Automatic splicer scheduling method based on single spindle detection, spinning spindle speed and walking path

Abstract

The invention relates to the technical field of spinning, and discloses an automatic splicer scheduling method based on single spindle detection and spinning spindle speed and walking path, which comprises the following steps: establishing an equipment table number and spindle position coordinate system according to the layout of a spinning frame, dividing the adjacent sides of adjacent tables into dynamic adjustment groups, and calculating the real-time influence of broken ends of each group on yield loss. Establishing a mathematical model by combining parameters such as ingot speed and end breaking duration to generate a primary joint group sequence; a spinning frame collects broken end spindle number and spindle speed data through a single spindle monitoring system, and after a broken end position is converted into coordinate information, various feasible path schemes are generated by combining the current position of a joint trolley and adopting a path planning algorithm to form a sample population; and a selection operator is used for screening out the optimal path with the shortest time consumption for connecting the broken end of the current group, and the automatic splicer performs splicing according to the optimal path. According to the method, the spinning speed, the yarn breaking time, the broken yarn spindle position and the broken yarn distance are comprehensively considered, the adjacent sides of the adjacent machine tables are divided into one group, the adjacent ends are jointed, and the total yield loss is smaller.

Description

Technical Field

[0001] The present invention relates to the technical field of spinning, and in particular to an automatic piecing machine scheduling method based on single spindle detection, spinning spindle speed and walking path. Background Art

[0002] Yarn breakage is an inevitable spinning state in the spinning process of the spinning workshop. A large part of the workload of the yarn stopper in the spinning workshop is yarn splicing. Yarn breakage not only wastes raw materials, but also reduces yarn production. Therefore, timely detection and splicing of yarn breakage is the main job of the yarn stopper.

[0003] At present, the yarn breakage joints in the spinning workshop are still mainly manual joints. Although many textile machinery factories are researching automatic yarn joints, automatic yarn joints have not yet been widely used in actual production. Moreover, the automatic yarn jointer is matched with the main machine, mostly one set for one machine, running on a guide rail, or two sets for one machine, with one set on each side of the left and right sides of the equipment. In actual production, according to the cotton spinning ring spinning frame standard FZ / T93027, the breakage rate is ≤40 spindles per thousand spindles. Obviously, the one-to-one or one-to-two matching method is costly and the utilization rate of the automatic jointer is low. Patent ZL202110012360.3 discloses a heuristic yarn joint scheduling method based on single spindle monitoring. Based on broken yarn monitoring, a jointer scheduling mode that minimizes the total breakage time is considered. However, in actual production, the spinning speeds of different machines are different, and the spinning speeds of the same machine in different spinning sections are also different. Generally, in the small yarn section, the balloon is long and prone to end breakage, so the spinning speed is set low. In the large yarn section, the balloon tension is large and prone to end breakage, so a lower spindle speed is also set. In the medium yarn section, the balloon is stable, which is suitable for high-speed spinning and increased production. According to the user's spinning needs, some have three spindle speeds, some have more spindle speeds, and some have as many as nine spindle speeds. In addition, the spinning sections of multiple spinning frames in a spinning mill are mostly different at the same time. Therefore, when considering automatic piecing of spinning frames, reducing the total end breakage time is not the best approach. The maximum output can bring the greatest benefits to customers. When there are multiple end breaks at the same time, the spindle with the highest spindle speed will lose the most output.

[0004] When considering the minimum loss of production caused by broken yarn joints on spinning machines, if calculations and adjustments are made only based on the output of a single machine, it is still not enough to ensure the minimum loss of production. In textile mills, the layout of spinning machines is basically a parallel arrangement of multiple machines. In addition, the length of a single device is getting longer and longer, from about 40 meters for 1008 spindles to about 70 meters for 1824 spindles, and even more than 90 meters for 2400 spindles. The spinning machine is a left-right symmetrical device. Broken ends on both sides need to be connected from the front or rear of the machine, and the distance between adjacent machines is about 1 meter. For the automatic jointing robot, if there is a broken end on the adjacent side of the adjacent machine, comprehensive consideration will be given to considering the broken ends on the left and right sides of the spinning machine separately, and considering the adjacent sides of the adjacent machines together, so as to facilitate the nearby joint and reduce the total loss of production. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an automatic splicing machine scheduling method based on single spindle detection, spinning spindle speed and walking path, comprehensively considering the spinning speed, yarn break time, yarn break spindle position and the distance between yarn breaks, and dividing the adjacent sides of adjacent machines into a group, so that the splicing is done nearby and the walking path of the automatic splicing machine is short, so that the total production loss is smaller.

[0006] In order to achieve the above-mentioned purpose of the invention, the technical solutions adopted are as follows:

[0007] The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed and walking path includes the following steps:

[0008] Step 1: According to the actual layout of the spinning frame in the factory, establish the equipment number information and the coordinate system of each spindle position, and assign corresponding coordinates to each spindle;

[0009] Step 2: Group the equipment spindles, with adjacent machines on adjacent sides as one group;

[0010] Step 3: Establish a mathematical model for piecing, set algorithm parameters, calculate the production loss coefficient caused by the breakage of each group of equipment based on the single spindle monitoring system and the current spindle speed and number of broken ends, and determine the order of the piecing groups; then, determine the piecing path based on the breakage location to minimize the piecing time;

[0011]

[0012]

[0013] Where, f and minW are the shortest total joint time; i is the current number of broken ends; W a The ath spindle position has a longer waiting time for splicing than the (a-1)th splicing spindle position; L a V is the distance between the (a-1)th joint spindle position and the ath joint spindle position; 接 is the travel speed of the joint trolley; t 接 The time required to complete a joint;

[0014] Step 4: The spinning frame sends the group number and broken spindle number to the control system through the single spindle monitoring system. The control system converts the broken spindle number into broken spindle coordinate information according to the coordinate system. At the same time, the joint trolley sends the trolley coordinate information to the control system through the positioning system.

[0015] Step 5: Calculate the joint time used for various joint paths according to the joint mathematical model and generate a joint path sample population;

[0016] Step 6: Use the selection operator method to select the best joint path from the population;

[0017] Step 7: Automatic splicing machine performs splicing;

[0018] Step 8: Once the joint is complete, return to Step 3.

[0019] As a further improvement of the present invention, the step 3 specifically includes the following steps:

[0020] A. Establish a mathematical model for joints and calculate the impact of broken ends on production loss by group, as shown in the following formula:

[0021] Q max =MAXQ i =K*(n iR *V i +n (i+1)L *V (i+1) ) (3)

[0022]

[0023] Q max The maximum loss of production, Q i is the loss production parameter of the i-th group of equipment, K is the spindle speed and production coefficient, n iR is the number of broken ends on the right side of the i-th group of equipment, Vi is the current spindle speed of the i-th equipment, n (i+1)L is the number of broken ends on the left side of the (i+1)th device, V(i+1) is the current spindle speed of the (i+1)th device; t i is the sum of the spindle breakage time of the i-th group of equipment;

[0024] B. Send the current spindle speed and broken end number signals of each group of equipment to the calculation system. The calculation system calculates and compares according to formula (3) to find the group with the greatest impact on the spun yarn output. If there are group numbers with equal impact on the output according to formula (3), further comparison is performed according to formula (4) to determine the group number with the greatest impact on the output.

[0025] C. Select the largest group number for the yield loss coefficient and connect it first. Calculate again after each connection of the largest group number.

[0026] As a further improvement of the present invention, the yield impact coefficient in step A is calculated using the following formula:

[0027]

[0028] Replace the original formula (3) and formula (4) to determine the spindle group that has the greatest impact on production.

[0029] As a further improvement of the present invention, the step 3 specifically includes the following steps:

[0030] a. Establish a mathematical model for joints and calculate the impact of broken ends on production loss by group, as shown in the following formula:

[0031] Q i =K*(n iR *V i +n (i+1)L *V (i+1) ) (6)

[0032] Where Q i is the loss production parameter of the i-th group of equipment, K is the spindle speed and production coefficient, n iR is the number of broken ends on the right side of the i-th group of equipment, Vi is the current spindle speed of the i-th equipment, n (i+1)L is the number of broken ends on the left side of the (i+1)th device, and V(i+1) is the current spindle speed of the (i+1)th device;

[0033] Sort the groups in descending order by yield loss size:

[0034] SQRT(Q i , -1)(7)

[0035] In the formula, SQRT(Q i ,-1) Arrange the equipment groups that the robot is responsible for in descending order according to the loss production parameters of each group;

[0036]

[0037] Where, t i is the sum of the spindle breakage time of the i-th group of equipment;

[0038] Sort by the length of the break time:

[0039] SQRT(T i , -1)(9)

[0040] In the formula, SQRT(T i ,-1) The groups that the robot is responsible for are arranged in descending order according to the group loss production time parameter;

[0041] b. The spinning frame sends several groups of spinning spindle speed and end-breakage number signals to the calculation system. The calculation system calculates and compares according to formula (6) and sorts the impact of each group on the output loss to generate a preliminary joint group sequence; if there are group numbers with equal impact on the output according to formula (6), the group numbers with equal impact on the output are further compared with the end-breakage time according to formula (8), and then sorted to generate the joint group sequence;

[0042] c. Sort the yield loss coefficients from large to small, determine the order of the joint groups according to the yield loss from large to small, and calculate again after all the group numbers are connected;

[0043] As a further improvement of the present invention, the yield impact coefficient in step a is calculated using the following formula:

[0044]

[0045] Instead of the original formula (6) and formula (8), the yield impact coefficient is determined.

[0046] As a further improvement of the present invention, the current spindle speed is measured by a sensor installed on the main shaft, and the spindle speed is calculated by the transmission ratio.

[0047] As a further improvement of the present invention, the single spindle monitoring system adopts the following detection method:

[0048] A sensor is installed in front of each spindle of the spinning frame. It monitors the speed signal of the wire ring at that spindle through the principle of electromagnetic induction. When the speed of the wire ring is zero, it is determined that the spindle has broken.

[0049] As a further improvement of the present invention, after the joint of the machine having the greatest impact on the output is completed, step 4 is repeated to determine the machine having the greatest impact on the output in the next step.

[0050] The beneficial effects of the present invention are: the present invention comprehensively considers the spinning speed, yarn break time, yarn break spindle position and the distance between yarn breakages, divides the adjacent sides of adjacent machines into a group, and splices the yarns nearby. The automatic splicing machine has a short travel path, which reduces the total production loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0052] Figure 1 Schematic diagram of the process of the present invention;

[0053] Figure 2 Schematic diagram of the shortest joint path in Example 1 of the present invention;

[0054] Figure 3 Schematic diagram of the shortest joint path in Example 2 of the present invention. DETAILED DESCRIPTION

[0055] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0057] Assume that an automatic piecing machine manages 5 60-count pure cotton spinning machines with 1200 spindles. The spinning spindle speeds of all the machines are set according to the 5-segment curve. The spindle speeds of each segment are set as follows:

[0058] The first section is 200 meters, 8000rpm;

[0059] The second section is 300 meters, 10,000 rpm;

[0060] The third section is 4000 meters, 16000rpm;

[0061] The fourth section is 200 meters, 10,000 rpm;

[0062] The fifth section is 100 meters, 9000 rpm;

[0063] Spinning status of each equipment:

[0064] Equipment No. 01, current spinning section 3, spindle speed 16000rpm, 3 yarns on the left and 1 yarn on the right broken;

[0065] Equipment No. 02, currently in the fourth spinning section, spindle speed 12000 rpm, 3 yarns on the left and 2 yarns on the right were broken;

[0066] Equipment No. 03, current spinning section 1, spindle speed 8000rpm, 5 yarns broken on the left and 2 yarns broken on the right;

[0067] Equipment No. 04, currently in the second spinning section, spindle speed 10,000 rpm, 3 yarns on the left and 3 yarns on the right broken;

[0068] Equipment No. 05, currently in the fifth spinning section, spindle speed 9000 rpm, 3 yarns on the left and 1 yarn on the right were broken;

[0069] Example 1

[0070] like Figure 1 As shown, the automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed and walking path includes the following steps:

[0071] Step 1: According to the actual layout of the spinning frame in the factory, establish the equipment number information and the coordinate system of each spindle position, and assign corresponding coordinates to each spindle;

[0072] Step 2: Group the equipment spindles, with adjacent machines on adjacent sides as one group;

[0073] Group 01, left side of device 01;

[0074] Group 02, right side of device 01, left side of device 02;

[0075] Group 03, right side of device 02, left side of device 03;

[0076] Group 04, right side of device 03, left side of device 04;

[0077] Group 02, right side of device 04, left side of device 05;

[0078] Step 3: Establish a mathematical model for piecing, set algorithm parameters, calculate the production loss coefficient caused by the breakage of each group of equipment based on the single spindle monitoring system and the current spindle speed and number of broken ends, and determine the order of the piecing groups; then, determine the piecing path based on the breakage location to minimize the piecing time;

[0079] Q1=K*(3*16000)=48000K;

[0080] Q2=K*(1*16000+3*12000)=52000K;

[0081] Q3=K*(2*12000+5*8000)=64000K;

[0082] Q4=K*(2*8000+3*10000)=46000K;

[0083] Q5=K*(3*10000+2*9000)=48000K;

[0084] Qmax=Q3;

[0085]

[0086] Where, f and minW are the shortest total joint time; i is the current number of broken ends; W a The ath spindle position has a longer waiting time for splicing than the (a-1)th splicing spindle position; L a V is the distance between the (a-1)th joint spindle position and the ath joint spindle position; 接 is the travel speed of the joint trolley; t 接 The time required to complete a joint;

[0087] The step 3 specifically includes the following steps:

[0088] A. Establish a mathematical model for joints and calculate the impact of broken ends on production loss by group, as shown in the following formula:

[0089] Qmax =MAXQ i =K*(n iR *V i +n (i+1)L *V (i+1) ) (3)

[0090]

[0091] Q max The maximum loss of production, Q i is the loss production parameter of the i-th group of equipment, K is the spindle speed and production coefficient, n iR is the number of broken ends on the right side of the i-th group of equipment, Vi is the current spindle speed of the i-th equipment, n (i+1)L is the number of broken ends on the left side of the (i+1)th device, V(i+1) is the current spindle speed of the (i+1)th device; t i is the sum of the spindle breakage time of the i-th group of equipment;

[0092] B. Send the current spindle speed and broken end number signals of each group of equipment to the calculation system. The calculation system calculates and compares according to formula (3) to find the group with the greatest impact on the spun yarn output. If there are group numbers with equal impact on the output according to formula (3), further comparison is performed according to formula (4) to determine the group number with the greatest impact on the output.

[0093] Q1=K*(3*16000)=48000K;

[0094] Q2=K*(1*16000+3*12000)=52000K;

[0095] Q3=K*(2*12000+5*8000)=64000K;

[0096] Q4=K*(2*8000+3*10000)=46000K;

[0097] Q5=K*(3*10000+2*9000)=48000K;

[0098] Q max =MAX{Q1, Q2, Q3, Q4, Q5} = Q3 = 64000K;

[0099] Currently, the equipment in group 03 has the greatest impact on production, so we will first check if the equipment in group 03 breaks.

[0100] C. Select the largest group number for the yield loss coefficient and connect it first. Calculate again after each connection of the largest group number.

[0101] Step 4: The spinning frame sends the equipment group 03, which currently has the greatest impact on the output, and the broken spindle numbers R145, L235, L542, and L573 in this unit to the control system through the single spindle monitoring system. The control system converts the broken spindle numbers into broken coordinate information according to the coordinate system. At the same time, the joint trolley sends the trolley coordinate information to the control system through the positioning system.

[0102] Step 5: Calculate the joint time of various joint paths according to formula (3) and formula (4) to generate a sample population of 12 joint paths;

[0103] Step 6: Use the selection operator method to select the best joint path from the population, and select the shortest joint path such as Figure 2 Show;

[0104] Automatic splicing machine - L585 - R575 - L485 - L266 - R260 - L210 - L135.

[0105] Step 7: Automatic splicing machine performs splicing;

[0106] Step 8: After the joint is completed, return to step 3 and calculate the group with the greatest impact on yield loss again.

[0107] The yield impact coefficient in step A is calculated using the following formula:

[0108]

[0109] Replace the original formula (3) and formula (4) to determine the spindle group that has the greatest impact on production.

[0110] Example 2

[0111] The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed and walking path includes the following steps:

[0112] Step 1: According to the actual layout of the spinning frame in the factory, establish the equipment number information and the coordinate system of each spindle position, and assign corresponding coordinates to each spindle;

[0113] Step 2: Group the equipment spindles, with adjacent machines on adjacent sides as one group;

[0114] Group 01, left side of device 01;

[0115] Group 02, right side of device 01, left side of device 02;

[0116] Group 03, right side of device 02, left side of device 03;

[0117] Group 04, right side of device 03, left side of device 04;

[0118] Group 05, right side of device 04, left side of device 05;

[0119] Step 3: Establish a mathematical model for jointing, set algorithm parameters, and calculate the yield loss coefficient caused by end breakage in each group of equipment based on the single spindle monitoring system, the current spindle speed, and the number of end breakages. Determine the group number with the largest yield loss coefficient; determine the joint path based on the end breakage location, and minimize the jointing time.

[0120]

[0121] Where, f and minW are the shortest total joint time; i is the current number of broken ends; W a The ath spindle position has a longer waiting time for splicing than the (a-1)th splicing spindle position; L a V is the distance between the (a-1)th joint spindle position and the ath joint spindle position; 接 is the travel speed of the joint trolley; t 接 The time required to complete a joint;

[0122] The step 3 specifically includes the following steps:

[0123] a. Establish a mathematical model for joints and calculate the impact of broken ends on production loss by group, as shown in the following formula:

[0124] Q i =K*(n iR *V i +n (i+1)L *V (i+1) ) (6)

[0125] Where Q i is the loss production parameter of the i-th group of equipment, K is the spindle speed and production coefficient, n iR is the number of broken ends on the right side of the i-th group of equipment, Vi is the current spindle speed of the i-th equipment, n (i+1)L is the number of broken ends on the left side of the (i+1)th device, and V(i+1) is the current spindle speed of the (i+1)th device;

[0126] Sort the groups in descending order by yield loss size:

[0127] SQRT(Q i , -1)(7)

[0128] In the formula, SQRT(Q i ,-1) Arrange the equipment groups that the robot is responsible for in descending order according to the loss production parameters of each group;

[0129]

[0130] Where, t i is the sum of the spindle breakage time of the i-th group of equipment;

[0131] Sort by the length of the break time:

[0132] SQRT(T i , -1)(9)

[0133] In the formula, SQRT(T i ,-1) The groups that the robot is responsible for are arranged in descending order according to the group loss production time parameter;

[0134] b. The spinning frame sends several groups of spinning spindle speed and end-breakage number signals to the calculation system. The calculation system calculates and compares according to formula (6), sorts the impact of each group on production loss, and generates a preliminary joint group sequence; if there are group numbers with equal impact on production according to formula (6), the group numbers with equal impact on production are further compared with the end-breakage time according to formula (8), and then sorted to generate the joint group sequence.

[0135] Q1=K*(3*16000)=48000K;

[0136] Q2=K*(1*16000+3*12000)=52000K;

[0137] Q3=K*(2*12000+5*8000)=64000K;

[0138] Q4=K*(2*8000+3*10000)=46000K;

[0139] Q5=K*(3*10000+3*9000)=47000K;

[0140] Q3>Q2>Q1>Q5>Q4;

[0141] c. Sort the yield loss coefficients from largest to smallest, determine the order of the joint groups according to the yield loss from largest to smallest, and calculate again after all the group numbers are connected;

[0142] Step 4: The spinning frame sends the group number and broken spindle number to the control system through the single spindle monitoring system. The control system converts the broken spindle number into broken spindle coordinate information according to the coordinate system. At the same time, the joint trolley sends the trolley coordinate information to the control system through the positioning system.

[0143] Step 5: Calculate the joint time used for various joint paths according to formula (6) and formula (8) to generate the joint path sample population;

[0144] Step 6: Use the selection operator method to select the best joint path from the population;

[0145] Select the shortest joint path, as shown in Figure 3;

[0146] Automatic splicing machine - A3 (L585-R575-L485-L266-R260-L210-L135) - A2 (L130-R150-L200-A1 (L500-L490-L200) - A5 (R132-L205-R242-R480) - L525-L280-L190);

[0147] Step 7: Automatic splicing machine performs splicing;

[0148] Step 8: Once the joint is complete, return to Step 4.

[0149] The current spindle speed is measured by the sensor installed on the spindle, and the spindle speed is calculated through the transmission ratio.

[0150] The single spindle monitoring system adopts the following detection methods:

[0151] A sensor is installed in front of each spindle of the spinning frame. It monitors the speed signal of the wire ring at that spindle through the principle of electromagnetic induction. When the speed of the wire ring is zero, it is determined that the spindle has broken.

[0152] After the connection of the machine with the greatest impact on production is completed, repeat step 4 to determine the next machine with the greatest impact on production.

[0153] The yield impact coefficient in step a is calculated using the following formula:

[0154]

[0155] Instead of the original formula (6) and formula (8), the yield impact coefficient is determined.

[0156] In Example 1-2, the current spindle speed is measured by a sensor installed on the main shaft, and the spindle speed is calculated by the transmission ratio.

[0157] The single spindle monitoring system adopts the following detection methods:

[0158] A sensor is installed in front of each spindle of the spinning frame. It monitors the speed signal of the wire ring at that spindle through the principle of electromagnetic induction. When the speed of the wire ring is zero, it is determined that the spindle has broken.

[0159] After the connection of the machine with the greatest impact on production is completed, repeat step 4 to determine the next machine with the greatest impact on production.

[0160] This invention prioritizes end-breaks in high-spindle-speed units through a dynamic grouping strategy and a yield loss assessment model. By combining end-break duration with spindle speed weights, it accurately identifies the end-break groups with the greatest impact on production, ensuring priority recovery in high-capacity areas and minimizing production losses caused by yarn breakage. By grouping adjacent machines and implementing a nearby piecing strategy, the required number of automatic piecing machines is reduced. A single robot can handle end-breaks on adjacent sides of multiple units, optimizing the path to minimize ineffective movement and mechanical wear on the piecing machine. It also balances the load across multiple units, extending the overall equipment life and further reducing production costs.

[0161] The present invention generates multiple path plans based on mathematical models and selects the shortest moving path through intelligent algorithms, shortening the walking distance and waiting time of the joint robot. It is particularly suitable for spinning workshops with multiple machines and long-distance layouts.

[0162] The present invention can flexibly adapt to different spindle speed segment settings (such as three-stage or nine-stage speed change) and multi-unit dynamic production environment. By collecting spindle speed and end breakage data in real time, it dynamically adjusts the priority sorting to ensure that the scheduling strategy is highly matched with production needs.

[0163] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, improvements, component splits, or combinations, etc., that fall within the spirit and principles of the present invention, shall be included within the scope of protection of the present invention.

Claims

1. An automatic piecing machine scheduling method based on single spindle detection, spinning spindle speed and walking path, characterized in that: The following steps are involved: Step 1: According to the actual layout of the spinning frame in the factory, establish the equipment number information and the coordinate system of each spindle position, and assign corresponding coordinates to each spindle; Step 2: Group the equipment spindles, with adjacent machines on adjacent sides as one group; Step 3: Establish a mathematical model for piecing, set algorithm parameters, calculate the production loss coefficient caused by the breakage of each group of equipment based on the single spindle monitoring system and the current spindle speed and number of broken ends, and determine the order of the piecing groups; then, determine the piecing path based on the breakage location to minimize the piecing time; Where, f and minW are the shortest total joint time; i is the current number of broken ends; W a The ath spindle position has a longer waiting time for splicing than the (a-1)th splicing spindle position; L a V is the distance between the (a-1)th joint spindle position and the ath joint spindle position; 接 is the travel speed of the joint trolley; t 接 The time required to complete a joint; Step 4: The spinning frame sends the group number and broken spindle number to the control system through the single spindle monitoring system. The control system converts the broken spindle number into broken spindle coordinate information according to the coordinate system. At the same time, the joint trolley sends the trolley coordinate information to the control system through the positioning system. Step 5: Calculate the joint time used for various joint paths according to the joint mathematical model and generate a joint path sample population; Step 6: Use the selection operator method to select the best joint path from the population; Step 7: Automatic splicing machine performs splicing; Step 8: Once the joint is complete, return to Step 3.

2. The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed and walking path according to claim 1 is characterized in that: The step 3 specifically includes the following steps: A. Establish a mathematical model for joints and calculate the impact of broken ends on production loss by group, as shown in the following formula: Q max MAXQ i =K*(n iR *V i +n (i+1)L *V (i+1) ) (3) Q max The maximum loss of production, Q i is the loss production parameter of the i-th group of equipment, K is the spindle speed and production coefficient, n iR is the number of broken ends on the right side of the i-th group of equipment, Vi is the current spindle speed of the i-th equipment, n (i+1)L is the number of broken ends on the left side of the (i+1)th device, V(i+1) is the current spindle speed of the (i+1)th device; t i is the sum of the spindle breakage time of the i-th group of equipment; B. The calculation system finds the group with the greatest impact on the spun yarn output by calculation and comparison according to formula (3); if there are group numbers with equal impact on the output according to formula (3), further comparison is performed according to formula (4) to determine the group number with the greatest impact on the output; C. Select the largest group number in the production loss coefficient and connect it first. Calculate again after connecting the largest group number each time.

3. The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed and travel path according to claim 2 is characterized in that: The yield impact coefficient in step A is calculated using the following formula: Replace the original formula (3) and formula (4) to determine the spindle group that has the greatest impact on production.

4. The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed and walking path according to claim 1 is characterized in that: The step 3 specifically includes the following steps: a. Establish a mathematical model for joints and calculate the impact of broken ends on production loss by group, as shown in the following formula: Q i =K*(n iR *V i +n (i+1)L *V (i+1) ) (6) Where Q i is the loss production parameter of the i-th group of equipment, K is the spindle speed and production coefficient, n iR is the number of broken ends on the right side of the i-th group of equipment, Vi is the current spindle speed of the i-th equipment, n (i+1)L is the number of broken ends on the left side of the (i+1)th device, and V(i+1) is the current spindle speed of the (i+1)th device; Sort the groups in descending order by yield loss size: SQRT(Q i ,-1)(7) In the formula, SQRT(Q i ,-1) Arrange the equipment groups that the robot is responsible for in descending order according to the loss production parameters of each group; Where, t i is the sum of the spindle breakage time of the i-th group of equipment; Sort by the length of the break time: SQRT(T i ,-1)(9) In the formula, SQRT(T i ,-1) The groups that the robot is responsible for are arranged in descending order according to the group loss production time parameter; b. The spinning frame sends several groups of spinning spindle speed and end-breakage number signals to the calculation system. The calculation system calculates and compares according to formula (6) and sorts the impact of each group on the output loss to generate a preliminary joint group sequence; if there are group numbers with equal impact on the output according to formula (6), the group numbers with equal impact on the output are further compared with the end-breakage time according to formula (8), and then sorted to generate the joint group sequence; c. Sort the production loss coefficients from large to small, and determine the order of the joint groups according to the production loss from large to small. Calculate again after all group numbers are connected.

5. The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed and travel path according to claim 4 is characterized in that: The yield impact coefficient in step a is calculated using the following formula: Instead of the original formula (6) and formula (8), the yield impact coefficient is determined.

6. The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed and travel path according to claim 1 is characterized in that: The current spindle speed is measured by the sensor installed on the spindle, and the spindle speed is calculated through the transmission ratio.

7. The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed and travel path according to claim 1 is characterized in that: The single spindle monitoring system adopts the following detection methods: A sensor is installed in front of each spindle of the spinning frame. The sensor principle monitors the speed signal of the wire ring at that spindle. When the speed of the wire ring is zero, it is determined that the spindle has broken.

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