A palletizing robot operation data collection method and system based on distributed message queue

Abstract

The present invention discloses a method and system for collecting operation data of a palletizing robot based on a distributed message queue. The collection method specifically comprises the following steps: S1: collecting information; S2: storing the collected information in the substations of the control cabinets of each palletizing robot in the finished product warehouse, the auxiliary material warehouse, and the filter rod warehouse, and transmitting the collected information to the secondary master station of each warehouse through a wired network; the secondary master station of each warehouse collects operation data through a data collection module, and the collected operation data is collected at a server terminal through a publish / subscribe message queue service cluster provided by a distributed message communication management module, and the data integration module centrally stores the operation data collected by each palletizing robot at a database end through a buffer queue loop algorithm; S3: finally transmitting the processed operation data to a logistics central control room server through a 5G CPE or a wired network; S4: the logistics central control room server calculates the thread ratio occupied by each palletizing robot in the three warehouses according to the received information; and S5: determining the threads occupied by each palletizing robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of palletizing robots for tobacco enterprises, and in particular relates to a method and system for collecting operating data of a palletizing robot based on a distributed message queue. Background Art

[0002] With the continuous development and improvement of the informatization and automation process in the tobacco industry, a finished cigarette piece sorting system based on the concept of an unmanned factory was invented. It innovatively realized that the cigarette pieces produced in the workshop are separated by the sorting system in sequence and enter the corresponding robot stacking channel.

[0003] Based on the concept of unmanned factory, the finished product warehouse palletizing robot automatic palletizing system was invented, which innovatively realized the highly automated operation mode of automatic palletizing of finished product parts by the robot.

[0004] Palletizing robots extend and expand the functions of workers' hands, feet, and brains. They help people complete heavy, monotonous, and repetitive tasks, improve labor productivity, and ensure product quality. The finished product warehouse palletizing robot, a product of the organic combination of machinery and computer programs, takes up little space and simultaneously handles three sorting lines. The auxiliary material warehouse palletizing robot sorts various auxiliary materials into categories and places them on auxiliary material pallets, awaiting delivery to the auxiliary material high-bay warehouse. The filter rod warehouse palletizing robot places filter rods produced by the forming machine onto the conveyor belt of the bucket conveyor, awaiting delivery to the filter rod high-bay warehouse.

[0005] In existing technology, palletizing robots in the three warehouses (finished product warehouse, auxiliary material warehouse, and filter rod warehouse) can experience various malfunctions and even accidents during operation. Some of these malfunctions are caused by the robots themselves, others by the aging of cigarette trays, auxiliary material trays, and filter rod racks, others by spare parts, and still others by program vulnerabilities.

[0006] To reduce failures and prevent accidents, it's necessary to analyze the causes of failures and collect statistics on their duration and causes. This requires collecting a wide range of data. Existing technologies only collect fragmented data, and this data is relatively scattered, lacking unified aggregation and analysis capabilities. Furthermore, maintenance and component replacement also depend on the operating time and wear of the palletizing robot components. Failure to promptly replace aging spare parts can pose a significant risk to the operation of the palletizing robot and even lead to accidents. Existing technology relies on maintenance personnel's experience to determine whether a component needs replacement.

[0007] In summary, there is an urgent need to design a palletizing robot operation data acquisition system based on a distributed message queue, which can collect real-time wear data of important components and components that are continuously worn due to long working hours (such as six-axis motors), and summarize and analyze them in a timely manner, so as to formulate scientific and thorough plans for maintenance and ensure timely and not excessive maintenance. Summary of the Invention

[0008] In order to solve the above-mentioned technical problems existing in the prior art, the present invention provides a method and system for collecting operation data of a palletizing robot based on a distributed message queue, which makes the operation of the palletizing robots in the finished product warehouse, auxiliary material warehouse, and filter rod warehouse more scientific, reduces failures, eliminates accidents, and ensures more timely maintenance without excessive maintenance.

[0009] The technical solution adopted in the present invention is:

[0010] A method for collecting data from a palletizing robot based on a distributed message queue, wherein the method comprises the following steps:

[0011] S1: collect information;

[0012] The voltage and current recorders in the control cabinet of the palletizing robot record the operating data of the motors of the first, second, third, fourth, fifth and sixth axes of the palletizing machine, and the data acquisition module collects the above data;

[0013] The wear information of the suction cup, gripper side claw mechanism cylinder, side gripper buffer rod and suction cup cylinder is monitored by the wear monitoring device and collected by the data acquisition module;

[0014] S2: The information collected in step S1 is stored in the substations of the palletizing robot control cabinets in the finished product warehouse, auxiliary material warehouse, and filter rod warehouse, and is transmitted to the secondary master station of each warehouse through a wired network;

[0015] The secondary master station of each warehouse collects operating data through the data acquisition module. The collected operating data is collected on the server terminal through the publish / subscribe message queue service cluster provided by the distributed message communication management module. The data integration module uses the buffer queue cycle algorithm to centrally store the operating data collected by each palletizing robot on the database side.

[0016] S3: The operation data processed in step S2 is transmitted to the primary master station of the logistics central control room via the 5G CPE, and then finally transmitted to the server of the logistics central control room via the master station of the logistics central control room;

[0017] S4: The logistics central control room server calculates the thread ratio of each palletizing robot in the three warehouses based on the received information;

[0018] S5: The logistics central control room server determines the busyness of the palletizing robots based on the calculated thread ratios of each palletizing robot in the three warehouses, and determines the threads occupied by each palletizing robot.

[0019] Furthermore, in step S2, the data integration module centrally stores the operating data collected by all the palletizing robots in the three warehouses through a buffer queue circular storage algorithm. The specific algorithm is as follows:

[0020] Assume that the unit time of the three-stock palletizing robots, that is, the total amount of data collected per minute is S, and there are 5 palletizing robots in the finished product warehouse. Robots 1, 2, 3, and 4 are ordinary palletizing robots that palletize ordinary cigarettes. Robot 5 is a special palletizing robot that palletizes special-shaped cigarettes, such as medium-sized cigarettes and short-sized cigarettes. The data collection volume is C i (i=1,2,3,4,5);

[0021] There are 4 palletizing robots in the auxiliary material warehouse, and the data collection volume per unit time, i.e. per minute, is F i (i=1,2,3,4);

[0022] There are 16 stacking robots in the filter rod warehouse, and the data collection volume per unit time is L i (i=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16); the following relationship is obtained:

[0023] S=S C +S F +S L (1)

[0024]

[0025]

[0026] The weights assigned to the collection services for each palletizing robot are as follows:

[0027]

[0028] The three warehouses have different levels of business busyness because they serve different objects. The proportion of the average daily operating time of the palletizing robot to the total operating time is taken as the busy coefficient. The finished product warehouse is δ, the auxiliary material warehouse is ε, and the filter rod warehouse is η.

[0029] Assume that the total number of threads provided by the system is M, and obtain the thread ratio of each palletizing robot in the three warehouses:

[0030] The thread ratios of each palletizing robot in the finished product warehouse are as follows:

[0031]

[0032] The thread ratios of each palletizing robot in the auxiliary material warehouse are as follows:

[0033]

[0034] The thread ratios of each stacking robot in the filter rod warehouse are:

[0035]

[0036]

[0037] Furthermore, a wear monitoring device is installed on the suction cup, the gripper side claw mechanism cylinder, the side gripping buffer rod, and the suction cup cylinder, and the wear monitoring device adopts a visual recognition monitoring device.

[0038] Furthermore, the visual recognition monitoring device takes three photos of the front of the suction cup at a fixed time every day when the robot stops moving. The data is collected by the data acquisition module and finally transmitted to the logistics central control room server through 5G CPE and wired network. The logistics central control room server analyzes the photos to determine the degree of wear of the suction cup and decide whether to issue an early warning.

[0039] Furthermore, the visual recognition monitoring device takes three front-facing photos of the gripper's side claw mechanism cylinder at a fixed time every day when the robot stops moving. The data is collected by the data acquisition module and finally transmitted to the logistics central control room server via 5G CPE and wired network. The logistics central control room server analyzes the photos to determine the degree of wear of the gripper's side claw mechanism cylinder and decide whether to issue an early warning.

[0040] Furthermore, the visual recognition monitoring device takes three front-facing photos of the side grab buffer bar at a fixed time every day when the robot stops moving. The data is collected by the data acquisition module and finally transmitted to the logistics central control room server through 5G CPE and wired network. The logistics central control room server analyzes the photos to determine the degree of wear of the side grab buffer bar and decide whether to issue an early warning.

[0041] Furthermore, the visual recognition monitoring device takes three photos of the front of the suction cup cylinder at a fixed time every day when the robot stops moving. The data is collected by the data acquisition module and finally transmitted to the logistics central control room server through 5G CPE and wired network. The logistics central control room server analyzes the photos to determine the degree of wear of the suction cup cylinder and decide whether to issue an early warning.

[0042] A palletizing robot operation data acquisition system based on a distributed message queue, characterized by comprising:

[0043] Substations are set up in the control cabinets of the palletizing robots in the finished product warehouse, auxiliary material warehouse, and filter rod warehouse, and several substation front-end data acquisition modules are installed in each palletizing robot;

[0044] The secondary master station is respectively established in the finished product warehouse palletizing robot dispatching cabinet, the auxiliary material warehouse palletizing robot dispatching cabinet, and the filter rod warehouse palletizing robot dispatching cabinet. The distributed message communication management module and the data integration module are set at the front end of the secondary master station of the finished product warehouse palletizing robot dispatching cabinet, the auxiliary material warehouse palletizing robot dispatching cabinet, and the filter rod warehouse palletizing robot dispatching cabinet. The substation front-end acquisition module, the distributed message communication management module, and the data integration module communicate through 5G CPE and a wired network. Each palletizing robot collects operating data through the data acquisition module. The collected operating data is collected on the server terminal through the publish / subscribe message queue service cluster provided by the distributed message communication management module. The data integration module centrally stores the operating data collected by each palletizing robot on the database end through a buffer queue loop algorithm.

[0045] The first-level master station is set up in the logistics central control room;

[0046] Server, set up in the logistics central control room;

[0047] Among them, the substation, secondary main station, and primary main station are connected to the server signal through 5G CPE or wired network.

[0048] Furthermore, the substation and the secondary master station adopt a wired network communication mode; the secondary master station and the primary master station adopt a 5GCPE communication mode; the primary master station and the server adopt a wired network communication mode.

[0049] The present invention constructs a large-scale, real-time interactive, reliable distributed palletizing robot operation data acquisition system between each palletizing robot and each warehouse, and between each warehouse and the logistics central control room. The system collects various operation data of the palletizing robot, the wear degree of the six axes, suction cups, gripper side claw mechanism cylinders, side gripper buffer rods, and suction cup cylinders, ensures that the key data of all palletizing robots in the finished product warehouse, auxiliary material warehouse, and filter rod warehouse can be accessed, realizes real-time interaction between the main server, primary master station, secondary master station, and substations, processes data in a timely manner, and issues alarms in a timely manner, reduces the occurrence of faults, eliminates accidents, reduces the downtime of the palletizing robots, and improves the logistics efficiency of the three warehouses.

[0050] Compared with the prior art, the beneficial effects of the present invention are embodied in:

[0051] 1. After collecting data, the present invention can analyze the system and issue various shaft and suction cup wear warnings, replacement warnings, and maintenance warnings, thereby reducing failures and preventing accidents. Among them, various current and voltage data provide basic data for analyzing the operating status of the palletizing robot and providing basic data for palletizing robot fault analysis.

[0052] 2. The present invention realizes real-time interaction among the main server, primary master station, secondary master station and substation, processes data in a timely manner, issues alarms in a timely manner, reduces the occurrence of faults, eliminates accidents, reduces the downtime of the stacking robot, and improves the logistics efficiency of the three warehouses.

[0053] 3. The present invention allocates a larger weight to the palletizing robots with busy tasks, such as palletizing robot No. 5 in the finished product warehouse, so that it occupies more warehousing thread resources, thereby reducing the delay jitter during data collection. In this way, the data of each palletizing robot can be evenly and real-timely stored in the warehouse, avoiding data congestion and server lag.

[0054] 4. The present invention makes the maintenance and replacement of parts of the palletizing robot more scientific, timely and not excessive, which can ensure the normal operation of the palletizing robot without accidents, eliminate hidden dangers, and reduce maintenance costs.

[0055] 5. The present invention is applicable to all cigarette industrial enterprises that use palletizing robots and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is a schematic diagram of the distribution of the main station and substations of the three-warehouse palletizing robot of the present invention.

[0057] Figure 2 This is a schematic diagram of data scheduling of the present invention.

[0058] Figure 3 It is a data transmission schematic diagram of the present invention. DETAILED DESCRIPTION

[0059] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0060] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0061] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0062] Example 1

[0063] refer to Figure 1 、 Figure 2 and Figure 3 The present invention provides a method for collecting data of a palletizing robot operation based on a distributed message queue, and the method specifically comprises the following steps:

[0064] S1: collect information;

[0065] The operation data of the palletizing robot is collected in real time through the voltage and current recorder in the control cabinet of the palletizing robot, including the departure point, departure time, destination, and arrival time of each grasping action of the palletizing robot, the time it takes for the palletizing robot to palletize a whole pallet, including but not limited to the walking distance, duration, speed, acceleration, angular velocity of the first, second, third, fourth, fifth, and sixth axes of the palletizing robot, and the voltage and current of the first, second, third, fourth, fifth, and sixth axis motors, and the above data is collected through the data acquisition module;

[0066] The wear information of the suction cup, gripper side claw mechanism cylinder, side gripper buffer rod and suction cup cylinder is monitored by the wear monitoring device and collected by the data acquisition module;

[0067] S2: The information collected in step S1 is stored in the substations of the palletizing robot control cabinets in the finished product warehouse, auxiliary material warehouse, and filter rod warehouse, and is transmitted to the secondary master station of each warehouse through a wired network;

[0068] The secondary master station of each warehouse collects operating data through the data acquisition module. The collected operating data is collected on the server terminal through the publish / subscribe message queue service cluster provided by the distributed message communication management module. The data integration module uses the buffer queue cycle algorithm to centrally store the operating data collected by each palletizing robot on the database side.

[0069] Specifically, a primary master station (electronic control level, such as PLC) and a server (information control level, operating program level) are set up in the logistics central control room;

[0070] Secondary master stations are set up in the palletizing robot dispatching cabinets in the finished product warehouse, the auxiliary material warehouse, and the filter rod warehouse respectively;

[0071] A substation is set up for each robot control cabinet corresponding to the finished product warehouse, auxiliary material warehouse, and filter rod warehouse;

[0072] Each substation is provided with a front-end data acquisition module, and each secondary master station is provided with a front-end distributed message communication management module and a data integration module;

[0073] A wired network communication mode is adopted between the substation and the secondary main station, as well as between the primary main station and the server; a 5G CPE communication mode is adopted between the secondary main station and the primary main station.

[0074] S3: The operation data processed in step S2 is transmitted to the primary master station of the logistics central control room via 5G CPE or wired network, and then finally transmitted to the logistics central control room server via the logistics central control room master station;

[0075] S4: The logistics central control room server calculates the thread ratio of each palletizing robot in the three warehouses based on the received information;

[0076] S5: The logistics central control room server determines the busyness of the palletizing robots based on the calculated thread ratios of each palletizing robot in the three warehouses, and determines the threads occupied by each palletizing robot.

[0077] In one embodiment, in step S2, the data integration module centrally stores the operating data collected by all the palletizing robots in the three warehouses through a buffer queue circular storage algorithm. The specific algorithm is as follows:

[0078] Assume that the unit time of the three-stock palletizing robots, that is, the total amount of data collected per minute is S, and there are 5 palletizing robots in the finished product warehouse. Robots 1, 2, 3, and 4 are ordinary palletizing robots that palletize ordinary cigarettes. Robot 5 is a special palletizing robot that palletizes special-shaped cigarettes, such as medium-sized cigarettes and short-sized cigarettes. The data collection volume is C i (i=1,2,3,4,5);

[0079] There are 4 palletizing robots in the auxiliary material warehouse, and the data collection volume per unit time, i.e. per minute, is F i (i=1,2,3,4);

[0080] There are 16 stacking robots in the filter rod warehouse, and the data collection volume per unit time is L i (i=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16); the following relationship is obtained:

[0081] S=S C +S F +S L (1)

[0082]

[0083]

[0084] The weights assigned to the collection services for each palletizing robot are as follows:

[0085]

[0086] The three warehouses have different levels of business busyness because they serve different objects. The proportion of the average daily operating time of the palletizing robot to the total operating time is taken as the busy coefficient. The finished product warehouse is δ, the auxiliary material warehouse is ε, and the filter rod warehouse is η.

[0087] Assume that the total number of threads provided by the system is M, and obtain the thread ratio of each palletizing robot in the three warehouses:

[0088] The thread ratios of each palletizing robot in the finished product warehouse are as follows:

[0089]

[0090] The thread ratios of each palletizing robot in the auxiliary material warehouse are as follows:

[0091]

[0092] The thread ratios of each stacking robot in the filter rod warehouse are:

[0093]

[0094]

[0095] In one embodiment, a wear monitoring device is installed on the suction cup, the gripper side claw mechanism cylinder, the side gripping buffer rod, and the suction cup cylinder. The wear monitoring device adopts a visual recognition monitoring device.

[0096] In one embodiment, a voltage and current recorder of a certain brand can be used on the market and placed in the control cabinet of the palletizing robot. The data is collected by the data acquisition module and then transmitted to the server via 5G CPE or a wired network.

[0097] The suction cup wear monitoring device adopts a visual recognition monitoring device. The visual recognition monitoring device is a bracket set on the channel next to the robot starting position, and a high-speed industrial camera is attached to the bracket.

[0098] The camera uses a full-frame back-illuminated CMOS sensor, the IMX536 active-pixel solid-state image sensor, with a global shutter and variable charge integration time. It operates on four power supplies: analog 3.3V, 2.9V, digital 1.1V, and interface 1.8V. This achieves high sensitivity and low dark current.

[0099] The camera has a pixel count of approximately 8.06 million pixels (2840(H)×2840(V)).

[0100] The maximum frame rate of the camera is: full pixel scanning mode: 8-bit 194.0 frames / s, 10-bit 193.4 frames / s, 12-bit 127.2 frames / s.

[0101] Camera aperture: Lens f-number: 2.8 or higher (near side).

[0102] The camera takes three photos of the front of the suction cup at fixed times every day, such as 9:00-9:15, 13:00-13:15, and 22:00-22:15. When the robot stops moving, the camera collects the data through the data acquisition module and then transmits it to the logistics central control room server via 5G CPE or wired network. The system will analyze the photos to determine the degree of wear of the suction cup and whether to issue an early warning.

[0103] The gripper's side jaw mechanism cylinder wear monitoring device uses a visual recognition monitoring device. Data is collected by a data acquisition module and then transmitted to a server via a 5G CPE or wired network. The visual recognition monitoring device and the device that monitors the suction cup use the same camera.

[0104] The camera takes three front-facing photos of the gripper's side claw mechanism cylinder at fixed times every day, such as 9:00-9:15, 13:00-13:15, and 22:00-22:15, when the robot stops moving. The data is collected by the data acquisition module and then transmitted to the logistics central control room server via 5GCPE or wired network. The system will analyze the photos to determine the degree of wear of the gripper's side claw mechanism cylinder and whether to issue an early warning.

[0105] The side gripper bar wear monitoring system uses a visual recognition monitoring device. Data is collected by a data acquisition module and then transmitted to a server via a 5G CPE or wired network. The visual recognition monitoring device consists of a bracket mounted in front of the suction cup cylinder, equipped with a high-speed industrial camera. This camera is the same as the one used to monitor the suction cup.

[0106] The camera takes three front-facing photos of the side grab buffer bar at fixed times every day, such as 9:00-9:15, 13:00-13:15, and 22:00-22:15, when the robot stops moving. The data is collected by the data acquisition module and then transmitted to the logistics central control room server via 5G CPE or wired network. The system will analyze the photos to determine the degree of wear of the side grab buffer bar and whether to issue an early warning.

[0107] The suction cup cylinder wear monitoring device uses a visual recognition monitoring device. Data is collected by a data acquisition module and then transmitted to a server via a 5G CPE or wired network. The visual recognition monitoring device consists of a bracket installed in front of the suction cup cylinder, attached to a high-speed industrial camera. This camera is the same as the one used to monitor the suction cup.

[0108] The camera takes three photos of the front of the suction cup cylinder at fixed times every day, such as 9:00-9:15, 13:00-13:15, and 22:00-22:15. When the robot stops moving, the camera collects the data through the data acquisition module and then transmits it to the logistics central control room server via 5G CPE or wired network. The system will analyze the photos to determine the degree of wear of the suction cup cylinder and whether to issue an early warning.

[0109] Specifically, CPE stands for Customer Premise Equipment. Its function is to convert mobile network signals (4G, 5G, etc.) or wired broadband signals into local signals for use by terminal devices. 5G CPE is a type of 5G terminal device that receives 5G signals from carrier base stations and converts them into Wi-Fi or wired signals, allowing more internet-connected devices to access the network. This system uses CPE for low-cost data transmission, leveraging the mature mobile carrier network.

[0110] Example 2

[0111] refer to Figure 1 The present invention provides a palletizing robot operation data acquisition system based on a distributed message queue, comprising:

[0112] Substations are set up in the control cabinets of the palletizing robots in the finished product warehouse, auxiliary material warehouse, and filter rod warehouse, and several substation front-end data acquisition modules are installed in each palletizing robot;

[0113] The secondary master station is respectively established in the finished product warehouse palletizing robot dispatching cabinet, the auxiliary material warehouse palletizing robot dispatching cabinet, and the filter rod warehouse palletizing robot dispatching cabinet. The distributed message communication management module and the data integration module are set at the front end of the secondary master station of the finished product warehouse palletizing robot dispatching cabinet, the auxiliary material warehouse palletizing robot dispatching cabinet, and the filter rod warehouse palletizing robot dispatching cabinet. The substation front-end acquisition module, the distributed message communication management module, and the data integration module communicate through the 5G CPE network; each palletizing robot collects operating data through the data acquisition module, and the collected operating data is collected on the server terminal through the publish / subscribe message queue service cluster provided by the distributed message communication management module. The data integration module uses a buffer queue loop algorithm to centrally store the operating data collected by each palletizing robot in the database end;

[0114] The first-level master station is set up in the logistics central control room;

[0115] Server, set up in the logistics central control room;

[0116] Among them, the substation, secondary main station, and primary main station are connected to the server signal through 5G CPE or wired network.

[0117] In one embodiment, the substation and the secondary master station adopt a wired network communication mode; the secondary master station and the primary master station adopt a 5G CPE communication mode; and the primary master station and the server adopt a wired network communication mode.

[0118] The present invention constructs a large-scale, real-time interactive, reliable distributed palletizing robot operation data acquisition system between each palletizing robot and each warehouse, and between each warehouse and the logistics central control room. The system collects various operation data of the palletizing robot, the wear degree of the six axes, suction cups, gripper side claw mechanism cylinders, side gripper buffer rods, and suction cup cylinders, ensures that the key data of all palletizing robots in the finished product warehouse, auxiliary material warehouse, and filter rod warehouse can be accessed, realizes real-time interaction between the main server, primary master station, secondary master station, and substations, processes data in a timely manner, and issues alarms in a timely manner, reduces the occurrence of faults, eliminates accidents, reduces the downtime of the palletizing robots, and improves the logistics efficiency of the three warehouses.

[0119] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for collecting data of a palletizing robot operation based on a distributed message queue, characterized in that: The collection method specifically includes the following steps: S1: collect information; The voltage and current recorders in the control cabinet of the palletizing robot record the operating data of the motors of the first, second, third, fourth, fifth and sixth axes of the palletizing machine, and the data acquisition module collects the above data; The wear information of the suction cup, gripper side claw mechanism cylinder, side gripper buffer rod and suction cup cylinder is monitored by the wear monitoring device and collected by the data acquisition module; S2: The information collected in step S1 is stored in the substations of the palletizing robot control cabinets in the finished product warehouse, auxiliary material warehouse, and filter rod warehouse, and is transmitted to the secondary master station of each warehouse through a wired network; The secondary master station of each warehouse collects operating data through the data acquisition module. The collected operating data is collected on the server terminal through the publish / subscribe message queue service cluster provided by the distributed message communication management module. The data integration module uses the buffer queue cycle algorithm to centrally store the operating data collected by each palletizing robot on the database side. S3: The operation data processed in step S2 is transmitted to the primary master station of the logistics central control room via 5G CPE or wired network, and then finally transmitted to the logistics central control room server via the logistics central control room master station; S4: The logistics central control room server calculates the thread ratio of each palletizing robot in the three warehouses based on the received information; S5: The logistics central control room server determines the busyness of the palletizing robots based on the calculated thread ratios of each palletizing robot in the three warehouses, and determines the threads occupied by each palletizing robot.

2. A method for collecting data on the operation of a palletizing robot based on a distributed message queue as claimed in claim 1, characterized in that: In step S2, the data integration module centrally stores the operating data collected by all the palletizing robots in the three warehouses through a buffer queue circular storage algorithm. The specific algorithm is as follows: Assume that the unit time of the three-stock palletizing robots, that is, the total amount of data collected per minute is S, and there are 5 palletizing robots in the finished product warehouse. Robots 1, 2, 3, and 4 are ordinary palletizing robots that palletize ordinary cigarettes. Robot 5 is a special palletizing robot that palletizes special-shaped cigarettes, such as medium-sized cigarettes and short-sized cigarettes. The data collection volume is (i=1,2,3,4,5); There are 4 palletizing robots in the auxiliary material warehouse, and the data collection volume per unit time, i.e. per minute, is (i=1,2,3,4); There are 16 stacking robots in the filter rod warehouse, and the data collection volume per unit time is (i=1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16); the following relationship is obtained: S= + (1) = (2) S= + (3) The weights assigned to the collection services for each palletizing robot are as follows: = or = or = (4) The three warehouses have different levels of business busyness because they serve different objects. The proportion of the average daily operating time of the palletizing robot to the total operating time is taken as the busy coefficient. The finished product warehouse is δ, the auxiliary material warehouse is ε, and the filter rod warehouse is η. Assume that the total number of threads provided by the system is M, and obtain the thread ratio of each palletizing robot in the three warehouses: The thread ratios of each palletizing robot in the finished product warehouse are as follows: ,k=1,2,3,4,5; = , (5) The thread ratios of each palletizing robot in the auxiliary material warehouse are as follows: ,k=1,2,3,4; = , （6） The thread ratios of each stacking robot in the filter rod warehouse are: ,k=1,2,3，4，5,6,7,8,9,10,11，12,13,14,15,16; = , （7）。 3. The method for collecting data of a palletizing robot operation based on a distributed message queue according to claim 1, wherein: The suction cup, the gripper side claw mechanism cylinder, the side gripping buffer rod, and the suction cup cylinder are all equipped with a wear monitoring device, and the wear monitoring device adopts a visual recognition monitoring device.

4. A method for collecting data on the operation of a palletizing robot based on a distributed message queue as claimed in claim 3, characterized in that: At a fixed time every day, when the robot stops moving, the visual recognition monitoring device takes three photos of the front of the suction cup. The data is collected by the data acquisition module and then transmitted to the logistics central control room server through 5G CPE and wired network. The logistics central control room server analyzes the photos to determine the degree of wear of the suction cup and decide whether to issue an early warning.

5. The method for collecting data of a palletizing robot operation based on a distributed message queue according to claim 3, wherein: At a fixed time every day, when the robot stops moving, the visual recognition monitoring device takes three photos of the front of the gripper's side claw mechanism cylinder. The data is collected by the data acquisition module and finally transmitted to the logistics central control room server via 5G CPE and wired network. The logistics central control room server analyzes the photos to determine the degree of wear of the gripper's side claw mechanism cylinder and decide whether to issue an early warning.

6. A method for collecting data on the operation of a palletizing robot based on a distributed message queue as claimed in claim 3, characterized in that: At a fixed time every day, when the robot stops moving, the visual recognition monitoring device takes three photos of the front of the side grab buffer bar. The data is collected by the data acquisition module and finally transmitted to the logistics central control room server through 5G CPE and wired network. The logistics central control room server analyzes the photos to determine the degree of wear of the side grab buffer bar and decide whether to issue an early warning.

7. A method for collecting operation data of a palletizing robot based on a distributed message queue as claimed in claim 3, characterized in that: At a fixed time every day, when the robot stops moving, the visual recognition monitoring device takes three photos of the front of the suction cup cylinder. The data is collected by the data acquisition module and then transmitted to the logistics central control room server through 5G CPE and wired network. The logistics central control room server analyzes the photos to determine the degree of wear of the suction cup cylinder and decide whether to issue an early warning.

8. The collection system of the method for collecting data of a palletizing robot operation based on a distributed message queue according to claim 1, characterized in that: include: Substations are set up in the control cabinets of the palletizing robots in the finished product warehouse, auxiliary material warehouse, and filter rod warehouse, and several substation front-end data acquisition modules are installed in each palletizing robot; The secondary master station is respectively set up in the finished product warehouse palletizing robot dispatching cabinet, the auxiliary material warehouse palletizing robot dispatching cabinet and the filter rod warehouse palletizing robot dispatching cabinet. The distributed message communication management module and the data integration module are set at the front end of the secondary master station of the finished product warehouse palletizing robot dispatching cabinet, the auxiliary material warehouse palletizing robot dispatching cabinet and the filter rod warehouse palletizing robot dispatching cabinet. The substation front-end acquisition module, the distributed message communication management module and the data integration module communicate through 5G CPE or wired network; each palletizing robot collects operating data through the data acquisition module, and the collected operating data is collected on the server terminal through the publish / subscribe message queue service cluster provided by the distributed message communication management module. The data integration module uses the buffer queue cycle algorithm to centrally store the operating data collected by each palletizing robot on the database end; The first-level master station is set up in the logistics central control room; Server, set up in the logistics central control room; Among them, the substation, secondary main station, and primary main station are connected to the server signal through 5G CPE or wired network.

9. The acquisition system according to claim 8, wherein: The substation and the secondary master station use wired network communication mode; the secondary master station and the primary master station use 5G CPE communication mode; the primary master station and the server use wired network communication mode.

Images