Silk spool packaging system and control method and control device thereof

Abstract

The present disclosure provides a silk spool packaging system and a control method and device thereof, and relates to the technical field of intelligent chemical fibers. The specific scheme is as follows: the silk spool packaging system comprises a control device, a scheduling device, a plurality of single-machine devices, and a plurality of AGV devices. The control device is configured to generate demand information based on work data returned by each single-machine device. The scheduling device is configured to generate scheduling instructions based on the demand information and state information of the plurality of AGV devices. Each single-machine device is configured to receive a packaging task and device control parameters corresponding to the single-machine device from the control device. The target AGV device is configured to receive the scheduling instructions corresponding to the target AGV device, determine the first single-machine device and the second single-machine device corresponding to the target AGV device based on the scheduling instructions corresponding to the target AGV device, and transport the target silk spool to be transported from the first single-machine device to the second single-machine device. According to the scheme of the present disclosure, the intelligence and flexibility of silk spool packaging can be improved, thereby improving the efficiency of silk spool packaging.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent chemical fiber technology, and in particular to a yarn spindle packaging system and its control method and control device. Background Technology

[0002] In the process of silk spindle packaging, multiple packaging steps are involved, each executed by a different individual machine. Currently, transporting silk spindles from one machine to the next is typically achieved via conveyor belts. However, conveyor belt transport is not flexible enough and cannot achieve fully automated, end-to-end packaging. Therefore, how to achieve intelligent silk spindle transport has become a pressing technical problem to be solved. Summary of the Invention

[0003] This disclosure provides a silk spindle packaging system and its control method and control device.

[0004] According to a first aspect of this disclosure, a filament packaging system is provided, including control equipment, scheduling equipment, multiple individual machines, and multiple automated guided vehicles (AGVs); wherein,

[0005] Control equipment is used to generate packaging tasks and equipment control parameters for each individual machine based on the quantity and type of the filaments to be packaged.

[0006] Each standalone device is used to receive the corresponding packaging task and equipment control parameters sent by the control device; to execute the corresponding packaging task based on the corresponding equipment control parameters; and to send the corresponding work data for the packaging task to the control device.

[0007] The control equipment is also used to generate demand information based on the working data returned by each individual device;

[0008] The scheduling equipment is also used to generate scheduling instructions based on demand information and the status information of multiple AGV devices. These scheduling instructions are used to schedule the movement of the target AGV device.

[0009] The target AGV device is used to receive the corresponding scheduling instructions, determine the corresponding first single device and second single device based on the corresponding scheduling instructions, and transport the target spindle to be transported from the first single device to the second single device.

[0010] According to a second aspect of this disclosure, a control method for a silk spindle packaging system is provided, comprising:

[0011] Based on the quantity and type of the spindles to be packaged, a packaging task and equipment control parameters are generated for each individual machine, so that each individual machine can execute its corresponding packaging task based on its corresponding equipment control parameters.

[0012] Requirements information is generated based on the work data returned by each individual device.

[0013] Scheduling instructions are generated based on demand information and the status information of multiple AGV devices.

[0014] The control target AGV equipment determines its corresponding first and second standby devices based on its corresponding scheduling instructions, and transports the target spindle to be conveyed from the first standby device to the second standby device;

[0015] The silk spindle packaging system adopts the silk spindle packaging system as described in the first aspect.

[0016] According to a third aspect of this disclosure, a control device for a silk spindle packaging system is provided, comprising:

[0017] The first generation module is used to generate packaging tasks and equipment control parameters for each stand-alone device based on the quantity and type of the spindles to be packaged, so that each stand-alone device can execute its corresponding packaging task based on its corresponding equipment control parameters.

[0018] The second generation module is used to generate requirement information based on the working data returned by each individual device.

[0019] The scheduling module is used to generate scheduling instructions based on demand information and the status information of multiple AGV devices.

[0020] The control module is used to control the target AGV equipment to determine the corresponding first and second standby devices based on the corresponding scheduling instructions, and to transport the target spindle to be transported from the first standby device to the second standby device;

[0021] The silk spindle packaging system adopts the silk spindle packaging system as described in the first aspect.

[0022] According to a fourth aspect of this disclosure, an electronic device is provided, comprising:

[0023] At least one processor; and

[0024] The memory is communicatively connected to the at least one processor; wherein,

[0025] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform any of the methods described in the present disclosure.

[0026] According to a fifth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform any of the methods according to embodiments of this disclosure.

[0027] According to the technology disclosed herein, the scheduling device can generate scheduling instructions through the status information of the AGV equipment and the demand information generated by the control device to schedule the AGV equipment, thereby realizing intelligent silk spindle transportation between individual AGV equipment, improving the intelligence and flexibility of the silk spindle packaging system, and thus improving the efficiency of silk spindle transportation and packaging.

[0028] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0029] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0030] Figure 1 This is a schematic diagram of the composition structure of the silk spindle packaging system according to an embodiment of the present disclosure;

[0031] Figure 2 This is a schematic diagram illustrating the types of stand-alone devices according to embodiments of this disclosure;

[0032] Figure 3 This is a schematic diagram of the transmission mechanism of the AGV equipment in this disclosure when transporting wire spindles in different states;

[0033] Figure 4 This is a flowchart illustrating the control method of the silk spindle packaging system according to an embodiment of the present disclosure;

[0034] Figure 5 This is the silk spindle packaging process according to an embodiment of the present disclosure. Figure 1 ;

[0035] Figure 6 This is the silk spindle packaging process according to an embodiment of the present disclosure. Figure 2 ;

[0036] Figure 7 This is the silk spindle packaging process according to an embodiment of the present disclosure. Figure 3 ;

[0037] Figure 8 This is the silk spindle packaging process according to an embodiment of the present disclosure. Figure 4 ;

[0038] Figure 9This is the silk spindle packaging process according to an embodiment of the present disclosure. Figure 5 ;

[0039] Figure 10 This is a schematic diagram of the structure of the control device of the silk spindle packaging system according to an embodiment of the present disclosure;

[0040] Figure 11 This is a block diagram of an electronic device used to implement the control method of the silk spindle packaging system according to embodiments of the present disclosure. Detailed Implementation

[0041] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0042] The terms "first," "second," and "third," etc., used in the embodiments, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as including a series of steps or units. A method, system, product, or apparatus is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0043] In related technologies, traditional silk spindle packaging lines use conveyor belts to transport silk spindles from the current process to the next. However, transporting silk spindles by conveyor belts lacks flexibility and reduces packaging efficiency. Furthermore, conveyor belt transport is not suitable for packaging multiple types of silk spindles.

[0044] To at least partially address one or more of the aforementioned problems and other potential issues, this disclosure proposes a spindle packaging system and its control method and device. By generating scheduling instructions based on demand information generated by the control equipment and the status information of multiple AGV devices, the AGV devices determine their corresponding first and second standby units based on these scheduling instructions, and transport the target spindle from the first standby unit to the second standby unit. This achieves intelligent spindle transportation between the various standby units, improving the intelligence and flexibility of the spindle packaging system, thereby increasing the efficiency of spindle transportation and packaging.

[0045] This disclosure provides a silk spindle packaging system, such as Figure 1As shown, it includes a control device 10, a scheduling device 20, multiple stand-alone devices 30, and multiple AGV devices 40; wherein,

[0046] Control device 10 is used to generate packaging tasks and equipment control parameters for each individual device 30 based on the quantity and type of the filaments to be packaged;

[0047] Each standalone device 30 is used to receive the corresponding packaging task and equipment control parameters sent by the control device 10; to execute the corresponding packaging task based on the corresponding equipment control parameters; and to send the working data corresponding to the corresponding packaging task to the control device 10.

[0048] The control device 10 is also used to generate demand information based on the working data returned by each individual device 30;

[0049] The scheduling device 20 is also used to generate scheduling instructions based on demand information and the status information of multiple AGV devices 40, which are used to schedule the movement of the target AGV device 40;

[0050] The target AGV device 40 is used to receive the corresponding scheduling instruction, determine the corresponding first single device and second single device based on the corresponding scheduling instruction, and transport the target spindle to be transported from the first single device to the second single device.

[0051] In this embodiment of the disclosure, the control device can control multiple standalone devices. The scheduling device can schedule multiple AGV devices. The control device can communicate with the scheduling device.

[0052] In this embodiment, the control device can be a device with automated control logic. This control device can be deployed on an electronic device used to control the yarn packaging production line. The electronic device can be a server or computer located in the on-site control room, used to control the operation of each individual machine and each AGV device deployed on the packaging site. Here, this disclosure does not limit the type of electronic device on which the control device is located.

[0053] In this embodiment, the scheduling device can be a device with automated control logic. This scheduling device can be deployed on an electronic device used to control the yarn packaging production line. This electronic device can be a server or computer located in the on-site control room, or it can be deployed at the packaging site to control the operation of each AGV device deployed at the packaging site. Here, this disclosure does not limit the type of electronic device on which the control device is located.

[0054] like Figure 2 As shown, the multiple stand-alone devices may include: robots, weighing equipment, appearance inspection equipment, bagging equipment, palletizing equipment, tape attaching equipment, and label attaching equipment, among other things.

[0055] In this embodiment of the disclosure, the robot is used to remove the spindle from the spinning wheel and insert the spindle onto the tray. The robot can be a robotic arm or a device with a robotic arm.

[0056] In this embodiment of the disclosure, the weighing device is used to weigh the wire spindle.

[0057] In this embodiment of the disclosure, the appearance inspection device is used to perform appearance inspection on the spindle. The appearance inspection device can be an inspection device composed of a camera. The appearance inspection device can determine whether the spindle has appearance defects or paper tube damage based on the image of the spindle captured by the camera, and give the appearance inspection result and the final grade of the spindle.

[0058] In this embodiment of the disclosure, the bagging device is used to cover the surface of the silk spindle with a packaging bag.

[0059] In this embodiment of the disclosure, the palletizing equipment is used to remove bagged spools from a pallet and stack them into a stack.

[0060] In this embodiment of the disclosure, the tape-forming device is used to tape-form stacked filaments.

[0061] In this embodiment of the disclosure, the labeling device is used to affix a label to one side of a stack of yarn spindles that has been stacked. The label includes production information, production process, quality inspection level, and other information about the yarn spindles in the box.

[0062] In this embodiment of the disclosure, a yarn spindle packaging production line includes multiple individual machines. These individual machines are not the same type of equipment, and each type of individual machine is present at least once in the production line. Specifically, the multiple individual machines may include robots, weighing equipment, appearance inspection equipment, bagging equipment, palletizing equipment, tape attaching equipment, and label attaching equipment.

[0063] In this embodiment of the disclosure, the scheduling device can schedule multiple mobile devices; specifically, the scheduling device can schedule AGV devices based on the work data returned by each individual device. The mobile devices may include AGV devices, inspection devices, wire guides, and other mobile devices.

[0064] In this embodiment, the spindle packaging production line can be understood as part of a spindle packaging system. The production line may include multiple individual machines, each performing different packaging operations on the wound spindles. These individual machines can be connected via a transmission device. Each individual machine can be understood as a device at any station on the spindle packaging production line. The AGV (Automated Guided Vehicle) can be understood as a device on the spindle packaging production line used to move pallets. The speed of the AGV can be selected and adjusted via a scheduling device.

[0065] In some embodiments, each individual device has a different packaging task. For example, a weighing device is responsible for weighing the yarn spindles; an appearance inspection device is responsible for inspecting the appearance of the yarn spindles; and a bagging device is responsible for placing packaging bags over the surface of the yarn spindles. The packaging task of this individual device may include the number of target yarn spindles to be packaged, the time when the first batch or the first yarn spindle begins packaging, and the time when the last batch or the last yarn spindle ends packaging. Here, the packaging task may also include the start time and end time of the work, which may refer to the start and end times of each individual device.

[0066] In some embodiments, the equipment control parameters may include equipment control parameters defined for the packaging task of a single machine. For example, the equipment control parameters may include interval time, distance, etc.

[0067] In some embodiments, the work data can be used to represent the working status of a single device. Specifically, the work data may include: data indicating "operating", "preparing to operate", "paused", or "operation malfunctioning", as well as data such as the number of yarn spindles that have been packaged and the number of yarn spindles that have not been packaged. Each single device needs to send the work data corresponding to the packaging task to the control device within a first preset time. Here, the control device can generate demand information based on the work data of each single device; synchronize this demand information to the scheduling device, which generates a scheduling instruction based on the demand information and the status information of the AGV devices; send the scheduling instruction to one or more target AGV devices, which determine the corresponding first and second single devices according to the scheduling instruction, and transport the target yarn spindle to be transported from the first single device to the second single device. Here, the first single device is any one of a plurality of single devices, and the second single device is any other single device among the plurality of single devices besides the first single device. For example, the target AGV device plans an optimal route based on its current location and the location of the first standalone device, and then travels from its current location to the first standalone device based on this optimal route. Here, the target AGV device can be an AGV located in a parking garage or an AGV located on a production line. Alternatively, the target AGV device can be one that has completed its current transport task; upon receiving a new scheduling instruction, it plans an optimal route based on its current location and the location of the first standalone device, and then travels from its current location to the first standalone device based on this optimal route. Or, the target AGV device can be one currently performing a transport task; upon receiving a new scheduling instruction, it first completes the currently performing transport task, and then performs a new transport task based on the new scheduling instruction.

[0068] In some embodiments, the demand information may include the number of target AGV devices. The number of AGV devices required for each standalone device is calculated based on the number of spindles for which each standalone device has completed its corresponding packaging task. For example, based on the number of spindles that have been packaged and the number of spindles that have not been packaged in the work data of standalone devices A and B, the number of AGV devices required to transport standalone devices A and B is calculated, or the number of trips a single AGV device is responsible for between standalone devices A and B (denoted as Task 1) is calculated. For example, Task 1 could be configured with 3 AGV devices (i.e., device 1, device 2, and device 3), or with one AGV device (device 4) configured for Task 1. Device 4 is scheduled to perform 3 repeated trips, meaning that device 4 needs to perform 3 operations to transport different target spindles from standalone device A to standalone device B.

[0069] In some embodiments, the demand information may include routes generated based on the working data of multiple stand-alone devices. Specifically, the working data of multiple stand-alone devices is obtained; based on the working data of the multiple stand-alone devices, first stand-alone devices and second stand-alone devices corresponding to multiple tasks are determined respectively; the location information of the multiple first stand-alone devices and second stand-alone devices is obtained, and the location information can be obtained from the map database of the control device; based on the location information, multiple routes to be assigned are generated, and the routes can be selected and adjusted according to the demand.

[0070] Here, the requirement information may also include multi-threaded task data issued at the same time, and task data from multiple AGV devices issued simultaneously.

[0071] In some embodiments, the status information of the AGV device may include the battery level of the AGV device, the remaining working time of the AGV device, and the current status of the AGV device. Here, the remaining working time may be calculated based on the current battery level; the current status includes, but is not limited to, "AGV device in storage", "AGV device waiting for work", "AGV device in operation", "AGV device waiting to be charged", "AGV device charging", "AGV device fully charged", and "AGV device in fault condition".

[0072] In some embodiments, the scheduling instruction may include multiple sub-instructions for scheduling a target AGV device. The scheduling instruction may include data such as the Identity Document (ID) and location information of the first and second standalone devices; it may also include multiple navigation routes, such as the target AGV device 1 traveling from the first-floor parking area to the weighing device AA in the first area, transporting the silk spindle to be transported to the appearance inspection device BB in the first area at the weighing device AA, and returning to the first-floor parking area after the task is completed; the scheduling instruction may also include the travel speed of the target AGV device, which can be set as needed. Here, the travel speed needs to be kept within a safe travel range, which is calculated by the control device.

[0073] Here, the types of target yarns include, but are not limited to: drawn textured yarn (DTY), pre-oriented yarn (POY), and full drawn yarn (FDY).

[0074] In some embodiments, the control device 10 is specifically used for: acquiring data on the target spindle to be packaged, which may include quantity, batch number, estimated completion time, whether expedited processing is required, quality requirements, etc.; acquiring packaging requirements for the target spindle based on the data; determining multiple individual machines for packaging the target spindle based on the packaging requirements, and the packaging tasks corresponding to each of the multiple individual machines; and sending the corresponding packaging tasks to each individual machine. Here, the target spindle is usually a spindle of the same type, and spindles of the same type have the same product parameters, such as batch number, specifications, grade, etc. Here, the target spindle can also be a spindle of different types, and the product parameters corresponding to different types of spindles may be different, such as weight, linear density, color absorption, crimp shrinkage rate, etc.

[0075] In some embodiments, the control device 10 is further configured to: acquire working data of each individual device within a first preset time period, the working data including the working status of each individual device, the number of yarn spindles that have been packaged and the number of yarn spindles that have not been packaged; and generate demand information based on the working data, the demand information being used to instruct the scheduling device to generate scheduling instructions.

[0076] In some embodiments, the scheduling device 20 is specifically used to: generate a scheduling instruction based on the demand information generated by the control device and the status information of multiple AGV devices. The scheduling instruction may include information such as scheduling route, scheduling task, and scheduling time. The scheduling instruction is used to instruct multiple target AGV devices to perform transportation tasks.

[0077] Here, the control device and the scheduling device can be integrated into one electronic device or into different electronic devices. The scheduling device can communicate with the AGV device.

[0078] In some embodiments, the target AGV device 40 is specifically configured to: receive a scheduling instruction sent by a scheduling device, the scheduling instruction including multiple sub-instructions corresponding to AGV device IDs; determine the sub-instruction corresponding to the current AGV device item; determine a first stand-alone device and a second stand-alone device based on the sub-instruction; and transport the target spindle to be transported from the first stand-alone device to the second stand-alone device. Here, the first stand-alone device is any one of the multiple stand-alone devices, and the second stand-alone device is any other stand-alone device besides the first stand-alone device.

[0079] In some embodiments, the target AGV device 40 is further configured to: upon receiving a control command, determine a transmission mechanism matching the target spindle to be transported; the AGV device is equipped with a transmission mechanism that is adjustable, such as extending or shortening, to better suit different numbers of pallets; the size of the pallets is also adjustable; when different types of spindle packaging are not performed simultaneously, obtain the spindle size information corresponding to the target spindle to be packaged; adjust the state of the pallet according to the spindle size information; the pallet is used to insert the spindle.

[0080] In some embodiments, the robot uses a robotic arm to remove the target yarn spindle from the yarn cart and insert it onto a tray. The robot can be a device equipped with a robotic arm. Specifically, the robot's gripping force, gripping angle, gripping quantity, and gripping distance can be adjusted according to the packaging requirements of the target yarn spindle.

[0081] In some embodiments, the weighing device may have a built-in weighing instrument to grab the yarn spindles on the tray and obtain the weight data of the yarn spindles; the weight data of the yarn spindles is then uploaded to the control device.

[0082] In some embodiments, the appearance inspection device may consist of multiple cameras. These cameras can be categorized into close-range cameras and long-range cameras. Specifically, the close-range cameras are used to inspect details of the target spindle, such as whether there is minor damage or oil stains; the long-range cameras are used to inspect the overall shape of the target spindle, such as its shape.

[0083] In some embodiments, the bagging device is used to place a packaging bag over the surface of the target yarn spindle. Parameters such as the frequency of the bagging device can be adjusted based on the packaging requirements of the target yarn spindle.

[0084] In some embodiments, the banding device is used to band stacked filaments. The length of the packaging bags can be adjusted according to the dimensions of the stacks in the packaging task.

[0085] In some embodiments, the labeling device affixes a label to one side of a stack of yarn spindles that have been palletized. The position of the label can be adjusted according to the packaging requirements of the target yarn spindles.

[0086] In some embodiments, the plurality of individual devices may further include a hoist and / or a shuttle. Specifically, the hoist is used to transport an empty yarn cart to the floor where the yarn packaging line is located, according to a first control command sent by the control device. Here, the first control command can be determined based on the location information of the target yarn, and the first control command is used to instruct the hoist to operate. For example, if the yarn packaging line is on the first floor and the empty yarn cart is on the second floor, the hoist can transport the empty yarn cart from the second floor to the first floor. For example, if the yarn packaging line is on the second floor and the empty yarn cart is on the first floor, the hoist can transport the empty yarn cart from the first floor to the second floor. The shuttle is used to transport a tray matching the target type of yarn to the loading station, which is the first station for packaging yarn, according to a second control command sent by the control device. Here, the second control command can be determined based on the location information of the target yarn, and the first control command is used to instruct the shuttle to operate.

[0087] In this way, demand information can be generated based on the work data returned by each individual device, scheduling instructions can be generated based on the demand information, and AGV devices can be scheduled through scheduling instructions to realize intelligent transportation between individual devices, thereby improving the intelligence and flexibility of silk spindle packaging and thus improving silk spindle packaging efficiency.

[0088] In this embodiment of the disclosure, the scheduling device 20 is also used to: configure an AGV device for multiple stand-alone devices for the same batch of yarn spindles to be packaged, call the same AGV device, and transport the yarn spindles to be packaged between multiple stand-alone devices.

[0089] In this embodiment of the disclosure, the scheduling device 20 is further configured to: for the same batch of spindles to be packaged, configure one AGV device between every two adjacent single machines in the multiple single machines, and call multiple AGV devices to transport the spindles to be packaged between the multiple single machines.

[0090] In some embodiments, the AGV device is used to transport or convey a target spindle to a target stand-alone device.

[0091] In some embodiments, the entire packaging process for each type of yarn spindle involves multiple individual machines sequentially passing through the yarn spindle packaging production line. That is, each target type of yarn spindle requires multiple packaging stages, with each individual machine corresponding to one packaging stage. For example, the multiple individual machines that POY yarn spindles need to pass through include at least: a robot, a weighing device, an appearance inspection device, a bagging device, a palletizing device, a tape attaching device, and a label attaching device. Passing through the robot corresponds to the stage of inserting yarn spindles onto empty pallets; passing through the weighing device corresponds to the weighing stage; passing through the appearance inspection device corresponds to the appearance inspection stage; passing through the bagging device corresponds to the bagging stage; passing through the palletizing device corresponds to the palletizing stage; passing through the tape attaching device corresponds to the tape attaching stage; and passing through the label attaching device corresponds to the label printing and attaching stage. This packaging process can be understood as the current position of the POY yarn spindle on the individual machine (i.e., the current stage). For example, when the target yarn spindle passes through the appearance inspection device, the packaging process for that target yarn spindle is in the appearance inspection stage. The working data of each individual device can be uploaded to the control device. The control device generates demand information based on the working data of each individual device and sends the demand information to the scheduling device. The scheduling device generates scheduling instructions based on the demand information and schedules multiple target AGV devices to transport the spindles processed by the first individual device to the second individual device.

[0092] The working data of each individual device can be uploaded to the control device in real time, so that the control device can monitor the packaging process of the target spindle in real time and dispatch the AGV device in a timely manner; the control device can also make temporary adjustments to the transportation task of the AGV device based on the working data of the individual device.

[0093] For example, a packaging plant area includes four main areas, referred to as Area 1, Area 2, Area 3, and Area 4. Areas 1, 2, and 3 are yarn spindle packaging workshops, while Area 4 is an AGV equipment storage area. Area 1 contains multiple Class 1 single-machine equipment for packaging POY yarn spindles. Area 2 contains multiple Class 2 single-machine equipment for packaging DTY yarn spindles. Area 3 contains multiple Class 3 single-machine equipment for packaging FDY yarn spindles. For example, the first batch of yarn spindles to be packaged in the first area arrives at the first standalone device in the first area, namely the robot; when the robot picks up the yarn spindles to be packaged from the yarn cart, the standalone device uploads work data to the control device, which includes the number of yarn spindles to be packaged; the control device generates demand information based on the work data uploaded by the robot, which can be calculated based on the work data; the demand information is sent to the scheduling device for the scheduling device to generate scheduling instructions; the scheduling device issues the scheduling instructions to a target AGV device, which is used to transport the yarn spindles to be packaged between multiple standalone devices, such as waiting in the robot's completion area, and transporting the yarn spindles picked up by the robot to the weighing device's starting area; at the weighing... The AGV waits in the weighing equipment completion area and transports the weighed yarn spindles to the appearance inspection equipment start area; it waits in the appearance inspection equipment completion area and transports the yarn spindles that have completed appearance inspection to the bagging equipment start area; it waits in the bagging equipment completion area and transports the bagged yarn spindles that have completed bagging to the palletizing equipment start area; it waits in the palletizing equipment completion area and transports the palletized yarn spindles that have completed palletizing to the tape-binding equipment start area; it waits in the tape-binding equipment completion area and transports the tape-binding yarn spindles that have completed tape-binding to the label-marking equipment start area; it waits at the label-marking equipment completion area and puts the packaged yarn spindles into storage; if the target AGV has no other tasks, it returns to the fourth area to continue waiting; if the target AGV detects a second task, it continues to execute the second task.Alternatively; the first batch of yarn spindles to be packaged in the first area, the first batch of yarn spindles to be packaged in the second area, and the first batch of yarn spindles to be packaged in the third area simultaneously arrive at the first single-machine device (i.e., robot) in their respective areas; the first robot in the first area, the second robot in the second area, and the third robot in the third area simultaneously grab the yarn spindles to be packaged from the yarn cart; the first robot, the second robot, and the third robot simultaneously upload work data to the control device; the control device generates demand information based on the work data uploaded by multiple robots, which can be calculated based on the work data; the demand information is sent to the scheduling device for the scheduling device to generate scheduling instructions; the scheduling device issues the scheduling instructions to multiple target AGV devices (denoted as AGV devices 1 to A). AGV device 3), these multiple target AGV devices are used to transport spools to be packaged between two adjacent single devices. For example, AGV device 1 waits in the robot completion area of ​​the first region, transports the spools picked up by the robot to the weighing device start area; then travels from the weighing device start area of ​​the first region to the robot completion area of ​​the second region, waits, and transports the spools picked up by the robot in the second region to the weighing device start area of ​​the second region; then travels from the weighing device start area of ​​the second region to the robot completion area of ​​the third region, waits, and transports the spools picked up by the robot in the third region to the weighing device start area of ​​the third region; then travels from the weighing device start area of ​​the third region to the fourth region to wait for the second task. Alternatively, AGV device 1 waits in the robot completion area of ​​the first region, transporting the spools picked up by the robot in the first region to the weighing device start area of ​​the first region; AGV device 2 waits in the robot completion area of ​​the second region, transporting the spools picked up by the robot in the second region to the weighing device start area of ​​the second region; AGV device 3 waits in the robot completion area of ​​the third region, transporting the spools picked up by the robot in the third region to the weighing device start area of ​​the third region. This will help improve the intelligence of silk spindle packaging, as well as its quality and efficiency.

[0094] In this embodiment of the disclosure, each scheduling device 20 is further configured to: when different types of yarn spindle packaging are carried out simultaneously, configure one AGV device for each type of yarn spindle, call the AGV device matching the target type of yarn spindle to transport the target type of yarn spindle between multiple single devices; or when different types of yarn spindle packaging are carried out simultaneously, configure multiple AGV devices for each type of yarn spindle, call the multiple AGV devices matching the target type of yarn spindle to transport the target type of yarn spindle between multiple single devices.

[0095] For example, a packaging plant area includes three main areas, referred to as Area 5, Area 6, and Area 7. Area 5 contains multiple Class I single-machine equipment for packaging POY spindles; Area 6 contains multiple Class II single-machine equipment for packaging DTY spindles; and Area 7 contains multiple AGV equipment. The multiple AGV equipment in Area 7 can provide transportation services for the spindle packaging in Areas 5 and 6. For example, POY and DTY yarn spindles to be packaged in the same batch simultaneously arrive at the first stand-alone device, i.e., the robot, in the fifth and sixth zones. After the robot picks up the yarn spindles to be packaged from the yarn cart, it sends work data to the control device. The control device generates demand information based on the work data uploaded by the robot, which can be calculated based on the work data. The demand information is sent to the scheduling device for the scheduling device to generate scheduling instructions. The scheduling device issues the scheduling instructions to two target AGV devices (denoted as AGV device 8 and AGV device 9). AGV device 8 is the AGV device corresponding to the POY yarn spindles to be packaged in the fifth zone, and it is used to transport yarn spindles between multiple stand-alone devices in the fifth zone. AGV device 9 is the AGV device corresponding to the DTY yarn spindles to be packaged in the sixth zone, and it is used to transport yarn spindles between multiple stand-alone devices in the sixth zone. Alternatively, after generating demand information based on the work data uploaded by the robot, the control device sends the demand information to the scheduling device for generating scheduling instructions. The scheduling device then issues the scheduling instructions to multiple target AGV devices (denoted as AGV devices 10 to 15). Specifically, AGV devices 10, 11, and 12 are AGV devices corresponding to the POY spindles to be packaged in the fifth area, and are used to transport spindles between multiple single machines in the fifth area. AGV devices 13, 14, and 15 are AGV devices corresponding to the DTY spindles to be packaged in the sixth area, and are used to transport spindles between multiple single machines in the sixth area.

[0096] In this way, different AGV equipment scheduling schemes can be generated according to the type and quantity of the yarn spindles to be packaged, which can ensure both the quality and efficiency of yarn spindle packaging. Moreover, matching the corresponding AGV equipment to different types of yarn spindles can avoid damage caused by mismatch between AGV equipment and yarn spindle type during yarn spindle transportation, and also helps to support the simultaneous packaging of multiple types of yarn spindles.

[0097] In this embodiment of the disclosure, the scheduling device 20 is further configured to, upon receiving an alarm message sent by the first target AGV device, determine a second target AGV device for replacing the first target AGV device; and send a scheduling instruction to the second target AGV device so that the second target AGV device can transport the target spindle to be transported from the first stand-alone device to the second stand-alone device based on the scheduling instruction.

[0098] In some embodiments, when the first target AGV device is in a state of low power, malfunction, or shutdown, it generates an alarm message and sends it to the control device. The alarm message may include the AGV device's status, the first target device's location information, and any unfinished tasks. Based on the alarm message, the control device generates a scheduling instruction and identifies a second target AGV device. The control device then sends the scheduling instruction to the second target AGV device, which then transports the target spool from the first stand-alone device to the second stand-alone device. The second AGV device may be an idle AGV device that is closest to the first AGV device.

[0099] In some embodiments, the first target AGV device can send alarm information to the control device, and the alarm information can be displayed on the display of the control device. When the control device detects the alarm information, the control device can display a prompt message, which can indicate the AGV device failure through sound, light, text, or other means.

[0100] In this way, by sending alarm information to the control equipment in a timely manner, it is helpful for the control equipment to plan and control multiple AGV devices in a coordinated manner, thereby helping to improve the speed of silk spindle packaging.

[0101] In this embodiment of the disclosure, different AGV devices include spindles suitable for different states; the scheduling device 20 is also used to: determine the state of the target spindle to be transported; and determine the target AGV device based on the state.

[0102] In some embodiments, AGV equipment can be classified into a first type of AGV equipment, a second type of AGV equipment, and a third type of AGV equipment based on different types of yarn spindles; the first type of AGV equipment is used to transport DTY yarn spindles, the second type of AGV equipment is used to transport POY yarn spindles, and the third type of AGV equipment is used to transport FDY yarn spindles. AGV equipment can be categorized into seven processes based on the different states of the yarn spindles: first-process AGV equipment, second-process AGV equipment, third-process AGV equipment, fourth-process AGV equipment, fifth-process AGV equipment, sixth-process AGV equipment, and seventh-process AGV equipment. The first-process AGV equipment is used to transport yarn spindles between the robot and the weighing equipment; the second-process AGV equipment is used to transport yarn spindles between the weighing equipment and the appearance inspection equipment; the third-process AGV equipment is used to transport yarn spindles between the appearance inspection equipment and the bagging equipment; the fourth-process AGV equipment is used to transport yarn spindles between the bagging equipment and the palletizing equipment; the fifth-process AGV equipment is used to transport yarn spindles between the palletizing equipment and the tape-binding equipment; the sixth-process AGV equipment is used to transport yarn spindles processed by the tape-binding equipment and the label-marking equipment; and the seventh-process AGV equipment is used to transport yarn spindles processed by the label-marking equipment to the product warehouse.

[0103] Here, the multiple process AGV devices can be unidirectional, that is, transporting the target yarn spindle to be conveyed from the first single-machine device to the second single-machine device, with the processing flow of the first single-machine device preceding the processing flow of the second single-machine device; the multiple process AGV devices can also be reverse-directional, that is, transporting the target yarn spindle to be conveyed from the second single-machine device to the first single-machine device, with the processing flow of the first single-machine device preceding the processing flow of the second single-machine device; the multiple process AGV devices can also be bidirectional, that is, they can transport the target yarn spindle to be conveyed from the first single-machine device to the second single-machine device, or they can transport the target yarn spindle to be conveyed from the second single-machine device to the first single-machine device.

[0104] In this way, AGV equipment can be divided into multiple categories according to the different states of the silk spindles. Different AGV equipment can perform the transportation tasks of silk spindles in different states, which helps to realize an intelligent silk spindle packaging system.

[0105] In this embodiment of the disclosure, the scheduling device 20 is further configured to: when different types of yarn packaging are carried out simultaneously, if the AGV device in an idle state does not meet the demand information, then allocate AGV devices to the yarn packaging task with higher priority according to the packaging process of different types of yarn.

[0106] In some embodiments, when the first type of yarn spindle and the second type of yarn spindle are processed simultaneously, if the weighing equipment for the first type of yarn spindle requires 2 AGV devices, the appearance inspection equipment requires 1 AGV device, and the tape-making equipment requires 2 AGV devices; and the weighing equipment for the second type of yarn spindle requires 5 AGV devices, the appearance inspection equipment requires 3 AGV devices, and the palletizing equipment requires 2 AGV devices, the control equipment detects that there are only 3 idle AGV devices in the placement warehouse; it evaluates the priority of the first type of yarn spindle and the second type of yarn spindle, as well as the priority of the processes for the first type of yarn spindle and the second type of yarn spindle, and obtains a priority evaluation result. The priority evaluation result is that the priority of the first type of yarn spindle is greater than that of the second type of yarn spindle, and the priority of the first type of yarn spindle process is that the weighing equipment is greater than the appearance inspection equipment, which is greater than the tape-making equipment; and it allocates the idle AGV devices to the weighing equipment and appearance inspection equipment for the first type of yarn spindle.

[0107] In some embodiments, different types of yarn spindles have different priorities; yarn spindles with different packaging requirements have different priorities; and different processes of different yarn spindles have different priorities. Here, the priorities can be adjusted according to the demand information of the yarn spindles. The priorities of different processes of different yarn spindles can be fixed or adjusted according to the demand information.

[0108] In this way, the priority of different types and processes can be determined according to the demand information, which helps the control equipment to plan and control the entire silk spindle packaging production line in a coordinated manner, thereby helping to improve the efficiency of silk spindle packaging.

[0109] In this embodiment of the disclosure, the control device 10 is further configured to: receive usage information corresponding to multiple AGV devices sent by the scheduling device; and adjust the device control parameters and packaging tasks of each individual device based on the usage information and the working data returned by each individual device.

[0110] In some embodiments, the usage information of the multiple AGVs may include: the number of spindles transported by each AGV device within a first time period, the usage time period of each AGV device within a certain time period, the unused time period of each AGV device within a certain time period, and the frequency of spindle transport by each AGV device within the first time period, such as each AGV device completing a transport task once per minute. This usage information of the multiple AGVs can be automatically generated and uploaded to the scheduling device upon receiving a request from the scheduling device. Alternatively, the usage information of the multiple AGVs can be actively uploaded to the scheduling device. Here, the scheduling device receives the usage information uploaded by the multiple AGV devices, processes the information, and sends it to the control device.

[0111] In this embodiment of the disclosure, the control device is specifically configured to: send a first acquisition request to a scheduling device and multiple individual devices, wherein the first acquisition request is used to instruct the scheduling device to upload the usage information of multiple AGV devices within a first time period and to instruct each individual device to upload the work data within the first time period; receive the usage information of multiple AGV devices within the first time period uploaded by the scheduling device and the work data uploaded by each individual device within the first time period; and adjust the device control parameters and packaging tasks of each individual device within a second time period based on the usage information of multiple AGV devices within the first time period and the work data uploaded by each individual device within the first time period.

[0112] The scheduling device is specifically used to: detect a first acquisition request and send a second acquisition request to multiple AGV devices, the second acquisition request being used to instruct the multiple AGV devices to upload usage information within a first time period; process the usage information uploaded by the multiple AGV devices within the first time period and send it to the control device;

[0113] The multiple AGV devices are specifically used to: upload usage information of the multiple AGV devices to the scheduling device within the first time period;

[0114] Each standalone device is specifically used for: uploading work data for the first time period to the control device; and performing operations based on the device control parameters and packaging tasks of each standalone device for the second time period.

[0115] Here, the first time period is the past, and the second time period is the future.

[0116] In this way, the equipment control parameters and packaging tasks of each individual machine can be adjusted based on the working data of the AGV equipment and each individual machine within a certain period of time, which helps to improve the intelligence and flexibility of the silk spindle packaging system, thereby helping to improve the efficiency of silk spindle packaging.

[0117] In this embodiment of the disclosure, the scheduling device 20 is further configured to: acquire scheduling data within a first time period; input the scheduling data within the first time period into a scheduling model to acquire the predicted values ​​of the scheduling data within a second time period output by the scheduling model; wherein the scheduling model is trained using scheduling data samples and is used to predict scheduling data; determine candidate AGV devices from multiple AGV devices based on the predicted values ​​of the scheduling data; and, upon receiving demand information, determine the target AGV device from the candidate AGV devices based on the demand information.

[0118] Here, there can be multiple candidate AGV devices, and there can be one or more target AGV devices.

[0119] In some embodiments, the training process of the scheduling model may include: acquiring training data, which consists of multiple AGV usage information samples and individual device working data samples; training the model to be trained based on the training data to obtain the scheduling model. The scheduling model is used to predict scheduling data over a period of time to determine the target AGV device from candidate AGV devices based on the scheduling data.

[0120] In this embodiment of the disclosure, the method of obtaining multiple AGV usage information samples and each single device working data sample is not limited.

[0121] In this way, by predicting the scheduling data for the next time period through the scheduling model, the scheduling plan can be determined in advance, which can improve the intelligence and flexibility of the spindle packaging system, thereby increasing the effective utilization rate of AGV equipment and thus increasing the speed of spindle packaging.

[0122] In this embodiment of the disclosure, the AGV device 40 includes a controller and a transmission mechanism, wherein,

[0123] The transmission mechanism is used to carry the wire spindle;

[0124] The controller is used to determine the target parameters that are adapted to the target spindle to be transported based on the scheduling instructions; and to adjust the transmission mechanism based on the target parameters so that the adjusted transmission mechanism is adapted to the target spindle to be transported.

[0125] In some embodiments, adjusting the conveying mechanism of the AGV device according to the different states of the yarn spindles allows the same AGV device to be transformed into an AGV device suitable for different yarn spindle states at different times. At different process stages, the yarn spindle states on the conveying mechanisms of multiple AGV devices are different, therefore the states of the conveying mechanisms of multiple AGV devices also differ at different process stages. For example, some conveying mechanisms may have trays, while others may not. The dimensions of the conveying mechanism are adjustable; both the length and width of the conveying mechanism can be adjusted for yarn spindles in different states.

[0126] Figure 3 This diagram illustrates the transmission mechanism of an AGV device when transporting wire spindles in different states. Figure 3 As shown, the AGV equipment mainly consists of a controller and a transmission mechanism. When transporting the yarn spindles processed by the weighing equipment to the appearance inspection equipment, a pallet is placed on the transmission structure for inserting the yarn spindles. When transporting the stack of yarn spindles processed by the tape-making equipment to the labeling equipment, the transmission structure holds the stack of yarn spindles. Taking DTY packaging as an example, DTY involves packing small cartons. After each small carton is packed, a laser code is burned onto the carton, and no subsequent labeling is applied.

[0127] In some embodiments, the controller of the AGV device can parse the scheduling instructions issued by the control device, and the controller can obtain the status of the target yarn spindle to be transported by parsing the scheduling instructions; and adjust the transmission mechanism of the AGV device based on the status of the target yarn spindle to be transported. The status of the target yarn spindle may include the process status of the target yarn spindle, such as the weighing equipment has processed it, the appearance inspection equipment has processed it, the packing equipment has processed it, the labeling equipment has processed it, etc.

[0128] In this way, by adjusting the transmission mechanism of the AGV equipment according to the state of the target yarn spindle, the adaptability between the target AGV equipment and the target yarn spindle can be increased. This allows one AGV equipment to provide services for different single equipment at different times, enabling one AGV equipment to transport target yarn spindles in different states at different times. This improves the flexibility and diversity of the yarn spindle packaging system scheduling and increases the efficiency of yarn spindle packaging.

[0129] In this embodiment of the disclosure, different types of spindle packaging can share the spindle packaging system, that is, share control equipment, scheduling equipment, multiple AGV equipment and at least some of the single-machine equipment.

[0130] In some embodiments, where different types of yarn spindles do not share a single machine, AGV equipment is allocated and scheduled for each type of yarn spindle according to the packaging process of each type of yarn spindle. This AGV equipment can be shared, meaning that the AGV equipment can transport different types of yarn spindles in a first area, a second area, and a third area respectively.

[0131] In this way, different types of spindles can share control equipment, scheduling equipment, multiple AGV devices, and at least some of the individual devices among multiple single devices, which can realize the effective utilization of multiple devices in the spindle packaging system and help improve the efficiency of spindle packaging.

[0132] In this embodiment, the multiple stand-alone devices include a first type of stand-alone device, a second type of stand-alone device, and a third type of stand-alone device; wherein, the first type of stand-alone device, the second type of stand-alone device, and the third type of stand-alone device can be set in different areas; wherein, the first type of stand-alone device is a stand-alone device suitable for DTY spindle packaging, the second type of stand-alone device is a stand-alone device suitable for POY spindle packaging, and the third type of stand-alone device is a stand-alone device suitable for FDY spindle packaging. The control device can simultaneously control multiple types of stand-alone devices within the factory area, that is, control device A can simultaneously control the first type of stand-alone device, the second type of stand-alone device, the third type of stand-alone device, and the fourth type of stand-alone device. One control device can also simultaneously control multiple stand-alone devices of the same type, that is, control device B can simultaneously control the first type of stand-alone devices a1~ax, the second type of stand-alone devices b1~by, the third type of stand-alone devices c1~cz, and the fourth type of stand-alone devices d1~dk. The three types of stand-alone equipment are deployed in different areas. For example, type I stand-alone equipment is deployed in area one; type II in area two; type III in area three; and type IV in area four. Separating area one, two, and three, while allowing type IV stand-alone equipment to be shared by all three areas, fully utilizes the control capabilities of the control equipment, saves packaging costs for different types of spindles, and effectively prevents confusion between different types of spindles. The scheduling equipment and multiple AGVs can be shared by area one, two, three, and four. This fully utilizes the scheduling capabilities of the scheduling equipment and allows multiple AGVs to be shared by multiple types of spindle packaging lines, saving packaging costs for different types of spindles and effectively preventing confusion in the packaging of different types of spindles.

[0133] This disclosure provides a control method for a silk spindle packaging system. Figure 4 This is a flowchart illustrating a control method for a spindle packaging system according to an embodiment of the present disclosure. This control method can be applied to a control device for the spindle packaging system. The control device is located in an electronic device. This electronic device includes, but is not limited to, fixed devices and / or mobile devices. For example, fixed devices include, but are not limited to, servers, which can be cloud servers or ordinary servers. Mobile devices include, but are not limited to, mobile phones, tablets, etc. In some possible implementations, the control method for the spindle packaging system can also be implemented by a processor calling computer-readable instructions stored in memory. Figure 4 As shown, the control method of this silk spindle packaging system includes:

[0134] S401: Generate packaging tasks and equipment control parameters for each stand-alone device based on the quantity and type of the spindles to be packaged, so that each stand-alone device can execute its corresponding packaging task based on its corresponding equipment control parameters;

[0135] S402: Generate requirement information based on the working data returned by each individual device;

[0136] S403: Generate scheduling instructions based on demand information and the status information of multiple AGV devices;

[0137] S404: The control target AGV device determines the corresponding first single device and second single device based on its corresponding scheduling instruction, and transports the target spindle to be transported from the first single device to the second single device.

[0138] The silk spindle packaging system adopts the silk spindle packaging system described in any of the above embodiments.

[0139] In some embodiments, the demand information can be demand information generated based on the type of wire spindle. Specifically, since different types of wire spindles may have different sizes, weights, defect rates, etc., it is necessary to generate independent demand information for each type of wire spindle. The demand information includes the demand information of each type of wire spindle for AGV equipment, specifically including quantity demand information.

[0140] In some embodiments, the target spindle type includes at least one of the following: DTY, POY, and FDY.

[0141] In some embodiments, the scheduling device can receive scheduling instructions directly input by staff on the control panel of an electronic device, and can also receive scheduling instructions transmitted by staff through a terminal. The scheduling device can also automatically generate scheduling instructions based on a scheduling model, for example, the scheduling model can automatically generate scheduling instructions based on information such as the number of spindles, spindle type, and planned outbound time. The scheduling model can also generate scheduling instructions based on demand information. These scheduling instructions can be expressed through textual descriptions or through scheduling data. This disclosure does not limit the specific method of training the scheduling model.

[0142] Figure 5 The silk spindle packaging process is shown. Figure 1 ,like Figure 5 As shown, the process may include:

[0143] S501: Determine if the communication between the control equipment and the scheduling equipment, as well as between each individual device, is normal; if normal, proceed to S502; if not, repeat this step.

[0144] Here, the control equipment can communicate with the programmable logic controllers (PLCs) of each individual device. A PLC is a microprocessor-based digital control unit used for automation control, capable of loading control instructions into memory for storage and execution. Each individual device can use one PLC, with different interfaces on the corresponding PLC for different devices. Alternatively, each individual device can have its own dedicated PLC.

[0145] S502: Control and scheduling equipment starts up and begins operation;

[0146] S503: Determine whether the daily packaging task and equipment control parameters are automatically generated; if yes, proceed to S504; if no, proceed to S507.

[0147] S504: The control equipment calculates the daily packaging task and equipment control parameters based on each batch number library, and then executes S507. Here, this step can obtain the daily packaging task through the packaging task generation model.

[0148] S505: Each individual device returns its working data, and then S506 is executed;

[0149] S506: The control device generates demand information based on the working data returned by each individual device, and then executes S507;

[0150] S507: The client issues packaging tasks to each individual device, sends demand information to the scheduling device, and then proceeds to S508;

[0151] S508: Store the packaging task and requirement information into the database, and then proceed to S509 and S511;

[0152] S509: The scheduling device obtains the status information of multiple AGV devices, generates a scheduling instruction based on the demand information and the status information of multiple AGV devices, and then executes S510. Here, the scheduling instruction is used to schedule the movement of the target AGV device.

[0153] S510: Sends scheduling instructions to multiple target AGV devices;

[0154] S511: Silk reel goes online.

[0155] Figure 6 The silk spindle packaging process is shown. Figure 2 ,like Figure 6 As shown, the process may include:

[0156] S601: Has the single-spindle system been put into operation? If yes, proceed to S603; if no, proceed to S602.

[0157] S602: Before the silk-carrying machine goes online, the silk-carrying machine information is entered through the client.

[0158] Here, the information about the silk reel includes the batch number, specifications, number of drops, and whether there are silk spindles in all positions on both sides of the silk reel;

[0159] S603: The barcode scanner scans and obtains the silk screen barcode, then sends it to the PLC;

[0160] S604: Control equipment obtains the yarn batch number;

[0161] Here, the control equipment acquires the barcode of the yarn carriage and, based on the barcode, initiates a query request to the single spindle system to obtain the yarn carriage batch number, whether there are spindles on all positions on both sides of the yarn carriage, and detailed information about the spindles.

[0162] S605: Is the batch number of the online sewing machine the same as the batch number of the online packaging task? If yes, proceed to S606; if no, proceed to S607.

[0163] S606: The online verification of the silk screen machine has passed, and online access is allowed. Then, proceed with S608.

[0164] S607: The online verification of the silk screen machine failed and is not allowed to go online. Then, S613 will be executed.

[0165] S608: The control device stores the silk car information into the database;

[0166] S609: The control device determines whether the batch number has been changed; if yes, execute S611; if no, execute S610.

[0167] S610: The control device sends the positions where the first and second sides of the wire carriage need to be gripped to the PLC, and then executes S614;

[0168] S611: If the last batch of packaging tasks is online, the control equipment calculates the number of spindles that still need to be grabbed for stacking based on the remaining amount of packaging tasks and the number of online spindles, and then executes S612.

[0169] S612: The control device sends the final grab position and quantity to the PLC, and then executes S614;

[0170] S613: Silk machine off the production line;

[0171] S614: The silk-cart arrives at the rotary table.

[0172] Figure 7 The silk spindle packaging process is shown. Figure 3 ,like Figure 7 As shown, the process may include:

[0173] S701: The silk-cart arrives at the rotary table;

[0174] S702: Determine whether all trays are in place and whether all Radio Frequency Identification (RFID) numbers have been read; if yes, proceed to S703; if no, continue to S702.

[0175] S703: Are all AGV devices in place? If yes, proceed to S704; otherwise, continue with S703.

[0176] S704: Robot gripping, with the action of each gripping cylinder controlled by a PLC;

[0177] Here, the PLC controls the action of each gripping cylinder, including: the cylinder moves when facing the position of the yarn carriage with a spindle; the cylinder does not move when facing the position of the yarn carriage without a spindle.

[0178] S705: Robot successfully placed the silk spindle;

[0179] S706: Determine whether all the spindles in the machine have been picked up; if yes, execute S707; otherwise, continue executing S706.

[0180] S707: The PLC binds the spindle to the tray;

[0181] S708: The target AGV device transports the wire spindle from the robot to the weighing device, and then executes S709;

[0182] S709: The control device obtains the binding relationship between the spindle and the tray from the PLC and records it to the database.

[0183] Figure 8 The silk spindle packaging process is shown. Figure 4 ,like Figure 8 As shown, the process may include:

[0184] S801: The weighing instrument weighs a single filament spindle and transmits the weighing data to the PLC.

[0185] S802: The control equipment obtains weighing data from the PLC and records the weighing data of the corresponding spindle to the database according to the pallet number;

[0186] S803: The target AGV equipment transports the wire spindle from the weighing equipment to the appearance inspection equipment, and then executes S804;

[0187] S804: The appearance inspection equipment writes the external inspection results of all wire spindles into an intermediate table;

[0188] S805: The appearance inspection equipment writes the spindles that need to be downgraded and rejected into the PLC; here, downgrading and rejection means that the grade of the spindles needs to be reduced due to appearance defects and they need to be removed from the batch of spindles.

[0189] S806: Should it be downgraded and removed? If yes, proceed to S807; if no, proceed to S815.

[0190] S807: Entering the return channel;

[0191] S808: Manual re-inspection or re-inspection equipment re-inspection;

[0192] S809: Determine whether to downgrade; if yes, proceed to S814; if no, proceed to S810.

[0193] S810: Client issues delivery instructions;

[0194] Here, the release instruction is used to indicate that the spindle is released, that is, the spindle is not downgraded and rejected.

[0195] S811: The PLC modifies the grade of the wire spindle bound to the corresponding tray back to the original grade according to the release instruction;

[0196] S812: The control device obtains information from the PLC and modifies the corresponding spindle grade in the intermediate table written by the appearance inspection device;

[0197] S813: The tray returns to the main line and then enters S815;

[0198] S814: The spindle is moved manually or by a rejection mechanism to the wire-side downgraded spinning machine, and then returned to S813;

[0199] S815: Is there an empty pallet? If yes, proceed to S816; if no, proceed to S819.

[0200] S816: PLC controls the rejection mechanism to remove empty pallets;

[0201] S817: Based on this, the PLC sends a confirmation downgrade signal to the control device when there is an empty pallet signal;

[0202] S818: The control device confirms that the spindle bound to this tray has been downgraded and does not operate on the intermediate table written by the appearance inspection device;

[0203] S819: The PLC determines whether a batch change operation needs to be performed; if yes, execute S820; if no, execute S824.

[0204] S820: Check if there are no yarn spindles in the area from the position of the rotary table tray to the empty tray detection zone before bagging; if yes, proceed to S821; if no, continue to S820.

[0205] S821: The PLC sends a request to the control device to ask whether it needs to grab again;

[0206] S822: Does the control device send a grabbing task to the PLC? If yes, execute S826; if no, execute S823.

[0207] Here, the crawling task may include: crawling location, number of crawls, etc.;

[0208] S823: Silk machine off the production line;

[0209] S824: The target AGV equipment transports the yarn spindle from the appearance inspection equipment to the bagging equipment, and then executes S825;

[0210] S825: Bagging;

[0211] S826: Control equipment determines whether to change batches.

[0212] Figure 9 The silk spindle packaging process is shown. Figure 5 ,like Figure 9 As shown, the process may include:

[0213] S901: Weighing of empty pallets, weight data written to PLC;

[0214] S902: The control device obtains the pallet weight data from the PLC and records it to the corresponding table in the database;

[0215] S903: If the empty pallet is a wooden pallet: the control equipment generates a serial number;

[0216] S904: If the empty pallet is a shared pallet: the RFID reader reads the tag number and writes it into the PLC;

[0217] S905: The control device obtains the shared tray number from the PLC;

[0218] S906: The control device writes the pallet number into the corresponding palletizing table;

[0219] S907: The target AGV equipment transports the pallet to the location of the palletizing equipment;

[0220] S908: The PLC sends action commands to the robot controller based on the number of palletizing layers to grab the wire spindle and foam board;

[0221] S909: Has the data capture been completed? If yes, proceed to S910; otherwise, continue with S909.

[0222] S910: Empty pallet return;

[0223] S911: The PLC transmits the pallet number corresponding to the wire spindle picked up during palletizing to the control equipment;

[0224] S912: The control device unbinds the tray number from the spindle;

[0225] S913: Has palletizing been completed? If yes, proceed to S914; if no, return to S908.

[0226] S914: The target AGV equipment transports the wire spindle from the palletizing equipment to the tape-making equipment, and then executes S915;

[0227] S915: Cardboard top cover;

[0228] S916: Strip rolling;

[0229] S917: Weigh the entire stack and store the data in the PLC;

[0230] S918: The control equipment obtains the full stack weighing data from the PLC and records it to the database;

[0231] S919: The target AGV equipment transports the wire spindle from the tape-making equipment to the marking equipment, and then executes S920;

[0232] S920: The control equipment generates the mark according to the rules defined for each ingot;

[0233] S921: The control equipment sends the marking information to the labeling machine for printing and affixing onto the bag.

[0234] S922: The control device transmits baggage information to the Warehouse Management System (WMS);

[0235] S923: PLC controls AGV equipment to transport boxes and bags to the automated warehouse for storage;

[0236] S924: Wrapping.

[0237] It should be understood that Figures 5 to 9 The flowchart shown is merely illustrative and not restrictive. The above flowchart can be adapted or modified according to operational requirements, and will not be elaborated further here. Those skilled in the art can use it as a basis... Figures 5 to 9 Even with various obvious changes and / or substitutions to the examples, the resulting technical solutions still fall within the scope of this disclosure.

[0238] In this embodiment of the disclosure, the control method of the spindle packaging system may further include: for spindles of the same batch number to be packaged, configuring an AGV device for multiple stand-alone devices, and calling the same AGV device to transport the spindles to be packaged between multiple stand-alone devices.

[0239] In this embodiment of the disclosure, the control method of the spindle packaging system may further include: for spindles of the same batch number to be packaged, configuring an AGV device between every two adjacent single machines in the multiple single machines, and calling multiple AGV devices to transport the spindles to be packaged between the multiple single machines.

[0240] For details on how to allocate and schedule AGV equipment for the same batch of yarn spindles to be packaged, please refer to the description above, which will not be repeated here.

[0241] In this way, different scheduling schemes can be generated based on the same batch of silk spindles to be packaged, which helps to improve the flexibility and intelligence of the silk spindle packaging system, thereby helping to improve the efficiency of silk spindle packaging.

[0242] In this embodiment of the disclosure, the control method of the spindle packaging system may further include: when different types of spindle packaging are carried out simultaneously, configuring one AGV device for each type of spindle, and calling the AGV device matching the target type of spindle to transport the target type of spindle between multiple single devices.

[0243] In this embodiment of the disclosure, the control method of the spindle packaging system may further include: when different types of spindle packaging are carried out simultaneously, configuring multiple AGV devices for each type of spindle, calling multiple AGV devices that match the target type of spindle, and transporting the target type of spindle between multiple single devices.

[0244] For details on how to allocate and schedule AGV equipment for different types of yarn spindles when packaging different types of yarn spindles simultaneously, please refer to the description above, which will not be repeated here.

[0245] In this way, when different types of yarn spindles are packaged simultaneously, AGV equipment can be allocated and scheduled for each type of yarn spindle according to the packaging progress of each type of yarn spindle, so as to meet the needs of packaging different types of yarn spindles at the same time. This helps to improve the intelligence of yarn spindle packaging, as well as the quality and efficiency of yarn spindle packaging.

[0246] In this embodiment of the disclosure, the control method of the spindle packaging system may further include: upon receiving an alarm message sent by the first target AGV device, determining a second target AGV device to replace the first target AGV device; and sending a scheduling instruction to the second target AGV device so that the second target AGV device can transport the target spindle to be transported from the first stand-alone device to the second stand-alone device based on the scheduling instruction.

[0247] For details on how to determine the second target AGV device to replace the first target AGV device upon receiving an alarm message from the first target AGV device, please refer to the previous description, which will not be repeated here.

[0248] In this way, if the first target AGV equipment malfunctions, a second target AGV equipment that can replace it can be identified. This enables the rational allocation and scheduling of AGV equipment, which helps the control equipment to coordinate and control the entire silk spindle packaging production line, thereby helping to improve the speed of silk spindle packaging.

[0249] In this embodiment of the disclosure, the control method of the spindle packaging system further includes: determining the state of the target spindle to be transported; determining the target AGV device based on the state; wherein different AGV devices are suitable for spindles in different states.

[0250] For details on how to determine the target AGV device based on the state of the target wire spindle to be transported, please refer to the previous description, which will not be repeated here.

[0251] Thus, by determining the target AGV equipment based on the state of the target yarn spindle, the compatibility between the target yarn spindle and the target AGV equipment can be improved, thereby improving the quality and efficiency of yarn spindle packaging.

[0252] In this embodiment of the disclosure, the control method of the spindle packaging system further includes: when different types of spindle packaging are carried out simultaneously, if the AGV equipment in the idle state does not meet the demand information, then according to the packaging process of different types of spindles, AGV equipment is allocated to the high-priority spindle packaging task.

[0253] For details on how to allocate AGV equipment to higher priority devices when different types of silk spindle packaging are carried out simultaneously, please refer to the previous description, which will not be repeated here.

[0254] In this way, by allocating and scheduling AGV equipment to high-priority spindles, it is possible to flexibly ensure the packaging of high-priority spindles, thereby improving the efficiency of spindle packaging.

[0255] In this embodiment of the disclosure, the control method of the spindle packaging system may further include: receiving usage information corresponding to multiple AGV devices sent by the scheduling device; and adjusting the device control parameters and packaging tasks of each individual device based on the usage information and the working data returned by each individual device.

[0256] For details on how to adjust the device control parameters and packaging tasks of each individual device based on usage information and the working data returned by each individual device, please refer to the previous description, which will not be repeated here.

[0257] In this way, the usage information of each AGV device and the working data of each individual device can provide a basis for adjusting the equipment control parameters and packaging tasks of each individual device, which helps to realize the intelligence of the silk spindle packaging system, improves the flexibility of silk spindle packaging, and thus improves the efficiency of silk spindle packaging.

[0258] In this embodiment of the disclosure, the control method of the spindle packaging system may further include: acquiring scheduling data within a first time period; inputting the scheduling data within the first time period into a scheduling model to acquire the predicted values ​​of the scheduling data within a second time period output by the scheduling model; wherein the scheduling model is trained using scheduling data samples and is used to predict scheduling data; determining candidate AGV devices from multiple AGV devices based on the predicted values ​​of the scheduling data; and determining the target AGV device from the candidate AGV devices based on the demand information received.

[0259] Here, the first time period is the past, and the second time period is the future.

[0260] In this way, the scheduling data for the second time period can be predicted based on the data from the first time period, and the target AGV device can be determined from the candidate AGV devices based on the predicted scheduling data, which helps to realize the intelligence of the silk spindle packaging system and improves the efficiency of silk spindle packaging.

[0261] This disclosure provides a control device for a silk spindle packaging system, such as... Figure 10 As shown, the control device for the silk spindle packaging system may include:

[0262] The first generation module 1001 is used to generate packaging tasks and equipment control parameters for each stand-alone device according to the quantity and type of the spindles to be packaged, so that each stand-alone device can execute its corresponding packaging task based on its corresponding equipment control parameters.

[0263] The second generation module 1002 is used to generate requirement information based on the working data returned by each standalone device;

[0264] The scheduling module 1003 is used to generate scheduling instructions based on demand information and the status information of multiple AGV devices.

[0265] Control module 1004 is used to control the target AGV equipment to determine the first and second stand-alone devices corresponding to it based on the corresponding scheduling instructions, and to transport the target spindle to be transported from the first stand-alone device to the second stand-alone device;

[0266] The silk spindle packaging system adopts the silk spindle packaging system described in any of the above embodiments.

[0267] In some embodiments, the control device of the spindle packaging system further includes: a first calling module ( Figure 10(Not shown in the image) is used to configure one AGV device for multiple single machines and call the same AGV device to transport the silk spindles to be packaged between multiple single machines for the same batch of silk spindles to be packaged; or to configure one AGV device between every two adjacent single machines for multiple single machines and call multiple AGV devices to transport the silk spindles to be packaged between multiple single machines for the same batch of silk spindles to be packaged.

[0268] In some embodiments, the control device of the spindle packaging system further includes: a second calling module ( Figure 10 (Not shown in the image) is used to configure one AGV device for each type of spool when packaging different types of spools is carried out simultaneously, and to call up the AGV device that matches the target type of spool to transport the target type of spool between multiple single machines; or when packaging different types of spools is carried out simultaneously, to configure multiple AGV devices for each type of spool, and to call up multiple AGV devices that match the target type of spool to transport the target type of spool between multiple single machines.

[0269] In some embodiments, the control device of the spindle packaging system further includes: a first determining module ( Figure 10 (Not shown in the image), used to determine a second target AGV device to replace the first target AGV device upon receiving an alarm message from the first target AGV device; the sending module ( Figure 10 (Not shown in the image) is used to send scheduling instructions to the second target AGV device, so that the second target AGV device can transport the target spindle to be transported from the first stand-alone device to the second stand-alone device based on the scheduling instructions.

[0270] In some embodiments, the control device of the spindle packaging system further includes: a second determining module ( Figure 10 (not shown in the image), used to determine the state of the target spindle to be conveyed; the third determining module ( Figure 10 (Not shown in the image), used to determine the target AGV equipment based on its state; where different AGV equipment are suitable for spindles in different states.

[0271] In some embodiments, the control device of the spindle packaging system further includes: a dispensing module ( Figure 10 (Not shown in the image) is used to allocate AGV equipment to the higher priority silk spindle packaging task when different types of silk spindle packaging are carried out simultaneously, if the idle AGV equipment does not meet the demand information, based on the packaging process of different types of silk spindles.

[0272] In some embodiments, the control device of the silk spindle packaging system further includes: a receiving module ( Figure 10 (Not shown in the image), used to receive usage information corresponding to multiple AGV devices sent by the scheduling device; adjustment module ( Figure 10 (Not shown in the image) is used to adjust the device control parameters and packaging tasks of each individual device based on usage information and the working data returned by each individual device.

[0273] In some embodiments, the control device of the spindle packaging system further includes: a first acquisition module ( Figure 10 (not shown in the image), used to obtain scheduling data within the first time period; the second acquisition module ( Figure 10 (Not shown in the image), used to input scheduling data within the first time period into the scheduling model, and obtain the predicted values ​​of scheduling data within the second time period output by the scheduling model; wherein, the scheduling model is trained using scheduling data samples and is used to predict scheduling data; the fourth determining module ( Figure 10 (Not shown in the image), used to determine candidate AGV devices from multiple AGV devices based on predicted values ​​from scheduling data; the fifth determining module ( Figure 10 (Not shown in the image), used to determine the target AGV device from the candidate AGV devices based on the demand information received.

[0274] Those skilled in the art should understand that the functions of each processing module in the control device of the silk spindle packaging system of the present disclosure embodiment can be understood with reference to the relevant description of the control method of the silk spindle packaging system described above. Each processing module in the control device of the silk spindle packaging system of the present disclosure embodiment can be implemented by an analog circuit that implements the functions of the present disclosure embodiment, or by running software that executes the functions of the present disclosure embodiment on an electronic device.

[0275] The control device of the silk spindle packaging system in this embodiment can generate scheduling instructions based on the demand information of the control equipment and the status information of the AGV equipment. Based on the scheduling instructions, the AGV equipment is scheduled, realizing intelligent silk spindle transportation between individual AGV equipment, improving the intelligence and flexibility of the silk spindle packaging system, improving the efficiency of silk spindle transportation, and thus improving the efficiency of silk spindle packaging.

[0276] According to embodiments of this disclosure, this disclosure also provides an electronic device and a readable storage medium.

[0277] Figure 11 This is a structural block diagram of an electronic device according to an embodiment of the present disclosure. Figure 11As shown, the electronic device includes a memory 1110 and a processor 1120. The memory 1110 stores a computer program that can run on the processor 1120. The number of memories 1110 and processors 1120 can be one or more. The memory 1110 can store one or more computer programs, which, when executed by the electronic device, cause the electronic device to perform the method provided in the above-described method embodiments. The electronic device may also include a communication interface 1130 for communicating with external devices and performing data exchange and transmission.

[0278] If the memory 1110, processor 1120, and communication interface 1130 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 11 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0279] Optionally, in a specific implementation, if the memory 1110, processor 1120 and communication interface 1130 are integrated on a single chip, the memory 1110, processor 1120 and communication interface 1130 can communicate with each other through an internal interface.

[0280] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting Advanced Reduced Instruction Set Machines (ARM) architecture.

[0281] Further, optionally, the aforementioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile or non-volatile, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. Many forms of RAM are available by way of example, but not limitation. Examples include Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate Synchronous DRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct RAMBUS RAM (DR RAM).

[0282] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as 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, all or part of the processes or functions described in the embodiments of this disclosure are generated. 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. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line, DSL) or wireless (e.g., infrared, Bluetooth, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer, or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)). It is worth noting that the computer-readable storage media mentioned in this disclosure can be non-volatile storage media; in other words, it can be non-transient storage media.

[0283] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0284] In the description of the embodiments of this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0285] In the description of the embodiments disclosed herein, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0286] In the description of embodiments of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0287] The above description is merely an exemplary embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

[0288] In the description of this specification, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

Claims

1. A silk spindle packaging system, characterized in that, include: Control equipment, scheduling equipment, multiple stand-alone devices, and multiple AGV devices, among which, The control device is used to generate packaging tasks and equipment control parameters for each individual machine based on the quantity and type of the filament spindles to be packaged. Each standalone device is configured to receive a corresponding packaging task and device control parameters sent by the control device; execute the corresponding packaging task based on the corresponding device control parameters; and also send working data corresponding to the corresponding packaging task to the control device. The control device is also used to generate demand information based on the work data returned by each individual device; wherein, the demand information includes the number of AGV devices required by each individual device and / or the route generated based on the work data of multiple individual devices; The scheduling device is further configured to generate a scheduling instruction based on the demand information and the status information of the plurality of AGV devices, the scheduling instruction being used to schedule the movement of the target AGV device; the scheduling device is further configured to: set the travel speed of the target AGV in the scheduling instruction according to the route, the travel speed being maintained within a safe travel range calculated by the control device; The target AGV device is used to receive a corresponding scheduling instruction, determine a first stand-alone device and a second stand-alone device based on the corresponding scheduling instruction, and transport the target spindle to be transported from the first stand-alone device to the second stand-alone device. The control device is also used for: The system receives usage information for multiple AGV devices sent by the scheduling device. The usage information includes at least one of the following: the number of spindles transported by each AGV device in a first time period, the time period during which each AGV device was used, the time period during which each AGV device was not used, and the frequency of each AGV device transporting spindles in the first time period. Based on the usage information of multiple AGV devices in the first time period and the work data uploaded by each individual device in the first time period, the device control parameters and packaging tasks of each individual device in the second time period are dynamically adjusted; the first time period is earlier than the second time period; the packaging task corresponds to the individual device and includes at least the start time and end time of the individual device's work; the device control parameters are formulated for the packaging task and include at least the interval time. The control device generates the demand information and dynamically adjusts the equipment control parameters and packaging tasks, forming a collaborative control between the control device and the scheduling device to achieve intelligent silk spindle transportation.

2. The silk spindle packaging system according to claim 1, characterized in that, The plurality of stand-alone devices include at least: Robots, weighing equipment, appearance inspection equipment, bagging equipment, palletizing equipment, tape-attaching equipment, and labeling equipment.

3. The silk spindle packaging system according to claim 1, characterized in that, The scheduling device is also used for: For the same batch of yarn spindles to be packaged, configure one AGV device for the multiple single machines, call the same AGV device, and transport the yarn spindles to be packaged between the multiple single machines; or For the same batch of yarn spindles to be packaged, one AGV device is configured between every two adjacent single machines in the plurality of single machines, and multiple AGV devices are called to transport the yarn spindles to be packaged between the plurality of single machines.

4. The silk spindle packaging system according to claim 1, characterized in that, The scheduling device is also used for: When different types of yarn spindle packaging are carried out simultaneously, one AGV device is configured for each type of yarn spindle, and the AGV device matching the target type of yarn spindle is called to transport the target type of yarn spindle among the multiple individual devices; or When different types of yarn spindle packaging are carried out simultaneously, multiple AGV devices are configured for each type of yarn spindle, and multiple AGV devices matching the target type of yarn spindle are called to transport the target type of yarn spindle between the multiple single devices.

5. The silk spindle packaging system according to claim 3 or 4, characterized in that, The scheduling device is also used for: Upon receiving an alarm message from the first target AGV device, a second target AGV device is determined to replace the first target AGV device. The scheduling instruction is sent to the second target AGV device so that the second target AGV device can transport the target spindle to be transported from the first stand-alone device to the second stand-alone device based on the scheduling instruction.

6. The silk spindle packaging system according to claim 1, characterized in that, Different AGV devices include those suitable for spindles in different states; the scheduling device is also used for: Determine the state of the target spindle to be transported; The target AGV device is determined based on the stated state.

7. The silk spindle packaging system according to claim 1, characterized in that, The scheduling device is also used for: When different types of yarn packaging are carried out simultaneously, if the idle AGV equipment does not meet the required information, then AGV equipment is allocated to the yarn packaging task with higher priority according to the packaging process of different types of yarn.

8. The silk spindle packaging system according to claim 1, characterized in that, The scheduling device is also used for: Obtain scheduling data for the first time period; The scheduling data within the first time period is input into the scheduling model to obtain the predicted scheduling data within the second time period output by the scheduling model; wherein, the scheduling model is trained using scheduling data samples and is used to predict scheduling data; Based on the predicted values ​​of the scheduling data, candidate AGV devices are determined from the plurality of AGV devices; Upon receiving the demand information, the target AGV device is determined from the candidate AGV devices based on the demand information.

9. The silk spindle packaging system according to claim 1, characterized in that, The AGV equipment includes a controller and a transmission mechanism, wherein... The transmission mechanism is used to carry the wire spindle; The controller is configured to determine target parameters adapted to the target spindle to be transported based on the scheduling instructions; and adjust the transmission mechanism based on the target parameters so that the adjusted transmission mechanism is adapted to the target spindle to be transported.

10. The silk spindle packaging system according to claim 1, characterized in that, Different types of silk spindle packaging can share the control equipment, the scheduling equipment, the multiple AGV devices, and at least some of the multiple stand-alone devices.

11. The silk spindle packaging system according to claim 1, characterized in that, The plurality of stand-alone devices include a first type of stand-alone device, a second type of stand-alone device, and a third type of stand-alone device; wherein the first type of stand-alone device, the second type of stand-alone device, and the third type of stand-alone device are located in different areas; wherein the first type of stand-alone device is a stand-alone device suitable for packaging DTY yarn spindles, the second type of stand-alone device is a stand-alone device suitable for packaging POY yarn spindles, and the third type of stand-alone device is a stand-alone device suitable for packaging FDY yarn spindles.

12. A control method for a silk spindle packaging system, characterized in that, include: Based on the quantity and type of the spindles to be packaged, a packaging task and equipment control parameters are generated for each individual machine, so that each individual machine can execute the corresponding packaging task based on the corresponding equipment control parameters. Requirements information is generated based on the work data returned by each individual device. A scheduling instruction is generated based on the aforementioned demand information and the status information corresponding to each of the multiple AGV devices. The control target AGV equipment determines its corresponding first and second stand-alone devices based on its corresponding scheduling instructions, and transports the target spindle to be conveyed from the first stand-alone device to the second stand-alone device; The silk spindle packaging system described in any one of claims 1 to 11 is used.

13. The control method for the silk spindle packaging system according to claim 12, characterized in that, Also includes: For the same batch of yarn spindles to be packaged, configure one AGV device for the multiple single machines, call the same AGV device, and transport the yarn spindles to be packaged between the multiple single machines; or For the same batch of yarn spindles to be packaged, one AGV device is configured between every two adjacent single machines in the plurality of single machines, and multiple AGV devices are called to transport the yarn spindles to be packaged between the plurality of single machines.

14. The control method for the silk spindle packaging system according to claim 12, characterized in that, Also includes: When different types of yarn spindle packaging are carried out simultaneously, one AGV device is configured for each type of yarn spindle, and the AGV device matching the target type of yarn spindle is called to transport the target type of yarn spindle among the multiple individual devices; or When different types of yarn spindle packaging are carried out simultaneously, multiple AGV devices are configured for each type of yarn spindle, and multiple AGV devices matching the target type of yarn spindle are called to transport the target type of yarn spindle between the multiple single devices.

15. The control method for the silk spindle packaging system according to claim 13 or 14, characterized in that, Also includes: Upon receiving an alarm message from the first target AGV device, a second target AGV device is determined to replace the first target AGV device. The scheduling instruction is sent to the second target AGV device so that the second target AGV device can transport the target spindle to be transported from the first stand-alone device to the second stand-alone device based on the scheduling instruction.

16. The control method for the silk spindle packaging system according to claim 12, characterized in that, Also includes: Determine the state of the target spindle to be transported; The target AGV device is determined based on the state; wherein, different AGV devices are suitable for spindles in different states.

17. The control method for the silk spindle packaging system according to claim 12, characterized in that, Also includes: When different types of yarn packaging are carried out simultaneously, if the idle AGV equipment does not meet the required information, then AGV equipment is allocated to the yarn packaging task with higher priority according to the packaging process of different types of yarn.

18. The control method for the silk spindle packaging system according to claim 12, characterized in that, Also includes: Receive usage information for multiple AGV devices sent by the scheduling device; Based on the usage information and the work data returned by each individual device, adjust the device control parameters and packaging tasks of each individual device.

19. The control method for the silk spindle packaging system according to claim 12, characterized in that, Also includes: Obtain scheduling data for the first time period; The scheduling data within the first time period is input into the scheduling model to obtain the predicted scheduling data within the second time period output by the scheduling model; wherein, the scheduling model is trained using scheduling data samples and is used to predict scheduling data; Based on the predicted values ​​of the scheduling data, candidate AGV devices are determined from the plurality of AGV devices; Upon receiving the demand information, the target AGV device is determined from the candidate AGV devices based on the demand information.

20. A control device for a silk spindle packaging system, characterized in that, include: The first generation module is used to generate packaging tasks and equipment control parameters for each stand-alone device according to the quantity and type of the spindles to be packaged, so that each stand-alone device can execute the corresponding packaging task based on the corresponding equipment control parameters. The second generation module is used to generate requirement information based on the working data returned by each individual device. The scheduling module is used to generate scheduling instructions based on the demand information and the status information corresponding to the multiple AGV devices. The control module is used to control the target AGV equipment to determine the corresponding first and second stand-alone devices based on the corresponding scheduling instructions, and to transport the target spindle to be transported from the first stand-alone device to the second stand-alone device; The silk spindle packaging system described in any one of claims 1 to 11 is used.

21. 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 to enable the at least one processor to perform the method of any one of claims 12 to 19.

22. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 12 to 19.

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