Task management method of chemical fiber automatic doffing robot

Abstract

The invention provides a task management method for a chemical fiber automatic doffing robot, and aims to solve the problem that a conventional robot is easy to jam in spinning cake collecting and storing operation. According to the method, a pre-calling module is arranged on a winding machine, a scheduling system is continuously called in advance before the operation is completed, and a spinning pushing allowing signal is sent; the scheduling system generates corresponding wire receiving and storing tasks and distributes the tasks to the automatic doffing robots in the idle state, all the robots move in sequence according to a preset annular one-way route to form a robot advancing queue, and when the tasks are executed, the robots exit from the queue and join the queue again after completion; therefore, mutual obstruction between the robots is avoided, and the operation efficiency and the overall efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a task management method of a chemical fiber automatic doffing robot. Background Art

[0002] In the process of chemical fiber production, the handling of silk cakes has always been a labor-intensive link. The traditional manual handling method is not only labor-intensive, but also has a harsh working environment, high temperature and high noise, which has a negative impact on the physical and mental health of operators. It is also difficult to recruit enough workers, resulting in low production efficiency. In addition, manual handling efficiency is low and cannot meet the production needs of high output. It is also prone to misoperation, resulting in unstable product quality.

[0003] In order to solve these problems, in recent years, the chemical fiber industry has begun to try to use floor rails or automatic bobbin-dropping robots to replace manual handling of silk cakes. However, most of the existing technical solutions use a reciprocating return line handling system, which requires multiple round trips on the same path to complete the task, wasting a lot of time and is not suitable for high-output production lines. Moreover, this reciprocating system is prone to blockage problems, especially when there are obstacles on the path or equipment failures, which will cause the entire system to stagnate and it is difficult to ensure production stability. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects in the prior art and provide a task management method for a chemical fiber automatic doffing robot which can solve the congestion problem during robot operation and improve the robot's operating efficiency.

[0005] In order to solve the above problems, the present invention provides a task management method for a chemical fiber automatic doffing robot, wherein a robot automatic bobbin storage system is provided, and the robot automatic bobbin storage system comprises a scheduling system, a wireless network, a plurality of automatic doffing robots, a plurality of winding machines and a plurality of wire storage boxes, wherein the winding machines are arranged in parallel on the left and right and divided into two rows, and the wire storage boxes are arranged in parallel on the left and right at one end of the winding machines in the same row, and the automatic doffing robot is movably arranged between the winding machines and the wire storage boxes, and the automatic doffing robot and the winding machines communicate with the scheduling system through the wireless network respectively, and the task management method comprises the following steps:

[0006] Step 1: A pre-call module is set on the winding machine. The pre-call module continuously calls the scheduling system before the winding operation of the winding machine is completed according to the preset advance call time, and sends a wire pushing permission signal to the scheduling system when the winding operation is completed;

[0007] Step 2: According to the order of the winding machine call time, the dispatching system generates a wire connection task, and generates a wire storage task for each wire connection task. According to the working status of the automatic doffing robot, the dispatching system assigns the wire connection task and the wire storage task to the automatic doffing robot in an idle state;

[0008] Step 3: Between the winding machine and the wire storage box, the scheduling system controls all automatic bobbin-dropping robots to move in sequence along a preset circular one-way route to form a robot travel queue; when the automatic bobbin-dropping robot performs a wire connecting task or a wire storage task, the automatic bobbin-dropping robot withdraws from the robot travel queue and rejoins the robot travel queue after the task is completed.

[0009] Compared with the prior art, the advantages of the present invention lie in that: the present invention adopts a circular unidirectional travel route, avoiding the repeated paths and congestion problems of the traditional reciprocating route, and cooperates with the scheduling system to delay and centrally distribute tasks in order, thereby realizing the orderly operation of the automatic bobbin-dropping robot, ensuring that the robot completes the wire connecting and wire storing tasks efficiently and accurately, and improving production efficiency and automation level.

[0010] The specific steps to perform step 2 are as follows:

[0011] Step 2.1: Set up a task temporary storage pool, a task available pool, a robot available pool, a remote allocation module and a task flow module in the scheduling system. The scheduling system stores the generated wire splicing tasks in the task temporary storage pool. Set the condition parameters for adding the wire splicing tasks in the task temporary storage pool to the task available pool in the scheduling system. The remote allocation module stores the position data of each winding machine.

[0012] Step 2.2: The remote allocation module monitors all the wire-connecting tasks in the task temporary storage pool in real time. When a wire-connecting task in the task temporary storage pool meets the conditions for joining the task available pool, the remote allocation module adds the wire-connecting task to the task available pool and generates a wire storage task corresponding to the wire-connecting task in the task available pool;

[0013] Step 2.3: The remote allocation module monitors the operating status of all automatic doffing robots in real time. When the automatic doffing robot does not perform the wire joining task or the wire storing task, the remote allocation module adds the automatic doffing robot to the robot available pool;

[0014] Step 2.4: When there is an automatic doffing robot in the robot available pool and there are wire splicing tasks and wire storage tasks in the task available pool, the remote allocation module will allocate the wire splicing task and the corresponding wire storage task in the task available pool to the corresponding automatic doffing robot in the robot available pool according to the allocation rule that the shortest time is required for the automatic doffing robot to reach the winding machine where the wire splicing task is located;

[0015] Step 2.5: When the remote allocation module completes the allocation of wire connection tasks and wire storage tasks, the task flow module sends each wire connection task and the corresponding wire storage task to the corresponding automatic bobbin-dropping robot. At the same time, the task flow module transmits the position data of the winding machine where each wire connection task is located to the corresponding automatic bobbin-dropping robot.

[0016] This technical solution further optimizes the task allocation mechanism of the scheduling system by setting up a task temporary pool, a task available pool, a robot available pool, a remote allocation module and a task process module, effectively improving the efficiency and accuracy of task allocation, reducing mutual waiting and congestion between robots, and improving overall operating efficiency.

[0017] In step 2.2, the specific steps of adding the wire-joining task to the available task pool include:

[0018] Step 2.2.1a: The dispatching system stores the burst time and safety time of each winding machine, and stores the delayed centralized allocation time of the remote allocation module, wherein the burst time refers to the maximum time that the silk cake is allowed to stay on the winding machine after the winding machine sends a signal to allow the wire to be pushed, the safety time refers to the latest time that the silk cake is allowed to be taken away before the burst time arrives, and the delayed centralized allocation time refers to the preset value of delayed allocation given after the winding machine sends a call signal; the winding machine performs a pre-call countdown after the call signal is sent, and starts the burst countdown after the signal to allow the wire to be pushed is sent;

[0019] Step 2.2.2a: The remote allocation module traverses the wire splicing tasks in the task temporary storage pool and sorts them in the order of the winding machine call time; the remote allocation module reads a wire splicing task from the task temporary storage pool each time as the current wire splicing task, takes the winding machine where the current wire splicing task is located as the current winding machine, takes the winding machine adjacent to the current winding machine as the adjacent winding machine, and executes step 2.2.3a;

[0020] Step 2.2.3a: Determine whether the adjacent winder also sends a call signal. If so, execute step 2.2.4a; otherwise, execute step 2.2.5a;

[0021] Step 2.2.4a: This round of traversal skips the wire splicing task on the adjacent winding machine and executes step 2.2.5a;

[0022] Step 2.2.5a: Determine whether the current time of the pipe burst countdown of the current winding machine is less than the safety time. If so, execute step 2.2.6a; otherwise, execute step 2.2.7a;

[0023] Step 2.2.6a: Determine whether the current time of the pre-call countdown is less than the delayed centralized allocation time. If so, execute step 2.2.7a; otherwise, execute step 2.2.8a;

[0024] Step 2.2.7a: Skip the current wire connection task and proceed to step 2.2.9a;

[0025] Step 2.2.8a: Add the current wire-joining task to the available task pool and execute step 2.2.9a;

[0026] Step 2.2.9a: Determine whether all the wire-joining tasks in the task temporary storage pool have been traversed. If so, execute step 2.2.10a. Otherwise, take the next wire-joining task from the task temporary storage pool as the current wire-joining task and execute step 2.2.3a.

[0027] Step 2.2.10a: The remote allocation module ends the current round of traversal of the task temporary pool and starts the next round of traversal.

[0028] The present technical scheme further refines the process of adding the wire connecting task to the available task pool, and controls the allocation timing of the wire connecting task more precisely by introducing the pipe burst time, safety time and delayed centralized allocation time. The remote allocation module traverses the wire connecting tasks in the task temporary storage pool in order of the call time of the winding machine, and determines whether the current wire connecting task needs to be added to the available task pool according to the pipe burst time, safety time and delayed centralized allocation time. If the current moment of the pipe burst countdown is less than the safety time, or the current moment of the pre-call countdown is less than the delayed centralized allocation time, the current wire connecting task will not be added to the available task pool, so as to avoid the idle waiting of the robot caused by the premature assignment of tasks. The scheme effectively improves the efficiency and accuracy of task assignment, avoids the idle waiting of the robot caused by the premature assignment of tasks, and improves the overall operation efficiency.

[0029] When executing step 2.2, a pipe burst warning module is set in the dispatching system. The operation steps of the pipe burst warning module are as follows:

[0030] Step 2.2.1b: After the dispatching system is started, the pipe burst warning module continuously monitors the wire joining tasks in the task temporary storage pool and continuously monitors the automatic tube-dropping robot in the robot available pool;

[0031] Step 2.2.2b: Determine whether the task temporary storage pool is empty. If it is empty, go to step 2.2.13a; otherwise, go to step 2.2.3a;

[0032] Step 2.2.3a: The pipe burst warning module selects the currently read wire splicing task as the target task, regards the winding machine where the target task is located as the target winding machine, obtains the current time of the pipe burst countdown and the safety time of the target winding machine, and determines whether the current time of the pipe burst countdown is less than the safety time. If so, proceed to step 2.2.4b, otherwise, proceed to step 2.2.12b;

[0033] Step 2.2.4b: Determine whether the robot pool is empty. If so, proceed to step 2.2.13b. Otherwise, find the automatic doffing robot that can reach the target winder the fastest from the robot pool, use it as the target robot, calculate the time required for the target robot to reach the target winder, record it as Tmin, and then proceed to step 2.2.5b.

[0034] Step 2.2.5b: Determine whether the traversal of the robot's available pool has been completed. If not, proceed to step 2.2.6b; otherwise, proceed to step 2.2.11b;

[0035] Step 2.2.6b: Determine whether the target robot currently has a wire joining task. If yes, proceed to step 2.2.8b; otherwise, proceed to step 2.2.7b;

[0036] Step 2.2.7b: Calculate the time required for the target robot to move from the current position to the target winder, record it as T1, and go to step 2.2.9b;

[0037] Step 2.2.8b: Calculate the time required for the target robot to move from the current position to the target winding machine and complete the wire connection operation at the target winding machine, and the time required for the target robot to move from the target winding machine to the corresponding wire storage box and complete the wire storage operation at the wire storage box, sum the above time and record it as T2, and go to step 2.2.9b;

[0038] Step 2.2.9b: Determine whether the minimum value of T1 and T2 is less than Tmin. If so, proceed to step 2.2.10b; otherwise, proceed to step 2.2.5b;

[0039] Step 2.2.10b: Assign Tmin to the minimum value of T1 and T2, and repeat steps 2.2.5b-2.2.10b until the available pool of robots is exhausted;

[0040] Step 2.2.11b: Determine whether the difference between the remaining time of the pipe burst countdown and Tmin is less than the safety time. If so, proceed to step 2.2.12b; otherwise, proceed to step 2.2.2b;

[0041] Step 2.2.12b: The pipe burst warning module removes the currently read wire splicing task from the task temporary storage pool, cancels the call signal of the winding machine where the wire splicing task is located, and goes to step 2.2.2b, and repeats steps 2.2.2b-2.2.12b until all wire splicing tasks are traversed;

[0042] Step 2.2.13b: The pipe burst warning module ends this round of traversal and starts the next round of traversal.

[0043] This technical solution introduces a pipe burst warning module, which is used to monitor the task temporary storage pool and the robot available pool in real time, and judge in advance whether the wire splicing task may cause a pipe burst due to the robot's failure to arrive in time. The pipe burst warning module determines whether the job can be completed within a safe time by calculating the time required for the robot to reach the target winding machine and the time required to complete the wire splicing and wire storage operations. If the job cannot be completed within the safe time, the pipe burst warning module will remove the wire splicing task in advance, cancel the call signal of the winding machine, and change to manual removal of the wire cake from the winding machine to avoid pipe burst. This solution effectively improves the safety of the system, avoids the risk of pipe burst due to the robot's failure to arrive at the winding machine in time, and ensures the safe and stable operation of the production process.

[0044] In step 2.3, the specific steps of adding the automatic doffing robot to the available robot pool include:

[0045] Step 2.3.1: Two wire shafts for performing wire joining and wire storage tasks are arranged on the automatic doffing robot;

[0046] Step 2.3.2: The remote allocation module traverses all the automatic doffing robots, and selects one automatic doffing robot as the current selected robot each time, and executes step 2.3.3;

[0047] Step 2.3.3: Determine whether the currently selected robot is assigned a wire joining task. If so, execute step 2.3.9; otherwise, execute step 2.3.4;

[0048] Step 2.3.4: Determine the status of the two spools of the currently selected robot loaded with the bobbin. If the two spools are completely empty, execute step 2.3.5. If the two spools are completely full, execute step 2.3.6. If one of the two spools is empty and the other is full, execute step 2.3.7.

[0049] Step 2.3.5: Add the currently selected robot to the available robot pool and execute step 2.3.9;

[0050] Step 2.3.6: If the currently selected robot is already at the silk storage box, execute step 2.3.8; if the currently selected robot is not at the silk storage box, walk to an empty silk storage box, and then execute step 2.3.8;

[0051] Step 2.3.7: Determine the current position of the selected robot. If it is at the winding machine, execute step 2.3.5; if it is at the wire storage box, execute step 2.3.8;

[0052] Step 2.3.8: The remote allocation module generates a wire storage task and allocates it to the currently selected robot, and then executes step 2.3.9;

[0053] Step 2.3.9: Determine whether the remote allocation module has traversed all the automatic doffing robots. If so, execute step 2.3.10; otherwise, the remote allocation module selects the next automatic doffing robot from all the automatic doffing robots as the current selected robot and executes step 2.3.3;

[0054] Step 2.3.10: The remote distribution module ends the current round of traversal of the automatic doffing robot and starts the next round of traversal.

[0055] The technical solution sets two wire reels on the automatic bobbin-docking robot, and determines whether the robot can be added to the available robot pool according to the loading status of the wire reels. The solution refines the judgment conditions for the robot's availability to the wire reel loading status, and determines whether it needs to perform wire connecting tasks, wire storage tasks, or directly move to the designated wire storage box according to the robot's current position. The solution effectively improves the accuracy and real-time performance of the robot's available pool, avoids erroneously adding robots with wire connecting tasks or wire storage tasks to the available pool, and ensures the accuracy and efficiency of task allocation.

[0056] The specific steps of step 2.4 are as follows:

[0057] Step 2.4.1: Set the delayed centralized distribution time to T, T = t1 + t2, where t1 represents the time required for the automatic doffing robot to travel one circle on the circular one-way travel route, and t2 represents the sum of the time required for the automatic doffing robot to complete the wire splicing operation preparation at the winding machine and the time required for the automatic doffing robot to take away all the wire cakes from the winding machine;

[0058] Step 2.4.2: Get the real time when the remote allocation module allocates the wire-joining task, and record it as the current time, and determine whether the difference between the current time and the earliest joining time of all the wire-joining tasks in the available task pool is greater than T. If the difference is greater than T, execute step 2.4.3, otherwise, execute step 2.4.8;

[0059] Step 2.4.3: Determine whether the number of robots in the robot available pool and the number of tasks in the task available pool are both greater than zero. If so, execute step 2.4.4; if not, execute step 2.4.8;

[0060] Step 2.4.4: Take out all automatic doffing robots from the available robot pool, take out all wire joining tasks from the available task pool, and execute step 2.4.5;

[0061] Step 2.4.5: Remove the wire splicing tasks that exceed the number of automatic doffing robots, or remove the automatic doffing robots that exceed the number of wire splicing tasks, ensure that the number of wire splicing tasks to be assigned is the same as the number of automatic doffing robots to be assigned, and then execute step 2.4.6;

[0062] Step 2.4.6: Sort the wire splicing tasks in descending order according to the time required for the automatic doffing robot to travel from the wire storage box to the location of the winding machine corresponding to the task, and execute step 2.4.7;

[0063] Step 2.4.7: For each wire splicing task, find the automatic doffing robot that takes the shortest time to reach the winding machine position corresponding to the task, assign the wire splicing task to the automatic doffing robot, and execute step 2.4.8;

[0064] Step 2.4.8: The remote allocation module ends the current round of wire joining task allocation and starts the next round of wire joining task allocation.

[0065] This technical solution introduces a quantity matching mechanism during delayed centralized allocation. When the delayed centralized allocation time expires, all robots and tasks will first be taken out from the robot available pool and the task available pool, and then the quantities of the two will be matched to ensure that the allocated quantities are consistent. This can avoid the situation where there are too many robots and not enough tasks, or too many tasks and not enough robots, thereby improving the efficiency and balance of allocation. This solution effectively prevents waste of resources, improves the accuracy of allocation, and ensures the stability and efficiency of system operation.

[0066] The specific steps for step 3 are as follows:

[0067] Step 3.1: After the automatic doffing robot receives the wire splicing task, the wire storage task and the position data of the winding machine where the wire splicing task is located, under the control of the scheduling system, the automatic doffing robot navigates to the corresponding winding machine according to the position data and exits from the robot travel queue at the winding machine. Subsequently, the automatic doffing robot completes the wire splicing operation preparation at the winding machine and waits for the wire pushing permission signal;

[0068] Step 3.2: When the dispatching system receives the wire pushing permission signal, the remote distribution module sends a wire pushing instruction to the winding machine that sends the wire pushing permission signal, and the winding machine is regarded as the current winding machine. After receiving the wire pushing instruction, the current winding machine pushes the wire cake to the corresponding automatic bobbin-dropping robot, and the automatic bobbin-dropping robot is regarded as the current automatic bobbin-dropping robot. The current automatic bobbin-dropping robot cooperates with the current winding machine to start the wire splicing operation. When the wire splicing operation is completed, the current winding machine cancels the call to the dispatching system, and the current automatic bobbin-dropping robot rejoins the robot marching queue and searches for an empty wire storage box under the control navigation of the dispatching system.

[0069] Step 3.3: After the current automatic bobbin-dropping robot reaches the empty wire storage box, the current automatic bobbin-dropping robot exits from the robot travel queue again and starts the wire storage operation at the corresponding wire storage box. After the wire storage operation is completed, under the control of the scheduling system, the current automatic bobbin-dropping robot rejoins the robot travel queue and is rejoined to the robot available pool by the remote allocation module, waiting for the next wire receiving task allocation.

[0070] This technical solution realizes robot autonomous navigation and task collaboration by setting up a robot marching queue. When the robot receives a task, it will navigate to the corresponding winding machine according to the position data and complete the preparation for the wire splicing operation. After receiving the signal allowing wire pushing, the winding machine will push the wire cake to the robot to complete the wire splicing operation. After that, the robot will automatically look for an empty wire storage box to perform the wire storage operation. During the whole process, the robot will enter and exit the marching queue according to the task requirements and work in collaboration with the winding machine and wire storage box. This solution simplifies the robot operation process, improves the degree of robot automation, and effectively improves the overall operation efficiency and stability.

[0071] When executing step 3.1, set the exchange task module in the scheduling system. The specific operation steps of the exchange task module are as follows:

[0072] Step 3.1.1: Sort the assigned wire splicing tasks in the order of the winding machine call time, and the exchange task module traverses the sorted assigned wire splicing tasks, takes the currently queried wire splicing task as the target wire splicing task, takes the automatic doffing robot that performs the target wire splicing task as the target robot, and takes the winding machine where the target wire splicing task is located as the target winding machine, and executes step 3.1.2;

[0073] Step 3.1.2: Determine whether the target robot is on the route to the target winding machine and whether there are other automatic doffing robots assigned with wire splicing tasks on the route. If the condition is met, all the automatic doffing robots that meet the condition are regarded as candidate robots and step 3.1.3 is executed. Otherwise, no processing is performed.

[0074] Step 3.1.3: The target robot exchanges the wire splicing task with the candidate robot that is closest to the target winding machine among the candidate robots, and then executes step 3.1.4;

[0075] Step 3.1.4: Determine whether the task exchange module has traversed all the assigned wire-joining tasks. If so, end the task exchange operation. Otherwise, the task exchange module queries the next assigned wire-joining task as the target wire-joining task and executes step 3.1.2.

[0076] This technical solution optimizes the wire splicing task allocation strategy by setting up an exchange task module and utilizing the positional relationship between robots. When a robot is on the route to a target winding machine, the exchange task module will determine whether there are other robots on the route that have been assigned wire splicing tasks and are closer to the target winding machine. If so, the wire splicing tasks between the two robots will be exchanged. This can ensure that task allocation is more reasonable and efficient, reduce robot driving time, and improve overall operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 It is a schematic diagram of the composition of the robot automatic storage system of silk cakes in the present invention;

[0078] Figure 2 is a functional block diagram of the winding machine in the present invention;

[0079] Figure 3 is a functional block diagram of the scheduling system in the present invention;

[0080] Figure 4 The principle block diagram of adding a wire splicing task to the available task pool of the present invention;

[0081] Figure 5 The principle block diagram of the present invention is to add an automatic doffing robot to the available robot pool;

[0082] Figure 6 This is a flowchart of the operation of the remote distribution module in the present invention;

[0083] Figure 7 This is an operation flow chart of the pipe burst warning module in the present invention;

[0084] Figure 8 It is the operation flow chart of the exchange task module in the present invention.

[0085] Description of reference numerals:

[0086] 1. Scheduling system; 1a. Task temporary storage pool; 1b. Task available pool; 1c. Robot available pool; 1d. Remote allocation module; 1e. Task flow module; 1f. Pipe burst warning module; 1g. Task exchange module; 2. Wireless network; 3. Automatic bobbin-dropping robot; 4. Winding machine; 4a. Pre-call module; 5. Wire storage box. DETAILED DESCRIPTION

[0087] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0088] like Figures 1 to 3As shown, the task management method of the chemical fiber automatic doffing robot is provided with a robot automatic storage system for silk cakes, the robot automatic storage system for silk cakes comprises a scheduling system 1, a wireless network 2, a plurality of automatic doffing robots 3, a plurality of winding machines 4 and a plurality of silk storage boxes 5, the winding machines 4 are arranged in parallel on the left and right and divided into two rows, the silk storage boxes 5 are arranged in parallel on the left and right and are arranged at one end of the winding machines 4 in the same row, the automatic doffing robot 3 is movably arranged between the winding machine 4 and the silk storage box 5, the automatic doffing robot 3 and the winding machine 4 communicate with the scheduling system 1 respectively through the wireless network 2, and is characterized in that the task management method comprises the following steps:

[0089] Step 1: a pre-call module 4a is provided on the winding machine 4, and the pre-call module 4a continuously calls the scheduling system 1 before the winding operation of the winding machine 4 is completed according to the preset advance call time, and sends a wire pushing permission signal to the scheduling system 1 when the winding operation is completed;

[0090] Step 2: According to the order of the calling time of the winding machine 4, the scheduling system 1 generates a wire connection task, and generates a wire storage task for each wire connection task. According to the working state of the automatic doffing robot 3, the scheduling system 1 assigns the wire connection task and the wire storage task to the automatic doffing robot 3 in an idle state;

[0091] Step 3: Between the winding machine 4 and the wire storage box 5, the scheduling system 1 controls all the automatic bobbin-dropping robots 3 to move in sequence along a preset circular one-way route to form a robot travel queue; when the automatic bobbin-dropping robot 3 performs a wire connecting task or a wire storing task, the automatic bobbin-dropping robot 3 withdraws from the robot travel queue and rejoins the robot travel queue after the task is completed.

[0092] The present invention adopts a circular unidirectional travel route, avoiding the repeated paths and congestion problems of the traditional reciprocating route, and cooperates with the scheduling system 1 to delay and centrally distribute tasks in order, thereby realizing the orderly operation of the automatic bobbin-dropping robot 3, ensuring that the robot completes the wire connecting and wire storing tasks efficiently and accurately, thereby improving production efficiency and automation level.

[0093] The specific steps to perform step 2 are as follows:

[0094] Step 2.1: a task temporary storage pool 1a, a task available pool 1b, a robot available pool 1c, a remote allocation module 1d and a task flow module 1e are set in the scheduling system 1. The scheduling system 1 stores the generated wire splicing task in the task temporary storage pool 1a, and sets condition parameters for adding the wire splicing task in the task temporary storage pool 1a to the task available pool 1b in the scheduling system 1. The remote allocation module 1d stores the position data of each winding machine 4.

[0095] Step 2.2: The remote allocation module 1d monitors all the wire-connecting tasks in the task temporary storage pool 1a in real time. When a wire-connecting task in the task temporary storage pool 1a meets the conditions for joining the task available pool 1b, the remote allocation module 1d adds the wire-connecting task to the task available pool 1b, and generates a wire storage task corresponding to the wire-connecting task in the task available pool 1b;

[0096] Step 2.3: The remote allocation module 1d monitors the operating status of all automatic doffing robots 3 in real time. When the automatic doffing robot 3 does not perform the wire joining task or the wire storing task, the remote allocation module 1d adds the automatic doffing robot 3 to the robot available pool 1c;

[0097] Step 2.4: When there is an automatic doffing robot 3 in the robot available pool 1c and there are a wire splicing task and a wire storage task in the task available pool 1b, the remote allocation module 1d will allocate the wire splicing task and the corresponding wire storage task in the task available pool 1b to the corresponding automatic doffing robot 3 in the robot available pool 1c according to the allocation rule that the shortest time is required for the automatic doffing robot 3 to reach the winding machine 4 where the wire splicing task is located;

[0098] Step 2.5: When the remote allocation module 1d completes the allocation of wire connecting tasks and wire storing tasks, the task flow module 1e sends each wire connecting task and the corresponding wire storing task to the corresponding automatic bobbin-dropping robot 3. At the same time, the task flow module 1e transmits the position data of the winding machine 4 where each wire connecting task is located to the corresponding automatic bobbin-dropping robot 3.

[0099] This technical solution further optimizes the task allocation mechanism of the scheduling system 1 by setting up a task temporary storage pool 1a, a task available pool 1b, a robot available pool 1c, a remote allocation module 1d and a task flow module 1e, thereby effectively improving the efficiency and accuracy of task allocation, reducing mutual waiting and congestion between robots, and improving overall operating efficiency.

[0100] The specific steps of step 3 are as follows:

[0101] Step 3.1: After the automatic doffing robot 3 receives the wire splicing task, the wire storage task and the position data of the winding machine 4 where the wire splicing task is located, under the control of the scheduling system 1, the automatic doffing robot 3 navigates to the corresponding winding machine 4 according to the position data and exits from the robot travel queue at the winding machine 4. Subsequently, the automatic doffing robot 3 completes the preparation for the wire splicing operation at the winding machine 4 and waits for the wire pushing permission signal;

[0102] Step 3.2: When the dispatching system 1 receives the wire pushing permission signal, the remote distribution module 1d sends a wire pushing instruction to the winding machine 4 that sent the wire pushing permission signal, and the winding machine 4 is regarded as the current winding machine 4. After receiving the wire pushing instruction, the current winding machine 4 pushes the wire cake to the corresponding automatic bobbin-dropping robot 3, and the automatic bobbin-dropping robot 3 is regarded as the current automatic bobbin-dropping robot 3. The current automatic bobbin-dropping robot 3 cooperates with the current winding machine 4 to start the wire splicing operation. When the wire splicing operation is completed, the current winding machine 4 cancels the call to the dispatching system 1, and the current automatic bobbin-dropping robot 3 rejoins the robot marching queue and searches for an empty wire storage box 5 under the control navigation of the dispatching system 1;

[0103] Step 3.3: After the current automatic bobbin-dropping robot 3 reaches the empty wire storage box 5, the current automatic bobbin-dropping robot 3 exits from the robot travel queue again, and starts the wire storage operation at the corresponding wire storage box 5. After the wire storage operation is completed, under the control of the scheduling system 1, the current automatic bobbin-dropping robot 3 rejoins the robot travel queue, and is rejoined to the robot available pool 1c by the remote allocation module 1d, waiting for the next wire receiving task allocation.

[0104] This technical solution realizes robot autonomous navigation and task coordination by setting up a robot marching queue. When the robot receives a task, it will navigate to the corresponding winding machine 4 according to the position data to complete the preparation for the wire connecting operation. After receiving the signal allowing wire pushing, the winding machine 4 will push the wire cake to the robot to complete the wire connecting operation. After that, the robot will automatically look for an empty wire storage box 5 to perform the wire storage operation. During the whole process, the robot will enter and exit the marching queue according to the task requirements, and work in coordination with the winding machine 4 and the wire storage box 5. This solution simplifies the robot operation process, improves the degree of robot automation, and effectively improves the efficiency and stability of the overall operation.

[0105] like Figure 4 As shown, in step 2.2, the specific steps of adding the wire-joining task to the task available pool 1b include:

[0106] Step 2.2.1a: The dispatching system 1 stores the bursting time and safety time of each winding machine 4, and stores the delayed centralized allocation time of the remote allocation module 1d, wherein the bursting time refers to the maximum time that the silk cake is allowed to stay on the winding machine 4 after the winding machine 4 sends a signal to allow the wire to be pushed, and the bursting time is usually set to 20 minutes. The safety time refers to the latest time that the silk cake is allowed to be taken away before the bursting time arrives. The delayed centralized allocation time refers to the delayed allocation preset value given after the winding machine 4 sends a call signal, and the safety time is usually set to 3 minutes; the winding machine 4 performs a pre-call countdown after the call signal is sent, and starts the bursting countdown after the signal to allow the wire to be pushed is sent;

[0107] Step 2.2.2a: The remote allocation module 1d traverses the wire splicing tasks in the task temporary storage pool 1a and sorts them in the order of the calling time of the winding machine 4; the remote allocation module 1d reads a wire splicing task from the task temporary storage pool 1a each time as the current wire splicing task, takes the winding machine 4 where the current wire splicing task is located as the current winding machine 4, takes the winding machine 4 adjacent to the current winding machine 4 as the adjacent winding machine 4, and executes step 2.2.3a;

[0108] Step 2.2.3a: Determine whether the adjacent winding machine 4 also sends a call signal. If so, execute step 2.2.4a; otherwise, execute step 2.2.5a;

[0109] Step 2.2.4a: This round of traversal skips the wire connection task on the adjacent winding machine 4 and executes step 2.2.5a;

[0110] Step 2.2.5a: Determine whether the current time of the pipe burst countdown of the current winding machine 4 is less than the safety time. If so, execute step 2.2.6a; otherwise, execute step 2.2.7a;

[0111] Step 2.2.6a: Determine whether the current time of the pre-call countdown is less than the delayed centralized allocation time. If so, execute step 2.2.7a; otherwise, execute step 2.2.8a;

[0112] Step 2.2.7a: Skip the current wire connection task and proceed to step 2.2.9a;

[0113] Step 2.2.8a: Add the current wire-joining task to the available task pool 1b, and execute step 2.2.9a;

[0114] Step 2.2.9a: Determine whether all the wire-joining tasks in the task temporary pool 1a have been traversed. If so, execute step 2.2.10a. Otherwise, take the next wire-joining task from the task temporary pool 1a as the current wire-joining task and execute step 2.2.3a.

[0115] Step 2.2.10a: The remote allocation module 1d ends the current round of traversal of the task temporary storage pool 1a and starts the next round of traversal.

[0116] The present technical scheme further refines the process of adding the wire connecting task to the available task pool 1b, and controls the allocation timing of the wire connecting task more precisely by introducing the pipe burst time, safety time and delayed concentrated allocation time. The remote allocation module 1d traverses the wire connecting tasks in the task temporary storage pool 1a in sequence according to the call time of the winding machine 4, and determines whether the current wire connecting task needs to be added to the available task pool 1b according to the pipe burst time, safety time and delayed concentrated allocation time. If the current moment of the pipe burst countdown is less than the safety time, or the current moment of the pre-call countdown is less than the delayed concentrated allocation time, the current wire connecting task will not be added to the available task pool 1b, so as to avoid the idle waiting of the robot caused by premature task allocation. The scheme effectively improves the efficiency and accuracy of task allocation, avoids the idle waiting of the robot caused by premature task allocation, and improves the overall operation efficiency.

[0117] like Figure 7 As shown, when executing step 2.2, a pipe burst warning module 1f is set in the dispatching system 1, and the operation steps of the pipe burst warning module 1f are as follows:

[0118] Step 2.2.1b: After the dispatching system 1 is started, the pipe burst warning module 1f continuously monitors the wire joining tasks in the task temporary storage pool 1a, and continuously monitors the automatic tube-dropping robot 3 in the robot available pool 1c;

[0119] Step 2.2.2b: Determine whether the task temporary storage pool 1a is empty. If it is empty, go to step 2.2.13a; otherwise, go to step 2.2.3a;

[0120] Step 2.2.3a: The pipe burst warning module 1f selects the currently read wire splicing task as the target task, regards the winding machine 4 where the target task is located as the target winding machine 4, obtains the current time of the pipe burst countdown and the safety time of the target winding machine 4, and determines whether the current time of the pipe burst countdown is less than the safety time. If so, proceed to step 2.2.4b, otherwise, proceed to step 2.2.12b;

[0121] Step 2.2.4b: Determine whether the robot available pool 1c is empty. If so, proceed to step 2.2.13b. Otherwise, find the automatic doffing robot 3 that can reach the target winder 4 the fastest from the robot available pool 1c, use it as the target robot, calculate the time required for the target robot to reach the target winder 4, record it as Tmin, and then proceed to step 2.2.5b.

[0122] Step 2.2.5b: Determine whether the traversal of the robot's available pool 1c has been completed. If not, proceed to step 2.2.6b; otherwise, proceed to step 2.2.11b;

[0123] Step 2.2.6b: Determine whether the target robot currently has a wire joining task. If yes, proceed to step 2.2.8b; otherwise, proceed to step 2.2.7b;

[0124] Step 2.2.7b: Calculate the time required for the target robot to move from the current position to the target winder 4, record it as T1, and go to step 2.2.9b;

[0125] Step 2.2.8b: Calculate the time required for the target robot to move from the current position to the target winding machine 4 and complete the wire connection operation at the target winding machine 4, and the time required for the target robot to move from the target winding machine 4 to the corresponding wire storage box 5 and complete the wire storage operation at the wire storage box 5, sum the above time and record it as T2, and go to step 2.2.9b;

[0126] Step 2.2.9b: Determine whether the minimum value of T1 and T2 is less than Tmin. If so, proceed to step 2.2.10b; otherwise, proceed to step 2.2.5b;

[0127] Step 2.2.10b: Assign Tmin to the minimum value of T1 and T2, and repeat steps 2.2.5b-2.2.10b until the robot available pool 1c is traversed;

[0128] Step 2.2.11b: Determine whether the difference between the remaining time of the pipe burst countdown and Tmin is less than the safety time. If so, proceed to step 2.2.12b; otherwise, proceed to step 2.2.2b;

[0129] Step 2.2.12b: The pipe burst warning module 1f removes the currently read wire splicing task from the task temporary storage pool 1a, cancels the call signal of the winding machine 4 where the wire splicing task is located, and goes to step 2.2.2b, and repeats steps 2.2.2b-2.2.12b until all wire splicing tasks are traversed;

[0130] Step 2.2.13b: The pipe burst warning module 1f ends this round of traversal and starts the next round of traversal.

[0131] The present technical solution introduces a pipe burst warning module 1f, which is used to monitor the task temporary storage pool 1a and the robot available pool 1c in real time, and to judge in advance whether the wire splicing task may cause a pipe burst due to the robot's failure to arrive in time. The pipe burst warning module 1f calculates the time required for the robot to reach the target winding machine 4, and the time required to complete the wire splicing and wire storage operations, and judges whether the operation can be completed within the safe time. If the operation cannot be completed within the safe time, the pipe burst warning module 1f will remove the wire splicing task in advance, cancel the call signal of the winding machine 4, and change it to manual removal of the wire cake from the winding machine 4 to avoid pipe burst. This solution effectively improves the safety of the system, avoids the risk of pipe burst due to the robot's failure to arrive at the winding machine 4 in time, and ensures the safe and stable operation of the production process.

[0132] like Figure 5 As shown, in step 2.3, the specific steps of adding the automatic doffing robot 3 to the available robot pool 1c include:

[0133] Step 2.3.1: Two wire shafts for performing wire joining tasks and wire storage tasks are arranged on the automatic doffing robot 3;

[0134] Step 2.3.2: the remote allocation module 1d traverses all the automatic doffing robots 3, and selects one automatic doffing robot 3 as the current selected robot each time, and executes step 2.3.3;

[0135] Step 2.3.3: Determine whether the currently selected robot is assigned a wire joining task. If so, execute step 2.3.9; otherwise, execute step 2.3.4;

[0136] Step 2.3.4: Determine the status of the two spools of the currently selected robot loaded with the bobbin. If the two spools are completely empty, execute step 2.3.5. If the two spools are completely full, execute step 2.3.6. If one of the two spools is empty and the other is full, execute step 2.3.7.

[0137] Step 2.3.5: Add the currently selected robot to the available robot pool 1c and execute step 2.3.9;

[0138] Step 2.3.6: If the currently selected robot is already at the silk storage box 5, execute step 2.3.8; if the currently selected robot is not at the silk storage box 5, walk to the empty silk storage box 5, and then execute step 2.3.8;

[0139] Step 2.3.7: Determine the current position of the selected robot. If it is at the winding machine 4, execute step 2.3.5; if it is at the wire storage box 5, execute step 2.3.8;

[0140] Step 2.3.8: The remote allocation module 1d generates a wire storage task and allocates it to the currently selected robot, and executes step 2.3.9;

[0141] Step 2.3.9: Determine whether the remote allocation module 1d has traversed all the automatic doffing robots 3. If so, execute step 2.3.10; otherwise, the remote allocation module 1d selects the next automatic doffing robot 3 from all the automatic doffing robots 3 as the current selected robot and executes step 2.3.3;

[0142] Step 2.3.10: The remote distribution module 1d ends the current round of traversal of the automatic doffing robot 3 and starts the next round of traversal.

[0143] The technical solution sets two wire reels on the automatic bobbin-dropping robot 3, and determines whether the robot can be added to the robot available pool 1c according to the loading status of the wire reels. The solution refines the judgment conditions for the robot's availability to the wire reel loading status, and determines whether it needs to perform wire connecting tasks, wire storage tasks, or directly move to the designated wire storage box 5 according to the robot's current position. The solution effectively improves the accuracy and real-time performance of the robot available pool 1c, avoids erroneously adding robots with wire connecting tasks or wire storage tasks to the available pool, and ensures the accuracy and efficiency of task allocation.

[0144] like Figure 6 As shown, the specific steps of step 2.4 are as follows:

[0145] Step 2.4.1: Set the delayed concentrated distribution time to T, T = t1 + t2, where t1 represents the time required for the automatic doffing robot 3 to travel one circle on the circular one-way travel route, and t2 represents the sum of the time required for the automatic doffing robot 3 to complete the wire splicing operation preparation at the winding machine 4 and the time required for the automatic doffing robot 3 to take all the wire cakes from the winding machine 4;

[0146] Step 2.4.2: Get the real time when the remote allocation module 1d allocates the wire-joining task, and record it as the current time, and determine whether the difference between the current time and the earliest joining time of all the wire-joining tasks in the available task pool 1b is greater than T. If the difference is greater than T, execute step 2.4.3, otherwise, execute step 2.4.8;

[0147] Step 2.4.3: Determine whether the number of robots in the robot available pool 1c and the number of tasks in the task available pool 1b are both greater than zero. If so, execute step 2.4.4; if not, execute step 2.4.8;

[0148] Step 2.4.4: Take out all the automatic doffing robots 3 from the available robot pool 1c, take out all the wire joining tasks from the available task pool 1b, and execute step 2.4.5;

[0149] Step 2.4.5: Remove the wire splicing tasks that exceed the number of automatic doffing robots 3, or remove the automatic doffing robots 3 that exceed the number of wire splicing tasks, ensure that the number of wire splicing tasks to be assigned is the same as the number of automatic doffing robots 3 to be assigned, and then execute step 2.4.6;

[0150] Step 2.4.6: Sort the wire joining tasks in descending order according to the time required for the automatic doffing robot 3 to travel from the wire storage box 5 to the location of the winding machine 4 corresponding to the task, and execute step 2.4.7;

[0151] Step 2.4.7: for each wire splicing task, find the automatic doffing robot 3 that takes the shortest time to reach the position of the winding machine 4 corresponding to the task, assign the wire splicing task to the automatic doffing robot 3, and execute step 2.4.8;

[0152] Step 2.4.8: The remote allocation module 1d ends the current round of wire joining task allocation and starts the next round of wire joining task allocation.

[0153] This technical solution introduces a quantity matching mechanism during delayed centralized allocation. When the delayed centralized allocation time expires, all robots and tasks will first be taken out from the robot available pool 1c and the task available pool 1b, and then the quantities of the two will be matched to ensure that the allocated quantities are consistent. This can avoid the situation where there are too many robots and not enough tasks, or too many tasks and not enough robots, thereby improving the efficiency and balance of allocation. This solution effectively prevents waste of resources, improves the accuracy of allocation, and ensures the stability and efficiency of system operation.

[0154] like Figure 8 As shown, when executing step 3.1, the switching task module 1g is set in the scheduling system 1, and the specific operation steps of the switching task module 1g are as follows:

[0155] Step 3.1.1: Sort the assigned wire splicing tasks in the order of the calling time of the winding machine 4, and the exchange task module 1g traverses the sorted assigned wire splicing tasks, takes the currently queried wire splicing task as the target wire splicing task, takes the automatic bobbin-dropping robot 3 that performs the target wire splicing task as the target robot, takes the winding machine 4 where the target wire splicing task is located as the target winding machine 4, and executes step 3.1.2;

[0156] Step 3.1.2: Determine whether the target robot is on the route to the target winding machine 4 and whether there are other automatic doffing robots 3 assigned with the wire splicing task on the route. If the condition is met, all the automatic doffing robots 3 that meet the condition are regarded as candidate robots and step 3.1.3 is executed. Otherwise, no processing is performed.

[0157] Step 3.1.3: The target robot exchanges the wire splicing task with a candidate robot that is closest to the target winding machine 4 among the candidate robots, and then executes step 3.1.4;

[0158] Step 3.1.4: Determine whether the task exchange module 1g has traversed all the assigned wire-joining tasks. If so, end the task exchange operation. Otherwise, the task exchange module 1g queries the next assigned wire-joining task as the target wire-joining task and executes step 3.1.2.

[0159] This technical solution optimizes the wire connecting task allocation strategy by setting up an exchange task module 1g and utilizing the positional relationship between robots. When the robot is on the route to the target winding machine 4, the exchange task module 1g will determine whether there are other robots on the route that have been assigned wire connecting tasks and are closer to the target winding machine 4. If so, the wire connecting tasks between the two robots will be exchanged. This can ensure that task allocation is more reasonable and efficient, reduce the robot's driving time, and improve overall operating efficiency.

[0160] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A task management method for a chemical fiber automatic doffing robot, wherein a robot automatic bobbin storage system is provided, wherein the robot automatic bobbin storage system comprises a scheduling system, a wireless network, a plurality of automatic doffing robots, a plurality of winding machines and a plurality of wire storage boxes, wherein the winding machines are arranged in two rows in parallel, and the wire storage boxes are arranged in parallel at one end of the winding machines in the same row, and the automatic doffing robot is movably arranged between the winding machines and the wire storage boxes, and the automatic doffing robot and the winding machines communicate with the scheduling system through the wireless network, wherein the automatic doffing robot and the winding machines communicate with the scheduling system through the wireless network, and the method is characterized in that: The task management method includes the following steps: Step 1: A pre-call module is set on the winding machine. The pre-call module continuously calls the scheduling system before the winding operation of the winding machine is completed according to the preset advance call time, and sends a wire pushing permission signal to the scheduling system when the winding operation is completed; Step 2: According to the order of the winding machine call time, the dispatching system generates a wire connection task, and generates a wire storage task for each wire connection task. According to the working status of the automatic doffing robot, the dispatching system assigns the wire connection task and the wire storage task to the automatic doffing robot in an idle state; Step 3: Between the winding machine and the wire storage box, the scheduling system controls all automatic bobbin-dropping robots to move in sequence along a preset circular one-way route to form a robot travel queue; when the automatic bobbin-dropping robot performs a wire connecting task or a wire storage task, the automatic bobbin-dropping robot withdraws from the robot travel queue and rejoins the robot travel queue after the task is completed.

2. The task management method of the chemical fiber automatic doffing robot according to claim 1 is characterized in that: The specific steps for executing step 2 are as follows: Step 2.1: Set up a task temporary storage pool, a task available pool, a robot available pool, a remote allocation module and a task flow module in the scheduling system. The scheduling system stores the generated wire splicing tasks in the task temporary storage pool. Set the condition parameters for adding the wire splicing tasks in the task temporary storage pool to the task available pool in the scheduling system. The remote allocation module stores the position data of each winding machine. Step 2.2: The remote allocation module monitors all the wire-connecting tasks in the task temporary storage pool in real time. When a wire-connecting task in the task temporary storage pool meets the conditions for joining the task available pool, the remote allocation module adds the wire-connecting task to the task available pool and generates a wire storage task corresponding to the wire-connecting task in the task available pool; Step 2.3: The remote allocation module monitors the operating status of all automatic doffing robots in real time. When the automatic doffing robot does not perform the wire joining task or the wire storing task, the remote allocation module adds the automatic doffing robot to the robot available pool; Step 2.4: When there is an automatic doffing robot in the robot available pool and there are wire splicing tasks and wire storage tasks in the task available pool, the remote allocation module will allocate the wire splicing task and the corresponding wire storage task in the task available pool to the corresponding automatic doffing robot in the robot available pool according to the allocation rule that the shortest time is required for the automatic doffing robot to reach the winding machine where the wire splicing task is located; Step 2.5: When the remote allocation module completes the allocation of wire connection tasks and wire storage tasks, the task flow module sends each wire connection task and the corresponding wire storage task to the corresponding automatic bobbin-dropping robot. At the same time, the task flow module transmits the position data of the winding machine where each wire connection task is located to the corresponding automatic bobbin-dropping robot.

3. The task management method of the chemical fiber automatic doffing robot according to claim 2 is characterized in that: In the step 2.2, the specific steps of adding the wire splicing task to the available task pool include: step 2.2.1a: the dispatching system stores the bursting time and safety time of each winding machine, and stores the delayed centralized allocation time of the remote allocation module, wherein the bursting time refers to the maximum time that the wire cake is allowed to stay on the winding machine after the winding machine sends a signal to allow the wire to be pushed, the safety time refers to the latest time that the wire cake is allowed to be taken away before the bursting time arrives, and the delayed centralized allocation time refers to the delayed allocation preset value given after the winding machine sends a call signal; the winding machine performs a pre-call countdown after the call signal is sent, and starts the bursting countdown after the signal to allow the wire to be pushed is sent; Step 2.2.2a: The remote allocation module traverses the wire splicing tasks in the task temporary storage pool and sorts them in the order of the winding machine call time; the remote allocation module reads a wire splicing task from the task temporary storage pool each time as the current wire splicing task, takes the winding machine where the current wire splicing task is located as the current winding machine, takes the winding machine adjacent to the current winding machine as the adjacent winding machine, and executes step 2.2.3a; Step 2.2.3a: Determine whether the adjacent winding machine also sends a call signal, if so, execute step 2.2.4a, otherwise, execute step 2.2.5a; Step 2.2.4a: This round of traversal skips the wire connection task on the adjacent winding machine and executes step 2.2.5a; Step 2.2.5a: Determine whether the current time of the pipe burst countdown of the current winding machine is less than the safety time. If so, execute step 2.2.6a; otherwise, execute step 2.2.7a; Step 2.2.6a: Determine whether the current time of the pre-call countdown is less than the delayed centralized allocation time. If so, execute step 2.2.7a; otherwise, execute step 2.2.8a; Step 2.2.7a: Skip the current wire connection task and proceed to step 2.2.9a; Step 2.2.8a: Add the current wire-joining task to the available task pool and execute step 2.2.9a; Step 2.2.9a: Determine whether all the wire-joining tasks in the task temporary storage pool have been traversed. If so, execute step 2.2.10a. Otherwise, take the next wire-joining task from the task temporary storage pool as the current wire-joining task and execute step 2.2.3a. Step 2.2.10a: The remote allocation module ends the current round of traversal of the task temporary pool and starts the next round of traversal.

4. The task management method of the chemical fiber automatic doffing robot according to claim 3 is characterized in that: When executing step 2.2, a pipe burst warning module is set in the dispatching system. The operation steps of the pipe burst warning module are as follows: Step 2.2.1b: After the dispatching system is started, the pipe burst warning module continuously monitors the wire joining tasks in the task temporary storage pool and continuously monitors the automatic tube-dropping robot in the robot available pool; Step 2.2.2b: Determine whether the task temporary storage pool is empty. If it is empty, go to step 2.2.13a; otherwise, go to step 2.2.3a; Step 2.2.3a: The pipe burst warning module selects the currently read wire splicing task as the target task, regards the winding machine where the target task is located as the target winding machine, obtains the current time of the pipe burst countdown and the safety time of the target winding machine, and determines whether the current time of the pipe burst countdown is less than the safety time. If so, proceed to step 2.2.4b, otherwise, proceed to step 2.2.12b; Step 2.2.4b: Determine whether the robot pool is empty. If so, proceed to step 2.2.13b. Otherwise, find the automatic doffing robot that can reach the target winder the fastest from the robot pool, use it as the target robot, calculate the time required for the target robot to reach the target winder, record it as Tmin, and then proceed to step 2.2.5b. Step 2.2.5b: Determine whether the traversal of the robot's available pool has been completed. If not, proceed to step 2.2.6b; otherwise, proceed to step 2.2.11b; Step 2.2.6b: Determine whether the target robot currently has a wire joining task. If yes, proceed to step 2.2.8b; otherwise, proceed to step 2.2.7b; Step 2.2.7b: Calculate the time required for the target robot to move from the current position to the target winder, record it as T1, and go to step 2.2.9b; Step 2.2.8b: Calculate the time required for the target robot to move from the current position to the target winding machine and complete the wire connection operation at the target winding machine, and the time required for the target robot to move from the target winding machine to the corresponding wire storage box and complete the wire storage operation at the wire storage box, sum the above time and record it as T2, and go to step 2.2.9b; Step 2.2.9b: Determine whether the minimum value of T1 and T2 is less than Tmin. If so, proceed to step 2.2.10b; otherwise, proceed to step 2.2.5b; Step 2.2.10b: Assign Tmin to the minimum value of T1 and T2, and repeat steps 2.2.5b-2.2.10b until the available pool of robots is exhausted; Step 2.2.11b: Determine whether the difference between the remaining time of the pipe burst countdown and Tmin is less than the safety time. If so, proceed to step 2.2.12b; otherwise, proceed to step 2.2.2b; Step 2.2.12b: The pipe burst warning module removes the currently read wire splicing task from the task temporary storage pool, cancels the call signal of the winding machine where the wire splicing task is located, and goes to step 2.2.2b, and repeats steps 2.2.2b-2.2.12b until all wire splicing tasks are traversed; Step 2.2.13b: The pipe burst warning module ends this round of traversal and starts the next round of traversal.

5. The task management method of the chemical fiber automatic doffing robot according to claim 2 is characterized in that: In step 2.3, the specific steps of adding the automatic doffing robot to the available robot pool include: Step 2.3.1: Two wire shafts for performing wire joining and wire storage tasks are arranged on the automatic doffing robot; Step 2.3.2: The remote allocation module traverses all the automatic doffing robots, and selects one automatic doffing robot as the current selected robot each time, and executes step 2.3.3; Step 2.3.3: Determine whether the currently selected robot is assigned a wire joining task. If so, execute step 2.3.9; otherwise, execute step 2.3.4; Step 2.3.4: Determine the status of the two spools of the currently selected robot loaded with the bobbin. If the two spools are completely empty, execute step 2.3.

5. If the two spools are completely full, execute step 2.3.

6. If one of the two spools is empty and the other is full, execute step 2.3.

7. Step 2.3.5: Add the currently selected robot to the available robot pool and execute step 2.3.9; Step 2.3.6: If the currently selected robot is already at the silk storage box, execute step 2.3.8; if the currently selected robot is not at the silk storage box, walk to an empty silk storage box, and then execute step 2.3.8; Step 2.3.7: Determine the current position of the selected robot. If it is at the winding machine, execute step 2.3.5; if it is at the wire storage box, execute step 2.3.8; Step 2.3.8: The remote allocation module generates a wire storage task and allocates it to the currently selected robot, and then executes step 2.3.9; Step 2.3.9: Determine whether the remote allocation module has traversed all the automatic doffing robots. If so, execute step 2.3.10; otherwise, the remote allocation module selects the next automatic doffing robot from all the automatic doffing robots as the current selected robot and executes step 2.3.3; Step 2.3.10: The remote distribution module ends the current round of traversal of the automatic doffing robot and starts the next round of traversal.

6. The task management method of the chemical fiber automatic doffing robot according to claim 2 is characterized in that: The specific operation steps of step 2.4 are as follows: Step 2.4.1: Set the delayed centralized distribution time to T, T = t1 + t2, where t1 represents the time required for the automatic doffing robot to travel one circle on the circular one-way travel route, and t2 represents the sum of the time required for the automatic doffing robot to complete the wire splicing operation preparation at the winding machine and the time required for the automatic doffing robot to take away all the wire cakes from the winding machine; Step 2.4.2: Get the real time when the remote allocation module allocates the wire joining task, and record it as the current time, and determine whether the difference between the current time and the earliest joining time of all the wire joining tasks in the available task pool is greater than T. If the difference is greater than T, execute step 2.4.3, otherwise, execute step 2.4.8; Step 2.4.3: Determine whether the number of robots in the available robot pool and the number of tasks in the available task pool are both greater than zero. If so, execute step 2.4.4, if not, execute step 2.4.8; Step 2.4.4: Take out all the automatic bobbin-dropping robots from the available robot pool, take out all the wire joining tasks from the available task pool, and execute step 2.4.5; Step 2.4.5: Remove the wire splicing tasks that exceed the number of automatic doffing robots, or remove the automatic doffing robots that exceed the number of wire splicing tasks, ensure that the number of wire splicing tasks to be assigned is the same as the number of automatic doffing robots to be assigned, and then execute step 2.4.6; Step 2.4.6: Sort the wire splicing tasks in descending order according to the time required for the automatic doffing robot to travel from the wire storage box to the location of the winding machine corresponding to the task, and execute step 2.4.7; Step 2.4.7: For each wire splicing task, find the automatic doffing robot that takes the shortest time to reach the winding machine position corresponding to the task, assign the wire splicing task to the automatic doffing robot, and execute step 2.4.8; Step 2.4.8: The remote allocation module ends the current round of wire joining task allocation and starts the next round of wire joining task allocation.

7. The task management method of the chemical fiber automatic doffing robot according to claim 2 is characterized in that: The specific operation steps of step 3 are as follows: Step 3.1: After the automatic doffing robot receives the wire splicing task, the wire storage task and the position data of the winding machine where the wire splicing task is located, under the control of the scheduling system, the automatic doffing robot navigates to the corresponding winding machine according to the position data and exits from the robot travel queue at the winding machine. Subsequently, the automatic doffing robot completes the wire splicing operation preparation at the winding machine and waits for the wire pushing permission signal; Step 3.2: When the dispatching system receives the wire pushing permission signal, the remote distribution module sends a wire pushing instruction to the winding machine that sends the wire pushing permission signal, and the winding machine is regarded as the current winding machine. After receiving the wire pushing instruction, the current winding machine pushes the wire cake to the corresponding automatic bobbin-dropping robot, and the automatic bobbin-dropping robot is regarded as the current automatic bobbin-dropping robot. The current automatic bobbin-dropping robot cooperates with the current winding machine to start the wire splicing operation. When the wire splicing operation is completed, the current winding machine cancels the call to the dispatching system, and the current automatic bobbin-dropping robot rejoins the robot marching queue and searches for an empty wire storage box under the control navigation of the dispatching system. Step 3.3: After the current automatic bobbin-dropping robot reaches the empty wire storage box, the current automatic bobbin-dropping robot exits from the robot travel queue again and starts the wire storage operation at the corresponding wire storage box. After the wire storage operation is completed, under the control of the scheduling system, the current automatic bobbin-dropping robot rejoins the robot travel queue and is rejoined to the robot available pool by the remote allocation module, waiting for the next wire receiving task allocation.

8. The task management method of the chemical fiber automatic doffing robot according to claim 7 is characterized in that: When executing step 3.1, a switching task module is set in the scheduling system. The specific operation steps of the switching task module are as follows: Step 3.1.1: Sort the assigned wire splicing tasks in the order of the winding machine call time, and the exchange task module traverses the sorted assigned wire splicing tasks, takes the currently queried wire splicing task as the target wire splicing task, takes the automatic doffing robot that performs the target wire splicing task as the target robot, and takes the winding machine where the target wire splicing task is located as the target winding machine, and executes step 3.1.2; Step 3.1.2: Determine whether the target robot is on the route to the target winding machine and whether there are other automatic doffing robots that have been assigned wire splicing tasks on the route. If this condition is met, all automatic doffing robots that meet the condition are taken as candidate robots, and execute step 3.1.3, otherwise, no processing is performed; Step 3.1.3: The target robot exchanges the wire splicing task with the candidate robot that is closest to the target winding machine among the candidate robots, and then executes step 3.1.4; Step 3.1.4: Determine whether the task exchange module has traversed all the assigned wire-joining tasks. If so, end the task exchange operation. Otherwise, the task exchange module queries the next assigned wire-joining task as the target wire-joining task and executes step 3.1.2.

Images