A towel weaving apparatus failure diagnosis system and method

Abstract

The present application relates to the technical field of towel weaving, in particular to a towel weaving equipment fault diagnosis system and method; the system comprises: an insertion phase analysis unit establishes a weft phase relationship analysis model and constructs a disturbance state constraint set, solves and judges the disturbance state constraint set in combination with a logical constraint solving mechanism, and generates an insertion sequence abnormal signal; a conflict inversion isolation unit calculates a potential conflict area based on the space-time projection relationship between the beating trajectory and the weft trajectory, marks the nozzles in the conflict prediction interval, and outputs a conflict source isolation signal; a coupling state diagnosis unit establishes a mapping state machine, and determines the weaving equipment fault type according to the mapping state machine; and an abnormal closed-loop compensation control unit is used for dynamically adjusting the trigger timing of the nozzles in the conflict prediction interval and the beating interval delay compensation parameters. The present application realizes accurate diagnosis of the multi-weft out-of-order insertion fault of the towel weaving equipment, and improves the stability of the weaving process and the quality of the fabric finished product.

Description

Technical Field

[0001] This invention relates to the field of towel weaving technology, and specifically to a fault diagnosis system and method for towel weaving equipment. Background Technology

[0002] In towel weaving production, the weft insertion and beat-up stages are key processes for fabric formation. Multiple weft yarns are often inserted at high speed and continuously using air jets or rapiers, and the beat-up mechanism completes the weft edge formation and weft yarn compaction. Existing production lines generally use photoelectric detection, weft stop protection, and air jet timing optimization control to monitor the status of towel weaving equipment. However, these monitoring methods are mostly focused on binary detection such as whether the weft yarn is in place and whether the air jet is delayed, and cannot obtain and determine the identity information and flight sequence of the weft yarn.

[0003] In actual production, there are two core technical problems that existing monitoring systems cannot effectively solve: First, due to individual differences and drift in the response time of the solenoid valve group controlling multi-weft insertion, or occasional asynchronous communication timing between the main controller and the weft feeder, the actual release sequence of the weft yarns does not match the preset electronic instructions, resulting in hidden equipment faults of multi-weft mis-sequence insertion; Second, when the hidden equipment faults of multi-weft mis-sequence insertion are not detected, they can also directly cause mechanical conflicts in the downstream weft-beating mechanism. The mis-sequenced weft yarns overlap and interfere in front of the reed, resulting in abnormal force on the reed teeth, increased vibration, and problems such as weft yarn compression damage and fabric defects. Summary of the Invention

[0004] The purpose of this invention is to provide a fault diagnosis system and method for towel weaving equipment, so as to solve the two core technical problems that existing monitoring systems cannot effectively solve as mentioned in the background art.

[0005] To achieve the above objectives, the present invention aims to provide a fault diagnosis system for towel weaving equipment, comprising:

[0006] The insertion phase analysis unit is used to collect the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn during the insertion process, establish a weft yarn phase relationship analysis model and construct a disturbance state constraint set. Combined with the logical constraint solving mechanism, the disturbance state constraint set is solved and judged to generate an insertion order abnormal signal.

[0007] The conflict inversion isolation unit calculates the potential conflict area based on the spatiotemporal projection relationship between the weft insertion trajectory and the weft yarn trajectory, performs inversion positioning of the potential conflict area to determine the conflict prediction interval, marks the nozzles within the conflict prediction interval and outputs the conflict source isolation signal.

[0008] The coupled state diagnostic unit is used to receive insertion sequence abnormality signals and conflict source isolation signals, establish a mapping state machine based on the state mapping relationship between insertion disturbance state and weft insertion impact mode, and determine the fault type of weaving equipment according to the mapping state machine.

[0009] The abnormal closed-loop compensation control unit is used to dynamically adjust the nozzle triggering timing and weft insertion cycle delay compensation parameters within the conflict prediction range.

[0010] Preferably, in the insertion phase analysis unit, the weft yarn phase relationship analysis model is constructed based on the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn during the insertion process, using a temporal phase perturbation segmented decoupling reconstruction algorithm to construct the insertion phase difference matrix of multiple weft yarns and output the phase perturbation feature set of multiple weft yarns, which is used to identify the local insertion temporal perturbation and insertion order change of each weft yarn.

[0011] The time-series phase disturbance segmented decoupling and reconstruction algorithm is based on time-series signal segmentation analysis and phase mapping reconstruction technology. It performs insertion period segmentation processing and disturbance signal decoupling operation on the historical insertion start time series and insertion path arrival time series of each weft yarn, and performs phase mapping reconstruction after segmentation processing to construct the insertion phase difference matrix of multi-weft yarn, identify the local insertion time-series disturbance of each weft yarn, and output the insertion phase difference matrix of multi-weft yarn.

[0012] Preferably, the insertion phase difference matrix is ​​used to calculate the phase difference distribution law, phase stability boundary and disturbance trend trajectory of the multi-weft yarn during the insertion process, and output the phase disturbance feature set of the multi-weft yarn;

[0013] The phase disturbance feature set is a structured disturbance feature dataset calculated based on the insertion phase difference matrix. The phase disturbance feature set includes insertion phase offset features, insertion order misalignment rate features, and insertion period fluctuation features, which are used to monitor the order of insertion of each weft yarn during the insertion process.

[0014] Preferably, in the insertion phase analysis unit, the disturbance state constraint set is a multi-dimensional constraint description set calculated based on the phase disturbance feature set. It is used to determine whether the disturbance causes phase relationship imbalance and abnormal insertion order when a local insertion timing disturbance occurs. The disturbance state constraint set includes insertion time window constraints, sequence consistency constraints, and phase stability interval constraints.

[0015] Preferably, in the inserted phase analysis unit, the logic constraint solving mechanism is based on the rules constructed from the perturbation state constraint set and the constraint solution space. The constraint solver is used to solve the feasibility and conflict of the perturbation state constraint set to determine whether the local inserted timing perturbation causes the constraint solution space to become infeasible.

[0016] The logical constraint solving mechanism solves and determines the set of perturbation state constraints, as follows:

[0017] The perturbation state constraint set is transformed into multiple logical constraints and a constraint solution space is constructed. The phase perturbation feature set is used as input to solve the feasibility and conflict of multiple logical constraints. When the detection result satisfies all logical constraints, it is determined that the local insertion timing perturbation causes the constraint solution space to be feasible, and no insertion order abnormal signal is output. When the detection result does not satisfy any logical constraint, causing the constraint solution space to be infeasible, an insertion order abnormal signal is output.

[0018] Preferably, in the conflict inversion isolation unit, the spatiotemporal projection relationship between the weft insertion trajectory and the weft yarn trajectory is based on the trajectory projection mapping relationship between the weft insertion impact path and the multi-weft yarn insertion motion path in a unified spatiotemporal coordinate system.

[0019] The potential conflict area refers to the spatial segment in which the weft insertion trajectory overlaps with the insertion trajectories of any two weft yarns in the spatiotemporal projection and the distance between them is less than the preset safety distance threshold.

[0020] The process of inverting and locating potential conflict areas to determine conflict prediction intervals, marking nozzles within the conflict prediction intervals, and outputting conflict source isolation signals is as follows: Extracting the time interval and spatial coordinate interval corresponding to the potential conflict area in a unified spatiotemporal coordinate system; calculating the temporal and spatial expansion rates of the conflict area along the weft insertion direction based on the boundary change rates of the potential conflict area on the time and spatial coordinate axes; tracing back the insertion path along the trajectory based on the propagation direction and duration of the potential conflict area to locate the nozzle number and timestamp corresponding to the starting position of conflict propagation, thus forming a conflict prediction interval; marking nozzles located within the conflict prediction intervals, generating conflict source isolation signals, and outputting them to the coupling state diagnostic unit.

[0021] Preferably, in the coupled state diagnosis unit, the state mapping relationship between the insertion disturbance state and the weft insertion impact mode is a disturbance impact correspondence relationship established based on the insertion phase disturbance characteristics, the conflict prediction interval, and the weft insertion trajectory impact distribution characteristics.

[0022] The mapping state machine is constructed based on the correspondence between disturbances and impacts and the set of historical fault events. It is used to match the state of insertion disturbance with the weft insertion impact mode after receiving the insertion sequence abnormality signal and the conflict source isolation signal, and output the fault type of the weaving equipment.

[0023] On the other hand, the present invention provides a method for diagnosing faults in towel weaving equipment, used in the towel weaving equipment fault diagnosis system described above, comprising the following steps:

[0024] S10.1 Collect the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn during the insertion process, establish a weft yarn phase relationship analysis model and construct a disturbance state constraint set, combine the logical constraint solving mechanism to solve and determine the disturbance state constraint set, and generate an insertion order abnormal signal;

[0025] S10.2 Calculate the potential conflict area based on the spatiotemporal projection relationship between the weft insertion trajectory and the weft yarn trajectory, perform inversion positioning of the potential conflict area to determine the conflict prediction interval, mark the nozzles in the conflict prediction interval and output the conflict source isolation signal.

[0026] S10.3 Based on the insertion sequence abnormality signal and the conflict source isolation signal, establish a mapping state machine based on the state mapping relationship between the insertion disturbance state and the weft insertion impact mode, and determine the fault type of the weaving equipment based on the mapping state machine;

[0027] S10.4 Dynamically adjust the nozzle triggering sequence and weft insertion cycle delay compensation parameters within the conflict prediction interval.

[0028] Compared with the prior art, the above-mentioned technical solution of the present invention has the following beneficial technical effects:

[0029] 1. In this invention, based on the insertion perturbation state constraint solution and conflict inversion isolation mechanism, it can identify and accurately diagnose the hidden mis-order insertion fault caused by the difference in response time of the solenoid valve or the asynchronous timing of control communication in the multi-weft yarn insertion stage of towel weaving equipment in real time, effectively improving the fault perception accuracy and response speed in the multi-weft insertion stage.

[0030] 2. In this invention, by constructing a mapping state machine and combining it with closed-loop dynamic compensation control of nozzle triggering timing and weft beat, the equipment fault diagnosis of mis-sequence insertion fault and downstream weft beat impact abnormality is realized. The risks of reed front space superposition and interference are identified in a timely manner, avoiding mechanical conflict caused by the accumulation of hidden faults in the weft beat mechanism of the equipment, and improving the overall stability of towel weaving equipment and the quality of finished fabric. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of one embodiment of the present invention;

[0032] Reference numerals: 1. Insertion phase analysis unit; 2. Conflict inversion isolation unit; 3. Coupling state diagnosis unit; 4. Abnormal closed-loop compensation control unit. Detailed Implementation

[0033] Example 1, as Figure 1 As shown, a fault diagnosis system for towel weaving equipment is provided, comprising:

[0034] Insertion phase analysis unit 1 is used to collect the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn during the insertion process, establish a weft yarn phase relationship analysis model and construct a disturbance state constraint set, and combine the logic constraint solving mechanism to solve and determine the disturbance state constraint set to generate an insertion order abnormal signal.

[0035] Conflict Inversion Isolation Unit 2 calculates the potential conflict area based on the spatiotemporal projection relationship between the weft insertion trajectory and the weft yarn trajectory, performs inversion positioning of the potential conflict area to determine the conflict prediction interval, marks the nozzles within the conflict prediction interval and outputs the conflict source isolation signal;

[0036] Coupled state diagnostic unit 3 is used to receive insertion sequence abnormality signal and conflict source isolation signal, establish a mapping state machine based on the state mapping relationship between insertion disturbance state and weft insertion impact mode, and determine the fault type of weaving equipment according to the mapping state machine.

[0037] The abnormal closed-loop compensation control unit 4 is used to dynamically adjust the nozzle triggering timing and weft insertion cycle delay compensation parameters within the conflict prediction range.

[0038] In the insertion phase analysis unit 1 of this embodiment, the weft yarn phase relationship analysis model is constructed based on the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn during the insertion process. It is constructed using a temporal phase perturbation segmented decoupling reconstruction algorithm to build an insertion phase difference matrix of multiple weft yarns and output a phase perturbation feature set of multiple weft yarns for identifying local insertion temporal perturbations and insertion order changes of each weft yarn.

[0039] The time-series phase disturbance segmented decoupling and reconstruction algorithm is based on time-series signal segmentation analysis and phase mapping reconstruction technology. It performs insertion period segmentation processing and disturbance signal decoupling operation on the historical insertion start time series and insertion path arrival time series of each weft yarn, and performs phase mapping reconstruction after segmentation processing to construct the insertion phase difference matrix of multi-weft yarn, identify the local insertion time-series disturbance of each weft yarn, and output the insertion phase difference matrix of multi-weft yarn.

[0040] In this embodiment, the historical insertion start time sequence of each weft yarn during the insertion process refers to the time sequence formed by collecting the timestamps of the starting moments when the same weft yarn is triggered by the controller in each cycle, using the insertion cycle as the index, and arranging them in cycle order; the insertion path arrival time sequence refers to the ordered time sequence corresponding to the arrival timestamps of the same weft yarn passing through the weft insertion detection points in each cycle, synchronized with a unified clock reference; the weft insertion detection points include nozzle outlet, yarn guide, intermediate guide point, reed front detection point, etc.; after collection, the historical insertion start time sequence and the insertion path arrival time sequence need to undergo data preprocessing operations such as missing value completion, abnormal timestamp removal, and alignment with a unified time base.

[0041] The multi-weft yarn insertion phase difference matrix refers to structured data composed of weft yarn numbers as row and column indices and the phase difference between any two weft yarns in the same period as matrix elements. When cross-period analysis is required, the matrix is ​​expanded by period index to form a periodically expanded matrix group in addition to the above two-dimensional matrix, which is used to express the distribution and evolution of the phase difference of each pair of weft yarns in different periods. This matrix is ​​obtained by filling the phase offset vector through pairwise difference mapping and serves as the basic data for perturbation feature extraction and order relationship determination. The phase difference between any two weft yarns in the same period is obtained by normalizing the offset of their respective historical insertion start time and insertion path arrival time relative to the reference time base.

[0042] Local insertion timing disturbance of each weft yarn refers to a short-term offset event caused by the deviation of the historical insertion start time and insertion path arrival time of a single weft yarn relative to the reference time base exceeding the preset slow variation tolerance range within a certain insertion cycle or its sub-window; insertion order change refers to the situation where the actual arrival order of multiple weft yarns is inconsistent with the reference order within the same insertion cycle, specifically including three situations: the sequential exchange of two adjacent weft yarns, the skipping sequence of non-adjacent weft yarns, and the undetermined order caused by concurrent arrival within the same time window.

[0043] The temporal phase perturbation segmented decoupled reconstruction algorithm performs insertion period segmentation and perturbation signal decoupling operations on the historical insertion start time series and insertion path arrival time series of each weft yarn. Specifically, it includes: dividing the time axis into several fixed windows according to the reference insertion period; performing periodic slicing on the two types of sequences of each weft yarn and completing window-level alignment based on a unified time base; then separating the trend term and perturbation term in the time series within each window; using baseline fitting and residual signal extraction to remove slow-varying components such as running speed changes from local perturbations to obtain local perturbation sequences; subsequently, performing outlier suppression and window boundary smoothing on the local perturbation sequences to output the trendless perturbation result for phase mapping.

[0044] In this embodiment, the specific process of performing phase mapping reconstruction after segmentation includes: normalizing and aligning the trendless disturbance results of each weft yarn according to the reference time base; calculating the advance and lag of each weft yarn relative to the reference phase in a unified phase coordinate system and forming a phase offset vector; calculating the phase difference between any two weft yarns in the same period based on the pairwise combination relationship and writing it into the insertion phase difference matrix; calculating the stability boundary and evolution trajectory of the cross-period matrix sequence; and finally extracting disturbance features such as insertion time offset, insertion order misalignment rate and insertion period fluctuation from the insertion phase difference matrix.

[0045] In this embodiment, the insertion phase difference matrix is ​​used to calculate the phase difference distribution law, phase stability boundary and disturbance trend trajectory of the multi-weft yarn during the insertion process, and output the phase disturbance feature set of the multi-weft yarn;

[0046] The phase disturbance feature set is a structured disturbance feature dataset calculated based on the insertion phase difference matrix. The phase disturbance feature set includes insertion phase offset features, insertion order misalignment rate features, and insertion period fluctuation features, which are used to monitor the order of insertion of each weft yarn during the insertion process.

[0047] In this embodiment, the phase difference distribution pattern of multi-weft yarns during the insertion process refers to the two-dimensional distribution pattern formed based on the phase offset of each weft yarn relative to the reference time base within multiple consecutive insertion cycles. This pattern reflects the concentration range and changing trend of the phase difference of each weft yarn in different cycles. The phase stability boundary is a set of upper and lower limit thresholds of the phase difference distribution range obtained statistically during the stable operation phase, used to describe the tolerance range for the phase difference of each weft yarn to remain stable during the insertion process. The disturbance trend trajectory is the trajectory curve obtained by temporally unfolding the phase difference distribution pattern on the time axis, used to characterize the occurrence sequence, intensity change, and duration range of disturbances during the insertion process.

[0048] The method for calculating the phase difference distribution pattern, phase stability boundary, and disturbance trend trajectory by inserting the phase difference matrix includes: First, constructing a phase offset vector based on the offset of each weft yarn relative to the reference phase within the same insertion period, and obtaining the inserted phase difference matrix through pairwise difference calculation; Second, statistically aggregating the phase difference matrices of multiple consecutive insertion periods to extract the probability density distribution of the phase difference values ​​and form the phase difference distribution pattern; Then, based on the statistical results of the phase difference distribution within the stable operating period, calculating the mean range and standard deviation range of the phase difference of each weft yarn to determine the stability boundary threshold; Finally, by tracking the phase difference distribution pattern along the time axis using a sliding window, extracting elements such as the disturbance occurrence time, offset amplitude, and duration to form the disturbance trend trajectory.

[0049] The insertion phase offset feature in the phase disturbance feature set refers to the feature extracted based on the average offset of each weft yarn relative to the reference phase in the multi-weft yarn insertion phase difference matrix, used to characterize the overall temporal offset of each weft yarn; the insertion order misalignment rate feature refers to the feature extracted based on the ratio of the number of phase sign changes of adjacent weft yarns in the phase difference matrix to the total number of insertions, used to characterize the misalignment ratio between the insertion order and the reference order; the insertion period fluctuation feature refers to the feature extracted based on the standard deviation of the insertion phase offset within a continuous period, used to characterize the periodic stability of the insertion process; the misalignment of the insertion order of each weft yarn during the insertion process is monitored by comparing the phase difference sign changes of any two weft yarns in the phase difference matrix; when the phase difference sign of adjacent or non-adjacent weft yarns is inconsistent with the phase difference sign of the reference order within a certain period, it is determined that a misalignment event has occurred; by statistically analyzing the occurrence, location, and duration of misalignment events in each period, real-time identification and trend tracking of the misalignment of the insertion order can be achieved.

[0050] In the insertion phase analysis unit 1 of this embodiment, the disturbance state constraint set is a multi-dimensional constraint description set calculated based on the phase disturbance feature set. It is used to determine whether the disturbance causes phase relationship imbalance and insertion order abnormality in multi-weft yarn insertion when a local insertion timing disturbance occurs. The disturbance state constraint set includes insertion time window constraints, sequence consistency constraints, and phase stability interval constraints.

[0051] In this embodiment, the insertion time window constraint is used to limit the insertion triggering and arrival of each weft yarn to be within the corresponding process time window; the sequence consistency constraint is used to limit the preceding relationship and the minimum allowable interval between adjacent weft yarns; the phase stability interval constraint is used to limit the permissible interval between the phase difference and the arrival interval; the disturbance state constraint set also includes other conventional constraints such as trigger mutual exclusion constraint, cross-cycle continuity constraint and weft beat coupling constraint; the trigger mutual exclusion constraint limits the number of triggers and the trigger interval of the same nozzle in a single insertion cycle; the cross-cycle continuity constraint limits the upper bound of the rate of change of the disturbance characteristics of adjacent cycles; the weft beat coupling constraint and other conventional constraints limit the non-overlapping conditions between the insertion arrival interval and the weft beat.

[0052] In this embodiment, the phase relationship imbalance and abnormal insertion order of multi-weft yarn insertion refers to the abnormal state in which the originally set relative timing relationship and sequence of weft yarn insertion change due to reasons such as the timing shift of multiple weft yarn insertions, asynchronous phase response, or amplification of local disturbances during the coordinated action of air jet weft insertion and beat-up.

[0053] Specifically: Phase imbalance refers to a situation where the insertion time of multiple weft yarns deviates beyond the preset stable tolerance range in the phase coordinates. This includes two main types: one is excessive insertion deviation of a single weft yarn, causing its phase difference with adjacent weft yarns in the phase coordinates to exceed the phase stability boundary; the other is that multiple weft yarns have the same insertion deviation direction or local synchronous drift, leading to an overall shift in the global insertion phase distribution range or phase compression, stretching, and other imbalances. This type of imbalance directly affects the synchronization of the weft beat and the stability of the weaving density. Abnormal insertion order refers to a situation where the actual weft yarn arrival order differs from the preset reference order within the same insertion cycle. This includes three main types: one is an exchange of insertion order between two adjacent weft yarns, resulting in a mismatch in the weft beat impact timing; the second is a skip insertion of non-adjacent weft yarns, where the later weft yarn arrives earlier than the earlier one; the third is a high degree of overlap of multiple weft yarns in the phase coordinates, resulting in uncertain order or concurrent arrival. This type of anomaly can cause nozzle triggering cycle conflicts, yarn interference in the weft beat area, and weaving defects.

[0054] In the insertion phase analysis unit 1 of this embodiment, the logic constraint solving mechanism is based on the rules constructed by the perturbation state constraint set and the constraint solution space. The constraint solver is used to solve the feasibility and conflict of the perturbation state constraint set to determine whether the local insertion timing perturbation causes the constraint solution space to be infeasible.

[0055] The logical constraint solving mechanism solves and determines the set of perturbation state constraints, as follows:

[0056] The perturbation state constraint set is transformed into multiple logical constraints and a constraint solution space is constructed. The phase perturbation feature set is used as input to solve the feasibility and conflict of multiple logical constraints. When the detection result satisfies all logical constraints, it is determined that the local insertion timing perturbation causes the constraint solution space to be feasible, and no insertion order abnormal signal is output. When the detection result does not satisfy any logical constraint, causing the constraint solution space to be infeasible, an insertion order abnormal signal is output.

[0057] In this embodiment, logical constraints refer to transforming the constraint information regarding insertion time window, insertion order consistency, and phase stability interval in the disturbance state constraint set into logical expressions that can be directly processed by the constraint solver. Specifically, the insertion time window constraint is transformed into an interval logical expression where the time offset does not exceed the upper and lower limits of the window; the order consistency constraint is transformed into an order mapping logical expression where the insertion order of multiple weft yarns is consistent with the reference order; the phase stability interval constraint is transformed into an interval logical expression where the phase difference of multiple weft yarns is located within a preset stable boundary interval; in addition, other conventional constraints such as trigger mutual exclusion constraints, cross-cycle continuity constraints, and weft insertion rhythm coupling constraints also need to be transformed into logical constraints; all of the above logical constraints together constitute the input of the constraint solver.

[0058] In this embodiment, the constraint solution space refers to the multi-dimensional solution set space formed by all logical constraints. In the constraint solution space, each perturbation state corresponds to a set of insertion timing solutions that satisfy all logical constraints. When the perturbation state satisfies all constraints, the timing solution set corresponding to the perturbation state is inside the feasible solution space. When the perturbation state does not satisfy any constraint, the solution set is empty or there is a conflict, and it is determined to be infeasible.

[0059] In this embodiment, the construction of the constraint solution space includes: first, transforming the insertion time window constraint, sequence consistency constraint, and phase stability interval constraint in the perturbation state constraint set into corresponding logical time constraints, logical sequence constraints, and logical phase interval constraints, respectively; second, constructing a multi-dimensional constraint set containing time offsets, sequence mapping relationships, and phase interval boundaries according to the mathematical definition of the logical constraints; and finally, forming a constraint solution space by intersecting each constraint set to represent the perturbation state combination that satisfies all constraints.

[0060] In this embodiment, the constraint solver refers to the computational module used to solve the feasibility and conflict of logical constraints. The function of the constraint solver is to take the phase perturbation feature set as input, perform constraint solving operations on each logical constraint based on the logical constraints, and determine whether there is a feasible solution for the perturbation state. The constraint solving operation includes two steps: feasibility detection and conflict analysis. Feasibility detection is used to determine whether there is a solution set that satisfies all constraints, and conflict analysis is used to identify the sources of constraints that make the solution set infeasible.

[0061] In this embodiment, when the detection result does not meet any logical constraint condition, resulting in the constraint solution space being infeasible, an insertion order abnormality signal is output. The insertion order abnormality signal is a binary judgment signal generated by the constraint solver after completing the logical constraint condition, feasibility detection and conflict analysis. This signal is used to identify whether the insertion timing disturbance has exceeded the preset constraint boundary. When the insertion order abnormality signal is in a valid state, it indicates that the disturbance state has destroyed the multi-weft yarn insertion phase relationship or insertion order.

[0062] In the conflict inversion isolation unit 2 of this embodiment, the spatiotemporal projection relationship between the weft insertion trajectory and the weft yarn trajectory is based on the trajectory projection mapping relationship between the weft insertion impact path and the multi-weft yarn insertion motion path in a unified spatiotemporal coordinate system. The trajectory projection mapping relationship takes the weft insertion impact path as the reference trajectory and projects the multi-weft yarn insertion path synchronously in the time dimension and the spatial dimension to form a spatiotemporal overlapping distribution of the weft insertion and insertion processes.

[0063] The potential conflict area refers to the spatial segment in which the weft insertion trajectory overlaps with the insertion trajectories of any two weft yarns in the spatiotemporal projection and the distance between them is less than a preset safety distance threshold. This spatial segment represents the area where structural interference or rhythm conflict may occur between the weft insertion impact path and the weft yarn insertion path.

[0064] The process of inverting and locating potential conflict areas to determine conflict prediction intervals, marking nozzles within the conflict prediction intervals, and outputting conflict source isolation signals is as follows: Extracting the time interval and spatial coordinate interval corresponding to the potential conflict area in a unified spatiotemporal coordinate system; calculating the temporal and spatial expansion rates of the conflict area along the weft insertion direction based on the boundary change rates of the potential conflict area on the time and spatial coordinate axes; tracing back the insertion path along the trajectory based on the propagation direction and duration of the potential conflict area to locate the nozzle number and timestamp corresponding to the starting position of conflict propagation, thus forming a conflict prediction interval; marking nozzles located within the conflict prediction intervals, generating conflict source isolation signals, and outputting them to the coupling state diagnostic unit 3.

[0065] In this embodiment, the potential conflict area is calculated based on the spatiotemporal projection relationship between the weft insertion trajectory and the weft yarn trajectory, specifically as follows: the weft insertion impact path and the multiple weft yarn insertion paths are projected in a unified spatiotemporal coordinate system, the weft insertion trajectory is used as the reference trajectory, and each weft yarn insertion trajectory is synchronously mapped to the reference trajectory in the time and spatial dimensions to form a spatiotemporal superposition distribution; based on the trajectory superposition result, the spatial distance distribution function and the time overlap function between the weft insertion trajectory and each weft yarn insertion trajectory are calculated. When the spatial distance is less than the preset safety distance threshold and the time intervals overlap, the interval is determined to be a potential conflict area.

[0066] In this embodiment, the conflict source isolation signal is used to identify the nozzle number and trigger time that caused the conflict; the conflict source isolation signal includes nozzle index identifier, conflict prediction interval timestamp, and conflict interval priority information.

[0067] In the coupled state diagnosis unit 3 of this embodiment, the state mapping relationship between the insertion disturbance state and the weft insertion impact mode is a disturbance impact correspondence relationship established based on the insertion phase disturbance characteristics, the conflict prediction interval and the weft insertion trajectory impact distribution characteristics; the state mapping relationship maps the phase offset of the insertion disturbance, the insertion order misorder characteristics and the conflict propagation direction to the corresponding weft insertion impact response type.

[0068] The mapping state machine is constructed based on the correspondence between disturbances and impacts and the set of historical fault events. It is used to match the state of insertion disturbance with the weft insertion impact mode after receiving the insertion sequence abnormality signal and the conflict source isolation signal, and output the fault type of the weaving equipment.

[0069] In this embodiment, the insertion disturbance state refers to the set of disturbance behaviors described by the phase disturbance feature set and conflict prediction results during the insertion of multi-weft yarns; specifically, it includes the state where the insertion phase offset exceeds the stability boundary, the state where the insertion order is misaligned, and the potential interference state caused by nozzle triggering within the conflict prediction interval; the insertion disturbance state is expressed by a quadruple of disturbance feature parameters, disturbance occurrence time, disturbance influence range, and disturbance type, which is used as the disturbance-side input in the state mapper; the weft insertion impact mode refers to the set of impact behavior features formed when the weft insertion mechanism acts on the weft yarn during the weaving process; specifically, it includes the impact intensity distribution, impact beat offset features, impact duration, and impact position offset on the weft insertion impact path; by performing spatiotemporal projection and feature extraction on the weft insertion trajectory and weft insertion mechanical features, a corresponding impact mode description is formed, which is used as the impact-side input in the state mapper.

[0070] In this embodiment, the historical fault event set refers to the typical disturbance and impact combinations that occurred during the past operation of the weaving equipment and the corresponding equipment fault type record set; including information such as disturbance type label, impact mode label, fault occurrence time, fault duration, nozzle number and weft insertion impact offset.

[0071] In this embodiment, the process of matching the insertion disturbance state with the weft insertion impact mode includes: firstly, calculating the disturbance impact similarity index based on the disturbance feature parameters and the impact mode feature parameters; secondly, retrieving the matching template most similar to the current disturbance impact feature from the historical fault event set; when the similarity exceeds a preset threshold, executing the state transition of the state machine to map the disturbance impact combination to the corresponding weaving equipment fault type; the weaving equipment fault types include weft insertion impact mismatch fault, weft yarn misorder impact fault, impact beat conflict fault, insertion beat lag fault, and nozzle local failure-induced impact fault; different types of faults correspond to different disturbance impact combination features, and form a one-to-one or one-to-many state mapping relationship in the mapping state machine.

[0072] In this embodiment, the nozzle triggering timing is controlled by adjusting the time offset of the nozzle triggering signal relative to the reference beat to control the weft insertion start phase; the beat-up beat delay compensation parameter is adjusted by applying a delay or advance compensation to the beat-up triggering beat to adjust the synchronization relationship between the beat-up beat and the insertion beat; the dynamic adjustment of the nozzle triggering timing is based on the conflict source isolation signal and the insertion sequence abnormal signal, and performs closed-loop feedback correction on the nozzle triggering time located within the conflict prediction interval, and changes the weft insertion start phase by adjusting the nozzle triggering time offset to achieve time staggering of insertion disturbance and conflict avoidance; the dynamic adjustment of the beat-up beat delay compensation parameter is based on the fault type output by the mapped state machine, and performs delay or advance compensation operation on the beat-up beat timing, and achieves timing rematch of beat-up impact and insertion action by correcting the relative synchronization relationship between the beat-up impact beat and the weft insertion beat.

[0073] Example 2: This invention proposes a fault diagnosis method for towel weaving equipment, used in the fault diagnosis system for towel weaving equipment described in Example 1 above, comprising the following steps:

[0074] S10.1 Collect the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn during the insertion process, establish a weft yarn phase relationship analysis model and construct a disturbance state constraint set, combine the logical constraint solving mechanism to solve and determine the disturbance state constraint set, and generate an insertion order abnormal signal;

[0075] S10.2 Calculate the potential conflict area based on the spatiotemporal projection relationship between the weft insertion trajectory and the weft yarn trajectory, perform inversion positioning of the potential conflict area to determine the conflict prediction interval, mark the nozzles in the conflict prediction interval and output the conflict source isolation signal.

[0076] S10.3 Based on the insertion sequence abnormality signal and the conflict source isolation signal, establish a mapping state machine based on the state mapping relationship between the insertion disturbance state and the weft insertion impact mode, and determine the fault type of the weaving equipment based on the mapping state machine;

[0077] S10.4 Dynamically adjust the nozzle triggering sequence and weft insertion cycle delay compensation parameters within the conflict prediction interval.

[0078] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A fault diagnosis system for towel weaving equipment, characterized in that, include: Insertion phase analysis unit (1) is used to collect the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn in the insertion process, establish a weft yarn phase relationship analysis model and construct a disturbance state constraint set, combine the logic constraint solving mechanism to solve and determine the disturbance state constraint set, and generate an insertion order abnormal signal; In the insertion phase analysis unit (1), the weft yarn phase relationship analysis model is constructed based on the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn in the insertion process, using the temporal phase disturbance segmented decoupling reconstruction algorithm, constructing the insertion phase difference matrix of multiple weft yarns, and outputting the phase disturbance feature set of multiple weft yarns, which is used to identify the local insertion temporal disturbance and insertion order change of each weft yarn; The time-series phase disturbance segmented decoupling and reconstruction algorithm is based on time-series signal segmentation analysis and phase mapping reconstruction technology. It performs insertion period segmentation processing and disturbance signal decoupling operation on the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn, and performs phase mapping reconstruction after segmentation processing to construct the insertion phase difference matrix of multi-weft yarn, identify the local insertion time-series disturbance of each weft yarn, and output the insertion phase difference matrix of multi-weft yarn. The insertion phase difference matrix is ​​used to calculate the phase difference distribution law, phase stability boundary and disturbance trend trajectory of multi-weft yarn during the insertion process, and output the phase disturbance feature set of multi-weft yarn; The phase perturbation feature set is a structured perturbation feature dataset calculated based on the insertion phase difference matrix. The phase perturbation feature set includes insertion phase offset features, insertion order misalignment rate features, and insertion period fluctuation features, which are used to monitor the order of insertion of each weft yarn during the insertion process. In the insertion phase analysis unit (1), the disturbance state constraint set is a multi-dimensional constraint description set calculated based on the phase disturbance feature set. It is used to determine whether the disturbance causes phase relationship imbalance and abnormal insertion order when a local insertion timing disturbance occurs. The disturbance state constraint set includes insertion time window constraint, sequence consistency constraint and phase stability interval constraint. In the inserted phase analysis unit (1), the logic constraint solving mechanism is based on the rules constructed by the perturbation state constraint set and the constraint solution space. The constraint solver is used to solve the feasibility and conflict of the perturbation state constraint set, which is used to determine whether the local insertion of the timing perturbation causes the constraint solution space to be infeasible. The logical constraint solving mechanism solves and determines the set of perturbation state constraints, as follows: The perturbation state constraint set is transformed into multiple logical constraints and a constraint solution space is constructed. The phase perturbation feature set is used as input to solve the feasibility and conflict of multiple logical constraints. When the detection result satisfies all logical constraints, it is determined that the local insertion timing perturbation causes the constraint solution space to be feasible, and no insertion order abnormal signal is output. When the detection result does not satisfy any logical constraint, causing the constraint solution space to be infeasible, an insertion order abnormal signal is output. The conflict inversion isolation unit (2) calculates the potential conflict area based on the spatiotemporal projection relationship between the weft trajectory and the weft yarn trajectory, performs inversion positioning of the potential conflict area to determine the conflict prediction interval, marks the nozzles in the conflict prediction interval and outputs the conflict source isolation signal; The coupling state diagnosis unit (3) is used to receive the insertion sequence abnormal signal and the conflict source isolation signal, establish a mapping state machine based on the state mapping relationship between the insertion disturbance state and the weft insertion impact mode, and determine the fault type of the weaving equipment according to the mapping state machine. The abnormal closed-loop compensation control unit (4) is used to dynamically adjust the triggering timing of the nozzles and the weft insertion rhythm delay compensation parameters within the conflict prediction interval.

2. The fault diagnosis system for towel weaving equipment according to claim 1, characterized in that, In the conflict inversion isolation unit (2), the spatiotemporal projection relationship between the weft insertion trajectory and the weft yarn trajectory is based on the trajectory projection mapping relationship between the weft insertion impact path and the multi-weft yarn insertion motion path in a unified spatiotemporal coordinate system. The potential conflict area refers to the spatial segment in which the weft insertion trajectory overlaps with the insertion trajectories of any two weft yarns in the spatiotemporal projection and the distance between them is less than the preset safety distance threshold. The process of inverting and locating potential conflict areas to determine conflict prediction intervals, marking nozzles within conflict prediction intervals, and outputting conflict source isolation signals is as follows: Extracting the time interval and spatial coordinate interval corresponding to the potential conflict area in a unified spatiotemporal coordinate system; calculating the temporal and spatial expansion rates of the conflict area along the weft insertion direction based on the boundary change rates of the potential conflict area on the time and spatial coordinate axes; and tracing back the insertion path along the trajectory based on the propagation direction and duration of the potential conflict area to locate the nozzle number and timestamp corresponding to the starting position of conflict propagation, thus forming a conflict prediction interval. The nozzles located within the conflict prediction range are marked, and a conflict source isolation signal is generated and output to the coupling state diagnosis unit (3).

3. The fault diagnosis system for towel weaving equipment according to claim 2, characterized in that, In the coupled state diagnosis unit (3), the state mapping relationship between the insertion disturbance state and the weft-breaking impact mode is based on the disturbance impact correspondence relationship established by the insertion phase disturbance characteristics, the conflict prediction interval and the weft-breaking trajectory impact distribution characteristics; The mapping state machine is constructed based on the correspondence between disturbances and impacts and the set of historical fault events. It is used to match the state of insertion disturbance with the weft insertion impact mode after receiving the insertion sequence abnormality signal and the conflict source isolation signal, and output the fault type of the weaving equipment.

4. A method for diagnosing faults in towel weaving equipment, used in a fault diagnosis system for towel weaving equipment as described in any one of claims 1-3, characterized in that: Includes the following steps: S10.1 Collect the historical insertion start time sequence and insertion path arrival time sequence of each weft yarn during the insertion process, establish a weft yarn phase relationship analysis model and construct a disturbance state constraint set, combine the logical constraint solving mechanism to solve and determine the disturbance state constraint set, and generate an insertion order abnormal signal; S10.2 Calculate the potential conflict area based on the spatiotemporal projection relationship between the weft insertion trajectory and the weft yarn trajectory, perform inversion positioning of the potential conflict area to determine the conflict prediction interval, mark the nozzles in the conflict prediction interval and output the conflict source isolation signal. S10.3 Based on the insertion sequence abnormality signal and the conflict source isolation signal, establish a mapping state machine based on the state mapping relationship between the insertion disturbance state and the weft insertion impact mode, and determine the fault type of the weaving equipment based on the mapping state machine; S10.4 Dynamically adjust the nozzle triggering sequence and weft insertion cycle delay compensation parameters within the conflict prediction interval.

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