Method, device, electronic device and storage medium for scheduling doffing of ingot products

Abstract

The present disclosure provides a method, device, electronic device and storage medium for scheduling the doffing of silk ingot products, which are applied to automatic doffing systems and relate to the fields of computer technology, especially to fields such as automation control. The specific implementation scheme is as follows: the automatic doffing system connects the automatic guided vehicle AGV and the overhead rail doffing car, and the AGV and the overhead rail doffing car are deployed in different spaces in the vertical direction of the target workshop; according to the time-related information of the doffing of silk ingot products in all or part of the winding machines in the target workshop, the target doffing car corresponding to the first winding machine in the target workshop is determined in the AGV and the overhead rail doffing car; the target doffing car is dispatched to complete the doffing task of the silk ingot products in the first winding machine. By adopting the technical scheme of the present disclosure, the silk ingot products in different winding machines can be automatically doffed by the AGV and the overhead rail doffing car, which improves the doffing efficiency of the silk ingot products in the winding machine and reduces the production cost of the silk ingot products.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to the field of automatic control. Background Art

[0002] In the process of doffing the silk ingot products in the winding machine, the doffing task can be completed by AGV (Automated Guided Vehicle). Due to the limitations of the running speed and running path, the AGV cannot reach the designated position in time to complete the doffing task, resulting in low doffing efficiency of the silk ingot products in the winding machine. In addition, if the fully rolled silk ingot products in the winding machine continue to be wound, the silk ingot products will burst and become scrapped and cannot be used, thereby increasing the production cost of the silk ingot products. Summary of the invention

[0003] The present disclosure provides a method, device, electronic device and storage medium for scheduling doffing of a silk ingot product to solve or alleviate one or more technical problems in the prior art.

[0004] In a first aspect, the present disclosure provides a method for scheduling bobbin doffing of a silk ingot product, which is applied to an automatic bobbin doffing system, wherein the automatic bobbin doffing system is connected to an AGV and an overhead rail bobbin doffing vehicle, and the AGV and the overhead rail bobbin doffing vehicle are deployed in different spaces in a vertical direction in a target workshop;

[0005] According to the relevant information of the time of doffing of the ingot products in all or part of the winding machines in the target workshop, the target doffing car corresponding to the first winding machine in the target workshop is determined among the AGV and the overhead rail doffing car;

[0006] The target doffing car is dispatched to complete the doffing task of the silk ingot products in the first winding machine.

[0007] In a second aspect, the present disclosure provides a bobbin-docking scheduling device for a silk ingot product, which is applied to an automatic bobbin-docking system, wherein the automatic bobbin-docking system is connected to an automatic guided vehicle (AGV) and an overhead bobbin-docking vehicle, and the AGV and the overhead bobbin-docking vehicle are deployed in different spaces in a vertical direction in a target workshop;

[0008] The first determination module is used to determine the target doffing car corresponding to the first winding machine in the target workshop among the AGV and the overhead rail doffing car according to the time-related information of the doffing of the silk ingot products in all or part of the winding machines in the target workshop;

[0009] The scheduling module is used to schedule the target doffing car to complete the doffing task of the silk ingot product in the first winding machine.

[0010] In a third aspect, an electronic device is provided, including:

[0011] at least one processor; and

[0012] a memory communicatively connected to the at least one processor; wherein,

[0013] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute any method in the embodiments of the present disclosure.

[0014] In a fourth aspect, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute any method according to the embodiments of the present disclosure.

[0015] The beneficial effects of the technical solution provided by the present invention include at least: according to the information related to the time of doffing the silk ingot product in the winding machine, AGV and / or overhead rail doffing vehicle are selected to perform the doffing task, so that the automatic doffing can be completed by the cooperation of AGV and overhead rail doffing vehicle, thereby improving the doffing efficiency of the silk ingot product in the winding machine, thereby avoiding the phenomenon of tube bursting when the silk ingot product continues to be wound after it is full, and reducing the production cost of the silk ingot product.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments provided according to the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0018] Figure 1 It is a flow chart of a method for scheduling the doffing of a silk ingot product provided by an embodiment of the present disclosure;

[0019] Figure 2 It is a flow chart of a method for scheduling the doffing of a silk spindle product provided by another embodiment of the present disclosure;

[0020] Figure 3 It is a schematic diagram of an application scenario of a bobbin-docking scheduling method for a silk ingot product provided by an embodiment of the present disclosure;

[0021] Figure 4 It is a schematic block diagram of a doffing scheduling device for a silk ingot product provided by an embodiment of the present disclosure;

[0022] Figure 5 is a schematic block diagram of a doffing scheduling device for a silk ingot product provided by another embodiment of the present disclosure;

[0023] Figure 6It is a block diagram of an electronic device used to implement the method for scheduling the doffing of the silk ingot product according to the embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] The present disclosure will be further described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0025] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present disclosure.

[0026] In order to facilitate understanding of the bobbin-docking scheduling method for silk spindle products provided by the embodiment of the present disclosure, the relevant technologies of the embodiment of the present disclosure are explained below. The following related technologies can be arbitrarily combined with the technical solutions of the embodiment of the present disclosure as optional solutions, and they all belong to the protection scope of the embodiment of the present disclosure.

[0027] Method 1: Complete the tube dropping task manually. This method has low tube dropping efficiency and high labor cost.

[0028] Method 2: Use AGV to complete the bobbin-docking task. Due to the limitations of running speed and running path, AGV cannot reach the designated position in time to complete the bobbin-docking task, resulting in low bobbin-docking efficiency of the silk ingot products in the winding machine. In addition, the full-rolled silk ingot products in the winding machine will continue to be wound, resulting in tube bursts, which will make the silk ingot products unusable, thereby increasing the production cost of the silk ingot products.

[0029] In summary, using any of the above-mentioned solutions to complete the bobbin-dropping task, whether relying on manpower or AGV, the bobbin-dropping efficiency of the silk ingot product is low, and the production cost of the silk ingot product is high.

[0030] Figure 1 The method for scheduling the doffing of a silk ingot product provided by an embodiment of the present disclosure is shown. The method can be applied to an automatic doffing system, where the automatic doffing system connects an automatic guided vehicle (AGV) and an overhead rail doffing vehicle, and the AGV and the overhead rail doffing vehicle are deployed in different spaces in the vertical direction of the target workshop. Figure 1 As shown, the method may include:

[0031] Step S110, according to the relevant information of the doffing time of the ingot products in all or part of the winding machines in the target workshop, determine the target doffing car corresponding to the first winding machine in the target workshop among the AGV and the overhead rail doffing car;

[0032] Step S120, dispatching the target doffing car to complete the doffing task of the silk ingot product in the first winding machine.

[0033] In the disclosed embodiment, the automatic doffing system can obtain data transmitted by the winding machine, AGV and overhead rail doffing car, such as the time information related to receiving the doffing of the silk ingot product, the number of silk ingot products in the winding machine, and the position information of the AGV and overhead rail doffing car. The automatic doffing system can also send command information to the winding machine, AGV and overhead rail doffing car, such as sending a doffing instruction to the AGV and overhead rail doffing car, and dispatching the AGV and overhead rail doffing car to drive to the winding machine to complete the doffing task.

[0034] Exemplarily, the AGV can run freely on the ground without relying on tracks. The operation mode of the overhead rail tube-dropping vehicle can be that a track is set at a position with a certain height in the target workshop, and the overhead rail tube-dropping vehicle runs along the track. The AGV and the overhead rail tube-dropping vehicle are both operated independently. When the AGV and the overhead rail tube-dropping vehicle run to the same position in the target workshop, since the AGV and the overhead rail tube-dropping vehicle are deployed in different spaces in the vertical direction in the target workshop, the AGV and the overhead rail tube-dropping vehicle will not collide, and there will be no interference between the AGV and the overhead rail tube-dropping vehicle.

[0035] For example, the target workshop may include multiple winding machines of the same type or multiple winding machines of different types. The ingot products in different winding machines may correspond to different winding times, different process flows or different product types.

[0036] Exemplarily, each winding machine has at least one ingot product, and each ingot may include a paper tube and fiber filaments wound around the paper tube. It can be understood that the information related to the time of doffing of the ingot product in this embodiment may be the time required for the fiber filaments in the ingot product to complete winding in the winding machine and / or the estimated doffing time. The fiber filaments may be chemical fiber filaments, such as POY (Pre-Oriented Yarn), FDY (Full Draw Yarn), HOY (High Oriented Yarn), etc.

[0037] Exemplarily, the target doffing vehicle can also be called a wire receiving vehicle. The target doffing vehicle can be one of an AGV and an overhead rail doffing vehicle, or can include an AGV and an overhead rail doffing vehicle. The silk ingot products in each winding machine can be doffed by one or more target doffing vehicles. For the entire workshop, each target doffing vehicle can complete the doffing task of silk ingot products in multiple winding machines.

[0038] In actual applications, the AGV and overhead rail doffing car can drive to the winding machine, and the winding machine pushes the finished silk ingot products to the AGV and overhead rail doffing car. After the finished silk ingot products are unloaded from the winding machine, the AGV and overhead rail doffing car can place empty paper tubes at the empty chuck shaft position on the winding machine to complete the winding of new silk ingot products. Afterwards, the AGV and overhead rail doffing car transport the silk ingot products on the car to the wire receiving station.

[0039] According to the technical solution of the embodiment of the present disclosure, the AGV and the overhead rail doffing car can be deployed in different spaces in the vertical direction of the target workshop. According to the time-related information of the doffing of the silk ingot products in the winding machine, the AGV or the overhead rail doffing car can be selected to perform the doffing task, so that the automatic doffing can be completed through the cooperation of the AGV and the overhead rail doffing car, which improves the doffing efficiency of the silk ingot products in the winding machine and reduces the production cost of the silk ingot products.

[0040] In some embodiments, step S110: according to the time information of the bobbin doffing of the ingot products in all or part of the winding machines in the target workshop, the target doffing corresponding to the first winding machine in the target workshop is determined in the AGV and the overhead rail doffing vehicle, such as Figure 2 As shown, it may include:

[0041] Step S210: determining whether the AGV can serve the first winding machine according to the information related to the time of doffing of the ingot products in all or part of the winding machines in the target workshop;

[0042] Step S220: When the AGV is able to serve the first winding machine, it is determined that the target doffer corresponding to the first winding machine includes the AGV.

[0043] In the embodiment of the present disclosure, since the energy consumption and cost of the AGV are lower than those of the overhead bobbin-dropping car, it is prioritized to determine whether the AGV can serve the first winding machine. If the AGV can serve the first winding machine, the AGV only needs to drive to the winding machine, and the AGV will transport the wire ingot products that have been wound in the winding machine to the wire connecting station.

[0044] Exemplarily, the automatic doffing system can predict whether the AGV can reach the corresponding position when the silk ingot product in the first winding machine is finished winding, so as to complete the doffing task based on the time-related information of the silk ingot product doffing in the winding machine and the currently dispatchable number of AGVs.

[0045] According to the technical solution of the embodiment of the present disclosure, it is judged whether the AGV can serve the first winding machine. If the AGV can serve the first winding machine, the task of bobbin-docking of the silk ingot product in the first winding machine is completed by the AGV. This can further reduce the production cost of the silk ingot product without affecting the bobbin-docking efficiency of the silk ingot product.

[0046] In some embodiments, step S110: according to the time information of the bobbin doffing of the ingot products in all or part of the winding machines in the target workshop, the target doffing corresponding to the first winding machine in the target workshop is determined in the AGV and the overhead rail doffing vehicle, such as Figure 2 As shown, it may also include:

[0047] Step S230: when the AGV cannot serve the first winding machine, determining that the target doffing vehicle corresponding to the first winding machine includes an overhead rail doffing vehicle.

[0048] In the disclosed embodiment, the overhead rail bobbin-dropping car has a high bobbin-dropping efficiency, so the overhead rail bobbin-dropping car can complete the bobbin-dropping task of the silk ingot products in the first winding machine. According to the technical solution of the disclosed embodiment, it is judged whether the AGV can serve the first winding machine. When the AGV cannot serve the first winding machine, the bobbin-dropping task of the silk ingot products in the first winding machine is completed by the overhead rail bobbin-dropping car, without waiting for the AGV for a long time, which can ensure that the bobbin-dropping task of the silk ingot products in the first winding machine is completed in time, and the bobbin-dropping efficiency of the silk ingot products in the winding machine can be further improved.

[0049] In some embodiments, when the AGV cannot serve the first winding machine, the number of ingot products N to be doffed by the overhead rail doffing vehicle and the number of ingot products M to be doffed by the AGV can be predicted based on the time-related information of the doffing of the ingot products in the winding machine and / or the number of ingot products, that is, the target doffing vehicle is determined to include the AGV and the overhead rail doffing vehicle, and the two cooperate to complete the doffing task of the first winding machine. The doffing task of M ingot products is completed by the AGV, and the doffing task of N ingot products is completed by the overhead rail doffing vehicle, which can fully utilize the service capacity of the AGV, while ensuring that the doffing task of the ingot products in the first winding machine can be completed, and further reduce the production cost of the ingot products.

[0050] For example, when there are two silk ingot products in the first winding machine, since there is one vacant position of the AGV, the AGV can serve one silk ingot product in the first winding machine, and the overhead rail doffing car can serve the other silk ingot product in the first winding machine.

[0051] In some embodiments, step S210: determining whether the AGV can serve the first winding machine according to the time-related information of the silk ingot product doffing in all or part of the winding machines in the target workshop includes:

[0052] According to the winding time of the ingot product to be processed by each winding machine in the target workshop, determine the number of winding machines that the AGV can serve;

[0053] Determine the set of winders served by the AGV based on the number of winders that the AGV can serve and the distance between each winder and the wire splicing station in the target workshop;

[0054] In a case where the set of winders served by the AGV includes the first winder, it is determined that the AGV is capable of serving the first winder.

[0055] For example, the winding time of the silk ingot product to be processed can be understood as the time length to complete the full winding of a silk ingot product. If the winding time of the silk ingot product to be processed by each winder is short, the number of winders that the AGV can serve is small, and if the winding time of the silk ingot product to be processed by each winder is long, the number of winders that the AGV can serve is large.

[0056] For example, in some scenarios, the moving speed of the AGV is lower than the moving speed of the overhead rail bobbin car. Based on this, the winding machine that is closer to the wire splicing station can be determined as the winding machine set served by the AGV. Specifically, the number of winding machines that the AGV can serve is L, and the winding machine set served by the AGV includes the L winding machines that are closest to the wire splicing station.

[0057] For example, Figure 3 As shown, when the winding time of the ingot product 32 in each winding machine 31 in the target workshop is long (for example, the ingot product wound on the same day is fine denier wire), the number of times the ingot product 32 is doffed in a day is small, and the required transportation capacity is not high, then the number of winding machines served by AGV33 can be large, and the number of overhead rail doffing vehicles 34 can be small. For example, 8 of the 10 winding machines in the workshop are determined to be winding machines served by AGV. When these 8 winding machines are full of ingot products, the AGV performs the doffing task, and when the remaining 2 winding machines are full of ingot products, the overhead rail doffing vehicle performs the doffing task. Since the energy consumption and cost of AGV33 are lower than those of the overhead rail doffing vehicle 34, the transportation cost of the ingot product 32 can be reduced. When the winding time of the ingot product 32 in each winding machine 31 is short, the ingot product 32 is doffed many times in a day, and the required transportation capacity is high, then the number of AGV33 can only serve a small number of winding machines 31, and the number of winding machines 31 served by the overhead rail doffing car 34 can be increased accordingly to ensure that the doffing task of the ingot product 32 in the winding machine 31 can be completed, thereby improving the doffing efficiency. Among them, the AGV33 can transport the doffed ingot product 32 to the wire connection station 35, and the overhead rail doffing car 34 can transport the doffed ingot product to the wire connection station 35 through the overhead rail 36.

[0058] According to the technical solution of the embodiment of the present disclosure, the number of winding machines served by the AGV can be determined according to the winding time of the ingot products in each winding machine, so as to confirm in advance the bobbin-dropping vehicle corresponding to the bobbin-dropping task of each winding machine, so as to realize the reasonable use of the service capacity of the AGV according to the production capacity, and at the same time, the overhead rail bobbin-dropping vehicle can be used for replenishment, which can take into account both cost and efficiency. Furthermore, according to the difference between the moving speed of the AGV and the moving speed of the overhead rail bobbin-dropping vehicle, the AGV can be arranged to serve the winding machine that is closer, and the overhead rail bobbin-dropping vehicle can be arranged to serve the winding machine that is farther away, so as to further improve efficiency.

[0059] In one example, when the set of winding machines served by the AGV does not include the first winding machine, it can be determined that the AGV cannot serve the first winding machine. At this time, the first winding machine can be served by the overhead rail bobbin doffing vehicle, and the bobbin doffing task of the silk ingot product in the first winding machine can be completed by the overhead rail bobbin doffing vehicle, thereby reducing the waiting time for the AGV, ensuring that the bobbin doffing task of the silk ingot product in the first winding machine can be completed, and improving the doffing efficiency.

[0060] In some embodiments, step S210: determining whether the AGV can serve the first winding machine according to information related to the time of doffing of the ingot products in all or part of the winding machines in the target workshop may include:

[0061] When the AGV is processing the task of doffing the silk ingot products in the second winding machine in the target workshop, if the doffing time of the first winding machine in the target workshop is less than the first preset time length from the current time, then the AGV is determined whether it can serve the first winding machine based on at least one of the number of silk ingot products to be doffed in the second winding machine, the estimated doffing time of the silk ingot products to be doffed in the second winding machine, the number of silk ingot products to be doffed in the first winding machine, the estimated doffing time of the silk ingot products to be doffed in the first winding machine, the available position of the AGV, and the distance between the AGV and the first winding machine.

[0062] Exemplarily, the first preset duration is a preset duration threshold. The duration threshold can be configured by the user. For example, the first preset duration can be input through an input unit in the automatic doffing system, such as a mouse or a keyboard, or can be from a user device connected to the automatic doffing system. In practical applications, the automatic doffing system or the user device can provide a user operation page, and the user can enter the first preset duration in the user operation page.

[0063] Exemplarily, if the sum of the number of silk ingot products to be doffed in the second winding machine and the number of silk ingot products to be doffed in the first winding machine is less than or equal to the number of free positions of the AGV, and the AGV can move from the position of the second winding machine to the position of the first winding machine within the first preset time length, then the AGV can complete the task of doffing the silk ingot products in the first winding machine. If the sum of the number of silk ingot products to be doffed in the second winding machine and the number of silk ingot products to be doffed in the first winding machine is less than or equal to the number of free positions of the AGV, but the AGV is limited by the moving speed and cannot move from the position of the second winding machine to the position of the first winding machine within the first preset time length, then the automatic doffing system dispatches the overhead rail doffing car to complete the task of doffing the silk ingot products in the first winding machine. If the sum of the number of silk ingot products to be doffed in the second winding machine and the number of silk ingot products to be doffed in the first winding machine is greater than the number of free positions of the AGV, then the automatic doffing system dispatches the overhead rail doffing car to complete the task of doffing the silk ingot products in the first winding machine.

[0064] According to the technical solution of the embodiment of the present disclosure, when the distance between the bobbin-docking time of the first winding machine and the current time is less than the first preset time length, the number of silk ingot products to be dollied in the second winding machine, the number of silk ingot products to be dollied in the first winding machine, the free position of the AGV, and the distance between the AGV and the first winding machine can be used to determine whether the AGV can serve the first winding machine, thereby ensuring that the task of dollying the silk ingot products in the first winding machine can be completed in a timely and efficient manner.

[0065] In some embodiments, step S210: determining whether the AGV can serve the first winding machine according to information related to the time of doffing of the ingot products in all or part of the winding machines in the target workshop, further includes:

[0066] According to the winding time of the silk ingot product to be processed by each winding machine in the target workshop, determine the estimated time of each doffing of each winding machine within the target period;

[0067] Determine a doffing time list within the target period according to the estimated doffing time of each winding machine within the target period; wherein the doffing time list includes a plurality of doffing times and a winding machine corresponding to each doffing time among the plurality of doffing times;

[0068] According to the doffing time list, determine K winding machines whose doffing time interval is less than a second preset time length;

[0069] According to the distance between the first winder among the K winders and the wire splicing station, it is determined whether the AGV can serve the first winder.

[0070] For example, the distance between the estimated time of each doffing of each winding machine and the current time can be sorted to determine the doffing time list within the target period, for example, from the shortest distance between the estimated time and the current time to the longest distance.

[0071] Exemplarily, the second preset duration is a preset duration threshold. The duration threshold can be configured by the user. For example, the first preset duration can be input through an input unit in the automatic doffing system, such as a mouse or a keyboard, or can be from a user device connected to the automatic doffing system. In practical applications, the automatic doffing system or the user device can provide a user operation page, and the user can enter the second preset duration in the user operation page.

[0072] Exemplarily, in the case that K winding machines include the first winding machine, when it is determined that the AGV cannot serve the first winding machine based on the distance between the first winding machine and the wire connecting station, since the moving speed of the AGV is lower than the moving speed of the overhead rail doffing car, the task of doffing the wire ingot products in the winding machine in the first winding machine that is closer to the wire connecting station is completed by the AGV, and the task of doffing the wire ingot products in the winding machine in the first winding machine that is farther from the wire connecting station is completed by the overhead rail doffing car.

[0073] For example, Table 1 is a list of doffing times for ingot products in a winding machine:

[0074] Table 1

[0075]

[0076] Among them, the time-related information of the bobbin-dropping of the silk ingot product in the winding machine may include: the winding duration, the remaining time and the bobbin-dropping time. The estimated time can be determined based on the winding duration and the remaining time. When the second preset time is 1 minute, the time interval between the estimated time of the No. 1 winding machine and the estimated time of the No. 6 winding machine is 12 seconds, which is less than the second preset time. At this time, the AGV cannot complete the bobbin-dropping task of the two winding machines, so it can be completed by the AGV and the overhead rail bobbin-dropping vehicle. In actual applications, since the speed of the AGV is lower than that of the overhead rail bobbin-dropping vehicle, the AGV can complete the bobbin-dropping task of the winding machine that is closer to the wire connection station. That is, since the distance between the No. 1 winding machine and the wire connection station is closer, the AGV completes the bobbin-dropping task of the silk ingot product in the No. 1 winding machine, and the overhead rail bobbin-dropping vehicle completes the bobbin-dropping task of the silk ingot product in the No. 6 winding machine.

[0077] According to the technical solution of the embodiment of the present disclosure, whether the AGV can serve the first winder can be further determined by including a plurality of doffing times and a doffing time list of the winder corresponding to each of the plurality of doffing times.

[0078] For example, for a winding machine with a long doffing time interval, the doffing task can be performed by AGV. That is, for other winding machines in the target workshop except the above K winding machines, it can be determined that the corresponding doffing vehicle is AGV. For example, for winding machines No. 2-5 in Table 1, since the estimated doffing time interval is long, the doffing task can be completed by AGV.

[0079] In some embodiments, step S120: dispatching the target doffing vehicle to complete the doffing task of the ingot product in the first winding machine includes:

[0080] When the target doffer is an AGV, the moving route of the AGV is determined according to the position of the first winder;

[0081] Based on the moving route of the AGV, the AGV is scheduled to deliver the wire ingot products in the first winding machine to the wire connecting station.

[0082] According to the technical solution of the embodiment of the present disclosure, since the AGV can run on the ground without a track, the moving route of each AGV can be planned, and collisions and mutual interferences between multiple AGVs can be avoided, thereby reducing the problem of bobbin-dropping efficiency of the silk ingot products in the winding machine.

[0083] In some embodiments, step S120: dispatching the target doffing vehicle to complete the doffing task of the ingot product in the first winding machine includes:

[0084] In the case that the target doffing car includes an overhead doffing car, based on the position of the first winding machine, the overhead doffing car is dispatched to deliver the silk ingot products in the first winding machine to the wire connection station via the track.

[0085] According to the technical solution of the embodiment of the present disclosure, the moving route of each overhead rail dosing car can be planned, and collisions between multiple overhead rail dosing cars and mutual interference between multiple overhead rail dosing cars can be avoided, thereby reducing the dosing efficiency of the silk ingot products in the winding machine.

[0086] According to an embodiment of the present disclosure, the present disclosure also provides a doffing scheduling device for silk ingot products. Figure 4 FIG. 1 is a schematic block diagram of a doffing scheduling device for a silk ingot product provided by an embodiment of the present disclosure. Figure 4 As shown, the device is applied to an automatic tube-dropping system, which connects an automatic guided vehicle AGV and an overhead tube-dropping vehicle. The AGV and the overhead tube-dropping vehicle are deployed in different spaces in the vertical direction of the target workshop, and may include:

[0087] The first determination module 410 is used to determine the target doffing vehicle corresponding to the first winding machine in the target workshop among the AGV and the overhead rail doffing vehicle according to the time-related information of the doffing of the silk ingot products in all or part of the winding machines in the target workshop; wherein N is an integer greater than or equal to 1;

[0088] The scheduling module 420 is used to schedule the target doffing car to complete the doffing task of the silk ingot product in the first winding machine.

[0089] In some embodiments, Figure 5 As shown, the first determination module 410 also includes:

[0090] The second determination submodule 510 is used to determine whether the AGV can serve the first winding machine according to the information related to the time of doffing of the ingot products in all or part of the winding machines in the target workshop;

[0091] The third determination submodule 520 is configured to determine that the target doffer corresponding to the first winding machine includes the AGV when the AGV is able to serve the first winding machine.

[0092] In some embodiments, the first determining module 410 further includes:

[0093] The fourth determination submodule 530 is used to determine that the target doffing vehicle corresponding to the first winding machine includes an overhead rail doffing vehicle when the AGV cannot serve the first winding machine.

[0094] In some embodiments, the moving speed of the AGV is less than the speed of the overhead rail dolly; the second determination submodule 510 is used to:

[0095] According to the winding time of the ingot product to be processed by each winding machine in the target workshop, determine the number of winding machines that the AGV can serve;

[0096] Determine the set of winders served by the AGV based on the number of winders that the AGV can serve and the distance between each winder and the wire splicing station in the target workshop;

[0097] In a case where the set of winders served by the AGV includes the first winder, it is determined that the AGV is capable of serving the first winder.

[0098] In some embodiments, the second determining submodule 510 is used to:

[0099] When the AGV is processing the task of doffing the silk ingot products in the second winding machine in the target workshop, if the doffing time of the first winding machine in the target workshop is less than the first preset time length from the current time, then the AGV is determined whether it can serve the first winding machine based on at least one of the number of silk ingot products to be doffed in the second winding machine, the estimated doffing time of the silk ingot products to be doffed in the second winding machine, the number of silk ingot products to be doffed in the first winding machine, the estimated doffing time of the silk ingot products to be doffed in the first winding machine, the available position of the AGV, and the distance between the AGV and the first winding machine.

[0100] In some embodiments, the second determining submodule 510 is used to:

[0101] According to the winding time of the silk ingot product to be processed by each winding machine in the target workshop, determine the estimated time of each doffing of each winding machine within the target period;

[0102] Determine a doffing time list within the target period according to the estimated doffing time of each winding machine within the target period; wherein the doffing time list includes a plurality of doffing times and a winding machine corresponding to each doffing time among the plurality of doffing times;

[0103] According to the doffing time list, determine K winding machines whose doffing time interval is less than a second preset time length;

[0104] In the case that the K winders include the first winder, it is determined whether the AGV can serve the first winder according to the distance between the first winder and the wire splicing station.

[0105] In some embodiments, the scheduling module 420 is used to:

[0106] When the target doffer is an AGV, the moving route of the AGV is determined according to the position of the first winder;

[0107] Based on the moving route of the AGV, the AGV is scheduled to deliver the wire ingot products in the first winding machine to the wire connecting station.

[0108] In some embodiments, the scheduling module 420 is used to:

[0109] In the case that the target doffing car includes an overhead doffing car, based on the position of the first winding machine, the overhead doffing car is dispatched to deliver the silk ingot products in the first winding machine to the wire connection station via the track.

[0110] For the description of specific functions and examples of each module and submodule of the device in the embodiment of the present disclosure, reference can be made to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0111] Figure 6 FIG. 1 is a structural block diagram of an electronic device according to an embodiment of the present disclosure. Figure 6 As shown, the electronic device includes: a memory 610 and a processor 620, and the memory 610 stores a computer program that can be run on the processor 620. The number of the memory 610 and the processor 620 can be one or more. The memory 610 can store one or more computer programs. When the one or more computer programs are executed by the electronic device, the electronic device executes the method provided by the above method embodiment. The electronic device may also include: a communication interface 630, which is used to communicate with external devices and perform data exchange transmission.

[0112] If the memory 610, the processor 620 and the communication interface 630 are implemented independently, the memory 610, the processor 620 and the communication interface 630 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0113] Optionally, in a specific implementation, if the memory 610, the processor 620 and the communication interface 630 are integrated on a chip, the memory 610, the processor 620 and the communication interface 630 can communicate with each other through an internal interface.

[0114] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the Advanced RISC Machines (ARM) architecture.

[0115] Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may also include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DR RAM).

[0116] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part 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, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (for example: coaxial cable, optical fiber, data subscriber line (Digital Subscriber Line, DSL)) or wireless (for example: infrared, Bluetooth, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrations. 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)), etc. It is worth noting that the computer-readable storage medium mentioned in the present disclosure may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0117] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0118] In the description of the embodiments of the present disclosure, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0119] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means or, for example, A / B can mean A or B. "And / or" in this article is only a way to describe the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0120] In the description of the embodiments of the present disclosure, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0121] The above description is only an exemplary embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for dispatching bobbin doffing of a silk ingot product, which is applied to an automatic doffing system, wherein the automatic doffing system is connected to an automatic guided vehicle (AGV) and an overhead rail doffing vehicle, wherein the AGV and the overhead rail doffing vehicle are deployed in different spaces in a target workshop in a vertical direction; the operation mode of the overhead rail doffing vehicle is that a track is arranged at a position at a certain height in the target workshop, and the overhead rail doffing vehicle runs along the track; According to the relevant information of the doffing time of the ingot products in all or part of the winding machines in the target workshop, determine the target doffing car corresponding to the first winding machine in the target workshop in the AGV and the overhead rail doffing car; In the case where the target doffing vehicle is the AGV, the moving route of the AGV is determined according to the position of the first winding machine, and based on the moving route of the AGV, the AGV is dispatched to deliver the ingot product in the first winding machine to the wire receiving station; In the case where the target doffing car includes the overhead rail doffing car, based on the position of the first winding machine, the overhead rail doffing car is dispatched to deliver the silk ingot product in the first winding machine to the wire receiving station through the track; Wherein, according to the information related to the time of doffing of the ingot products in all or part of the winding machines in the target workshop, determining the target doffing car corresponding to the first winding machine in the target workshop in the AGV and the overhead rail doffing car includes: Determine whether the AGV can serve the first winding machine based on information related to the time of bobbin product drop in all or part of the winding machines in the target workshop; including: determine the number of winding machines that the AGV can serve based on the winding time of the silk ingot product to be processed by each winding machine in the target workshop; determine the set of winding machines served by the AGV based on the number of winding machines that the AGV can serve and the distance between each winding machine and the wire connection station in the target workshop; determine that the AGV can serve the first winding machine when the set of winding machines served by the AGV includes the first winding machine; specifically, if the number of winding machines that the AGV can serve is L, the set of winding machines served by the AGV includes L winding machines that are closest to the wire connection station; In the case where the AGV is capable of serving the first winding machine, determining that the target doffer corresponding to the first winding machine includes the AGV; In the case that the AGV cannot serve the first winding machine, it is determined that the target bobbin-docking car corresponding to the first winding machine includes the overhead rail bobbin-docking car; which includes: based on the time-related information of the bobbin-docking of the silk ingot products in the first winding machine and / or the quantity information of the silk ingot products, predicting the number N of silk ingot products to be doffed by the overhead rail bobbin-docking car and the number M of silk ingot products to be doffed by the AGV, that is, determining that the target bobbin-docking car includes the AGV and the overhead rail bobbin-docking car, and the two cooperate to complete the bobbin-docking task of the first winding machine; wherein the task of doffing M silk ingot products is completed by the AGV, and the task of doffing N silk ingot products is completed by the overhead rail bobbin-docking car.

2. The method according to claim 1, wherein: The determining, based on information related to the time of doffing of the ingot products in all or part of the winding machines in the target workshop, whether the AGV can serve the first winding machine comprises: When the AGV is processing the task of dropping the silk ingot products in the second winding machine in the target workshop, if the drop time of the first winding machine is less than the first preset time length from the current time, the AGV determines whether it can serve the first winding machine based on at least one of the number of silk ingot products to be dropped in the second winding machine, the estimated drop time of the silk ingot products to be dropped in the second winding machine, the number of silk ingot products to be dropped in the first winding machine, the estimated drop time of the silk ingot products to be dropped in the first winding machine, the available position of the AGV, and the distance between the AGV and the first winding machine.

3. A bobbin-dropping scheduling device for a silk ingot product, applied to an automatic bobbin-dropping system, wherein the automatic bobbin-dropping system is connected to an automatic guided vehicle (AGV) and an overhead bobbin-dropping vehicle, wherein the AGV and the overhead bobbin-dropping vehicle are deployed in different spaces in a target workshop in a vertical direction; the overhead bobbin-dropping vehicle operates in such a way that a track is arranged at a position at a certain height in the target workshop, and the overhead bobbin-dropping vehicle operates along the track; A first determination module is used to determine a target doffing car corresponding to the first winding machine in the target workshop in the AGV and the overhead rail doffing car according to the time information related to doffing of the silk ingot products in all or part of the winding machines in the target workshop; A scheduling module, for determining a moving route of the AGV according to the position of the first winding machine when the target doffing vehicle is the AGV, and scheduling the AGV to deliver the ingot product in the first winding machine to the wire receiving station based on the moving route of the AGV; And, in the case where the target doffing car includes the overhead rail doffing car, based on the position of the first winding machine, the overhead rail doffing car is dispatched to deliver the ingot product in the first winding machine to the wire connection station via the track; Wherein, the first determining module includes: The second determination submodule is used to determine whether the AGV can serve the first winding machine according to the information related to the time of the silk ingot products in all or part of the winding machines in the target workshop. It includes: determining the number of winding machines that the AGV can serve according to the winding time of the silk ingot products to be processed by each winding machine in the target workshop; determining the set of winding machines served by the AGV based on the number of winding machines that the AGV can serve and the distance between each winding machine and the wire connection station in the target workshop; determining that the AGV can serve the first winding machine when the set of winding machines served by the AGV includes the first winding machine; specifically, if the number of winding machines that the AGV can serve is L, the set of winding machines served by the AGV includes L winding machines that are closest to the wire connection station. A third determination submodule is used to determine, when the AGV is capable of serving the first winding machine, that a target doffer corresponding to the first winding machine includes the AGV; The fourth determination submodule is used to determine that the target bobbin-docking car corresponding to the first winding machine includes the overhead rail bobbin-docking car when the AGV cannot serve the first winding machine; it includes: based on the time-related information of the bobbin-docking of the bobbin products in the first winding machine and / or the quantity information of the bobbin products, predict the number N of bobbin products to be doffed by the overhead rail bobbin-docking car and the number M of bobbin products to be doffed by the AGV, that is, determine that the target bobbin-docking car includes the AGV and the overhead rail bobbin-docking car, and the two cooperate to complete the bobbin-docking task of the first winding machine; wherein the bobbin-docking task of M bobbin products is completed by the AGV, and the bobbin-docking task of N bobbin products is completed by the overhead rail bobbin-docking car.

4. The device according to claim 3, wherein: The second determining submodule is used for: When the AGV is processing the task of dropping the silk ingot products in the second winding machine in the target workshop, if the drop time of the first winding machine is less than the first preset time length from the current time, the AGV determines whether it can serve the first winding machine based on at least one of the number of silk ingot products to be dropped in the second winding machine, the estimated drop time of the silk ingot products to be dropped in the second winding machine, the number of silk ingot products to be dropped in the first winding machine, the estimated drop time of the silk ingot products to be dropped in the first winding machine, the available position of the AGV, and the distance between the AGV and the first winding machine.

5. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 2.

6. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-2.

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