Ring spinning spun yarn automatic joint self-navigation composite robot and interaction control method of cooperation system thereof

Abstract

The invention discloses a ring spinning spun yarn automatic joint self-navigation composite robot and an interactive control method of a cooperative system thereof. Starting from the interactive control method of the ring spinning spun yarn automatic joint robot and the cooperative system thereof and the actual operation condition of each device of a spinning frame, the problem that an air blowing and suction device and a falling device of the spinning frame conflict with AGV operation is solved by utilizing an AGV-driven signal interaction mode. Interaction control of the AGV, the spinning frame air blowing and suction device and the falling device is achieved in a database sharing mode. According to the method, the difference of air blowing and suction motion states of different spinning frames is considered, AGV coping strategies in different motion states are introduced, and therefore the operation safety of the AGV in the roadway of the spinning frames is enhanced.

Description

Technical Field

[0001] The invention relates to an interactive control method of a self-navigating composite robot for automatic jointing of ring-spinning yarn and a collaborative system thereof, and belongs to the cross-technical fields of computer control, real-time communication, automatic scheduling and the like. Background Art

[0002] Splicing is an important link to ensure continuous weaving and is widely used in the production process of roving to spinning of various counts of spinning machines. The collaborative control splicing technology needs to go through the execution process of yarn break detection, AGV assignment, AGV path planning and obstacle avoidance strategy. In the above-mentioned AGV execution process, due to the repeated patrol action of the blowing and suction device hanging on the spinning machine and the execution action of the collection device generated by the yarn dropping in the middle of the spinning machine, the AGV cannot operate normally in the working area, and even cause the parts of the spinning machine to collide with the AGV actuator, causing unnecessary economic losses to the textile enterprise. However, the instructions for controlling the blowing and suction device and the collection device in the spinning machine are not highly integrated with the AGV, which makes it difficult for the AGV to interact with the parts of the spinning machine. Therefore, how to control the interference of the blowing and suction device and the collection device on the AGV movement, perform reasonable path scheduling optimization, and realize the interactive control of the splicing of the AGV and the spinning machine are key issues that need to be solved urgently.

[0003] With the development of automatic handling technology, many scholars have begun to study the collaborative control method of spinning joints. The current collaborative control methods can be divided into control methods based on traditional path planning, computer vision interactive control methods, and interactive control methods based on robot input constraints. The traditional interactive control method pre-sets the execution route and execution time of the AGV, characterizes the operation trajectory of the AGV in both time and space, and achieves the expected operation results of the AGV. However, this method has the defects of poor environmental adaptability, simple application scenarios, and inability to avoid spinning machine components in real time, and cannot cope with the complex interactive tasks in the normal working environment of the spinning machine. With the widespread application of computer vision and automation technology, an interactive control method based on computer vision has been proposed. By combining computer vision with radar sensing real-time monitoring, the pre-recorded map feature points are analyzed and compared with the feature points scanned by the radar in real time to generate map confidence, so that the AGV can avoid large fixed obstacles such as spinning machines and walls by itself. However, due to the delay in the comparison process of AGV's computer vision and radar scanning recognition, and the certain response time for data transmission to the AGV and data processing, this method is difficult to meet the real-time and fast interaction requirements of the spinning frame on-site environment. In order to overcome the difficulties of the above two methods in data, application and real-time interactive control, the AMR interactive control method based on robot input constraints has been widely studied. Through systematic customization of specific tasks, the AGV can realize the interactive function of the AGV before, during and after the execution of each task, and give the AGV the ability to process and respond to data at each stage of the task. However, due to the uncertainty of mid-way yarn dropping and the intermittent nature of the blowing and suction movement, the AGV for mobile tasks is difficult to adapt to the real-time interactive scene of the spinning frame. This strategy has not broken through the essential difficulty of the collaborative interactive control method of the spinning joint to cope with the complex dynamic scene of the spinning frame, that is, to interact with the blowing and suction device and the colony device in real time to realize the precise path planning and operation control of the AGV.

[0004] At present, some scholars have begun to conduct interactive control of spinning joints based on composite robots, so as to solve the problem of real-time interaction delay and dynamic environmental changes between AGV and spinning machine components. Collaborative control is a cutting-edge control information science, which can collect the operating status of spinning machine components, the surrounding environment of the spinning machine and the motion status data of AGV in real time, so as to further issue motion instructions to AGV. However, due to the one-sided circuit motion of the blowing and suction device of the spinning machine and the movement of the collection device caused by random time yarn dropping, the general collaborative control method cannot achieve accurate control and real-time interaction of AGV spinning joints. Summary of the invention

[0005] The purpose of the present invention is to provide a joint collaborative control technology for an automatic joint robot.

[0006] In order to achieve the above-mentioned object, the technical solution of the present invention provides an interactive control method of a self-navigating composite robot for automatic piecing of ring spinning yarn and its collaborative system, which is characterized by comprising the following steps:

[0007] Step 1: Deploy the cloud-edge collaborative server, build a collaborative architecture model of the spinning frame, AGV, and the cloud-edge collaborative server, and use the proactive collaborative scheduling system to uniformly control the execution actions of the spinning frame and AGV;

[0008] Step 2: Classify the spinning frames connected to the cloud-edge collaborative server by type and number, and link the spinning frames of the same process to different compatible AGV models. The single spindle signal acquisition device on the spinning frame acquires and updates various single spindle monitoring data sets S, blowing and suction device operation data sets C, and colony device operation data sets J in real time;

[0009] Step 3: The proactive collaborative scheduling system uses the single spindle detection data of the spinning frame collected in step 2, packages it into tasks according to the spinning frame number, and distributes it to the AGV corresponding to the model and spinning frame;

[0010] Step 4, the proactive collaborative scheduling system shares the operation position information and status information of the blowing and suction device of the spinning frame in the blowing and suction device operation data set C collected in step 2 and the operation position information and status information of the gathering device of the spinning frame in the gathering device operation data set J with the AGV;

[0011] Step 5: The AGV obtains the information of step 3 and step 4 shared by the proactive collaborative scheduling system, and determines whether the AGV meets the conditions for entering the lane, so that the AGV can enter the lane and work in an orderly manner.

[0012] Preferably, in step 1, the cloud-edge collaborative server deploys and opens a remote connection port, deploys AGV and spinning frames in a unified local area network, opens the server database connection permission to the proactive collaborative scheduling system and the spinning frames, and the spinning frames and the proactive collaborative scheduling system send connection requests. The cloud-edge collaborative server makes a unified response to the connection requests to ensure the rationality and security of establishing the connection.

[0013] Preferably, in step 2, the spinning frame single spindle monitoring data set S, the blowing and suction device operation data set C and the colony device operation data set J are expressed as:

[0014] S={(x1,y1,z1),...,(x n ,y n ,z n )}

[0015] C={(x1,y1 ′,z1 ′ ),...,(x n ,y n ′ ,z ′ n )}

[0016] J={(x1,p1,q1),...,(x n ,p n ,q n )}

[0017] In the formula, x1~x n Indicates the number of different spinning frames, y n Indicates the corresponding x n Breakpoint number on the spinning frame, z1~z n Identifier indicating the breakpoint number; y ′ n Indicates the corresponding x n Operation position information of blowing and suction device of spinning frame, z ′ 1~z ′ n Indicates the operating status information of the blowing and suction device; p n Indicates the corresponding x n The operating position information of the spinning collection device, q1~q n Indicates the operating status information of the colony unit.

[0018] Preferably, in step 5, the scheduling method for AGV to enter the lane in an orderly manner is a queue sorting method based on the single spindle detection breakpoint number, and the visual effect of the upper wiring actuator carried by the AGV is fed back to the value in the shared database, so that the AGV can skip some abnormal spindle numbers on some spinning frames, which specifically includes the following steps:

[0019] Step 501, analyzing the running state of the colony device obtained by the AGV, so that the start time of the colony device is greater than the sum of the transportation time of the AGV in the lane and the AGV spinning joint time, as shown in the following formula:

[0020] T p >T m +i*T e

[0021] Where, T p , T m and T e They represent the start time of the colony device, the transportation time of the AGV in the lane, and the single AGV spinning joint time, respectively, and i represents the number of breakpoints on the spinning frame;

[0022] Step 502: Analyze the operating status of the blowing and suction device obtained by the AGV so that the approximate position of the blowing and suction device does not interfere with the task position of the AGV joint:

[0023] If the movement direction of the AGV is consistent with the movement direction of the blowing and suction device and the AGV is located behind the blowing and suction device, the movement speed of the AGV is slowed down to not exceed the movement speed of the blowing and suction device;

[0024] If the movement direction of the AGV is consistent with that of the blowing and suction device and the AGV is in front of the blowing and suction device, the blowing and suction device will be stopped, and the AGV will send a resumption signal to the blowing and suction device after the AGV leaves the lane;

[0025] If the AGV moves in the opposite direction to the blowing and suction device, the AGV first reduces its own speed to below the blowing and suction speed, and then sends a signal to the blowing and suction device to make it move in the opposite direction to the front or rear of the vehicle, waiting for the AGV to resume operation signal;

[0026] Step 503, when the automatic splicing robot stops at the spindle number where the spinning frame cannot be spliced ​​because it is lifted up, the visual system of the upper splicing structure recognizes that the spindle is abnormal, writes the current spindle number into the shared database, and the scheduling system removes the spindle number task and goes to other connection target points.

[0027] Preferably, in step 502, there are:

[0028] v a ≤v w

[0029] In the formula, v a Indicates the AGV movement speed that is consistent with the blowing and suction wind and lags behind the blowing and suction wind, v w Indicates the speed of blowing and sucking wind.

[0030] Compared with the prior art, the present invention has the following technical effects:

[0031] (1) The present invention starts from the interactive control method of the ring spinning automatic jointing robot and its coordinated system and the actual operation conditions of each device of the spinning frame, and uses the signal interaction mode driven by AGV to overcome the problem of conflict between the blowing and suction device and the colony device of the spinning frame and the operation of AGV;

[0032] (2) The present invention realizes interactive control of AGV, blowing and suction device and colony device of spinning frame by sharing database;

[0033] (3) The present invention takes into account the differences in the movement states of blowing and suction of different spinning frames, and introduces AGV response strategies under different movement states, thereby enhancing the safety of AGV operation in the spinning frame lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A flow chart of the interactive control method of the ring spinning yarn automatic piecing self-navigation composite robot and its collaborative system provided by the present invention;

[0035] Figure 2 This is a flow chart of the overall joint cruising joint control involved in the present invention. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0037] like Figure 1 As shown, the present invention discloses an interactive control method of a ring spinning automatic joint self-navigation composite robot and its collaborative system, wherein the device adopted includes: a bottom AGV trolley, an upper wiring actuator carried by the AGV, a PLC control algorithm of the wiring actuator, a computer vision positioning and recognition system, a host computer system connected to the PLC control algorithm, a spinning frame single spindle signal and blowing and suction state acquisition and control device, a proactive collaborative scheduling system, a shared information database and a cloud-edge collaborative scheduling server, and the method specifically includes the following steps:

[0038] Step 1: Deploy the cloud-edge collaboration server and enable the listening port service.

[0039] Step 2: The AGV and the spinning frame respectively request to connect to the cloud-edge collaborative server and agree to the data response initiated by the server. In the embodiment of the present invention, step 2 further includes the following steps:

[0040] Step 201, the present invention uses the cloud-edge collaborative server to access the spinning frame data, so as to obtain the broken end information in real time and share it with the AGV. Build a data transmission architecture from the server to the spinning frame and then to the AGV, including the spinning frame single spindle monitoring data set S, the blowing and suction device operation data set C and the colony device operation data set J, as shown in the following formula.

[0041] S={(x1,y1,z1),...,(x n ,y n ,z n )}

[0042] C={(x1,y1 ′ ,z1 ′ ),...,(x n ,y n ′ ,z′ n )}

[0043] J={(x1,p1,q1),...,(x n ,p n ,q n )}

[0044] In the formula, x n ,y n 、z n Respectively represent the numbers of different spinning frames, the breakpoint numbers on the corresponding spinning frames, and the identifiers of the breakpoint numbers, y n ′ 、z ′ n and p n ,q n Respectively represent the operation position information and operation status information of the blowing and suction device of the spinning frame and the operation position information and operation status information of the spinning collection device;

[0045] Step 202: Determine whether the colony device meets the AGV operation conditions, as shown in the following formula.

[0046] T p >T m +i*T e

[0047] Where, T p Indicates the start time of the colony. If it is greater than the moving time T of the AGV in the lane m Connection time with AGV i*T e The sum of the values ​​of , then the AGV can enter the spinning frame lane to work.

[0048] Step 3: Analyze the operating status of the blowing and suction device and the AGV, and formulate the rules for the AGV to change with the blowing and suction movement. In the embodiment of the present invention, step 3 further includes the following contents:

[0049] If the movement direction of the AGV is consistent with that of the blowing and suction device and the AGV is behind the blowing and suction device, the movement speed of the AGV is slowed down to a speed not exceeding that of the blowing and suction device, so that the AGV can reach the task point normally and complete the operation without colliding with the blowing and suction device;

[0050] If the movement direction of the AGV is consistent with that of the blowing and suction device and the AGV is in front of the blowing and suction device, the blowing and suction device will be stopped. After the AGV leaves the lane, the AGV will send a resume operation signal to the blowing and suction device to avoid collision between the blowing and suction device and the AGV due to the lack of infrared sensors.

[0051] If the movement direction of the AGV is opposite to that of the blowing and suction device, the AGV will first reduce its own speed to below the blowing and suction speed, and then send a signal to the blowing and suction device to make it run in the opposite direction to the front or rear of the vehicle, waiting for the AGV to resume operation signal to avoid the AGV colliding with the blowing and suction device due to excessive speed.

[0052] Step 4: AGV performs the packaging task stably according to the detection data number of the single spindle of the spinning frame.

[0053] In the technical solution disclosed in the present invention, before the automatic jointing starts, the single spindle signal and blowing and suction state acquisition and control device of the spinning frame is connected to the PLC control device of the spinning frame and starts real-time data acquisition. The data acquisition cycle is preset, and the collected data is written into the shared information database for subsequent coordination and scheduling.

[0054] The proactive scheduling system determines whether the spinning frame is in the operating condition that the fully automatic jointing robot can perform according to the collected spinning frame status data, the spinning frame spindle speed, spindle length and remaining yarn dropping time in the shared information database. At the same time, the scheduling system determines whether the blowing and suction device of the spinning frame is turned on and off according to the collected shared information database. When the fully automatic jointing robot is working, the proactive scheduling system will stop the blowing and suction device of the spinning frame at the tail of the spinning frame in advance. When the fully automatic jointing robot leaves the current spinning frame, the scheduling system will turn on the blowing and suction device of the spinning frame. When the single spindle yarn breakage data in the collected shared information database is not empty, the scheduling system will share the yarn breakage status information of the spinning frame with all jointing robots and generate the line patrol jointing tasks for each machine. Combined with production demand, spinning frame efficiency and historical failure rate, the jointing tasks are intelligently sorted, and the spinning frame that has just dropped yarn is given priority.

[0055] After the joint task is generated, before the joint robot enters the spinning frame lane, the dispatching system issues a command to close the blowing and suction device of the spinning frame to determine whether the blowing and suction devices on the AGV moving route are all in the closed state to ensure safe arrival at the target point. When the joint task needs to be executed across the spinning frame, the previously closed blowing and suction device will be opened before the joint robot leaves.

[0056] Furthermore, the large number of spindle numbers in the spinning machine means that the AGV needs to stop at many stations. The AGV needs to determine the location of the target point before moving, and use the laser radar and QR code fusion navigation to go to the target point at that time. After the AGV moves to the designated target point, the scheduling system writes to the shared database to trigger the PLC joint action. First, the visual system determines whether the current spindle number meets the joint conditions, and writes whether the joint can be made or the joint result to the shared database to inform the AGV. The AGV makes movement judgments by reading and writing the shared database, and ensures that the robot shaft will not extend during the movement process to protect the robot from collision. After the joint is completed, the joint result is recorded and optimized.

[0057] In addition to basic joint information, the technical solution disclosed in the present invention also records environmental parameters, spinning machine operating status, energy consumption and other data to build a comprehensive production database. The joint optimization algorithm is constructed using big data analysis technology to analyze the joint results and make optimization suggestions. The joint strategy, navigation algorithm and task allocation logic are continuously optimized according to the feedback data to achieve continuous self-improvement of the system.

[0058] like Figure 2 As shown, the overall joint tour joint control method involved in the present invention comprises the following steps:

[0059] Step 1: The AGV stops at the waiting site to ensure that there are no problems with the upper wiring actuator and that initialization is complete.

[0060] Step 2, judging whether the spinning frame in the waiting area has the working conditions (in the embodiment of the present invention, judging whether the spinning frame is in a normal working state).

[0061] Step 3, shut down some of the blowing and suction devices of the spinning frames in the waiting area. If there are more than three spinning frames to be connected, shut down the blowing and suction devices of the spinning frames in units of three during the line patrol process.

[0062] Step 4: After the blowing and suction device of the first spinning frame stops successfully, patrol the line from right to left to perform the jointing task.

[0063] Step 5. When the jointing robot connects to the L position of the spinning frame, it can directly enter the lane for jointing. After the jointing is completed, it stops at the last point in this patrol line to determine whether the blowing and suction of the next spinning frame in the same lane meets the jointing state (in this embodiment, it determines whether the spinning frame is in normal working condition). If the joint can be made, it goes directly to the R position for jointing, otherwise it goes directly to the next line for jointing judgment. When the jointing robot connects to the first point of the R position of the spinning frame, it turns on the blowing and suction device of the previous spinning frame. After the joint is completed, it can directly enter the L position of the same spinning frame for jointing.

[0064] Step 6: After this round of jointing tour is finished (check the blowing and suction status of all spinning frames to prevent leakage), return to the starting position of the first spinning frame and return to step 1.

Claims

1. An interactive control method of a self-navigating composite robot for automatic piecing of ring spinning yarn and its collaborative system, characterized in that: The following steps are involved: Step 1: Deploy the cloud-edge collaborative server, build a collaborative architecture model of the spinning frame, AGV, and the cloud-edge collaborative server, and use the proactive collaborative scheduling system to uniformly control the execution actions of the spinning frame and AGV; Step 2: Classify the spinning frames connected to the cloud-edge collaborative server by type and number, and link the spinning frames of the same process to different compatible AGV models. The single spindle signal acquisition device on the spinning frame acquires and updates various single spindle monitoring data sets S, blowing and suction device operation data sets C, and colony device operation data sets J in real time; Step 3: The proactive collaborative scheduling system uses the single spindle detection data of the spinning frame collected in step 2, packages it into tasks according to the spinning frame number, and distributes it to the AGV corresponding to the model and spinning frame; Step 4, the proactive collaborative scheduling system shares the operation position information and status information of the blowing and suction device of the spinning frame in the blowing and suction device operation data set C collected in step 2 and the operation position information and status information of the gathering device of the spinning frame in the gathering device operation data set J with the AGV; Step 5: The AGV obtains the information of step 3 and step 4 shared by the proactive collaborative scheduling system, and determines whether the AGV meets the conditions for entering the lane, so that the AGV can enter the lane and work in an orderly manner.

2. The interactive control method of a self-navigating composite robot for automatic piecing of ring spinning yarn and its collaborative system as claimed in claim 1, characterized in that: In step 1, the cloud-edge collaborative server deploys and opens the remote connection port, deploys the AGV and spinning frame in a unified local area network, opens the server database connection permission to the proactive collaborative scheduling system and the spinning frame, and the spinning frame and the proactive collaborative scheduling system send connection requests. The cloud-edge collaborative server makes a unified response to the connection request to ensure the rationality and security of establishing the connection.

3. The interactive control method of a self-navigating composite robot for automatic piecing of ring spinning yarn and its collaborative system as claimed in claim 1, characterized in that: In step 2, the spinning frame single spindle monitoring data set S, the blowing and suction device operation data set C, and the colony device operation data set J are expressed as: S={(x1,y1,z1),…,(x n ,y n ,z n )} C={(x1,y1 ′ ,z1 ′ ),…,(x n ,y n ′ ,z ′ n )} J={(x1,p1,q1),...,(x n ,p n ,q n )} In the formula, x1~x n Indicates the number of different spinning frames, y n Indicates the corresponding x n Breakpoint number on the spinning frame, z1~z n Identifier indicating the breakpoint number; y ′ n Indicates the corresponding x n Operation position information of blowing and suction device of spinning frame, z ′ 1~z ′ n Indicates the operating status information of the blowing and suction device; p n Indicates the corresponding x n The operating position information of the spinning collection device, q1~q n Indicates the operating status information of the colony unit.

4. The interactive control method of a self-navigating composite robot for automatic piecing of ring spinning yarn and its collaborative system as claimed in claim 1, characterized in that: In step 5, the scheduling method for AGV to enter the lane in an orderly manner is a queue sorting method based on the single spindle detection breakpoint number, and the visual effect of the upper wiring actuator carried by the AGV is fed back to the value in the shared database, so that the AGV can skip some abnormal spindle numbers on some spinning frames, which specifically includes the following steps: Step 501, analyzing the running state of the colony device obtained by the AGV, so that the start time of the colony device is greater than the sum of the transportation time of the AGV in the lane and the AGV spinning joint time, as shown in the following formula: T p >T m +i*T e Where, T p , T m and T e They represent the start time of the colony device, the handling time of the AGV in the lane, and the single AGV spinning joint time, respectively, and i represents the number of breakpoints on the spinning frame; Step 502: Analyze the operating status of the blowing and suction device obtained by the AGV so that the approximate position of the blowing and suction device does not interfere with the task position of the AGV joint: If the movement direction of the AGV is consistent with the movement direction of the blowing and suction device and the AGV is located behind the blowing and suction device, the movement speed of the AGV is slowed down to not exceed the movement speed of the blowing and suction device; If the movement direction of the AGV is consistent with that of the blowing and suction device and the AGV is in front of the blowing and suction device, the blowing and suction device will be stopped, and the AGV will send a resumption signal to the blowing and suction device after the AGV leaves the lane; If the AGV moves in the opposite direction to the blowing and suction device, the AGV first reduces its own speed to below the blowing and suction speed, and then sends a signal to the blowing and suction device to make it move in the opposite direction to the front or rear of the vehicle, waiting for the AGV to resume operation signal; Step 503, when the automatic splicing robot stops at the spindle number where the spinning frame cannot be spliced ​​because it is lifted up, the visual system of the upper splicing structure recognizes that the spindle is abnormal, writes the current spindle number into the shared database, and the scheduling system removes the spindle number task and goes to other connection target points.

5. The interactive control method of a self-navigating composite robot for automatic piecing of ring spinning yarn and its collaborative system as claimed in claim 4, characterized in that: In step 502, there are: in a ≤in w In the formula, v a Indicates the AGV movement speed that is consistent with the blowing and suction wind and lags behind the blowing and suction wind, v w Indicates the speed of blowing and sucking wind.

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