Method for driverless material transport of fiber bundles in spinning mills

Abstract

The present application relates to a method and a device for operating in a path network (32; 49); 69) and a central guidance control device (61). The guidance control device (61) determines the number of the transport vehicles (1) in a path network (32; 49); the guidance control device (61) wirelessly communicates with the transport vehicles (1) in order to transmit commands in a network, and a digital identifier is assigned to each transport vehicle, by means of which the transport vehicles (1) can be identified by the guidance control device (61) in the network, and wherein the guidance control device (61) and the transport vehicles (1) can be controlled by the guidance control device (61) in the network. The guiding control device (61) guides the transport vehicle (1) in the path network (32; 49); the invention relates to a method for operating a textile machine (35, 52) having a fiber bundle (64), in particular a textile machine (35, 52) of the same type, which is guided from a starting group (34, 51) to a target group (36, 53) and from the target group (36, 53) back to the starting group (34, 51) on a textile machine (35, 52) of the same type, which delivers the fiber bundle (64), and a path network which connects the starting group (34, 51) and the target group (36, 53) of the textile machine (37, 54) of the same type, which is fed with the fiber bundle (64), to each other, on a textile machine (37, 54) of the same type, which is guided from the starting group (34, 51) to the target group (36, 53).

Description

Technical Field

[0001] The present invention relates to a method for transporting fiber bundles, in particular sliver or laps, in a spinning mill having a path network and a central guidance control device by means of a plurality of driverless self-propelled transport vehicles, wherein the central guidance control device determines the routes of the transport vehicles on the path network, and wherein each transport vehicle respectively has a driving drive, an energy storage for the energy supply of the driving drive, a receiving device for receiving at least one fiber bundle, a lane reading device for identifying and tracking the guiding lanes of the path network, and a point reading device for identifying and reading the reference points of the path network. Background Art

[0002] WO 2020 / 170097 A1 discloses a method of monitoring a plurality of centrally controlled transport vehicles in a spinning mill by means of a central guidance control device and controlling the material flow between textile machines according to the content of the transport vehicles stored in a database.

[0003] Known AGVs are further used by the guidance control device after performing the transport task from the delivering textile machine to the feeding textile machine. The advantage lies in their flexible applicability within the spinning mill. For this purpose, known AGVs (English "automated guided vehicle") are equipped with costly hardware for environmental detection, position determination, direction determination and driving motion coordination, such as laser scanners, ultrasonic sensors or radars, as well as corresponding data processing devices for navigation. Starting a known AGV in a new project with a new path network and determining the rules and permitted areas and handling faults requires a considerable amount of engineering work by highly skilled personnel. For precise positioning, additional external aids, such as mirrors, position markers or positioning aids, are usually required.

[0004] It is known from WO 2023 / 217669 A1 that RFID tags are laid in the base surface of the path network as reference points, and magnetic strips are laid between the reference points as guiding lanes, and a driverless transport vehicle (AGV) is integrated into the bottom of a spinning bobbin, and the driverless transport vehicle navigates on the path network by means of a programmable logic controller (PLC). CN21743686U proposes an AGV for pushing a movable lap spinning machine. Summary of the Invention

[0005] The object of the present invention is to simplify the transport of fiber bundles by means of driverless self-propelled transport vehicles in a spinning mill.

[0006] This task is solved by starting from the method according to the preamble of claim 1 and using the features of the characterizing part. Advantageous further developments are given in the dependent claims.

[0007] It is stipulated that the guiding control device transmits commands containing at least one reference point each to the transport vehicle to travel on the route, and the transport vehicle executes these commands at the corresponding reference points. Herein, the guiding control device and the transport vehicle communicate wirelessly to transmit commands in the network, and a digital identifier is assigned to the transport vehicle respectively, by means of which the transport vehicle can be identified by the guiding control device in the network. Herein, the identification can be performed not only when receiving data in the guiding control device, but also when sending data from the guiding control device to the transport vehicle. The digital identifier of the transport vehicle can be stored in the guiding control device. The guiding control device guides the transport vehicle on the path network from the starting group to the target group and then back from the target group to the starting group, and the path network connects the starting group of textile machines that deliver fiber bundles of the same type and the target group of textile machines that are fed with fiber bundles of the same type.

[0008] In other words, these transport vehicles can be used in a self - contained path network. All the textile machines in the starting group and the target group are integrated into the path network, so that each textile machine can be accessed by the transport vehicle without the transport vehicle leaving the path network. The transport vehicle can perform its task by transporting materials from the textile machines in the starting group to the textile machines in the target group and then returning empty. Except for the textile machines in the starting group or the target group, the transport vehicle cannot drive to any other textile machine, which results in a self - contained path network.

[0009] Therefore, the material flow is carried out between the textile machines connected to the path network in a possibly more comprehensive path union in the spinning mill by means of the transport vehicle. The path network connects the starting group of textile machines that deliver the same type each time with the target group of textile machines that are fed with the same type each time. In this regard, the central control of the transport vehicle can also be limited to such discrete path networks or modularized onto such discrete path networks. The path network includes exactly one in the starting group and exactly one in the target group. The starting group includes the following textile machines, on which the receiving device of the transport vehicle is filled or loaded with the fiber bundles produced or output by the starting group. The target group includes the following textile machines, on which the fiber bundles produced or output by the textile machines in the starting group are taken out from the receiving device of the transport vehicle.

[0010] The prerequisite for modularization is only that after each transport task, the transport vehicle is not available in the overall path union of the spinning mill that may include multiple self - contained path networks, but returns from the target group to the starting group similar to the transport task. On the outbound journey, the transport vehicle transports the fiber bundles from the starting group to the target group, that is, the transport vehicle is loaded or full, and on the return journey, the transport vehicle drives back empty accordingly.

[0011] This limited or modular path network allows the navigation and collision monitoring of each individual transport vehicle to be transferred to a central guidance control device even in the case of hundreds or thousands of transport vehicles. Since the controlled transport vehicles do not have to have autonomous navigation capabilities, they can be greatly simplified compared to the prior art. The point reading device for reference points and the lane reading device for guidance lanes form a significantly reduced, and thus low-cost, but intelligent device sufficient for operating according to an exemplary method for the transport vehicle. The guidance lanes form, for example, the marked travel paths in a spinning mill, and the autonomously controlled transport vehicles cannot deviate from these travel paths.

[0012] Accordingly, the transport vehicle executes the commands of the guidance control device at the reference points in the path network. The reference points can be located at any position in the path network where a change in the state of the transport vehicle may in principle be required. Thus, the guidance control device only needs to transmit the commands associated with the respective reference points to the transport vehicle. In addition, it can be provided that the transport vehicle only executes the commands of the guidance control device at the reference points in the path network.

[0013] The digital identifier of the transport vehicle can be unique in the network, so that each transport vehicle has a different digital identifier respectively. The digital identifier can be permanently assigned to the transport vehicle.

[0014] In addition, it can be provided that in this method, the transport vehicle stores the successive commands for performing state changes at the respective reference points. Then, the guidance control device can transmit to the transport vehicle a command that should be executed immediately and without delay before the previous command is completed.

[0015] In this exemplary method, the guidance control device can only transmit "simple" commands to the transport vehicle, where "simple" is understood in the sense that the transport vehicle can execute these commands without further external intervention and without further information (especially information about the path network) and only by following the guidance lane in front in the longitudinal direction (i.e., in the travel direction) up to the next reference point. Such "simple" commands can also be "lock wheels", "unlock wheels", "drive forward" with the distance to be traveled attached, or "drive backward", or "turn in place" with the rotation angle as a parameter, "turn a specified angle". Thus, the state change can include any type of change in the motion state, such as a change in its speed or direction. In principle, other state changes can also be specified, such as commands from the "wait", "sleep mode" categories.

[0016] The "Wait" command causes the transport vehicle to pause briefly at the reference point. Further movement commands may already have been transmitted to the transport vehicle for execution, or may be transmitted when a further movement command is to be executed (e.g., when the guidance control device indicates to continue driving). For example, this may be necessary in order to wait for a section of the path network (also known as a road section) to be released by another vehicle on which it is to drive. This waiting can prevent collisions with other transport vehicles that are still on the road section on which it is to drive.

[0017] The "Sleep mode" command causes almost all electrical consumers to be switched off or deactivated. Only the components used to maintain the wireless connection to the guidance control device continue to operate. This allows for as low an energy consumption as possible during long waiting periods, e.g., during material emptying, and thus makes long charging intervals of the energy storage device of the transport vehicle possible. Once the transport vehicle is to execute a movement command again, it is woken up again via the continuous wireless connection and all functional elements are put back into operation or made ready.

[0018] On command of "Turn a specified angle", the transport vehicle rotates about its vertical axis in place at the reference point by the angle transmitted as a parameter, e.g., 90° or 180° clockwise or counterclockwise. Similarly, longer rotations in place are possible, e.g., when filling the receiving device, so that the angle can also exceed 180°, e.g., be a multiple of 90° or 180°.

[0019] Furthermore, in an exemplary method, the transport vehicle can transmit reports from the categories "Functional status", "Fault", "Charge status", "Arrival at reference point", and "Received command" to the guidance control device.

[0020] The report "Functional status" may include the "Normal operation" state of the transport vehicle, i.e., "No fault". In addition, log data of the transport vehicle firmware and / or non-fault disturbances, such as briefly leaving the guidance lane, can be transmitted to the guidance control device. From this, cleaning requirements for the guidance lane or the lane reading device or the point reading device can be derived.

[0021] The report "Fault" is made only in the case of a current operating disturbance and is repeated, for example, at regular intervals of, e.g., 10 seconds, and the content includes, for example, "No guidance lane recognized", "Obstacle on the guidance lane", "Drive blocked", "Overvoltage", or "Excessive torque on the drive wheels".

[0022] For example, the report "Charge status" is transmitted as a parameter at regular intervals of, e.g., 10 seconds, the percentage or absolute value of the remaining drive energy in the energy storage device.

[0023] When the reference point is reached, the report "Reference point reached" transmits its identifier as a parameter. The position of the reference point in the path network is stored in the guidance control device. The guidance control device identifies the position of the transport vehicle in the path network based on the identifier. Since the transport vehicle usually travels at a constant speed on the section of the road, the guidance control device can output its current position between the respective reference points with sufficient approximation, for example, display the position of the transport vehicle in the path network on a display device in the control device of a spinning mill.

[0024] The report "Command received" transmits the command received by the guidance control device or the identifier of the command type as a parameter. With this report, the transport vehicle confirms the successful communication with the guidance control device. On the contrary, in the absence of the said report, the guidance control device identifies possible problems and takes corresponding measures, such as an accessibility check ("ping") in the network, an "emergency stop" command, and / or indicating manual intervention to the operator.

[0025] In addition, in an exemplary method, the guidance control device can transmit commands to the transport vehicle via a wireless network, and further the transport vehicle can also transmit reports to the guidance control device via the wireless network. The wireless network can be local, further, for example, a network defined on the transport vehicle in the path network, and further can also be, for example, a network according to the standard IEEE-802.11 (so-called "WLan") or subsequent standards. Alternatively, a network optimized for low energy consumption and with low bandwidth, such as NB-WAN or LoRaWAN, can be used. Further alternatively, the guidance control device can also be connected to the transport vehicle through electrical contacts extending on the guidance lane.

[0026] The transport vehicle can have a receiving unit to receive commands from the guidance control device. Therefore, the guidance control device can control many such transport vehicles in the spinning mill. The guidance control device can be connected to the textile machine to use the transport vehicle as needed.

[0027] The transport vehicle can have a sending unit to transmit reports to the guidance control device. The report can include, for example, the position data of the transport vehicle. In particular, when passing a marker, its address data can be read out and transmitted to the guidance control device. In addition, the report can include the traveling speed, the state of the energy storage, leaving the lane, recording overheating, various control elements, and in addition, errors in the drive elements, the current consumption of the motor, and thus the torque for determining slip jamming or the connection built with the charging interface. For example, the receiving unit and the sending unit are also combined in a wireless module.

[0028] The digital identifier can be the identifier of the wireless module. For example, the digital identifier can be the MAC address, serial number, digital certificate, static IP address, dynamic IP address, Universally Unique Identifier (UUID), or Unique Device Identifier (UDID) of the wireless module.

[0029] The guiding control device can have a complementary wireless module.

[0030] The transport vehicle can respectively have a control unit, which is designed as a programmable logic controller with a programmable storage medium and is configured to control the drive for travel. The digital identifier of the transport vehicle can be the identifier of the control unit, such as the serial number, digital certificate, Universally Unique Identifier (UUID), or Unique Device Identifier (UDID) of the control unit. The digital identifier can be programmable or can be fixedly loaded into the control unit. In this case, the digital identifier can be passed from the control unit to the wireless module.

[0031] In a possible implementation, the digital identifier is temporarily assigned to the transport vehicle. The assignment of the digital identifier is performed when the transport vehicle is in the starting group. Alternatively or in combination, the assignment of the digital identifier can be performed when the transport vehicle is in the target group. Thus, on the way from the starting group to the target group, and if necessary on the return journey, the digital identifier is uniquely assigned to the transport vehicle.

[0032] The digital identifier of the transport vehicle describes a series of machines through which at least one fiber bundle received in the associated receiving device in a previous processing stage is processed.

[0033] The digital identifier of the transport vehicle is defined by the identifier that describes at least one fiber bundle received in the associated receiving device.

[0034] In another possible implementation, the transport vehicle can respectively have a visually perceptible graphic identifier. The digital identifier and the graphic identifier of the transport vehicle are associated with each other in the guiding control device.

[0035] In addition, a marker can be set at the reference point, the marker is, for example, an RFID tag. "Radio Frequency Identification" technology (RFID for short) allows contactless transmission of data stored on an RFID tag or transponder. Alternatively, the marker can be a barcode or a two-dimensional code, or a QR code ("Quick Response" code). Therefore, the transport vehicle can be guided in a simple and low-cost manner. For example, the marker contains a unique identifier of the corresponding reference point. For example, address information can be read from the marker with the help of a point reading device and transmitted to the guidance control device. For example, the point reading device is arranged as close to the base surface as possible, for example, on the bottom side of the travel drive. In the longitudinal direction of the transport vehicle, the point reading device is, for example, arranged centrally between the front end and the rear end of the transport vehicle body, and is also, for example, arranged in the region of the vertical axis or around the vertical axis. For this reason, the transport vehicle can rotate in situ on or above the marker, and the point reading device will not lose contact with the marker.

[0036] The markings can be arranged at any reference point that forms a node, i.e. a point in the path network at which a plurality of road sections end. In this way, the guidance control device can identify the node at which the transport vehicle has arrived in a simple manner. For example, the guidance control device can make the transport vehicle stop, turn or go straight at a node. Reference points and in particular reference points equipped with markings can also be arranged between nodes, at which the guidance control device recognizes that the transport vehicle has arrived at or passed a defined path point. Similarly, reference points and in particular reference points equipped with markings can be arranged at the end of the guide lane to mark, for example, a parking area or a charging station.

[0037] For example, each section of the path network formed between two adjacent reference points can only be traveled in one direction of travel at any point in time. In this way, transport vehicles can especially follow each other closely. The direction of travel can be changed and can be specified by the guidance control device. The path network can also contain sections with a fixed specified direction of travel. In addition, it can be provided that each section of the path network formed between two adjacent reference points is only traveled by a maximum of one vehicle at any point in time. This "path blocking" is a method known from rail transport, which ensures that sections can be traveled without collision.

[0038] Furthermore, in an exemplary method, the guide lane can be formed by strips arranged on the base surface, which strips are in particular not energized and can be formed, for example, as magnetic strips. Here, the strips can butt against each other, overlap at the ends or be spaced apart from each other. For example, the maximum distance between the strips can be less than 600 mm, and / or be selected such that it is less than or equal to the distance between the lane reading device and the point reading device. Advantageously, the control unit only reacts when the lane reading device loses the strip during a defined period of time and / or a defined travel path, for example by stopping the transport vehicle or initiating a search travel. For example, the defined period of time can be in the range between 1 second and 5 seconds, wherein, depending on the configuration and design, it can also be a longer or shorter period of time. For example, the maximum distance between the strips can be less than 500 mm. For example, the maximum distance between the strips can be less than 400 mm. For example, the maximum distance between the strips can be less than 300 mm. For example, the maximum distance between the strips can be less than 200 mm. For example, the maximum distance between the strips can be less than 100 mm. Merely by way of example, the strips can be arranged in the transition area from the ramp of the overhead textile machine to the base plate of the overhead textile machine. The advantage of using non-energized strips is that these strips do not have to be connected to each other continuously. As a result, the transport vehicle can be guided in a simple and low-cost manner. Alternatively, the lane reading device can be configured to identify and track individual magnetic points arranged at a certain distance on the base surface, for example in a grid pattern or in the form of dotted lines. Alternatively, induction coils arranged on the base surface can be used as guide lanes. In comparison with these, the magnetic guide lane advantageously does not require a power supply. Furthermore, the transport vehicle can also be guided onto a metal base, for example a ramp with a metal track or the base plate of the overhead textile machine, by means of the magnetic guide lane. Alternatively, the guide lane can also be identified and tracked by means of optical sensors, infrared sensors or ultrasonic sensors in the lane reading device, however, these sensors may be more susceptible to contamination.

[0039] The lane reading device can be arranged at the front end of the driving actuator in the longitudinal direction above the base surface (driving forward). In particular, the lane reading device is arranged at the end of the front section facing away from the rear section. For example, the lane reading device has a width between 50 mm and 200 mm transversely to the longitudinal direction. The lane reading device can have a plurality of sensors arranged side by side, especially transversely to the longitudinal direction, so that the transport vehicle can also accurately follow the curved guide lane. The detection area of the lane reading device can expand funnel-shaped towards the base surface, so that the detectable area on the base surface is larger than the width of the lane reading device. For example, the distance between the lane reading device and the base surface is between 20 mm and 50 mm. This ensures a sufficient ground clearance, so that the transport vehicle can travel on the base surface reliably and without failure, and the transport vehicle can be accurately guided along the guide lane. The lane reading device can provide an analog or digital output signal. Compared with the analog implementation, the digital implementation is cheaper, and it has been proven that although the deviation of the lane reading device or its sensor from the center of the guide lane (the so-called "center deviation") is given only in discrete digital steps, this is sufficient for guiding the transport vehicle. In the analog implementation, the output voltage will be proportional to the center deviation.

[0040] Furthermore, in an exemplary method, the path network, its geometric dimensions and reference points, and its geometric position in the connection network and / or the layout structure of the guide lane can be stored in the guidance control device. In this exemplary method, the guidance control device can not only determine the position of the transport vehicle based on the identifier of the reported reference point, but also plan the route of the transport vehicle through the path network and control the transport vehicle on the planned route.

[0041] Furthermore, in an exemplary method, the route traveled by the transport vehicle can be stored in the guidance control device. The stored route is associated with the stored production data of the textile machine at the starting point and the end point, recording the material flow in the spinning mill. This allows for simple and low-cost material tracking.

[0042] In an exemplary method, the types of textile machines for delivery may include groups of carding machines, draw frames, creels for draw frames or sliver lap machines, combers, sliver lap machines, or lap turning machines, etc., and the types of textile machines to be fed include groups of creels for draw frames or sliver lap machines, or lap turning machines, combers, etc. and spinning machines, such as rotor spinning machines, air-jet spinning machines, or flyer frame spinning machines. The textile machines for delivery here are of the same type of spinning preparation machines, while the textile machines to be fed can be of the same type of spinning preparation machines or spinning machines. In corresponding combinations, the types of textile machines for delivery are different from the types of textile machines to be fed. For example, the sliver delivered by an integrated draw frame (textile machine for delivery) connected to a carding machine can be transported to creels for draw frames (textile machines to be fed) by a transport vehicle, and these creels for draw frames, without the transport of the transport vehicle, in a known manner, transport the sliver to the draw frame again. These transport vehicles can be integrated into the known processes of a spinning mill, for example, like traditional spinning cans. Another example can be the transport of sliver from a draw frame (such as a pre-draw frame, regulating draw frame, double-eye draw frame) as the textile machine for delivery and creels for draw frames or flyer frame spinning machines. In a spinning mill, many other combination possibilities are provided, and only the above two examples are briefly mentioned here.

[0043] In addition, in an exemplary method, the transport vehicle can be an unmanned self-propelled spinning can or an unmanned self-propelled lap spinning car. In a manner known per se, the transport of slivered fiber bundles (also called sliver) can be carried out by means of a spinning can, and the transport of wound fiber bundles (also called laps) can be carried out by means of a lap spinning car. The fiber bundles can include natural fibers such as cotton, cellulose, hemp, etc., synthetic fibers, and mixed fibers of natural fibers and synthetic fibers.

[0044] In addition, in an exemplary method, each route from the starting group to the target group can be guided through exactly one main path of the path network. By defining one main path, the navigation can be reduced to the route calculation from the starting point to the main path and from the main path to the destination and is thus greatly simplified. The main path can have exactly one lane. This can be advantageous for small spinning mills or small path networks, which sometimes only reflect the short distance between the starting group and the target group. In addition, the main path may have multiple parallel lanes for each transport vehicle to pass through. This can reduce the waiting time at high transport volumes.

[0045] In an exemplary method, the transport vehicle can alternately drive from the starting group to the target group and vice versa along the main path or at least one of the lanes. Advantageously, based on the organizational process, in a spinning mill, textile machines of the same type often deliver transport vehicles filled with fiber bundles or release empty transport vehicles for further use at similar time points. Time phases can be defined based on these time points, during which no fully loaded transport vehicles drive from the starting group to the target group, and thus the empty transport vehicles can drive from the target group to the starting group in the opposite direction on the same main path. Alternatively, the path network can have a second main path in the longitudinal direction from the target group to the starting group as a circular closed path.

[0046] Furthermore, in this exemplary method, the path network can include empty and full buffers for the transport vehicles, where, for example, the full buffer can be arranged closer to the starting group and the empty buffer can be arranged closer to the target group, or vice versa. The empty and full buffers decouple the provision and invocation of filled and emptied transport vehicles, and especially in an exemplary method with a change in the driving direction in the main path, allow for an extension of the phase reserved for one longitudinal direction. A buffer refers to a parking area integrated into the path network where the transport vehicle can be parked temporarily, with an empty buffer for transport vehicles from the target group, i.e., empty ones, and a full buffer for transport vehicles from the starting group, i.e., loaded ones. In the parking area, multiple reference points can be set to identify the respective bale parking positions within the parking area of the buffer. The number of bale parking positions in each buffer may vary and depends on the site requirements of the spinning mill. In addition to the number of textile machines in the starting or target group, these requirements can also be spatial requirements, etc. The number of bale parking positions in the empty or full buffer may greatly exceed the number of textile machines in the target or starting group in the path network. Furthermore, being integrated into the path network means the combination of guiding lanes and the setting of at least one reference point.

[0047] Moreover, in an exemplary method, the path network can include at least one charging station. In other words, at least one charging station can be integrated into the path network. Then, the transport vehicle does not have to be manually removed from the path network for charging the energy storage device but can be charged under the control of the guiding control device.

[0048] In a spinning mill, multiple independent path networks of the above type can be set up. In this way, particularly easy control of the movement of the transport vehicle can be achieved. This method also has the above advantages. Here, the guiding control device only controls the transport vehicle within the path network assigned to the transport vehicle. The transport vehicles in the path network can be controlled across the network with a common guiding control device or alternatively with separate guiding control devices.

[0049] The transport vehicle can be manually transferred between path networks or can switch autonomously through defined gate paths without a driver. For example, if there are multiple parallel production lines in a spinning mill and one production line is on temporary break, the transport vehicle can be used in one or more active production lines. This can reduce the number of transport vehicles required to operate within the spinning mill. If the path networks are each assigned a separate wireless network and the markings of the reference points respectively point to the wireless networks of the assigned path networks, the transport vehicle can be transferred automatically or manually between the path networks particularly easily or a new transport vehicle can be incorporated into the path network.

[0050] The driving drive can have three or four wheels and have a structural height of, for example, at least 50 mm and a maximum of 260 mm.

[0051] In the design as a self-propelled sliver can, the internal space of the transport vehicle enclosed by the receiving device for the sliver can have an inner diameter of at least 350 mm and a maximum of 1200 mm. The receiving device can be a circular can with a circular cross-section around a vertical axis or a rectangular can with a rectangular cross-section around a vertical axis. In the internal space, a spring-loaded tray can be arranged, which sinks towards the bottom of the container based on the increased weight when the fiber bundle is coiled. Alternatively, in the design of the transport vehicle as a lap winder, the receiving device can be constructed in a trough shape to receive the wound fiber bundle, i.e., the lap.

[0052] The transport vehicle can have a storage medium on which application programs and other data can be stored. In particular, commands or control commands can be stored on the storage medium, which the transport vehicle executes when identifying reference points, especially markings. For this purpose, the transport vehicle drives through the route specified by the guidance control device within the path network.

[0053] To monitor the state of the energy storage device, the transport vehicle can have a battery management system that provides information about the state of charge or progress during charging of the energy storage device, the integrity state, the temperature of the battery, the current discharge power, the current charging power, or a fault.

[0054] Furthermore, for example, the transport vehicle has a charging interface that can be automatically docked to an external charging station and is externally accessible for charging the energy storage device. Alternatively, the charging interface is covered by the receiving device and is arranged on the underside of the transport vehicle. Then, the transport vehicle can "drive over" the connection contacts of the charging interface or inductively charge the energy storage device for charging.

[0055] The route determined by the guiding control device for the corresponding transport vehicle can specify the route from the starting group to the target group specified by the guiding lane, and vice versa. Here, the route can specify a direct path along the guiding lane. However, all necessary stops and actions required for the efficient and smooth navigation of the transport vehicle through the path network may also be part of the route. For example, these stops can include temporary parking on a full buffer or an empty buffer, driving towards a charging station, etc.

[0056] In addition, the transport vehicle can have a safety device for collision recognition to identify collisions with obstacles. Then, when a collision is recognized, the transport vehicle can stop and report to the guiding control device. For this purpose, the components of the safety device can be outside the area covered by the transport vehicle. The touch sensing mechanism of the safety device can be integrated in the bumper arranged on the receiving device or the driving actuator.

[0057] In addition, for example, the transport vehicle has an on / off switch to manually interrupt or turn on the current supply device of the transport vehicle when needed.

[0058] To protect the above components of the transport vehicle from external influences, these components can be arranged on the bottom side of the receiving device. In addition, a bottom guard arranged on the driving actuator can protect these components from below. The above components of the transport vehicle that protrude laterally from the receiving device can be arranged in a common housing. Description of the Drawings

[0059] The preferred embodiments are described below with reference to the drawings. In the figures:

[0060] Figure 1 The self-propelled transport vehicle is shown in a sectional view; and

[0061] Figure 2 The transport vehicle is shown in a bottom view;

[0062] Figure 3 The vehicle-mounted circuit of the transport vehicle is shown;

[0063] Figure 4 The first path network is schematically shown,

[0064] Figure 5 The second path network is schematically shown,

[0065] Figure 6 The third path network is schematically shown;

[0066] Figure 7 The method flow chart is shown; and

[0067] Figure 8 Another self-propelled transport vehicle is shown. Detailed Description of the Preferred Embodiments

[0068] In Figure 1 and Figure 2 shown, the self-propelled transport vehicle 1 has a travel drive 2 and a receiving device 3, which here takes the form of a spinning bobbin for a strip-shaped fiber bundle (here a sliver) not shown. The transport vehicle 1 can also be referred to as a self-propelled spinning bobbin. The longitudinal direction X, the transverse direction Y, and the vertical direction Z define a Cartesian coordinate system associated with the transport vehicle 1. When the transport vehicle 1 is stationary or traveling on a base surface 4 of a spinning mill not further shown, the vertical direction Z is perpendicular to the base surface 4. Such a self-propelled transport vehicle 1 is shown in WO 2023 / 217669A1, and its functions and structures are hereby fully incorporated by reference.

[0069] In Figure 1 shown, the receiving device 3 of the transport vehicle 1 (here as an example) has a cylindrical side wall 5, which extends concentrically around a vertical axis oriented parallel to the vertical direction Z. The vertical axis is shown as a dashed line. The diameter 6 of the inner space 7 surrounded by the side wall 5 is, for example, 500 mm, where larger and sometimes also smaller diameters are possible. The receiving device 3 can be closed at the bottom by a container bottom 8 in the form of a disk. The container bottom 8 can be firmly connected to the side wall 5 as a component of the receiving device 3 or be a component of the transport vehicle 1. To ensure sufficient ground clearance, the container bottom 8 can be offset upwardly towards the filling opening 9 of the receiving device 3. The container bottom 8 divides the inner space 7 into an upwardly open filling space 10 and a downwardly open technical space 12. The filling space 10 is for receiving especially strip-shaped fiber bundles and has a height 11 of, for example, 1200 mm, where the height 11 can also be smaller or larger. The technical space 12 has a height 13 of, for example, 110 mm, where, depending on the design of the travel drive 2, the height 13 can also be smaller or larger. For example, the filling volume of the filling space 10 is approximately 339 liters, where, of course, larger or smaller volumes are possible here. The travel drive 2 is inserted into the technical space 12 from below.

[0070] The receiving device 3 is in principle detachable, but is permanently connected to the travel drive 2 in the Figure 1 shown "assembled state". Thus, the receiving device 3 and the travel drive 2 together form a unit, namely the driverless self-propelled transport vehicle 1, which is designed to be permanently connected. At the dorsal side 14 of the transport vehicle 1 along the longitudinal direction X, for example, an electronic housing 15 made of shape-stable plastic can protrude from the technical space 12 through the receiving device 3, and electronic modules, such as a charging interface 26 and / or a wireless module 28, can be installed in this electronic housing. In principle, these modules can also be arranged in the part of the transport vehicle 1 covered by the receiving device 3, so that the electronic housing 15 can be dispensed with.

[0071] For example, the traction drive 2 has a height 16 of 140 mm and is inserted from below into the technical space 12 in such a way that it protrudes from the bottom of the technical space (in order to ensure sufficient ground clearance) by, for example, approximately 20 mm.

[0072] In the drive concept shown here by way of example, the travel drive 2 has two fixed wheels 17 oriented fixedly in the longitudinal direction X of the travel drive 2. The fixed wheels 17 can be driven independently of each other about a transverse axis by means of an integrated wheel hub motor 18. In addition, the travel drive 2 has two support wheels 19, 20 arranged one after the other in the longitudinal direction X, both of which are mounted on the travel drive 2 so as to be freely rotatable parallel to the vertical axis. The fixed wheels 17 and, for example, the support wheel 19 in front in the longitudinal direction X are non-sprung, and the support wheel 20 in the rear in the longitudinal direction X can be sprung. The support wheels 19, 20 are arranged symmetrically with respect to the vertical axis, but spaced apart with respect to the longitudinal axis. In principle, the travel drive 2 can also include additional support wheels 19 or 20. For example, the travel drive 2 can have two of the support wheels 20 and two of the support wheels 19.

[0073] The transport vehicle 1 is turned by changing the speed ratio between the two wheel hub motors 18 and thus the speed ratio of the fixed wheels 17 and / or their rotation direction (same direction, opposite direction). For this purpose, the wheel hub motors 18 are connected to a servo inverter 21, which supplies the current required for movement to the corresponding wheel hub motors 18. By controlling the wheel hub motors 18 in opposite directions at the same speed, the transport vehicle 1 can be turned in place.

[0074] The travel drive 2 is arranged completely below the receiving device 3 and is therefore covered by the receiving device 3 in the top view (not shown). The transport carriage 1 thus occupies the same parking area as a manually movable transport carriage (not shown) with the same receiving device 3 and can be replaced without restriction. For example, the transport carriage 1 can be rotated by means of a can turret of a textile machine or can be rotated automatically using its own travel drive 2.

[0075] The travel drive 2 has fixed wheels 17 and support wheels 19, a transport vehicle body 22 and an onboard electronic system 23 arranged on the transport vehicle body 22. The transport vehicle body 22 has a rigid base plate 24 which rests on the container bottom 8 or can form the container bottom 8.

[0076] Figure 3 The onboard electronic system 23 schematically shown in FIG. 1 has a frequency converter 21 , an energy store 25 (here a battery) and a charging interface 26 for charging the energy store 25 . In order to control the wheel hub motor 18 , the frequency converter 21 is connected to a control unit 27 of the onboard electronic system 23 .

[0077] The control unit 27 is a programmable logic controller with a programmable storage medium and is configured to control the travel drive 2. The control unit 27 is fastened to the base plate 24 on the transport vehicle body 22. The onboard circuit 23 has a battery management system. For this purpose, the control unit 27 is connected to the energy storage device 25. In order to communicate with the guidance control device, the control unit 27 is connected to a wireless module 28, which can be a WLAN wireless module.

[0078] In addition, the onboard electronic device 23 has a lane reader 29 for contactless identification and tracking of the magnetic strip. The lane reader 29 is arranged in front of the transport vehicle body 22 in the longitudinal direction X (forward travel). In the lane reader 29, for example, eight sensors are arranged in the transverse direction Y spaced apart from each other.

[0079] In addition, the on-board circuit 23 has a point reading device 30 for reading information from the RFID tag under the substrate 24. With the help of the point reading device 30, the address information is read from the RFID tag and transmitted to the control unit 27. In order to protect the on-board circuit 23, an underbody guard 31 is arranged at the bottom of the transport vehicle body 22.

[0080] For safety reasons, the transport vehicle 1 can be designed to travel on the base surface 4 at a maximum speed of 0.3 meters per second when the total weight is up to 200 kg. By way of example only, the onboard circuit 23 can have a safety device 65 for collision recognition. The safety device can have components outside the area covered by the receiving device 3 so that a collision with an obstacle can be detected as early as possible. For example, the touch sensor mechanism 66 can be integrated in a bumper 68 connected to the control unit 27 so as to stop the transport vehicle 1 when a collision is recognized. The safety device 65 can include a safety relay 67 to monitor the existence of a connection between the touch sensor mechanism 66 and the control unit 27. Thus, the touch sensor mechanism 66 can be, for example, a closer (normally open contact) that is closed in the event of a collision. For this purpose, the bumper 68 can preferably be made of a flexible material so that the normally open contact is closed when the bumper 68 is elastically squeezed, in particular. But in principle, a normally closed contact can also be used instead of a low-cost normally open contact. Alternatively or additionally, the transport vehicle 1 can also have a sensor that monitors the environment so as to stop in front of an obstacle.

[0081] exist Figures 4 to 6 49; 69. The path networks 32; 49; 69 shown here are merely exemplary views of possible path networks, wherein the specific path guidance, the number of textile machines and their arrangement relative to each other etc. are always adapted to the requirements of the spinning mill and its local conditions.

[0082] Figure 4The first path network 23 for performing an exemplary method shown in a spinning mill (not further shown) connects a starting group 34 (here, for example, ten textile machines 35 that deliver fiber bundles, here sliver) to a target group 36 (here, six textile machines 37 that are fed fiber bundles, here sliver) using a main path 33.

[0083] The textile machines 35 of the starting group 34 are of the same type of textile machines, in particular spinning preparation machines, here for example carding machines. The delivering textile machines fill the fiber bundles through the filling opening 9 into the filling space 10 of the receiving device 3 of the respective transport vehicle 1, and the fiber bundles are taken out again at the feeding textile machines. The textile machines 37 of the target group 36 are also of the same type of textile machines, in particular spinning preparation machines or spinning machines, here for example drawframe creels. Each drawframe creel is connected upstream of a drawframe (not shown) in a manner known per se and has a plurality of creel positions 41 (here for example eight of said creel positions 41 for eight-fold doubling). Each of the 48 creel positions 41 of the six drawframe creels 37 shown exemplarily here is integrated into the path network 32 and thus the driverless self-propelled transport vehicle 1 can drive to them. For clarity, only some of the creel positions are provided with the reference numeral 41. At each creel position 41, two reference points or markers 59, 60 are provided, wherein the first reference point or marker 59, 60 in the driving direction represents the waiting position for the subsequent sliver can and the second reference point 59, 60 in the driving direction represents the sliver can position below the delivery position of the creel position 41, from which the sliver is withdrawn. The driving directions in the path network 32 are indicated by arrows as long as they are preset section by section. The driving directions of the remaining sections 57 can be freely preset by the guiding control device 61.

[0084] Within the starting group 34, the textile machines 35 are connected to a starting path 40 leading to the main path 33 using one feed path 38 and one discharge path 39 each. The arrows showing the feed path 38 and the discharge path 39 illustrate the driving directions of the transport vehicle 1 on the feed path 38 and the discharge path 39. Within the target group 36, the textile machines 37 are connected to a target path 44 leading from the main path 33 using one feed path 42 and one discharge path 43 each. The arrows showing the feed path 42 and the discharge path 43 illustrate the driving directions of the transport vehicle 1 on the feed path 42 and the discharge path 43.

[0085] At a bypass 45 of the main path 33, there is only one charging station 46 shown exemplarily.

[0086] Between the starting group 34 and the charging station 46, a full buffer 47 can be connected to the main path 33, and between the target group 36 and the charging station 48, an empty buffer 48 can be connected to the main path 33. These are parking areas at which the transport vehicles 1 can be temporarily parked if necessary, wherein the empty buffer 48 is provided for the transport vehicles 1 from the target group 36, whose receiving devices 3 have been emptied at the creel position 41, and the full buffer 47 is provided for the transport vehicles 1 from the starting group, i.e., which are loaded at the textile machine 35.

[0087] exist Figure 5 An alternative path network 49 is shown in FIG. Figure 4 The path network 32 shown in FIG. 3 is provided in addition or alternatively in a spinning mill (not shown). The path networks 32 , 49 are not connected to one another, wherein in principle a lock path (not shown) can be provided to connect the path networks 32 , 49 to one another.

[0088] The path network 49 connects a starting group 51 (here, for example, ten textile machines 52 to be delivered, here carding machines) with a second target group 53 (here, for example, eight textile machines 54 to be fed, here spinning machines) by means of a main path 50. In the second starting group 51, as in the first path network 32, the textile machines 52 are connected to the starting path 40. In the target group 53, the textile machines 54 are connected to four target paths 55, which are arranged in parallel here. Combined feed paths 42 and discharge paths 43 branch off from the target paths 55, which integrate the spinning positions 72 of the textile machines 54 into the path network 49.

[0089] Starting from the target group 53, the target path 55 merges into the main path 50 and can be led back to the starting group 51 in an optional circular closed path 56. Instead of or in addition to this circular closed path 56, it is also possible to integrate a Figure 4 In principle, this annular closed path 56 can also be used in Figure 4 4, in order to relieve the target path 44. In addition, a full buffer 47, an empty buffer 48, and a bypass 45 with a charging station 46 are integrated in the path network 69 by way of example.

[0090] exist Figure 6 Another alternative path network 69 is shown in FIG. Figure 4 or Figure 5The path networks 32; 49 shown in [reference] are supplemented or alternatively arranged in a spinning mill (not shown). The path networks 32, 49, 69 are not interconnected, and in principle, bypass paths (not shown) can be provided to connect the path networks 32, 49, 69 to each other.

[0091] The path network 69 largely corresponds to Figure 5 the path network 49 in [reference], where a circular closed path 56 is not provided here. The target paths 70, 71 are connected to the main path 50 that connects the starting group 51 and the target group 53, and the target paths extend between the textile machines 54 of the target group 53. The target paths 70, 71 have a traveling direction that can either be fixed, as indicated by the arrows here, or be preset by the guiding control device 61 as needed. The combined feed path 42 and discharge path 43 branch off from the target paths 70, 71, and they integrate the spinning positions 72 of the textile machines 54 into the path network 69. In addition, a full buffer 47, an empty buffer 48, and a bypass 45 with a charging station 46 are exemplarily integrated into the path network 69.

[0092] In principle, multiple such charging stations 46 can also be provided in the corresponding path networks 32; 49; 69. For this purpose, multiple such charging stations 46 can be integrated on the bypass 45 and / or other bypasses with at least one such charging station 46 can be integrated at other positions in the path networks 32; 49; 69. The driverless self-propelled transport vehicle 1 can dock with the charging station 46 using its charging interface 26 to charge its energy storage device 25.

[0093] The structure and operating principle of the path networks 32; 49; 69 are described together below. Each path network 32; 49; 69 consists of multiple sections called road segments 57, in which magnetic strips are installed on the base surface 4 of the spinning mill as guiding lanes 58. The road segments 57 connect two reference points 59 each, and in these reference points, one RFID tag each is installed on the base surface 4 as a marker 60. The corresponding path networks 32; 49; 69 thus include multiple individual road segments 57 connected to each other. Each of these road segments 57 represents a specific area or specific section on the path from one point to another. The reference points 59 or markers 60 are Figures 4 to 6 shown as solid circles in [reference]. For clarity, only a part of the road segments 57 and the markers 60 or reference points 59 are provided with corresponding reference numerals.

[0094] The geometry of the path networks 32; 49; 69 can be stored as a 2D line drawing, in particular in a common guidance control device 61 across the path networks, i.e., for example, stored as a DXF file ("drawing exchange format" file), with additional points and attributes. Thereby, the entire path networks 32; 49; 69 are made available and usable in a simple manner in the guidance control device 61 in terms of geometric dimensions and the specifications of the markings 60. This reduces the setup costs and engineering costs to a minimum. Thus, the method is applicable to a large number of different projects or path networks 32; 49; 69. Different DXF files can be uploaded separately to the guidance control device 61. In the case where there are multiple path networks 32; 49; 69 in a spinning mill, in principle, a separate guidance control device 61 can also be set up for each path network.

[0095] For the respective path networks 32; 49; 69, the guidance control device 61 can use an independent WLan wireless network 62. In principle, a cross-path wireless network 62 can also be used. During the operation according to the exemplary method, the transport vehicle 1 travels from the starting groups 34, 51 to the target groups 36, 53 in the respective path networks 32; 49; 69 respectively according to the commands of the guidance control device 61 and transports the fiber bundles from the delivering textile machines 35, 52 to the feeding textile machines 37, 54. Then, the transport vehicle 1 drives back empty to the starting groups 34, 51 again. The guidance control device 61 can also arrange for a stopover in the full buffer 47, in the empty buffer 48, at the charging station 46 or similar locations as needed.

[0096] The transport vehicle 1 remains in its respective assigned path network 32; 49; 69. If the spinning mill has multiple such path networks 32; 49; 69, then no change of the transport vehicle 1 between the path networks 32; 49; 69 is provided. It can be advantageous to provide a crossover path connecting the path networks 32; 49; 69 so that, in the case of a planned capacity transfer, the transport vehicle 1 can be controlled by the guidance control device 61 to move into the respective other path network 32; 49; 69. Of course, it is always possible to manually move the transport vehicle 1 into one of the other path networks 32; 49; 69.

[0097] When it is in motion, the transport vehicle 1 follows the guiding lane 58. The control unit 27 controls the hub motors 18 based on the signals received by the lane reading device 29 such that the guiding lane 58 extends centrally between the two fixed wheels 17. Thus, by means of the mutually spaced fixed wheels 17, support wheels 19, 20, an unnecessary driving over of the guiding lane 58 is avoided, thereby protecting the guiding lane. When driving straight ahead, the two hub motors 18 run in the same direction and at the same rotational speed, and the support wheels 19, 20 are oriented in the longitudinal direction X. Once the guiding lane 58 deviates from the center of the sensor field of the lane reading device 29 (center deviation), the control unit 27 determines, based on the sensor occupancy image changed during driving, to what extent subsequent control must be carried out so that the driving drive 2 is kept as centrally as possible above the guiding lane 58. This is achieved by adjusting the rotational speeds of the hub motors 18 relative to each other. The farther the guiding lane 58 is from the center, the greater the rotational speed difference must be. The support wheels 19, 20 follow the longitudinal direction X. Thus, the steering of the driving drive 2 can only be carried out by changing the rotational speeds of the hub motors 18. In Figures 4 to 6 a path network is shown.

[0098] The transport vehicle 1 follows the guiding lane 58 until the point reading device 30 recognizes the marker 60. The transport vehicle 1 reads the identifier of the reference point 59 from the marker 60. The transport vehicle 1 connected to the guiding control device 61 via the wireless network 62 can transmit the identifier of each read marker 60 to the guiding control device 61. This identifier is unique and enables the guiding control device 61 to identify at which reference point 59 the transport vehicle 1 is located or where the transport vehicle 1 is in the path network 32; 49; 69.

[0099] Each transport vehicle 1 is assigned a digital identifier by means of which the transport vehicle 1 can be recognized by the guiding control device 61 in the wireless network. The digital identifier in the network is unique, so that each transport vehicle 1 has a different digital identifier. The guiding control device 61 can recognize the transport vehicle 1, for example, based on the MAC address, serial number, digital certificate, static IP address, dynamic IP address, "Universally Unique Identifier" (UUID) or "Unique Device Identifier" (UDID) of the wireless module 28. In other words, the digital identifier includes, but is not limited to, the identifier of the wireless module 28. Thus, it is conceivable that, alternatively or in combination, the digital identifier includes the identifier of the control unit 27, such as the serial number, digital certificate, Universally Unique Identifier (UUID) or Unique Device Identifier (UDID) of the control unit 27.

[0100] In this case, the digital identifier has been permanently assigned.

[0101] Alternatively, a digital identifier can be temporarily assigned to the transport vehicle 1. Here, the digital identifier is assigned when the transport vehicle is in the starting group. Additionally, the digital identifier can also be assigned when the transport vehicle is in the target group.

[0102] In the case of a temporary assignment, the digital identifier of the transport vehicle can describe a series of machines through which at least one fiber bundle 64 received in the associated receiving device 3 in a previous processing stage is processed. For example, the digital identifier can include the number sequence 5-1-3, where it is described that the fiber bundle 64 received in the receiving device 3 is processed by a controlled path numbered 3 at the last station, the controlled path numbered 3 is supplied with fiber bundles by an uncontrolled path numbered 1, and the uncontrolled path numbered 1 is supplied with fiber bundles by a carding machine numbered 5. In another example, the digital identifier can include the number sequences 5, 3-1, 8, 3-3, where it is described that the fiber bundle 64 received in the receiving device 3 is processed by a controlled path numbered 3 at the last station, the controlled path numbered 3 is supplied with fiber bundles by uncontrolled paths numbered 1, 8, and 3, and the uncontrolled paths numbered 1, 8, and 3 are supplied with fiber bundles by carding machines numbered 3 and 5. In other words, the digital identifier of the transport vehicle 1 accordingly includes an identifier that describes at least one fiber bundle 64 received in the associated receiving device 3.

[0103] The transport vehicle respectively has a visually perceivable graphical identifier that is associated with the digital identifier in the guiding control device 61. By means of Figure 7 , an exemplary method flow for controlling the transport vehicle 1 in a path network 32, for example, according to Figure 4 , is described. This method is used to transport a fiber bundle from one of the textile machines 35 in the starting group 34 to one of the textile machines 37 in the target group 36 by means of an unmanned self-propelled transport vehicle 1, starting from a starting point 80, where the guiding control device 61 determines the route of the transport vehicle 1 on the path network 32. Additionally, in the case of a temporary digital identifier, a digital identifier is assigned to the transport vehicle 1 in the starting group 34. The identifier is stored in the guiding control device 61 and the transport vehicle 1, for example, in the control unit 27. In the case of a permanent digital identifier of the transport vehicle, this can have been done before the starting point 80, at the latest in the first starting group 34.

[0104] The guiding control device 61 is responsible for specifying the optimal route for the corresponding transport vehicle 1 through the path network 32. Herein, it must take into account which sections 57 the transport vehicle 1 has to pass through to reach its destination from its current position. The route consists of a series of sections 57 that the transport vehicle 1 has to pass through. Herein, the guiding control device can consider different factors, such as the demand for empty bobbins by the textile machines 35 in the starting group 34, the demand for full bobbins by the textile machines 37 in the target group 36, the current traffic conditions, possible obstacles, the speed of the transport vehicle 1, possible priorities and / or restrictions on the way, etc.

[0105] From the textile machine 35 in the starting group 34 (such as the carding machine shown in the upper right of Figure 4 , starting point A) to the textile machine 37 in the target group 36 (such as the uppermost bobbin holder position 41 of the draw frame bobbin holder 37 shown on the left outer side of Figure 4 , end point B) route. The route from the starting object A (here the carding machine 35) to the target object B (here the bobbin holder position 41 of the draw frame bobbin holder 37) can also be called the total path.

[0106] In step 81, the guiding control device 61 decomposes the total path into a plurality of sub-paths i. Each sub-path i has a corresponding reference point 59 as the starting point and another reference point 59 as the destination, wherein more reference points 59 can be passed between these two reference points, at which the transport vehicle 1 can change its motion state according to the requirements of the guiding control device 61 or simply continue to drive.

[0107] The change of the motion state is actively specified by the guiding control device 61. On the contrary, if the transport vehicle 1 only follows the guiding lane 58 (which can extend either straight or curved), then this does not involve a change in the motion state actively specified by the guiding control device 61.

[0108] There is a corresponding marker 60 at each reference point 59, wherein the marker 60 at the starting point of the sub-path i can be called the starting marker and the marker 60 at the end point of the sub-path i can be called the target marker. Depending on the complexity of the path network 32, the length of the total path, etc., the total path can consist of this sub-path i or a plurality of sub-paths i. For example, if during the planned charging process of the transport vehicle 1, the transport vehicle is to be moved, for example, according to Figure 4 from the uppermost bobbin holder position 41 of the draw frame bobbin holder 37 shown on the right outer side to the charging station 46, the total path can consist of a single sub-path i.

[0109] In step 82, the transport vehicle 1 obtains the command x from the guidance control device 61. The transport vehicle 1 is addressed hereby by means of a digital identifier. The command x can include a change in the movement state, which the transport vehicle 1 should execute at the marker 60 associated with the command x. In step 83, the transport vehicle 1 executes the command x. In step 84, the transport vehicle 1 transmits the identifier read from the marker 60 or from its RFID tag to the guidance control device 61. If in step 85 the transport vehicle 1 has not yet reached the target marker 60 of the sub-path i, then in step 82 the next command is executed (increment step 86, x = x + 1). The loop is executed until the transport vehicle 1 reaches the target marker 60. For example, the guidance control device 61 can send a plurality of commands for the sub-path i to the transport vehicle 1 together, and then the transport vehicle 1 follows the commands in sequence. However, in principle, the guidance control device 1 can also transmit each command individually.

[0110] For example, in a set of transmitted commands, the first command can stipulate that the transport vehicle 1 should execute a clockwise rotation of 90° at the starting object A, i.e., at the starting marker 60 (which may be located below the coiler of the comber). The second command can stipulate that the transport vehicle 1 accelerates to a specified traveling speed. The third command can be to let the traveling transport vehicle 1 execute a counterclockwise rotation at a specified marker 60. The marker 60 specified by the third command can in principle be the marker 60 after the marker 60 specified by the second command. However, in principle, there can be at least one additional marker 60 between the two, where the transport vehicle 1 simply continues to travel or does not change its movement state in the absence of a "missing" command for this marker 60. This means that the transport vehicle 1 may pass some sections 57 of the sub-path i without a specific instruction and only changes its movement state when the guidance control device 61 sends a corresponding command.

[0111] If the query in step 86 shows that the transport vehicle 1 has reached the target marker 60 of the sub-path i, then it can then be queried in step 87 whether the transport vehicle 1 has reached the specified textile machine 37 or here the creel position 41 of its target group 36. If this is not the case, the method follows the "no" branch and starts the next sub-path i = i + 1 with step 86. When the transport vehicle 1 finally reaches the target object B in step 87, the transport from A to B ends, at the end point 89.

[0112] In summary, the transport vehicle 1 follows the route from A to B specified by the guiding control device 61, which route can consist of multiple sub-paths i or only one single sub-path i. On each sub-path i, the transport vehicle 1 successively passes through each section 57 until it reaches the target marker of the corresponding sub-path i. The markers 60 on the route are read by the transport vehicle 1 and their corresponding identifiers are transmitted to the guiding control device 61, so that the guiding control device 61 always knows where which vehicle 1 is located in the path network 32. Here, the transport vehicle 1 is identified in the guiding control device 61 by a digital identifier. Since the guiding control device 61 knows the traveling speed of the transport vehicle 1, the guiding control device 61 can calculate or interpolate the current position on the section 57. With the arrival at the target B, the transportation of the fiber bundle from A to B ends. Subsequently, the next method similar to the above method can be executed. The guiding control device 61 can cause the transport vehicle 1 to return from the starting point A (here the textile machine 37 in the target group 36) to the starting group 34 again, where it can be returned to any textile machine 35 in the starting group 34.

[0113] In the first path network 32, in the first stage, the transport vehicle 1 can move from the starting group 34 completely via the main path 33 to the full buffer 48 and empty the transport vehicle 1 located at the target group 36. Then, the emptied transport vehicle 1 can travel via the main path 33 until the textile machine 35 of the starting group 34. Since there is no empty parking area at the textile machine 35 of the starting group 36 for the emptied transport vehicle 1, the emptied transport vehicle 1 is moved by the guiding control device 61 into the empty buffer 47. In the second stage, the transport vehicle 1 is filled at the textile machine 35 and the transport vehicle 1 waiting in the full buffer 48 travels until the creel position 41 of the target group 36 in order to empty there again.

[0114] The method described above only exemplarily according to the path network 32 shown in Figure 4 can be similarly applied to other path networks 49; 69. Here it drives towards the spinning position 72 instead of the creel position 41. In the second path network 49, the transport vehicle 1 always travels via the annular closed main path 50 in the same traveling direction. The full buffer and the empty buffer can also be integrated. In the third path network 69, there are parallel paths 70, 71.

[0115] When the energy storage device 25 of a transport vehicle 1 reaches the minimum power, the guiding control device 61 guides the transport vehicle 1 to the charging station 46. There, the charging interface 26 is connected to the charging station 46 and the energy storage device 25 is charged by means of the charging station 46. Correspondingly, the foregoing method can be similarly applied, correspondingly with the charging station 46 as the target B.

[0116] The guiding control device 61 can control the vacuum cleaner in a manner similar to controlling the transport vehicle 1, so as to keep the path networks 32; 49; 69 clean.

[0117] Through the user interface of the guiding control device 61, the textile machines 35, 37; 52, 54 can be activated and deactivated (e.g., stopped) in the path networks 32; 49; 69. The guiding control device 61 can also take into account the faults of individual or all textile machines.

[0118] Through the allocation of each delivering textile machine 35; 52, the material mixture can be determined and specified on the fed textile machines 37; 54. This can be achieved in a simple manner because the guiding control device 61 can specify which textile machine delivering the fiber bundle supplies which fed textile machine. It can even specify the creel positions or spinning positions, so that mixing inside the fed textile machines is also possible. For example, four creel positions are provided by a defined first subgroup of the textile machines in the starting group, and another four creel positions are provided by a defined second subgroup of the textile machines in the starting group.

[0119] The information collected in the guiding control device 61 can be used for material traceability and mixing tracking. In the final product yarn, the exact source of the raw materials can also be determined, and which textile machines 35, 37; 52, 54 participated in its processing.

[0120] Software updates (such as firmware updates) can be distributed to the transport vehicle 1 via the wireless network 62. In addition, faults can be located in the user interface, and the transport vehicle 1 with individual faults can be displayed, and the battery charge status and material flow of the transport vehicle 1 can be monitored.

[0121] In Figure 8 The transport vehicle 63 shown is an unmanned self-propelled lap truck. It can be operated and controlled similarly to the transport vehicle 1. The receiving device 3 of the transport vehicle 63 can receive at most four wound fiber bundles 64, also known as laps. For example, the lap truck can be used between a starting group with the same type of sliver lap machine and a target group with the same type of comber.

[0122] Reference numerals:

[0123] 1 Transport vehicle 28 Wireless module

[0124] 2 Travel drive 29 Lane reading device

[0125] 3 Receiving device 30 Point reading device

[0126] 4 Bottom 31 Bottom guard

[0127] 5 Side wall 32 Path network

[0128] 6 Diameter 33 Main Path

[0129] 7 Internal Space 34 Starting Group

[0130] 8 Container Bottom 35 Textile Machine, for Delivery

[0131] 9 Filling Port 36 Target Group

[0132] 10 Filling Space 37 Textile Machine, Fed

[0133] 11 Height 38 Feeding Path

[0134] 12 Technical Space 39 Discharging Path

[0135] 13 Height 40 Starting Path

[0136] 14 Back Side 41 Bobbin Rack Position

[0137] 15 Electronic Housing 42 Feeding Path

[0138] 16 Height 43 Discharging Path

[0139] 17 Fixed Wheel 44 Target Path

[0140] 18 Hub Motor 45 Bypass

[0141] 19 Support Wheel, Front 46 Charging Station

[0142] 20 Support Wheel, Rear 47 Full Buffer

[0143] 21 Frequency Converter 48 Empty Buffer

[0144] 22 Transport Vehicle Body 49 Path Network

[0145] 23 Vehicle-mounted Circuit 50 Main Path

[0146] 24 Substrate 51 Starting Group

[0147] 25 Energy Storage 52 Textile Machine, for Delivery

[0148] 26 Charging Interface 53 Target Group

[0149] 27 Control Unit 54 Textile Machine, Fed

[0150] 55 Target Path

[0151] 56 Ring-closed Path

[0152] 57 Road Section

[0153] 58 Guide Lane

[0154] 59 Reference point

[0155] 60 Marker

[0156] 61 Steering control device

[0157] 62 Wireless network

[0158] 63 Transport vehicle

[0159] 64 Fiber bundle

[0160] 65 Safety device

[0161] 66 Touch sensing mechanism

[0162] 67 Safety relay

[0163] 68 Bumper

[0164] 69 Path network

[0165] 70 Target path

[0166] 71 Target path

[0167] 72 Spinning position

[0168] X Longitudinal direction

[0169] Y Transverse direction

[0170] Z Vertical direction

Claims

1. A method for transporting fiber bundles (64) in a spinning mill having a path network (32; 49; 69) and a central guide control device (61) using a plurality of unmanned self-propelled transport vehicles (1; 63), wherein the guide control device (61) determines the routes of the transport vehicles (1) on the path network (32; 49; 69), wherein: The transport vehicles (1, 63) respectively have a) Travel drive (2), b) an energy store (25) for supplying energy to the traction drive (2), and c) a receiving device (3) for at least one fiber bundle (64), It is characterized in that The guidance control device (61) transmits commands each containing at least one reference point (59) to the transport vehicle (1; 63) to travel on a route, and the transport vehicle (1; 63) executes these commands at the corresponding reference point (59), wherein the guide control device (61) and the transport vehicle (1; 63) communicate wirelessly to transmit commands in the network and each transport vehicle is assigned a digital identifier by means of which the transport vehicle (1; 63) can be identified by the guide control device (61) in the network, and The guide control device (61) guides the transport vehicle (1; 63) from a starting group (34, 51) to a target group (36, 53) and from the target group (36, 53) back to the starting group (34, 51) on a path network (32; 49; 69), wherein the path network connects a starting group (34, 51) of textile machines (35, 52) of the same type that deliver fiber bundles (64) and a target group (36, 53) of textile machines (37, 54) of the same type that are fed with fiber bundles (64).

2. The method according to claim 1, characterized in that The digital identifier is unique within the network, so that each transport vehicle (1; 63) has a different digital identifier.

3. The method according to claim 1 or 2, characterized in that: The numeric identifier is permanently assigned.

4. The method according to any one of claims 1 to 3, characterized in that A wireless module (28) is respectively integrated in the transport vehicle (1; 63); and The digital identifier includes an identifier of the wireless module (28), such as a MAC address, a serial number, a digital certificate, a static IP address, a dynamic IP address, a universally unique identifier (UUID), or a unique device identifier (UDID) of the wireless module (28).

5. The method according to any one of claims 1 to 4, characterized in that A control unit (27), for example a microcontroller, is integrated in each of the transport vehicles (1; 63), and The digital identifier comprises an identifier of the control unit (27), such as a serial number, a digital certificate, a universally unique identifier (UUID) or a unique device identifier (UDID) of the control unit (27).

6. The method according to any one of claims 1 to 5, characterized in that A numerical identifier is temporarily assigned to the transporter (1; 63); wherein the assignment of a digital identifier is performed when the transport vehicle (1; 63) is in the starting group and / or The assignment of a digital identifier takes place when the transport vehicle (1; 63) is in the target group.

7. The method according to claim 6, characterized in that The digital identifier of the transport vehicle (1; 63) describes a series of machines by which at least one fiber bundle (64) received in an associated receiving device (3) in a preceding processing stage is processed.

8. The method according to any one of claims 1 to 7, characterized in that The digital identifiers of the transport carriages (1; 63) are each defined by an identifier describing at least one fiber bundle (64) received in the associated receiving device (3).

9. The method according to any one of claims 1 to 8, characterized in that The transport vehicles (1; 63) each have a visually perceptible graphical identifier; and The numerical identifier and the graphic identifier of the transport vehicle (1; 63) are linked to one another in the guidance control device (61).

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