Device and method for calling information fusion interface of heterogeneous robots and textile equipment

Abstract

The present invention discloses a device and method for calling an information fusion interface of a heterogeneous robot and textile equipment, comprising: a communication interface module, a protocol encapsulation module and a data fusion module; wherein the communication interface module is used to obtain different types of textile equipment status data; the protocol encapsulation module is used to encapsulate the textile equipment status data according to the consistency protocol; the data fusion module is used to fuse the encapsulated textile equipment status data to form a data set. The technical solution of the present invention is adopted to solve the communication problems caused by the different designs, interfaces, protocols, etc. between textile robots and textile equipment, and solve the problems that different communication protocols cannot directly exchange information and information is difficult to fuse.

Description

Technical Field

[0001] The present invention belongs to the technical field of information fusion, and in particular relates to a device and method for calling an information fusion interface of heterogeneous robots and textile equipment used in the textile industry. Background Art

[0002] The execution of tasks by a single robot is limited by the scale and complexity of the task, and many tasks are difficult to be completed by a single robot. In order to complete complex and arduous tasks, coordination and cooperation between multiple robots has become an effective solution. In order to realize intelligent factories, standardized data description of the entire production process is the basis for supporting intelligent management and control of textile production. Data description is inseparable from the support of data structure. To sort out the product information data, equipment information data and various process data structures included in the production process, it is necessary to design and formulate a general information fusion device to realize information fusion between textile heterogeneous robots and textile equipment. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a device and method for calling the information fusion interface of heterogeneous robots and textile equipment, so as to solve the communication problems between textile robots and textile equipment caused by differences in design, interface, protocol, etc., and to solve the problem that different communication protocols cannot directly exchange information and information is difficult to fuse.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A device for calling an information fusion interface of a heterogeneous robot and a textile equipment comprises: a communication interface module, a protocol encapsulation module and a data fusion module; wherein:

[0006] Communication interface module, used to obtain status data of different types of textile equipment;

[0007] A protocol encapsulation module, used to encapsulate textile equipment status data according to a consistency protocol;

[0008] The data fusion module is used to fuse the encapsulated textile equipment status data to form a data set.

[0009] Preferably, the textile equipment status data includes: operating time data of textile equipment, process data of textile equipment, ID data of textile equipment before and after processes of textile equipment, working temperature data of textile equipment, AGV operating path and destination data, AGV handling quantity data, robot arm operation trajectory data and production quantity data of textile equipment.

[0010] Preferably, the consistency protocol consists of a start bit, a robot number, a protocol type, a message type, an identification bit, a data length, a data content, and a check bit encoding.

[0011] Preferably, the data fusion module fuses the encapsulated textile equipment status data, classifies the data based on the actual textile process, associates and fuses all weaving production data with textile equipment data through embedded documents and reference links to form a data set, which includes: a textile equipment set and a textile process set. The textile equipment set contains: textile equipment ID, operating status data. The textile process set contains: the before and after association of processes, the relationship between processes and textile equipment, and the relationship between processes. The process set contains one or more textile equipment sets; the process sets are connected in series to form a chain logic structure data set, and the data set is sent to the host computer via a wireless link to achieve information fusion.

[0012] The embodiment of the present invention also provides a method for calling a heterogeneous robot and textile equipment information fusion interface, comprising:

[0013] Step S100, obtaining status data of different types of textile equipment;

[0014] Step S200, encapsulating textile equipment status data according to the consistency protocol;

[0015] Step S300: fusing the packaged textile equipment status data to form a data set.

[0016] Preferably, the textile equipment status data includes: operating time data of textile equipment, process data of textile equipment, ID data of textile equipment before and after processes of textile equipment, working temperature data of textile equipment, AGV operating path and destination data, AGV handling quantity data, robot arm operation trajectory data and production quantity data of textile equipment.

[0017] Preferably, the consistency protocol consists of a start bit, a robot number, a protocol type, a message type, an identification bit, a data length, a data content, and a check bit encoding.

[0018] Preferably, in step S300, the encapsulated textile equipment status data is integrated, the data is classified based on the actual textile process, and all weaving production data and textile equipment data are associated and integrated through embedded documents and reference links to form a data set, which includes a textile equipment set and a textile process set.

[0019] The present invention can realize information fusion between multiple industrial textile heterogeneous robots and textile equipment through communication interface module, protocol encapsulation module and data fusion module. Through data exchange, the status information of heterogeneous robots and textile equipment in the production line can be continuously obtained, and the operation data of textile equipment on the production line can be fused to form a data set, which is sent to the management platform (also known as the host computer) to monitor the product manufacturing process in real time and realize the monitoring and management of the production line; through intelligent perception and process monitoring of the production process, the equipment utilization rate and production stability can be improved, and the textile process level and production efficiency of the production line can be improved.

[0020] Industrial production users can use robots and textile equipment produced by different manufacturers by adopting the present invention. In addition, the present invention has good scalability and reserves sufficient design space for new machines and equipment. Furthermore, the present invention designs unique information collection methods for different types of textile equipment, so that textile equipment in textile workshops can realize information exchange with the help of the present device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0022] Figure 1 This is a schematic diagram of the structure of a device for invoking an information fusion interface of a heterogeneous robot and textile equipment according to an embodiment of the present invention;

[0023] Figure 2 The flowchart of information fusion of an embodiment of the present invention is shown in FIG. 1 , wherein (1) is the data uplink process, and (2) is the data downlink process;

[0024] Figure 3 This is the data set after information fusion in the embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Embodiment 1:

[0028] The embodiment of the present invention provides a heterogeneous robot and textile equipment information fusion interface calling device for the textile industry, comprising: a communication interface module, a protocol encapsulation module and a data fusion module; wherein:

[0029] Communication interface module, used to obtain status data of different types of textile equipment;

[0030] A protocol encapsulation module, used to encapsulate textile equipment status data according to a consistency protocol;

[0031] The data fusion module is used to fuse the encapsulated textile equipment status data to form a data set.

[0032] As an implementation mode of an embodiment of the present invention, the textile equipment status data includes: operating time data of the textile equipment, process data of the textile equipment, ID data of the textile equipment before and after the textile equipment, working temperature data of the textile equipment, AGV operation path and destination data, AGV handling quantity data, robot arm operation trajectory data and production quantity data of the textile equipment.

[0033] As an implementation method of an embodiment of the present invention, the consistency protocol consists of a start bit, a robot number, a protocol type, a message type, an identification bit, a data length, a data content, and a check bit encoding.

[0034] As an implementation mode of an embodiment of the present invention, a data fusion module fuses the encapsulated textile equipment status data, classifies the data based on the actual textile process, associates and fuses all weaving production data with textile equipment data through embedded documents and reference links to form a data set, wherein the data set includes: a textile equipment set and a textile process set, wherein the textile equipment set includes: a textile equipment ID and operating status data, wherein the textile process set includes: the before and after association of processes, the relationship between processes and textile equipment, and the relationship between processes, wherein the process set includes one or more textile equipment sets; the process sets are connected in series to form a chain logic structure data set, and the data set is sent to a host computer via a wireless link to realize information fusion.

[0035] Embodiment 2:

[0036] like Figure 1 As shown, an embodiment of the present invention provides an information fusion interface calling device for heterogeneous robots and textile equipment in the textile industry, including: an information fusion device, the information fusion device includes: a communication interface module, a protocol encapsulation module and a data fusion module.

[0037] The communication interface module includes: hardware interface matching the textile equipment in the workshop, image processing API interface, A / D processing API interface and other communication interfaces, cameras and data acquisition cards and other data acquisition devices, the protocol encapsulation module includes: uplink unit, downlink unit and clock module, and the data fusion module includes data storage device. The communication interface, protocol encapsulation module and data fusion module of the communication interface module are integrated on a circuit board. The data fusion module communicates with the management platform through WiFi-MDU, and the textile equipment is connected to the communication interface through various transmission lines to establish a communication structure from the management platform to the information fusion device, and from the information fusion device to the heterogeneous textile equipment. The information fusion device allocates I / O interfaces for industrial textile robots and textile equipment (collectively referred to as textile equipment) from different companies and different types. Users select the corresponding interface according to the interface type of the textile equipment and connect the textile equipment to the information fusion device. Textile robots are highly intelligent and are equipped with communication interfaces. Among textile equipment, most are intelligent and equipped with communication interfaces. Some industrial textile equipment are older and use mechanical instruments to display equipment information. They lack communication interfaces and need to use image acquisition mechanical instruments to obtain data. Some textile equipment uses analog signals to transmit information and requires the addition of data acquisition cards and A / D converters to obtain data.

[0038] Industrial textile robots and textile equipment are also called textile equipment and lower computers. Textile robots include: robotic arms and AGVs, and textile equipment includes: intelligent textile equipment, analog output textile equipment, and old-fashioned textile equipment. In the process of data collection for textile equipment, the data that needs to be obtained (also called textile equipment status data) include: textile equipment operation time data, textile equipment process data, textile equipment ID data of textile equipment before and after the process (each textile equipment has a unique ID number), textile equipment working temperature data, AGV operation path and destination data, AGV handling quantity data, robotic arm operation trajectory data, and textile equipment production quantity data.

[0039] The robots and textile equipment used in this embodiment are shown in Table 1.

[0040] Table 1

[0041]

[0042] The management platform of textile equipment, also known as the host computer, is responsible for receiving data after information fusion, and presenting the data set transmitted by the data fusion module to the user in the form of images, helping workshop managers to view and adjust the working status of textile equipment in real time.

[0043] The communication interface module is divided into three parts, each of which adopts different information collection methods to collect status data of different types of textile equipment. The specific methods are as follows:

[0044] S11. For the AGV handling robot and the warping upper and lower axis robot, the two robots communicate using the Modbus protocol. The connection between the device and the two robots is achieved by using the cables corresponding to the Modbus protocol. The status data of the two robots are collected by the communication interface module through the cables and handed over to the protocol encapsulation module.

[0045] S12, collecting information of old textile equipment. This part includes a camera and an image processing API interface. The camera performs image recognition on the mechanical dial of the sizing machine and identifies the numbers on the dial. After being processed by the image processing algorithm, the image processing API interface outputs the status data of the old textile equipment in Modbus format.

[0046] S13, collects information of analog output textile equipment such as warping machines. This part includes an A / D processing API interface and a data acquisition card. The data acquisition card collects analog signals of analog output textile equipment. After A / D conversion into digital signals, the A / D processing API interface outputs the status data of the analog textile equipment in Modbus format.

[0047] See also Figure 2 (1) and (2) are the uplink and downlink information transmission processes.

[0048] The protocol encapsulation module includes: information uplink unit, information downlink unit and clock module, which realize the mutual conversion between textile equipment private protocol message and consistency protocol. The conversion process includes:

[0049] S21: From top to bottom: The data fusion module receives the control instructions (consistency protocol encapsulation) transmitted by the management platform, does not process the data, and passes it to the protocol encapsulation module in the original format. After receiving the instructions, the protocol encapsulation module determines the textile equipment that needs to be started contained in the control instructions. Then the clock module starts to issue synchronization instructions. After synchronizing the clock of the management platform with the clock of each textile equipment, the protocol encapsulation module sends the control instructions to each textile equipment in the form of a private protocol message.

[0050] S22, from bottom to top: After the communication interface module receives the private protocol message about the textile equipment status data, it uploads it to the protocol encapsulation module. The protocol encapsulation module parses the private protocol message and encapsulates the message according to the consistency protocol format. Then the clock module issues a synchronization instruction to synchronize the clock of the management platform with the clock of each textile equipment. The protocol encapsulation module sends the textile equipment status data encapsulated according to the consistency protocol to the data fusion module.

[0051] The private protocol of textile equipment is a specific protocol used by the interface of textile equipment, including Profinet, Profibus, serial port protocol, Modbus, industrial Ethernet, CAN bus, etc., which contains the status data, ID number and protocol type of textile equipment.

[0052] The consistency protocol message is the bridge for communication between the upper computer and the lower computer. After parsing the private protocol of the textile equipment, the message is encapsulated in the consistency protocol format and transmitted to the data fusion module. The protocol consists of the start bit, robot number, protocol type, message type, identification bit, data length, data content, and check bit encoding, as shown in Table 2.

[0053] Table 2

[0054]

[0055] Take the warping upper and lower axis robot as an example. The robot uses RS232 serial communication. After the signal is transmitted to the protocol encapsulation module, it is judged as RS232 protocol. The format after consistency protocol encapsulation is as follows:

[0056] Start bit: 0001. #Start bit

[0057] Textile equipment number; 0003.

[0058] Protocol type: 0X01. #Serial port

[0059] Command type: 0X10. #Upload instruction

[0060] Identification bit: 0001. #Identification bit

[0061] Data length: 0X0A. #Data length unit KB

[0062] Data content: temperature, production time, production quantity and other data. The time module will then upload the time data while other contents remain unchanged.

[0063] Check digit: 0X01. #1 means the check is OK, 0 means there is a problem with the check.

[0064] A further control instruction transmission method is that the management platform sends the control instruction in the consistency protocol message format, and the command message type is 0X02, which is judged as a control command; the protocol encapsulation module receives the data and parses it. If the command message type is 0X02, it is a control command, identifies the ID number of the textile equipment, and allocates a communication interface to the corresponding textile equipment. After the allocation is completed, the data content is encapsulated in the form of the corresponding textile equipment private protocol, and the control command is sent to the textile equipment.

[0065] The clock module synchronizes the clock of the management platform with the clock of each textile equipment. The synchronization communication method is: first, based on the NTP timing principle, synchronize the clock of this device with the clock of the management platform; whenever the management platform sends a control instruction to the textile equipment, the clock module will send another data signal encapsulated in the private protocol of the textile equipment. The command type of the signal is 0X01, which is a synchronization instruction, and the data content is clock information, which synchronizes the clock information of this device with the corresponding clock information of the textile equipment.

[0066] The upload instruction transmission method is: the communication interface module first sends a data containing the main information of the private protocol to the protocol encapsulation module in a consistent protocol. The command type is 0X10, which is an upload instruction, and the data content is the private protocol type of the textile equipment. The private protocol is then sent to the protocol encapsulation module. After the protocol encapsulation module receives the first message and confirms that the command type is 0X10, which is an upload instruction, the uplink part completes the information sending and determines the private protocol type of the textile equipment according to the data content. After receiving the private protocol message of the textile equipment, the message is encapsulated according to the consistency protocol according to the private protocol type and sent to the data fusion module.

[0067] Taking the sending of control instructions to the warp-axis transfer AGV as an example, the downlink and uplink signal transmission process is explained. The management platform sends instructions to the warp-axis transfer AGV to move it to the target point. The management platform sends the control instruction in the consistency protocol message format. The command message type is 0X02 and is judged as a control command. The protocol encapsulation module receives the data and parses it, identifying the command type as 0X02, which is a control instruction. According to the textile equipment ID in the control command, it is determined to be a warp-axis transfer AGV, and an industrial Ethernet interface is allocated to it. Then the control instruction is sent to the warp-axis transfer AGV in the form of an industrial Ethernet interface to move it to the target point. After that, the clock module sends an industrial Ethernet instruction, and the data content is the local clock information of the information fusion device, and the clock information is synchronized with the clock information of the warp-axis transfer AGV. After the warp-axis transfer AGV reaches the target point, it conveys the robot status of the AGV to the upper computer, and sends a warp-axis transfer AGV status data to this device. The protocol type is industrial Ethernet, and the data content includes the AGV number, the AGV path, the target point location, and the time spent. The communication interface module sends a piece of data to the protocol encapsulation module in a consistent protocol. The data command type is 0X10, which is an upload instruction, and the data content is the warp axis transfer AGV protocol type, which is industrial Ethernet. Then the warp axis transfer AGV status data is sent to the protocol encapsulation module. After receiving the private protocol message of the warp axis transfer AGV, the status information of the warp axis transfer AGV is encapsulated according to the consistent protocol according to the protocol structure of industrial Ethernet and sent to the data fusion module.

[0068] The data fusion module is used to fuse the status data from textile equipment, classify the data based on the actual textile process, associate and fuse all weaving production data and textile equipment data through embedded documents and reference links, and form a data set, which includes a textile equipment set and a textile process set.

[0069] See Appendix 1 and 2 for Textile Equipment Set and Textile Process Set

[0070] Additional Example 1:

[0071] {

[0072] #Client creation, unique ID: "AAAA"

[0073] #Process number: 2

[0074] #Process name: Warping

[0075] #Previous process number: 1

[0076] #Last process number: 3

[0077] }

[0078] {

[0079] #Primary key Id: "0F08"

[0080] #Device number: "0001"

[0081] #Device temperature: 40

[0082] #Device running status: 1

[0083] #Number produced: 300

[0084] #Number to be produced: 1700

[0085] #Start production time: 2023 / 11 / 17 6:00:00”

[0086] #End production time: "2023 / 11 / 17 18:30:00"

[0087] }

[0088] Additional Example 2:

[0089] >db.machines.findOne()

[0090] { #Primary key Id: "ACD1" / / Used for the client to create a unique ID

[0091] #Equipment number: "0003" / / Warping upper and lower axis robot

[0092] #Device temperature: 40

[0093] #Device running status: 1

[0094] #Number produced: 400

[0095] #Number to be produced: 1600

[0096] #Start production time: "2023 / 11 / 18 6:00:00"

[0097] #End production time: "2023 / 11 / 18 18:30:00"

[0098] }

[0099] >db.machines.findOne()

[0100] { #Primary key Id: "F17C"

[0101] …

[0102] }

[0103] >db.machines.findOne()

[0104] { #Primary key Id: "D2AA"

[0105] …

[0106] } / / etc

[0107] >db.Objects.findOne()

[0108] {

[0109] #Process number: 3

[0110] #Technology name: Hanging yarn

[0111] #Previous process number: 2

[0112] #Last process number: 4

[0113] machines :

[0114] #Primary key Id: "ACD1",

[0115] #Primary key Id: "F17C",

[0116] #Primary key Id: "D2AA",

[0117] }

[0118] / / etc ]

[0120] The textile equipment set includes: textile equipment ID, operation status data and other textile equipment status data. The textile process set refers to the before and after relationship of the process, the relationship between the process and textile equipment, and the relationship between processes. The process set includes one or more textile equipment sets.

[0121] Textile technology refers to the workflow of textile equipment in the textile process, including: textile processes and textile equipment used in each process.

[0122] The process sets are connected in series to form a chain logic structure data set, and the data set is sent to the host computer through a wireless link. The host computer parses the data set with the help of DbSchema design work software, derives the architecture by reading collections and documents, and displays the status information of all equipment in the production line to the user in the form of images, completing data visualization.

[0123] like Figure 3 As shown, it is the visualization result of the data set structure of the first three processes of weaving, including: the status data of the warping machine, sizing equipment, and sizing transport AGV are not marked, and the yarn hanging robot and warp beam transport AGV can be used as reference.

[0124] Embodiment 3:

[0125] The embodiment of the present invention provides a method for calling an information fusion interface of a heterogeneous robot and textile equipment for the textile industry, comprising:

[0126] Step S100, obtaining status data of different types of textile equipment;

[0127] Step S200, encapsulating textile equipment status data according to the consistency protocol;

[0128] Step S300: fusing the packaged textile equipment status data to form a data set.

[0129] As an implementation mode of an embodiment of the present invention, the textile equipment status data includes: operating time data of the textile equipment, process data of the textile equipment, ID data of the textile equipment before and after the textile equipment, working temperature data of the textile equipment, AGV operation path and destination data, AGV handling quantity data, robot arm operation trajectory data and production quantity data of the textile equipment.

[0130] As an implementation method of an embodiment of the present invention, the consistency protocol consists of a start bit, a robot number, a protocol type, a message type, an identification bit, a data length, a data content, and a check bit encoding.

[0131] As an implementation method of an embodiment of the present invention, in step S300, the encapsulated textile equipment status data is fused, the data is classified based on the actual textile process, and all weaving production data and textile equipment data are associated and fused through embedded documents and reference links to form a data set, which includes a textile equipment set and a textile process set.

[0132] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A device for invoking an information fusion interface of a heterogeneous robot and textile equipment, characterized in that: include: Communication interface module, protocol encapsulation module and data fusion module; wherein, Communication interface module, used to obtain status data of different types of textile equipment; A protocol encapsulation module, used to encapsulate textile equipment status data according to a consistency protocol; A data fusion module is used to fuse the encapsulated textile equipment status data to form a data set; The textile equipment status data includes: operation time data of textile equipment, process data of textile equipment, ID data of textile equipment before and after the textile equipment, working temperature data of textile equipment, AGV operation path and destination data, AGV handling quantity data, robot arm operation trajectory data and textile equipment production quantity data; The consistency protocol consists of a start bit, a robot number, a protocol type, a message type, an identification bit, a data length, a data content, and a check bit code; The data fusion module integrates the encapsulated textile equipment status data, classifies the data based on the actual textile process, associates and integrates all weaving production data with textile equipment data through embedded documents and reference links to form a data set. The data set includes: textile equipment set and textile process set. The textile equipment set includes: textile equipment ID, operation status data. The textile process set includes: the before and after association of the process, the relationship between the process and textile equipment, and the relationship between processes. The process set includes one or more textile equipment sets; the process sets are connected in series to form a chain logic structure data set, and the data set is sent to the host computer through a wireless link to realize information fusion; The communication interface module is divided into three parts, each of which adopts different information collection methods to collect status data of different types of textile equipment. The specific methods are as follows: S11. For the AGV handling robot and the warping upper and lower axis robot, the two robots communicate using the Modbus protocol. By using the cables corresponding to the Modbus protocol, the connection between the device and the two robots is realized. The status data of the two robots are collected by the communication interface module through the cables and handed over to the protocol encapsulation module. S12, collecting information of old textile equipment, which includes a camera and an image processing API interface. The camera performs image recognition on the mechanical dial of the sizing machine, identifies the numbers on the dial, and after being processed by an image processing algorithm, the image processing API interface outputs the status data of the old textile equipment in Modbus format; S13, collecting information of analog output textile equipment such as warping machines, which includes an A / D processing API interface and a data acquisition card. The data acquisition card collects analog signals of the analog output textile equipment, converts them into digital signals through A / D, and the A / D processing API interface outputs the status data of the analog textile equipment in Modbus format; The protocol encapsulation module includes: information uplink unit, information downlink unit and clock module, which realize the mutual conversion between textile equipment private protocol message and consistency protocol. The conversion process includes: S21: From top to bottom: the data fusion module receives the control instruction transmitted by the management platform, does not process the data, and retains the original format to pass it to the protocol encapsulation module. After receiving the instruction, the protocol encapsulation module determines the textile equipment that needs to be started contained in the control instruction. Then the clock module starts to issue a synchronization instruction. After synchronizing the clock of the management platform with the clock of each textile equipment, the protocol encapsulation module sends the control instruction to each textile equipment in the form of a private protocol message; S22, from bottom to top: after receiving the private protocol message about the textile equipment status data, the communication interface module uploads it to the protocol encapsulation module, and the protocol encapsulation module parses the private protocol message and encapsulates it according to the consistency protocol format.

2. A method for calling a heterogeneous robot and textile equipment information fusion interface, comprising: Step S100, obtaining status data of different types of textile equipment; Step S200, encapsulating textile equipment status data according to the consistency protocol; Step S300, fusing the packaged textile equipment status data to form a data set; The textile equipment status data includes: operation time data of textile equipment, process data of textile equipment, ID data of textile equipment before and after the textile equipment, working temperature data of textile equipment, AGV operation path and destination data, AGV handling quantity data, robot arm operation trajectory data and textile equipment production quantity data; The consistency protocol consists of a start bit, a robot number, a protocol type, a message type, an identification bit, a data length, a data content, and a check bit code; In step S300, the encapsulated textile equipment status data is integrated, the data is classified based on the actual textile process, and all the weaving production data and textile equipment data are associated and integrated through embedded documents and reference links to form a data set, which includes a textile equipment set and a textile process set. The textile equipment set includes: textile equipment ID, operation status data, and the textile process set includes: the before and after association of the process, the relationship between the process and the textile equipment, and the relationship between the processes. The process set includes one or more textile equipment sets; the process sets are connected in series to form a chain logic structure data set, and the data set is sent to the host computer through a wireless link to realize information fusion; Step S100 is divided into three parts, each of which adopts a different information collection method to collect status data of different types of textile equipment. The specific methods are as follows: S11. For the AGV handling robot and the warping upper and lower axis robot, the two robots communicate using the Modbus protocol. By using the cables corresponding to the Modbus protocol, the connection between the device and the two robots is realized. The status data of the two robots are collected by the communication interface module through the cables and handed over to the protocol encapsulation module. S12, collecting information of old textile equipment, which includes a camera and an image processing API interface. The camera performs image recognition on the mechanical dial of the sizing machine, identifies the numbers on the dial, and after being processed by an image processing algorithm, the image processing API interface outputs the status data of the old textile equipment in Modbus format; S13, collecting information of analog output textile equipment such as warping machines, which includes an A / D processing API interface and a data acquisition card. The data acquisition card collects analog signals of the analog output textile equipment, converts them into digital signals through A / D, and the A / D processing API interface outputs the status data of the analog textile equipment in Modbus format; Step S200, encapsulating the textile equipment status data according to the consistency protocol includes: an information uplink unit, an information downlink unit and a clock module, realizing the mutual conversion between the textile equipment private protocol message and the consistency protocol, and the conversion process includes: S21: From top to bottom: the data fusion module receives the control instruction transmitted by the management platform, does not process the data, and retains the original format to pass it to the protocol encapsulation module. After receiving the instruction, the protocol encapsulation module determines the textile equipment that needs to be started contained in the control instruction. Then the clock module starts to issue a synchronization instruction. After synchronizing the clock of the management platform with the clock of each textile equipment, the protocol encapsulation module sends the control instruction to each textile equipment in the form of a private protocol message; S22, from bottom to top: after receiving the private protocol message about the textile equipment status data, the communication interface module uploads it to the protocol encapsulation module, and the protocol encapsulation module parses the private protocol message and encapsulates it according to the consistency protocol format.

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