An intelligent control and coordination system for weaving automated production lines

Abstract

The present invention discloses an intelligent control and coordination system for a weaving automated production line, which effectively integrates heterogeneous robots and weaving equipment, establishes a main control center according to the layout characteristics of the weaving production line, and integrates the automatic cloth inspection visual system, automatic cloth coding robot, automatic packaging robot, cotton weaving equipment, etc. to form a master-slave multi-robot group system architecture. Based on the integration of heterogeneous robots and weaving equipment, the robot is abstracted as an Agent, and the attributes and operations of each Agent are divided into four levels, namely, the perception control layer, the behavior planning layer, the collaborative allocation layer, and the information interaction layer from bottom to top. By combining automation, networking, digitization and intelligent technology to interconnect the four levels, each robot and cotton weaving equipment are connected to the entire system, realizing global optimization and coordination of the entire production line, and can be remotely controlled and intervened in real time. The whole process of weaving production is automated.

Description

Technical Field

[0001] The present invention relates to the technical field of textile intelligent manufacturing, and in particular to an intelligent control and coordination system for a weaving automated production line. Background Art

[0002] The textile industry is an important livelihood industry and an industry with international competitive advantages in my country, including cotton spinning, wool spinning, chemical fiber, printing and dyeing, knitting, home textiles, clothing and other industries. In recent years, with the development and popularization of industrial robot technology, it is imperative to vigorously promote the combination of robot technology and weaving technology and enhance its application in weaving automation systems.

[0003] However, although my country is a major producer of textile machinery and industrial robots, the application of industrial robot technology in the field of weaving automation production is still lagging behind. Although a small number of companies have partially achieved data-driven integration of cotton spinning production equipment and process control, some key process nodes still rely on manual labor, and cannot achieve full-process automated production under multi-machine coordination. In addition, the existing weaving production line management system usually only focuses on single-point or local optimization of the production line, lacking overall optimization and coordination of the entire production line. At the same time, with the development of information and networking technology, the existing management system usually only realizes remote monitoring of information, but cannot achieve remote control and real-time intervention. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent control and coordination system for a weaving automated production line to solve the above-mentioned technical problems.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An intelligent control and coordination system for a weaving automated production line, including a central control center, a warping and hanging yarn robot, a yarn sorting and yarn head finding robot, a warping upper and lower shaft robot, an automatic warp beam transport robot, an automatic sizing upper and lower shaft robot, an automatic warp drawing robot, an automatic upper and lower shaft robot for weaving beam transfer, an automatic yarn sorting and yarn head finding warp joining robot, an automatic cloth dropping and transporting robot, an automatic cloth inspection visual system, an automatic cloth stacking robot, an automatic packaging robot, an automatic roll packaging robot, an AGV robot for warehousing, and cotton weaving equipment;

[0007] The central control center is used to implement the functions of task management and task coordination algorithm to perform task allocation;

[0008] The warping yarn hanging robot is used to realize the function of neatly arranging the number of spindles set for the task and hanging them on the warping yarn frame;

[0009] The yarn sorting and yarn head finding robot is used to find the yarn heads of spindles and arrange them in order on the warping machine;

[0010] The warping upper and lower shaft robots are used to realize the function of automatically dropping and loading the empty shafts or full shafts at the warping machine in the form of upper and lower shafts and automatically transporting them to the designated positions;

[0011] The automatic warp beam transport robot is used to realize the function of transporting the warp beam from the warp beam storage rack to the designated position behind the sizing machine in the form of automatic navigation, thereby improving work efficiency, reducing the labor intensity of workers, and automatically connecting the logistics from warping to sizing process;

[0012] The automatic sizing upper and lower axis robot is used to realize automatic navigation according to work requirements to send the sizing axis to the designated position of the weaving axis storage rack, reeding process and weaving process, so that the logistics of the three processes of sizing, reeding and weaving are automatically connected;

[0013] The automatic warp drawing robot is used to realize the function of pulling the warp yarn from the warp yarn layer with tension and feeding it into the drawing position and automatically distributing the warp yarn and arranging it in the heald frame according to the cycle of the dropper, heald and reed;

[0014] The automatic upper and lower axis robot for loom beam transportation is used to realize the function of automatically navigating and transporting the threaded loom beam to the designated weaving machine for hanging operation, so that the logistics of the threading and weaving processes are automatically connected;

[0015] The automatic yarn sorting, yarn end finding and warp tying robot is used to find the warp yarn ends of the weaving shaft on the loom and arrange them in order on the warp tying frame;

[0016] The automatic cloth-dropping and transporting robot is used to separate the cloths finished at the weaving equipment and transport them to the designated cloth inspection visual system equipment;

[0017] The automatic cloth inspection visual system is used to detect cloth defects and count the image, area, position, size and other information of the current defects in the inspection results, screen out the cloth with defects beyond the range set by the factory and notify manual repair; the automatic cloth-stacking robot is used to realize the function of setting the cloth-stacking width, automatically stopping to realize the continuous operation of cloth-stacking, and automatically displaying the number of cloth-stacking times with an electronic counter and accurately reading data;

[0018] The automatic packaging robot is used to realize the function of transporting the assembled grey cloth to the positioning area of ​​the packaging table through the transportation track, compacting the grey cloth into the packaging bag with the manipulator, and wrapping the packaging rope to fix the grey cloth;

[0019] The automatic roll packaging robot is used to roll the cloth that needs to be rolled into a packaging bag, tightly wrap the cloth roll with a heat shrink process, and seal it at high temperature, thereby completing the functions of automatic rolling and automatic packaging;

[0020] The warehousing AGV robot is used to transport fixed packaged or rolled cloth into the warehouse, so that the sorting process is automatically connected with the warehouse logistics;

[0021] The cotton weaving equipment is used to realize the functions of completing various processes of warping, sizing, reeding, weaving, packaging and warehousing according to process requirements.

[0022] The robot is abstracted as an Agent, and the attributes and operations of each Agent are divided into four levels, from bottom to top: perception control layer, behavior planning layer, collaboration allocation layer, and information interaction layer.

[0023] As a further solution of the present invention, the perception control layer directly controls and manages the robot behavior and tasks at the bottom layer, which is achieved through a sensor system and a motion control system. The sensor system includes lidar information, odometer information, etc. to obtain textile environment information, and pre-processes the collected environmental information. The motion control system is the actuator of each robot, which controls the specific behavior of the robot according to the task requirements and task information issued by the upper layer and the environmental information collected by the sensor.

[0024] As a further solution of the present invention, the behavior planning layer uploads the textile environment data collected by the perception control layer to the collaborative allocation layer. In addition, the collaborative allocation layer makes decisions on the task information assigned to its robot, plans paths, adjusts behaviors, and sends corresponding instructions to the perception control layer, giving specific control plans for each actuator. Each actuator adopts its specific matching control method and uses different controllers to achieve their respective specific effects to achieve continuous smoothness and a higher level of automation for each actuator, thereby improving the operating efficiency of each actuator and thus improving the efficiency of the overall textile process.

[0025] As a further solution of the present invention, the collaborative allocation layer further refines the task collaboration methods and strategies between the underlying robots based on the robot's perception data, the task information requirements transmitted from the information interaction layer, and the performance requirements of the robot itself, thereby improving the execution efficiency of each robot.

[0026] As a further solution of the present invention, the information interaction layer serves as a communication bridge between the upper central control center and the bottom layer, and is also an intermediate fulcrum for the transmission of status information between the various robot actuators. It is a more intelligent hub for the entire textile industry. The upper central control center transmits information on the task operation commands issued by the bottom layer through the information interaction layer, and the bottom robot information data and the workers' real-time operation instructions are reported to the upper central control center through the information interaction layer.

[0027] Compared with the prior art, the present invention has the following advantages: the present invention provides an intelligent control and coordination system for a weaving automated production line, which effectively integrates heterogeneous robots and weaving equipment, abstracts the robot into an agent based on the integration of heterogeneous robots and weaving equipment, and divides the properties and operations of each agent into four levels, namely, the perception control layer, the behavior planning layer, the collaboration allocation layer, and the information interaction layer from bottom to top. By combining automation, networking, digitization, and intelligent technologies to interconnect the four levels, each robot and cotton weaving equipment are connected to the entire system, achieving global optimization and coordination of the entire production line, and can be remotely controlled and intervened in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the model structure of the intelligent control and coordination system of the weaving automated production line according to an embodiment of the present invention.

[0029] Figure 2 It is a schematic diagram of uplink and downlink information of the perception control layer of the intelligent management and control and coordination system of the weaving automated production line according to an embodiment of the present invention.

[0030] Figure 3 It is a schematic diagram of uplink and downlink information of the behavior planning layer of the intelligent control and collaboration system for the weaving automated production line according to an embodiment of the present invention.

[0031] Figure 4 It is a schematic diagram of uplink and downlink information of the collaborative distribution layer of the intelligent control and collaborative system for the weaving automated production line according to an embodiment of the present invention.

[0032] Figure 5 It is a schematic diagram of uplink and downlink information of the information interaction layer of the intelligent control and collaboration system for the weaving automated production line according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 1 As shown, an intelligent control and coordination system for a weaving automated production line effectively integrates heterogeneous robots and weaving equipment. According to the layout characteristics of the weaving production line, the system includes a central control center, a warping and hanging robot, a yarn sorting and yarn head finding robot, a warping upper and lower axis robot, an automatic warp beam transportation robot, an automatic upper and lower axis robot for sizing, an automatic warp threading robot, an automatic upper and lower axis robot for weaving beam transfer, an automatic yarn sorting and yarn head finding and warp joining robot, an automatic cloth dropping and transportation robot, an automatic cloth inspection visual system, an automatic cloth coding robot, an automatic packaging robot, an automatic roll packaging robot, a warehousing AGV robot, cotton weaving equipment and other heterogeneous equipment.

[0035] The central control center is used to implement the functions of task management and task coordination algorithm to perform task allocation;

[0036] The warping yarn hanging robot is used to realize the function of neatly arranging the number of spindles set for the task and hanging them on the warping yarn frame;

[0037] The yarn sorting and yarn head finding robot is used to find the yarn heads of spindles and arrange them in order on the warping machine;

[0038] The warping upper and lower shaft robots are used to realize the function of automatically dropping and loading the empty shafts or full shafts at the warping machine in the form of upper and lower shafts and automatically transporting them to the designated positions;

[0039] The automatic warp beam transport robot is used to realize the function of transporting the warp beam from the warp beam storage rack to the designated position behind the sizing machine in the form of automatic navigation, thereby improving work efficiency, reducing the labor intensity of workers, and automatically connecting the logistics from warping to sizing process;

[0040] The automatic sizing upper and lower axis robot is used to realize automatic navigation according to work requirements to send the sizing axis to the designated position of the weaving axis storage rack, reeding process and weaving process, so that the logistics of the three processes of sizing, reeding and weaving are automatically connected;

[0041] The automatic warp drawing robot is used to realize the function of pulling the warp yarn from the warp yarn layer with tension and feeding it into the drawing position and automatically distributing the warp yarn and arranging it in the heald frame according to the cycle of the dropper, heald and reed;

[0042] The automatic upper and lower axis robot for loom beam transportation is used to realize the function of automatically navigating and transporting the threaded loom beam to the designated weaving machine for hanging operation, so that the logistics of the threading and weaving processes are automatically connected;

[0043] The automatic yarn sorting, yarn end finding and warp tying robot is used to find the warp yarn ends of the weaving shaft on the loom and arrange them in order on the warp tying frame;

[0044] The automatic cloth-dropping and transporting robot is used to separate the cloths finished at the weaving equipment and transport them to the designated cloth inspection visual system equipment;

[0045] The automatic cloth inspection visual system is used to detect cloth defects and count the image, area, position, size and other information of the current defects in the inspection results, screen out the cloth with defects beyond the range set by the factory and notify manual repair; the automatic cloth-stacking robot is used to realize the function of setting the cloth-stacking width, automatically stopping to realize the continuous operation of cloth-stacking, and automatically displaying the number of cloth-stacking times with an electronic counter and accurately reading data;

[0046] The automatic packaging robot is used to realize the function of transporting the assembled grey cloth to the positioning area of ​​the packaging table through the transportation track, compacting the grey cloth into the packaging bag with the manipulator, and wrapping the packaging rope to fix the grey cloth;

[0047] The automatic roll packaging robot is used to roll the cloth that needs to be rolled into a packaging bag, tightly wrap the cloth roll with a heat shrink process, and seal it at high temperature, thereby completing the functions of automatic rolling and automatic packaging;

[0048] The warehousing AGV robot is used to transport fixed packaged or rolled cloth into the warehouse, so that the sorting process is automatically connected with the warehouse logistics;

[0049] The cotton weaving equipment is used to realize the functions of completing various processes of warping, sizing, reeding, weaving, packaging and warehousing according to process requirements.

[0050] The robot is abstracted as an Agent, and the attributes and operations of each Agent are divided into four levels, from bottom to top: perception control layer, behavior planning layer, collaboration allocation layer, and information interaction layer.

[0051] The perception control layer directly controls and manages the robot's behavior and tasks at the bottom layer, which is achieved through the sensor system and motion control system. The sensor system contains laser radar information, odometer information, etc. to obtain textile environment information and pre-process the collected environmental information. The motion control system is the actuator of each robot, which controls the specific behavior of the robot according to the task requirements and task information issued by the upper layer and the environmental information collected by the sensor. This layer directly executes information and sends information to the behavior planning layer, such as Figure 2 shown.

[0052] The behavior planning layer uploads the textile environment data collected by the perception control layer to the collaborative allocation layer. In addition, the collaborative allocation layer makes decisions on the task information assigned to its robot, plans the path, adjusts the behavior, and sends corresponding instructions to the perception control layer, giving specific control plans for each actuator. Each actuator adopts its own specific matching control method and uses different controllers to achieve their own specific effects to achieve continuous smoothness and a higher level of automation for each actuator, thereby improving the operating efficiency of each actuator and thus improving the efficiency of the overall textile process. This layer sends information to the collaborative allocation layer and downlinks information to the perception control layer, such as Figure 3 shown.

[0053] The collaborative allocation layer further refines the task coordination methods and strategies between the bottom-level robots based on the robot's perception data, the task information requirements transmitted by the information interaction layer, and the performance requirements of the robot itself, thereby improving the execution efficiency of each robot. This layer sends information to the information interaction layer and to the behavior planning layer. Figure 4 shown.

[0054] The information interaction layer, as a communication bridge between the upper central control center and the bottom layer, is also the intermediate fulcrum for the transmission of status information between the various robot actuators. It is a more intelligent hub for the entire textile industry. The upper central control center transmits information to the task operation commands issued by the bottom layer through the information interaction layer. The bottom robot information data and the real-time operation instructions of the workers are reported to the upper central control center through the information interaction layer. This layer sends information to the central control center and sends information to the collaborative distribution layer. Figure 5 shown.

[0055] The above is a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the scope of protection of the present invention.

Claims

1. An intelligent control and coordination system for a weaving automated production line, characterized in that: Including central control center, warping and hanging yarn robot, yarn sorting and yarn head finding robot, warping upper and lower shaft robot, warp beam automatic transportation robot, sizing automatic upper and lower shaft robot, automatic warp drawing robot, weaving beam transfer automatic upper and lower shaft robot, automatic yarn sorting and yarn head finding warp joining robot, automatic cloth dropping and transportation robot, automatic cloth inspection visual system, automatic cloth stacking robot, automatic packaging robot, automatic roll packaging robot, warehousing AGV robot, cotton weaving equipment; The central control center is used to implement task management and task coordination algorithm to perform task allocation; The warping yarn hanging robot is used to neatly arrange the spindles of the task setting number and hang them on the warping yarn frame; The yarn sorting and yarn head finding robot is used to find the yarn heads of spindles and arrange them in order on the warping machine; The warping upper and lower shaft robots are used to automatically drop and load the empty shafts or full shafts at the warping machine in the form of upper and lower shafts and automatically transport them to the designated location; The automatic warp beam transport robot is used to transport the warp beam from the warp beam storage rack to the designated position behind the sizing machine in the form of automatic navigation, so that the logistics from warping to sizing process are automatically connected; The automatic sizing upper and lower axis robot is used to realize automatic navigation according to work requirements to send the sizing axis to the designated position of the weaving axis storage rack, the reeding process, and the weaving process, so that the logistics of the three processes of sizing, reeding, and weaving are automatically connected; The automatic warp drawing robot is used to pull the warp yarns from the warp yarn layer with tension and send them to the drawing position, and automatically distribute the warp yarns and arrange them in the heald frame according to the cycle of the dropper, heald and reed; The automatic upper and lower axis robot for loom beam transfer is used to realize the automatic navigation form to transport the threaded loom beam to the designated weaving machine for hanging operation, so that the logistics of the threading and weaving processes are automatically connected; The automatic yarn sorting, yarn end finding and warp tying robot is used to find the warp yarn ends of the weaving shaft on the loom and arrange them in an orderly manner on the warp tying frame; The automatic cloth-dropping and transporting robot is used to separate the cloths finished at the weaving equipment and transport them to the designated cloth inspection visual system equipment; The automatic cloth inspection visual system is used to detect cloth defects and count the image, area, position, size and other information of the current defects in the inspection results, screen out the cloth with defects beyond the range set by the factory and notify manual repair; The automatic cloth-stacking robot is used to realize cloth-stacking with settable cloth width, automatically stop to realize continuous cloth-stacking operation, and automatically display the cloth-stacking times with an electronic counter to accurately read data; The automatic packaging robot is used to transport the assembled grey cloth to the packaging table positioning area through the transportation track, and use the manipulator to compact and arrange the grey cloth into the packaging bag and wrap the packaging rope to fix the grey cloth; The automatic roll packaging robot is used to roll the cloth that needs to be rolled into a packaging bag, tightly wrap the cloth roll with a heat shrink process, and seal it at high temperature to complete automatic rolling and automatic packaging; The warehousing AGV robot is used to transport fixed packaged or rolled cloth into the warehouse, so that the sorting process is automatically connected with the warehouse logistics; The cotton weaving equipment is used to complete the processes of warping, sizing, reeding, weaving, packaging and warehousing according to the process requirements.

2. The intelligent control and coordination system for the weaving automated production line according to claim 1 is characterized in that: The robot is abstracted as an Agent, and the attributes and operations of each Agent are divided into four levels, from bottom to top: perception control layer, behavior planning layer, collaboration allocation layer, and information interaction layer.

3. The intelligent control and coordination system for the weaving automated production line according to claim 2 is characterized in that: The perception control layer directly controls and manages the robot's behavior and tasks at the bottom layer, which is achieved through the sensor system and motion control system. The sensor system contains lidar information, odometer information, etc. to obtain textile environment information, and pre-processes the collected environmental information. The motion control system is the actuator of each robot, which controls the specific behavior of the robot according to the task requirements and task information issued by the upper layer and the environmental information collected by the sensor.

4. The intelligent control and coordination system for the weaving automated production line according to claim 2 is characterized in that: The behavior planning layer uploads the textile environment data collected by the perception control layer to the collaborative allocation layer. In addition, the collaborative allocation layer makes decisions on the task information assigned to its robot, plans paths, adjusts behaviors, and sends corresponding instructions to the perception control layer, giving specific control plans for each actuator. Each actuator adopts its specific matching control method and uses different controllers to achieve their respective specific effects to achieve continuous smoothness and a higher level of automation for each actuator.

5. The intelligent control and coordination system for the weaving automated production line according to claim 2 is characterized in that: The collaborative allocation layer further refines the task collaboration methods and strategies between the underlying robots based on the robot's perception data, the task information requirements transmitted by the information interaction layer, and the performance requirements of the robot itself, thereby improving the execution efficiency of each robot.

6. The intelligent control and coordination system for the weaving automated production line according to claim 2 is characterized in that: The information interaction layer serves as a communication bridge between the upper central control center and the bottom layer, and is also the intermediate fulcrum for the transmission of status information between the various robot actuators. It is a more intelligent hub for the entire textile industry. The upper central control center transmits information on the task operation commands issued by the bottom layer through the information interaction layer, and the bottom robot information data and the workers' real-time operation instructions are reported to the upper central control center through the information interaction layer.

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