Single-track double-doffer scheduling method, device and storage medium based on digital twin

Abstract

The present invention relates to a single-track double-wire-dropping machine scheduling method, device and storage medium based on digital twin, including: in the scheduling process, no boundary is set, and the two wire-dropping machines go to the spinning position with full rolls at the same time to perform the wire-dropping work respectively. After the wire-dropping is completed, they return to the temporary storage area at one end of the production line and wait for the next wire-dropping task. The two wire-dropping machines start at the same time again. Although there is still a gap in the running distance due to the fact that the spinning positions where the two wire-dropping machines work are one large and one small, this gap is significantly reduced compared with the existing technology, and this distance difference is to avoid the interlacing of the two wire-dropping machines. Compared with the existing technology, the operating efficiency of the double-wire-dropping machines on the same line is significantly improved, and the labor intensity of manual wire-dropping is reduced. By simulating more double-machine wire-dropping operation sequences through the digital twin model, a more efficient operation sequence can be provided compared with the current single first-come-first-served operation sequence.

Description

Technical Field

[0001] The present invention relates to the technical field of wire doffing machine scheduling, and in particular to a single-track double-wire doffing machine scheduling method, device and storage medium based on digital twins. Background Art

[0002] At present, the scheduling of single-track double wire-dropping machines based on PLC generally uses a certain spinning position of the production line as the dividing line. Under the scheduling of PLC, the two wire-dropping machines perform automatic wire-dropping operations on both sides of the dividing line according to the "first come, first served" operation principle. That is, the two wire-dropping machines use a certain spinning position as the dividing line, and each is responsible for general spinning position wire dropping. Then, after each wire-dropping machine completes wire dropping, it transfers the silk cake to the temporary storage area at one end of the production line. However, when using this method, since the temporary storage area is generally set at one end of the production line, the running distance of one of the wire-dropping machines will be much greater than that of the other wire-dropping machine. In the long run, the wire-dropping machine farther away from the temporary storage area is more prone to equipment failure, and since one of the wire-dropping machines is farther away from the temporary storage area, the wire-dropping efficiency of the half area it is responsible for will be lower, and manual participation will be required, resulting in high labor intensity of manual wire dropping. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a single-track double-wire dropper scheduling method, device and storage medium based on digital twins, so as to solve the problems in the prior art that the running distances of the two wire droppers are very different, the working intensity is inconsistent, which makes one of the wire droppers prone to failure, and the wire dropper that runs a long distance is responsible for the low wire drop efficiency of the spinning position half area, resulting in high labor intensity of manual wire drop.

[0004] According to a first aspect of an embodiment of the present invention, a scheduling method for a single-track double-doffer machine based on digital twin is provided, comprising:

[0005] Build a digital twin model of the doffing system;

[0006] Based on the production data of the physical doffing workshop at a certain moment and the operating status of the two doffing machines, the digital twin model simulates the doffing machines for the next period of time using a scheduling optimization algorithm. The simulation results are fed back to the physical doffing scheduling terminal to schedule the operating tasks of the two doffing machines for the next period of time.

[0007] The scheduling of two doffing machines includes:

[0008] When there is a full-wind signal, two spinning positions with full winds are taken, so that the first wire dropper performs the wire drop task of the spinning position with a larger number, and the second wire dropper performs the wire drop task of the spinning position with a smaller number. The first and second wire droppers start at the same time, and start to drop the wires respectively after reaching the target spinning position.

[0009] Preferably,

[0010] The scheduling optimization algorithm includes:

[0011] According to the spinning position status data and the operation data of the two doffing machines, when there is a spinning position waiting for doffing;

[0012] According to the plurality of spinning positions having the longest waiting time after being fully wound, if the number of fully wound spinning positions does not meet the preset number, the spinning position having the shortest waiting time to be fully wound is selected as a supplement;

[0013] According to the two doffing machines completing doffing of two spinning positions at the same time, an operation sequence of the two doffing machines completing the multiple spinning positions is arranged;

[0014] The operation sequence is simulated and, based on real-time data from the physical doffing workshop, a pre-trained prediction model is used to predict the action time of each link in the doffing machine's movement to each spinning position. This allows prediction of the doffing machine's complete operation time and the number of tube bursts.

[0015] The operation sequence with the least number of pipe bursts and the shortest complete operation time of the wire dropper is selected as the final scheduling plan output.

[0016] Preferably,

[0017] Also includes:

[0018] During the operation of the two doffing machines, real-time operation data of the two doffing machines are monitored, and preset time nodes are compared according to the real-time operation data and the simulated operation data during the simulated operation;

[0019] When the error of the comparison time exceeds a preset time threshold, it is determined that there is a disturbance in the wire dropping process and the type of disturbance is determined;

[0020] If the disturbance type is that the anti-collision detection device is blocked or manually controlled, the current wire dropping task will continue to be executed;

[0021] If the disturbance type is a winding head failure or artificial wire dropping, the scheduling plan will be re-output through the scheduling optimization algorithm.

[0022] Preferably;

[0023] When the current scheduling plan is completed and there are still full spinning positions; or when interference on the work site causes the actual scheduling process of the physical doffing robot to be abnormal;

[0024] The digital twin model of the wire dropping system will re-trigger a new round of scheduling decision-making plans.

[0025] Preferably,

[0026] The pre-trained prediction model includes:

[0027] Obtain historical operating data of two doffing machines under the scheduling of the digital twin model of the doffing system;

[0028] A prediction model for the action time of the drop wire machine is trained based on the historical operation data.

[0029] Preferably,

[0030] The construction of the digital twin model of the doffing system includes:

[0031] Conduct geometric modeling of the equipment involved in the entire automatic wire doffing process;

[0032] Use 3dmax to render the geometric model;

[0033] Import the texture-rendered model into Unity3D, and program the device model with scripts to display the device's actions and status, completing the construction of the virtual automatic doffing system.

[0034] The communication protocol is used to collect PLC data in the physical wire dropping system and transmit it to the virtual automatic wire dropping system, driving the virtual automatic wire dropping system to operate, realizing the virtual and real synchronization of the physical wire dropping system and the virtual wire dropping system, and completing the construction of the digital twin model of the wire dropping system.

[0035] Preferably,

[0036] The scheduling of two doffing machines also includes:

[0037] When there is a full-wind signal and there is only one spinning position with a full wind, a spinning position with the shortest time to full wind is selected, so that the first doffing machine performs the doffing task of the spinning position with a larger number, and the second doffing machine performs the doffing task of the spinning position with a smaller number;

[0038] When each doffing machine reaches the target spinning position, if the spinning position that is not fully wound is still winding, the corresponding doffing machine will start to doff the wire after the winding of the spinning position that is not fully wound is completed. The doffing machine that completes the doffing task first waits for the other doffing machine to complete the doffing task. After both doffing machines return to the temporary storage area, they will start to perform the next doffing task at the same time.

[0039] According to a second aspect of an embodiment of the present invention, a single-track double-doffer scheduling device based on digital twin is provided, comprising:

[0040] Model building module: used to build a digital twin model of the doffing system;

[0041] Decision-making plan generation module: This module uses the scheduling optimization algorithm to simulate the doffing machines for the next period of time in the digital twin model based on the production data of the physical doffing workshop and the operating status of the two doffing machines at a certain moment. The simulation results are then fed back to the physical doffing workshop to schedule the operating tasks of the two doffing machines for the next period of time.

[0042] Scheduling module: When there is a full-wind signal, it takes two spinning positions with full winds, so that the first wire dropper performs the wire drop task with a larger spinning position number, and the second wire dropper performs the wire drop task with a smaller spinning position number. The first and second wire droppers start at the same time, and start dropping wires respectively after arriving at the target spinning position.

[0043] According to a third aspect of an embodiment of the present invention, a storage medium is provided, which stores a computer program. When the computer program is executed by a main controller, it implements each step of the single-track double-wire drop machine scheduling method based on digital twins.

[0044] The technical solutions provided by the embodiments of the present invention may have the following beneficial effects:

[0045] This application constructs a digital twin model of the wire dropping system, generates a scheduling method through the digital twin model, and schedules the two wire dropping machines. During the scheduling process, no boundary is set. The two wire dropping machines go to the spinning position with full rolls at the same time and perform the wire dropping work respectively. After the wire dropping is completed, they return to the temporary storage area at one end of the production line and wait for the next wire dropping task. The two wire dropping machines start at the same time again. Although there is still a gap in the running distance due to the fact that the spinning positions of the two wire dropping machines are one large and one small, this gap is significantly reduced compared with the existing technology, and this distance difference is to avoid the interlacing of the two wire dropping machines. Compared with the existing technology, the operating efficiency of the two wire dropping machines on the same line is significantly improved, and the labor intensity of manual wire dropping is reduced. By simulating more dual-machine wire dropping operation sequences through the digital twin model, a more efficient operation sequence can be provided than the current single first-come-first-served operation sequence.

[0046] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0048] Figure 1 1 is a flow chart of a method for scheduling a single-track double-doffer machine based on digital twins according to an exemplary embodiment;

[0049] Figure 2 is a flow chart of a scheduling optimization algorithm according to another exemplary embodiment;

[0050] Figure 3 is a schematic diagram of a process for constructing a digital twin model of a doffing system according to another exemplary embodiment;

[0051] Figure 4 is a schematic diagram illustrating a dynamic response-prediction real-time scheduling principle of a digital twin model according to another exemplary embodiment;

[0052] Figure 5 is a schematic diagram of a doffing machine and a spinning position according to another exemplary embodiment;

[0053] Figure 6 is a system schematic diagram of a single-track double-doffer scheduling device based on digital twin according to another exemplary embodiment;

[0054] In the attached figure: 1-model building module, 2-decision plan generation module, 3-scheduling module. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0056] Example 1

[0057] Figure 1 is a flow chart of a single-track double-doffer scheduling method based on digital twins according to an exemplary embodiment. Figure 1 As shown, the method includes:

[0058] S1, building a digital twin model of the doffing system;

[0059] S2: Based on the production data of the physical doffing workshop at a certain moment and the operating status of the two doffing machines, the doffing machines for the next period of time are simulated using a scheduling optimization algorithm in the digital twin model. The simulation results are fed back to the physical doffing scheduling terminal to schedule the operating tasks of the two doffing machines for the next period of time.

[0060] S3, the scheduling of the two doffing machines includes:

[0061] When a full-wind signal is present, two spinning positions with full winds are selected, and the first doffing machine performs the doffing task of the spinning position with a larger wind number, and the second doffing machine performs the doffing task of the spinning position with a smaller wind number. The first doffing machine and the second doffing machine start at the same time, and start doffing respectively after arriving at the target spinning position;

[0062] It can be understood that in this embodiment, a digital twin model of the wire dropping system is constructed. In the digital twin model, according to the production data of the physical wire dropping workshop at a certain moment and the operating status of the two wire dropping machines, the wire dropping machines in the next period of time are simulated through a scheduling optimization algorithm in the digital twin model, and the simulation results are fed back to the physical wire dropping workshop to schedule the operating tasks of the two wire dropping machines in the next period of time. When scheduling the wire dropping machines, when there is a full-roll signal, two full-roll spinning positions are taken, so that the first wire dropping machine performs the wire dropping task with a larger spinning position number, and the second wire dropping machine performs the wire dropping task with a smaller spinning position number. The first wire dropping machine and the second wire dropping machine start at the same time, and start to drop wire respectively after arriving at the target spinning position. In this application , no boundary is set, the two doffing machines go to the full spinning position at the same time, and perform the doffing work respectively. After the doffing is completed, they return to the temporary storage area at one end of the production line, waiting for the next doffing task, and the two doffing machines start at the same time. Although there is still a gap in the running distance due to the fact that the two doffing machines work at one spinning position, one is large and the other is small, this gap is significantly reduced compared with the existing technology, and this distance difference is to avoid the staggering of the two doffing machines. Compared with the existing technology, the operating efficiency of the double doffing machines on the same line is significantly improved, and the labor intensity of manual doffing is reduced. By simulating more double-machine doffing operation sequences through the digital twin model, a more efficient operation sequence can be provided than the current single first-come-first-served operation sequence.

[0063] It is worth emphasizing that the Figure 5 As shown, the temporary storage area of ​​the first and second wire doffing machines of the present application is set at one end of the production line, and a standby area for two wire doffing machines is set in the temporary storage area. After the two wire doffing machines complete the wire doffing of the full-roll spinning position, they return to the standby area to wait for the next wire doffing task. Because there is no dividing spinning position, the distance between the two wire doffing machines and the standby area after completing the wire doffing task is significantly reduced compared with the prior art, which can effectively avoid the problem that the running distance of one wire doffing machine is much greater than that of the other wire doffing machine, and the first wire doffing machine performs the wire doffing task with a large spinning position number, so that the second wire doffing machine performs the wire doffing task with a small spinning position number. According to the attached Figure 5 It can be clearly seen that there is no problem of interlacing between the two wire droppers, and they do not need to avoid each other.

[0064] It is worth emphasizing that the Figure 4As shown in the figure, the digital twin model performs a scheduling simulation of the wire doffing machines from t0 to t4 in a short period of time starting from t′0 based on the production data of the physical wire doffing workshop and the operating status of the wire doffing machines at time t0. The simulation process also corresponds to the time period from t′0 to t′4. After completing the simulation according to the scheduling optimization algorithm, the digital twin model immediately feeds back the scheduling decision to the physical wire doffing workshop at time t1, schedules the operating tasks of the two automatic wire doffing machines from t1 to t4, and completes a round of real-time scheduling of the digital twin system. The time period from t0 to t1 is the time used for this round of scheduling decisions.

[0065] Preferably, as shown in the attached Figure 2 As shown, this embodiment also provides a flow chart of the scheduling optimization algorithm.

[0066] The scheduling optimization algorithm includes:

[0067] S201, according to the spinning position status data and the operation data of the two doffing machines, when there is a spinning position waiting for doffing;

[0068] S202, according to the plurality of spinning positions having the longest waiting time after being fully wound, if the number of fully wound spinning positions does not meet a preset number, a spinning position having the shortest waiting time to be fully wound is selected as a supplement;

[0069] S203, arranging an operation sequence for the two doffing machines to complete the doffing of the multiple spinning positions based on the two doffing machines completing the doffing of the two spinning positions simultaneously;

[0070] S204: Simulate the operation sequence and, based on real-time data from the physical doffing workshop, use a pre-trained prediction model to predict the action time of each link in the doffing machine's operation process of moving to each spinning position, thereby predicting the complete operation time of the doffing machine and the number of pipe bursts.

[0071] S205: Select the operation sequence with the least number of pipe bursts and the shortest complete operation time of the wire dropper as the final scheduling solution output;

[0072] It can be understood that in this embodiment, the digital twin system collects spinning position status data and silk drop machine operation data. When there are spinning positions waiting for silk drop in the system, the digital twin system scheduling optimization starts service. The "scheduling optimization" module optimizes the operation sequence based on the real-time twin data and takes 4 spinning positions with the longest waiting time (when the number of full-roll spinning positions is less than 4, the spinning position closest to the full-roll time is taken). Since the "dual-machine collaboration" scheduling algorithm can complete the silk drop of 2 spinning positions per task, the digital twin system is used to change the first-come-first-served operation principle, so the total number of spinning positions to complete the silk drop is 2. There are six different doffing machine operation sequences. The scheduling optimization module uses a "dual-machine collaboration" algorithm to simulate each of these sequences. Using a pre-trained prediction model for doffing machine motion time, the prediction model significantly influences the scheduling decisions issued by the digital twin system. Before each simulation, the digital twin system uses real-time data from the physical doffing workshop to predict the motion time of each link in the doffing machine's journey to each spinning position. This allows predictions of the doffing machine's complete operation time and the number of pipe bursts. After the digital twin system simulates the six task sequences, it selects the sequence with the fewest pipe bursts and the shortest doffing time as the final scheduling output. The virtual doffing system generates control instructions based on the optimal scheduling solution to schedule the doffing machine operations.

[0073] Preferably,

[0074] Also includes:

[0075] During the operation of the two doffing machines, real-time operation data of the two doffing machines are monitored, and preset time nodes are compared according to the real-time operation data and the simulated operation data during the simulated operation;

[0076] When the error of the comparison time exceeds a preset time threshold, it is determined that there is a disturbance in the wire dropping process and the type of disturbance is determined;

[0077] If the disturbance type is that the anti-collision detection device is blocked or manually controlled, the current wire dropping task will continue to be executed;

[0078] If the disturbance type is a winding head failure or artificial wire drop, the scheduling plan will be re-output through the scheduling optimization algorithm;

[0079] It is understood that during operation, the digital twin system monitors the key time nodes of the two doffing machines and compares the simulated operation data of the doffing machines with the real-time operation data, such as arrival at the operation position, completion of doffing, arrival at the inventory position, etc. When the comparison error exceeds 60s, it is determined that there is a disturbance in the doffing process and the type of disturbance is determined. If the disturbance is caused by the anti-collision detection device being blocked or manual operation, the current doffing task will continue to be executed; if the disturbance is caused by a winding head failure or manual doffing, the system returns to step S201 for rescheduling. Through the analysis and integration of real-time data by the digital twin system, the doffing machine can provide timely feedback on interference or failures in the production line and change the operation task. At the same time, the digital twin system can predict in advance the spinning position where the doffing cannot be performed and notify the manual doffing in time.

[0080] Preferably;

[0081] When the current scheduling plan is completed and there are still full spinning positions; or when interference on the work site causes the actual scheduling process of the physical doffing robot to be abnormal;

[0082] The digital twin model of the doffing system will trigger a new round of scheduling decisions;

[0083] Understandably, while strictly adhering to the aforementioned scheduling model, the digital twin model will trigger a new round of scheduling decisions in the following situations: 1. The scheduling task issued by the previous virtual workshop is completed, and the workshop still has full spinning positions; 2. On-site interference causes the actual scheduling process of the physical doffing robot to be abnormal, such as debris blocking the lidar for a long time, the winding head breaking at the pre-doffing spinning position, the doffing machine malfunctioning, or human intervention, making the current round of decision results inapplicable.

[0084] Preferably,

[0085] The pre-trained prediction model includes:

[0086] Obtain historical operating data of two doffing machines under the scheduling of the digital twin model of the doffing system;

[0087] Training a prediction model for the action time of the doffing machine based on the historical operation data;

[0088] It is understandable that before the scheduling optimization module is enabled, the digital twin system needs to collect a large amount of operating data of the wire drop machine scheduled using the "dual-machine collaboration" algorithm on a first-come, first-served basis, and use historical data to train a prediction model for the action time of the wire drop machine. The prediction model can be a "random forest" regression model, which predicts the operating time of the wire drop machine under the current task sequence through the "random forest" regression model.

[0089] Preferably, as shown in the attached Figure 3 As shown, this embodiment also provides a flow chart of building a digital twin model of the doffing system, including:

[0090] S101, geometric modeling of the equipment involved in the entire automatic wire doffing process;

[0091] S102, rendering the geometric model through 3dmax;

[0092] S103, importing the texture-rendered model into Unity3D, and programming the device model with a script to display the device's actions and status, thus completing the construction of the virtual automatic doffing system;

[0093] S104, using a communication protocol to collect PLC data from the physical wire doffing system and transmit it to the virtual automatic wire doffing system, driving the virtual automatic wire doffing system to operate, achieving virtual and real synchronization between the physical wire doffing system and the virtual wire doffing system, and completing the construction of a digital twin model of the wire doffing system;

[0094] It can be understood that the automatic wire dropping system, as a physical entity, is equipped with a large number of sensors and communicates with the winding head through OPC. The industrial Ethernet of the workshop and the server of the management system can realize the transmission, storage, fusion and other operations of multi-source heterogeneous data in the workshop. This application mainly includes two wire dropping machines, temporary wire boxes, RGV trolleys and other logistics equipment. There are 80 winding heads in the on-site winding area. Each winding head winds 16 packages at a time. Each group of winding heads produces full rolls at the same time, that is, it is divided into 40 spinning positions. The working process is that two double-station automatic wire dropping machines work by running on the same line. The temporary storage area places wire boxes to cache packages. RGV The V-trolley moves back and forth in the transfer area to transport the coils to the external inspection area; the digital twin model is established. First, the logistics equipment involved in the entire automatic wire dropping process is geometrically modeled, and the geometric model is rendered through 3dmax. The rendered model is imported into Unity3D, and the equipment model is scripted to display the equipment action and status. The construction of the virtual automatic wire dropping system is completed. The communication protocol is used to transmit the PLC and other data collected in the physical winding system to the virtual wire dropping system, driving the virtual wire dropping system to operate, achieving virtual and real synchronization between the physical wire dropping system and the virtual wire dropping system, and completing the establishment of the digital twin model of the entire wire dropping system.

[0095] Preferably,

[0096] The scheduling of two doffing machines also includes:

[0097] When there is a full-wind signal and there is only one spinning position with a full wind, a spinning position with the shortest time to full wind is selected, so that the first doffing machine performs the doffing task of the spinning position with a larger number, and the second doffing machine performs the doffing task of the spinning position with a smaller number;

[0098] When each doffing machine reaches the target spinning position, if the spinning position with incomplete winding is still winding, the corresponding doffing machine will start doffing after the winding of the incomplete spinning position is completed. The doffing machine that completes the doffing task first will wait for the other doffing machine to complete the doffing task. After both doffing machines return to the temporary storage area, they will start to perform the next doffing task at the same time.

[0099] It is understandable that, since two doffing machines need to be mobilized at the same time to complete the doffing task at two spinning positions at the same time, when there is a full-wind signal but only one spinning position with a full wind, the system automatically selects the spinning position with the shortest time to full wind as the execution spinning position of the other doffing machine. After the two doffing machines arrive at the target spinning position, the doffing machine at the full-wind position starts the doffing work directly. If the spinning position that is not full of wind is still not full of wind, the corresponding doffing machine waits in place until the spinning position is full of wind, and then the corresponding doffing machine starts working. Since one of the doffing machines starts to doff the wind first, it will also end the doffing task first. If the second wire dropper finishes the wire dropping task first, the second wire dropper will directly return to the temporary storage area and wait for the first wire dropper to complete the task. If the first wire dropper finishes the wire dropping task first, it cannot return to the temporary storage area due to the obstruction of the second wire dropper. The first wire dropper will wait in situ for the second wire dropper to complete the wire dropping task, and then return to the temporary storage area together. When both wire droppers complete their tasks and return to the temporary storage area, they will simultaneously set out to perform the next wire dropping task. This design can avoid the working intensity of one of the wire droppers being significantly greater than that of the other, making it more prone to failure.

[0100] Example 2

[0101] According to the single-track double-doffer scheduling device based on digital twin shown in this embodiment, as shown in the attached Figure 6 Shown, including:

[0102] Model building module 1: used to build a digital twin model of the doffing system;

[0103] Decision-making solution generation module 2: Based on the production data of the physical doffing workshop at a certain moment and the operating status of the two doffing machines, it simulates the doffing machines for the next period of time using a scheduling optimization algorithm in the digital twin model. The simulation results are fed back to the physical doffing scheduling terminal to schedule the operating tasks of the two doffing machines for the next period of time.

[0104] Scheduling module 3: When a full-wind signal is present, two spinning positions with full winds are selected, and the first doffing machine is made to perform the doffing task of the spinning position with a larger winder number, and the second doffing machine is made to perform the doffing task of the spinning position with a smaller winder number. The first and second doffing machines start at the same time and start doffing respectively after arriving at the target spinning position.

[0105] It can be understood that a digital twin model of the wire dropping system is constructed through the model construction module 1, and the decision-making plan generation module 2 is used to simulate the wire dropping machine in the next period of time through the scheduling optimization algorithm according to the production data of the physical wire dropping workshop at a certain moment and the operating status of the two wire dropping machines. The simulation results are fed back to the physical wire dropping workshop to schedule the operating tasks of the two wire dropping machines in the next period of time. The scheduling module 3 is used to take two full-roll spinning positions when there is a full-roll signal, so that the first wire dropping machine performs the wire dropping task with a larger spinning position number, and the second wire dropping machine performs the wire dropping task with a smaller spinning position number. The first and second wire dropping machines start at the same time and reach the target After the spinning position, they start to drop the silk respectively; in this application, no boundary is set, and the two silk droppers go to the full spinning position at the same time to drop the silk. After the silk drop is completed, they all return to the temporary storage area at one end of the production line. Although there is still a gap in the running distance because the spinning positions where the two silk droppers work are one large and one small, this gap is significantly reduced compared with the existing technology, and this distance difference is to avoid the staggering of the two silk droppers. Compared with the existing technology, the operating efficiency of the double silk droppers on the same line is significantly improved, and the labor intensity of manual silk drop is reduced. By simulating more double-machine silk drop operation sequences through the digital twin model, a more efficient operation sequence can be provided than the current single first-come-first-served operation sequence.

[0106] Example 3:

[0107] This embodiment provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a host controller, each step in the above method is implemented;

[0108] It is understandable that the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0109] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0110] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is at least two.

[0111] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0112] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0113] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0114] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0115] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0116] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0117] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A single-track double-doffer scheduling method based on digital twins is characterized by: include: Build a digital twin model of the doffing system; Based on the production data of the physical doffing workshop at a certain moment and the operating status of the two doffing machines, the digital twin model simulates the doffing machines for the next period of time using a scheduling optimization algorithm. The simulation results are fed back to the physical doffing scheduling terminal to schedule the operating tasks of the two doffing machines for the next period of time. The scheduling optimization algorithm includes: According to the spinning position status data and the operation data of the two doffing machines, when there is a spinning position waiting for doffing; According to the plurality of spinning positions having the longest waiting time after being fully wound, if the number of fully wound spinning positions does not meet the preset number, the spinning position having the shortest waiting time to be fully wound is selected as a supplement; According to the two doffing machines completing doffing of two spinning positions at the same time, an operation sequence of the two doffing machines completing the multiple spinning positions is arranged; The operation sequence is simulated and, based on real-time data from the physical doffing workshop, a pre-trained prediction model is used to predict the action time of each link in the doffing machine's movement to each spinning position. This allows prediction of the doffing machine's complete operation time and the number of tube bursts. The operation sequence with the least number of pipe bursts and the shortest complete operation time of the wire dropper is selected as the final scheduling output; The scheduling of two doffing machines includes: When there is a full-wind signal, two spinning positions with full winds are taken, so that the first wire dropper performs the wire drop task of the spinning position with a larger number, and the second wire dropper performs the wire drop task of the spinning position with a smaller number. The first and second wire droppers start at the same time, and start to drop the wires respectively after reaching the target spinning position.

2. The method according to claim 1, characterized in that Also includes: During the operation of the two doffing machines, real-time operation data of the two doffing machines are monitored, and preset time nodes are compared according to the real-time operation data and the simulated operation data during the simulated operation; When the error of the comparison time exceeds the preset time threshold, it is determined that there is a disturbance in the wire dropping process and the type of disturbance is determined; If the disturbance type is that the anti-collision detection device is blocked or manually controlled, the current wire dropping task will continue to be executed; If the disturbance type is a winding head failure or artificial wire dropping, the scheduling plan will be re-output through the scheduling optimization algorithm.

3. The method according to claim 2, characterized in that When the current scheduling plan is completed and there are still full spinning positions; or when interference on the work site causes the actual scheduling process of the physical doffing robot to be abnormal; The digital twin model of the wire dropping system will re-trigger a new round of scheduling decision-making plans.

4. The method according to claim 3, characterized in that The pre-trained prediction model includes: Obtain historical operating data of two doffing machines under the scheduling of the digital twin model of the doffing system; A prediction model for the action time of the drop wire machine is trained based on the historical operation data.

5. The method according to claim 1, characterized in that The construction of the digital twin model of the doffing system includes: Conduct geometric modeling of the equipment involved in the entire automatic wire doffing process; Use 3dmax to render the geometric model; Import the texture-rendered model into Unity3D, and program the device model with scripts to display the device's actions and status, completing the construction of the virtual automatic doffing system. The communication protocol is used to collect PLC data in the physical wire dropping system and transmit it to the virtual automatic wire dropping system, driving the virtual automatic wire dropping system to operate, realizing the virtual and real synchronization of the physical wire dropping system and the virtual wire dropping system, and completing the construction of the digital twin model of the wire dropping system.

6. The method according to claim 5, characterized in that The scheduling of two doffing machines also includes: When there is a full-wind signal and there is only one spinning position with a full wind, a spinning position with the shortest time to full wind is selected, so that the first doffing machine performs the doffing task of the spinning position with a larger number, and the second doffing machine performs the doffing task of the spinning position with a smaller number; When each doffing machine reaches the target spinning position, if the spinning position that is not fully wound is still winding, the corresponding doffing machine will start to doff the wire after the winding of the spinning position that is not fully wound is completed. The doffing machine that completes the doffing task first waits for the other doffing machine to complete the doffing task. After both doffing machines return to the temporary storage area, they will start to perform the next doffing task at the same time.

7. The single-track double-doffer scheduling device based on digital twin is characterized by: include: Model building module: used to build a digital twin model of the doffing system; Decision-making plan generation module: This module uses the scheduling optimization algorithm to simulate the doffing machines for the next period of time in the digital twin model based on the production data of the physical doffing workshop at a certain moment and the operating status of the two doffing machines. The simulation results are then fed back to the physical doffing scheduling terminal to schedule the operating tasks of the two doffing machines for the next period of time. The scheduling optimization algorithm includes: According to the spinning position status data and the operation data of the two doffing machines, when there is a spinning position waiting for doffing; According to the plurality of spinning positions having the longest waiting time after being fully wound, if the number of fully wound spinning positions does not meet the preset number, the spinning position having the shortest waiting time to be fully wound is selected as a supplement; According to the two doffing machines completing doffing of two spinning positions at the same time, an operation sequence of the two doffing machines completing the multiple spinning positions is arranged; The operation sequence is simulated and, based on real-time data from the physical doffing workshop, a pre-trained prediction model is used to predict the action time of each link in the doffing machine's movement to each spinning position. This allows prediction of the doffing machine's complete operation time and the number of tube bursts. The operation sequence with the least number of pipe bursts and the shortest complete operation time of the wire dropper is selected as the final scheduling output; Scheduling module: When there is a full-wind signal, it takes two spinning positions with full winds, so that the first wire dropper performs the wire drop task with a larger spinning position number, and the second wire dropper performs the wire drop task with a smaller spinning position number. The first and second wire droppers start at the same time, and start dropping wires respectively after arriving at the target spinning position.

8. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the main controller, it implements each step in the single-track double-wire drop machine scheduling method based on digital twins as described in any one of claims 1 to 6.

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