Full-process braking conveying control method, system, equipment, medium and product

Abstract

The invention discloses a full-process braking conveying control method, system and equipment, a medium and a product, and relates to the field of transportation control in the spinning industry. The method comprises the following steps: acquiring carrying information; determining the running states of the primary vehicle and the secondary vehicle; the primary trolley and the secondary trolley are used for loading sliver cans; when the running states of the primary vehicle and the secondary vehicle are idle states, a control instruction is generated; after the mother vehicle and the son vehicle are controlled to run to a first target position by adopting the control instruction, loading the sliver cans, and transporting the sliver cans to a second target position; and when the running states of the primary vehicle and the secondary vehicle are busy states, carrying queue information is generated, the running states of the primary vehicle and the secondary vehicle are determined in real time, and cycle operation is formed. The conveying efficiency of the sliver cans can be improved.

Description

Technical Field

[0001] The present application relates to the field of transport control in the spinning industry, and in particular to a full-process braking and conveying control method, system, equipment, medium and product. Background Art

[0002] The drawing frame and roving frame are one of the continuous process sections in the spinning industry. The drawing frame produces sliver cans filled with slivers for the roving frame. The roving frame uses up the slivers in the sliver cans filled with slivers, and then returns the used empty cans to the drawing frame to continue to hold slivers. In the sliver can conveying process between the drawing frame process and the roving frame process in the cotton spinning mill, the can conveying is entirely dependent on manual transportation, which has the disadvantages of high labor intensity and high labor costs.

[0003] In order to solve the above-mentioned problems, although some methods of automatic transport control have been disclosed, these solutions can only perform single control of the transportation of the mother vehicle or the child vehicle, and the problem of low transportation efficiency still exists. Summary of the invention

[0004] The purpose of this application is to provide a full-process braking and conveying control method, system, equipment, medium and product, which can improve the transportation efficiency of sliver cans.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a full-process brake delivery control method, comprising:

[0007] Acquiring transport information; the transport information includes full bobbin information of the draw frame and empty bobbin information of the roving frame;

[0008] Determine the operating status of the mother car and the sub-carriage; the mother car and the sub-carriage are used to load the cotton sliver cans;

[0009] When the operation status of the mother vehicle and the child vehicle is an idle state, generating a control instruction;

[0010] After the mother vehicle and the child vehicle are controlled to move to the first target position based on the transport information by using the control instruction, the sliver cans are loaded and transported to the second target position; when the first target position is the position of the drawing frame, the second target position is the position of the roving frame; when the first target position is the position of the roving frame, the second target position is the position of the drawing frame;

[0011] When the operation status of the mother vehicle and the child vehicle is a busy state, the transport queue information is generated, and the process returns to the step of determining the operation status of the mother vehicle and the child vehicle.

[0012] Optionally, after the control instruction is used to control the mother vehicle and the child vehicle to run to the first target position based on the transport information, the sliver barrels are loaded and transported to the second target position, and the number of sliver barrels in the second target position is obtained in real time until the number of sliver barrels in the second target position reaches a set value, and the current sliver barrel transportation task is exited.

[0013] Optionally, the full-process brake delivery control method further includes:

[0014] When the mother vehicle and the child vehicle run to the first target position or the second target position, a closed-loop control servo subroutine is started to implement servo positioning control.

[0015] Optionally, the process of implementing servo positioning control using a closed-loop control servo subroutine includes:

[0016] Get the current position of the parent vehicle and child vehicle;

[0017] Obtaining a relative stroke based on the current positions, target positions and position coefficients of the mother vehicle and the child vehicle; the target position is a first target position or a second target position;

[0018] Controlling the mother vehicle and the child vehicle to reach an initial target position based on the relative stroke;

[0019] Optimizing the position coefficient based on the initial target position, the relative travel, and the current positions of the mother vehicle and the child vehicle;

[0020] The relative stroke is updated based on the optimized position coefficient, the current positions of the mother vehicle and the child vehicle, and the target positions, and the mother vehicle and the child vehicle are controlled to move to the target position according to the updated relative stroke.

[0021] In a second aspect, the present application provides a full-process brake delivery control system, including:

[0022] A transport information acquisition module, used to acquire transport information; the transport information includes full bobbin information of the draw frame and empty bobbin information of the roving frame;

[0023] An operation status determination module is used to determine the operation status of the mother car and the child car; the mother car and the child car are used to load sliver cans;

[0024] A control instruction generating module, used for generating a control instruction when the operation status of the mother vehicle and the child vehicle is an idle state;

[0025] a transport control module, configured to use the control instruction to control the mother vehicle and the child vehicle to run to the first target position based on the transport information, load the sliver cans, and transport the sliver cans to the second target position; when the first target position is the position of the drawing frame, the second target position is the position of the roving frame; when the first target position is the position of the roving frame, the second target position is the position of the drawing frame;

[0026] The transport queue information generating module is used to generate transport queue information when the operating status of the mother vehicle and the child vehicle is in a busy state, and to retrieve the operating status determination result of the operating status determination module.

[0027] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the above-described full-process brake delivery control methods.

[0028] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the above-described full-process brake delivery control methods.

[0029] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any one of the above-mentioned full-process brake delivery control methods.

[0030] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0031] The present application provides a full-process brake conveying control method, system, equipment, medium and product, which realizes intelligent dispatch of the mother car and the sub-carriage by determining the operating status of the mother car and the sub-carriage, and improves the transportation efficiency of the sliver can. In addition, by using control instructions to control the mother car and the sub-carriage to reach the first target position based on the transport information, the sliver can is loaded to transport the sliver can to the second target position, which can improve the transportation efficiency of the sliver can while realizing the intelligent positioning of the mother car and the sub-carriage. When the operating status of the mother car and the sub-carriage is busy, the transport queue information is generated to form an uninterrupted cycle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic flow chart of a full-process brake delivery control method provided in one embodiment of the present application;

[0034] Figure 2 A schematic diagram of an application implementation process of a full-process brake delivery control method provided by another embodiment of the present application;

[0035] Figure 3 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] In order to make the purpose, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0038] In an exemplary embodiment, Figure 1 As shown, a full-process brake delivery control method is provided, which is executed by a computer device, and can be specifically executed by a computer device such as a terminal or a server alone, or by a terminal and a server together. In an embodiment of the present application, the method is applied to a terminal (such as an industrial controller or a host computer) as an example for explanation, including the following steps 100 to 104.

[0039] in:

[0040] Step 100: Acquire transport information, which includes full bobbin information of the draw frame and empty bobbin information of the roving frame.

[0041] Step 101: Determine the operating status of the mother carriage and the child carriage. The mother carriage and the child carriage are used to load sliver cans.

[0042] Step 102: When the operation status of the mother vehicle and the child vehicle is an idle state, a control instruction is generated.

[0043] Step 103: After the mother vehicle and the child vehicle are controlled to move to the first target position based on the transport information by using the control instruction, the sliver can is loaded and transported to the second target position. When the first target position is the position of the drawing frame, the second target position is the position of the roving frame. When the first target position is the position of the roving frame, the second target position is the position of the drawing frame.

[0044] Step 104: When the operation status of the mother vehicle and the child vehicle is busy, the transport queue information is generated and the process returns to step 101.

[0045] The above-mentioned steps 100 to 104 can significantly improve the transportation efficiency of the sliver cans. In addition, by using control instructions to control the mother car and the child car to reach the first target position based on the transport information, the sliver cans are loaded to transport the sliver cans to the second target position, thereby improving the transportation efficiency of the sliver cans and realizing the intelligent positioning of the mother car and the child car. When the operation status of the mother car and the child car is busy, the transport queue information is generated to form an uninterrupted cycle operation.

[0046] In another embodiment provided by the present application, a full barrel produced by a conveying drawing frame is taken as an example to illustrate the implementation process of the full-process braking and conveying control method provided by the present application.

[0047] 1) After the draw frame is full, the conveying mechanism at the full-bore outlet conveys it to the bobbin exit position. For example, the conveying mechanism at the full-bore outlet can accommodate 2 full bobbins.

[0048] 2) After receiving the bobbin exit position occupancy signal, the mother car is dispatched, and the mother car and the sub-carriage run to the bobbin exit position of the draw frame, and the sub-carriage takes the full bobbin and returns to the mother car. For example, the sub-carriage grabs 2 full bobbins and returns to the mother car.

[0049] 3) The mother car is dispatched to the bobbin-changing section of the roving frame, and the sub-carriage transports two full bobbins to a specific location.

[0050] 4) The two full bobbins at the specific position are transported by the shuttle car to the side entry position of the roving frame and delivered to the position. In this process, the function of the sub-carriage is the same as that of the shuttle car.

[0051] 5) Repeat steps 1) to 4) until all the bobbins are in place in the side entry bobbin area of ​​the roving frame.

[0052] In another embodiment provided by the present application, the implementation process of the full-process braking and conveying control method provided by the present application is described by taking the empty bobbins of the roving frame as an example.

[0053] When all the bobbins in a certain section on the roving frame side are empty, a signal to take out the empty bobbins is sent to the mother car, and the mother car runs to the bobbin exit position on the roving frame side. The main control dispatches the shuttle car to transport two empty bobbins from the bobbin entry position on the roving frame side to a specific position. After the empty bobbins are driven back to the mother car by the sub-carriage, the empty bobbins are transported to the bobbin entry position on the draw frame side for delivery.

[0054] In another embodiment provided in the present application, during the real-time step 103, the number of sliver cans in the second target position can be obtained in real time, and when the number of sliver cans in the second target position reaches a set value, the current sliver can transport task is exited.

[0055] In another embodiment provided in the present application, in order to further improve the positioning accuracy of the mother vehicle and the child vehicle, in this embodiment, when the mother vehicle and the child vehicle run to the first target position or the second target position, the closed-loop control servo subroutine is started to realize servo positioning control.

[0056] The process of implementing servo positioning control using a closed-loop control servo subroutine may include:

[0057] 1) Get the current position of the parent vehicle and the child vehicle.

[0058] 2) Obtaining a relative stroke based on the current positions, target positions and position coefficients of the mother vehicle and the child vehicle. The target position is the first target position or the second target position.

[0059] For example, the calculation formula of the relative stroke is S: S = β*(X1-X0), where β is the position coefficient, X1 is the target position, and X0 is the current position of the mother vehicle and the child vehicle.

[0060] 3) Based on the relative travel, the mother vehicle and the child vehicle are controlled to reach the initial target position. For example, the initial target position is recorded as X2.

[0061] 4) Optimize the position coefficient based on the initial target position, relative travel, and the current position of the mother vehicle and the child vehicle. For example, the optimized position coefficient can be expressed as β′,

[0062] 5) Based on the optimized position coefficient, the current position and target position of the mother vehicle and the child vehicle, the relative stroke is updated, and the mother vehicle and the child vehicle are controlled to move to the target position according to the updated relative stroke.

[0063] Based on the control of the closed-loop control servo subroutine in this embodiment, in actual application, it can ensure that the mother vehicle and the child vehicle are at the position of X1±2mm.

[0064] In another embodiment provided in the present application, taking the application of the full-process braking and conveying control method provided in the present application to the sliver tube conveying system provided in the Chinese patent application with application number 2024110803 as an example, the specific implementation process of the above-mentioned scheme provided in the present application is explained.

[0065] (1) After the draw frame produces a full cone, its control system communicates with the main control system wirelessly to inform the full cone information (the draw frame has two positions for producing full cones).

[0066] (2) The main control system receives the full barrel information of the draw frame and analyzes the status of the sub-carriage and the mother car. If the sub-carriage and the mother car are busy at this time, the main control system queues this task.

[0067] (3) If the sub-carriage and the mother car are in an idle state at this time, the main control system dispatches the sub-carriage and the mother car to the position where the draw frame produces full bobbins through wireless communication, and the sub-carriage and the mother car carry the full bobbins (up to 2 bobbins). After the main control system communicates with the roving frame, the roving frame track that needs full bobbins is allocated according to the status of the roving frame. The sub-carriage and the mother car carry the full bobbins to the corresponding track and place the full bobbins at the front end of the track.

[0068] (4) The shuttle car in the corresponding track transports the full cans carried by the sub-cart and the mother car to the end of the track for arrangement, and the main control system records the number and status of the cans.

[0069] (5) Repeat steps (1) to (4) until the number of cans on this track reaches the specified number. Depending on the model of the roving frame, the number of cans on each track varies from 24 to 36.

[0070] (6) The main control system scans the empty tube track of the roving frame (the track carries the empty cotton tubes produced), and sends instructions to the shuttle car in the empty tube track. The shuttle car transports the empty tubes to the front end of the track in the order in which the empty tubes are arranged.

[0071] (7) The main control system receives the information about the arrival of the empty cylinder and analyzes the status of the sub-carriage and the main car. If the sub-carriage and the main car are busy at this time, the main control system queues this task.

[0072] If the sub-carriage and the mother car are in an idle state at this time, the main control system dispatches the sub-carriage and the mother car to the position of the empty cylinder track corresponding to the empty cylinder through wireless communication, and the sub-carriage and the mother car carry the empty cylinder (up to 2 cylinders). After the main control system communicates with the draw frame, the draw frame empty cylinder track is allocated according to the draw frame empty cylinder demand (each draw frame has 2 empty cylinder tracks), and the sub-carriage and the mother car carry the empty cylinder to the corresponding track and place the empty cylinder at the front end of the track. The empty cylinder of the draw frame is transported into the draw frame for production through the motor-driven belt.

[0073] (8) Repeat steps (6) and (7) to continuously supply empty tubes to the drawing frame, thereby forming an uninterrupted cycle operation.

[0074] Furthermore, when the main control system counts that the number of full bobbins on a certain track of the roving frame has reached a specified number, the main control system sends a command to the mother car to move it to the next track where full bobbins need to be arranged. When the mother car is idle, the mother car moves to the next track where full bobbins need to be arranged according to the command, and the sub-carriage carried by the mother car runs into this track. The main control system defines this sub-carriage as a shuttle car through commands, so that it has the corresponding functions of a shuttle car.

[0075] After completing the above steps, the main control system dispatches the mother car to move to the track where the original full barrel reaches the specified number. The shuttle car in this track runs onto the body of the mother car. The main control system defines this shuttle car as a sub-car through instructions, so that it has the corresponding functions of a sub-car.

[0076] At this point, the system has completed the interchange of the sub-carriage and the shuttle car and the lane change of the shuttle car, and entered the next empty and full barrel transportation cycle.

[0077] In the actual application process, in this embodiment, the whole control process of applying the full-process braking conveying control method provided by this application to the sliver can conveying system provided in the Chinese patent application with application number 2024110803 can be found in Figure 2 . Figure 2 In the figure, the empty bobbin car and the full bobbin car are the shuttle cars described above, and the mother-child car refers to the mother car carrying the child car.

[0078] Based on the same inventive concept, the embodiment of the present application also provides a full-process brake delivery control system for implementing the full-process brake delivery control method involved above. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more full-process brake delivery control system embodiments provided below can refer to the limitations of the full-process brake delivery control method above, and will not be repeated here.

[0079] In an exemplary embodiment, a full-process brake delivery control system is provided, comprising:

[0080] The transport information acquisition module is used to acquire the transport information, including the full bobbin information of the draw frame and the empty bobbin information of the roving frame.

[0081] The operation status determination module is used to determine the operation status of the mother car and the child car. The mother car and the child car are used to load the cotton sliver cans.

[0082] The control instruction generation module is used to generate control instructions when the operation status of the mother vehicle and the child vehicle is an idle state.

[0083] The transport control module is used to control the mother vehicle and the child vehicle to run to the first target position based on the transport information by using the control instruction, load the sliver can, and transport the sliver can to the second target position. When the first target position is the position of the drawing frame, the second target position is the position of the roving frame. When the first target position is the position of the roving frame, the second target position is the position of the drawing frame.

[0084] The transport queue information generating module is used to generate transport queue information when the operation status of the mother vehicle and the child vehicle is in a busy state, and to retrieve the operation status determination result of the operation status determination module.

[0085] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 3As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store full-process braking and delivery control data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a full-process braking and delivery control method is implemented.

[0086] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0087] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0088] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0089] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0090] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0091] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0092] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A full-process brake delivery control method, characterized in that: The full-process brake delivery control method comprises: Acquiring transport information; the transport information includes full bobbin information of the draw frame and empty bobbin information of the roving frame; Determine the operating status of the mother car and the sub-carriage; the mother car and the sub-carriage are used to load the cotton sliver cans; When the operation status of the mother vehicle and the child vehicle is an idle state, generating a control instruction; After the mother vehicle and the child vehicle are controlled to move to the first target position based on the transport information by using the control instruction, the sliver cans are loaded and transported to the second target position; when the first target position is the position of the drawing frame, the second target position is the position of the roving frame; when the first target position is the position of the roving frame, the second target position is the position of the drawing frame; When the operation status of the mother vehicle and the child vehicle is a busy state, the transport queue information is generated, and the process returns to the step of determining the operation status of the mother vehicle and the child vehicle.

2. The full-process brake delivery control method according to claim 1, characterized in that: After the control instruction is used to control the mother vehicle and the child vehicle to run to the first target position based on the transport information, the sliver cans are loaded and transported to the second target position. During this process, the number of sliver cans in the second target position is obtained in real time. When the number of sliver cans in the second target position reaches the set value, the current sliver can transport task is exited.

3. The full-process brake delivery control method according to claim 1, characterized in that: The full-process brake delivery control method also includes: When the mother vehicle and the child vehicle run to the first target position or the second target position, a closed-loop control servo subroutine is started to implement servo positioning control.

4. The full-process brake delivery control method according to claim 3, characterized in that: The process of implementing servo positioning control using a closed-loop control servo subroutine includes: Get the current position of the parent vehicle and child vehicle; Obtaining a relative stroke based on the current positions, target positions and position coefficients of the mother vehicle and the child vehicle; the target position is a first target position or a second target position; Controlling the mother vehicle and the child vehicle to reach an initial target position based on the relative stroke; Optimizing the position coefficient based on the initial target position, the relative travel, and the current positions of the mother vehicle and the child vehicle; The relative stroke is updated based on the optimized position coefficient, the current positions of the mother vehicle and the child vehicle, and the target positions, and the mother vehicle and the child vehicle are controlled to move to the target position according to the updated relative stroke.

5. A full-process brake delivery control system, characterized in that: The full-process brake delivery control system includes: A transport information acquisition module, used to acquire transport information; the transport information includes full bobbin information of the draw frame and empty bobbin information of the roving frame; An operation status determination module is used to determine the operation status of the mother car and the child car; the mother car and the child car are used to load sliver cans; A control instruction generating module, used for generating a control instruction when the operation status of the mother vehicle and the child vehicle is an idle state; a transport control module, configured to use the control instruction to control the mother vehicle and the child vehicle to run to the first target position based on the transport information, load the sliver cans, and transport the sliver cans to the second target position; when the first target position is the position of the drawing frame, the second target position is the position of the roving frame; when the first target position is the position of the roving frame, the second target position is the position of the drawing frame; The transport queue information generating module is used to generate transport queue information when the operating status of the mother vehicle and the child vehicle is in a busy state, and to retrieve the operating status determination result of the operating status determination module.

6. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the full-process brake delivery control method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the full-process brake delivery control method described in any one of claims 1 to 4 is implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the full-process brake delivery control method described in any one of claims 1 to 4 is implemented.

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