for each standalone device based on the number and type of wound yarn packages to be wrapped, such that each standalone device performs a corresponding wrapping task of the standalone device based on the corresponding device control parameters of the standalone device; a second generating module for generating request information based on the operation data returned from each standalone device; a scheduling module for generating a scheduling command based on the request information and corresponding status information of each of the plurality of AGV devices; a control module for controlling the target AGV device to determine a first stand-alone device and a second stand-alone device corresponding to the target AGV device based on a scheduling command corresponding to the target AGV device, and to transport a target wound yarn package to be transported from the first stand-alone device to the second stand-alone device; Here, the wound yarn package packaging system employs the wound yarn package packaging system according to any one of claims 1 to 12. A control device for a yarn package wrapping system.

22. At least one processor; a memory in communication with the at least one processor; The memory stores instructions executable by the at least one processor, the instructions, when executed by the at least one processor, causing the at least one processor to perform a method according to any one of claims 13 to 20. Electronic devices.

23. A non-transitory computer readable storage medium for storing instructions that cause a computer to perform the method of any one of claims 13 to 20.

24. A program for implementing, in a computer, a method according to any one of claims 13 to 20 when executed by a processor.

Images