Upper film unwinding device and system based on automatic control

Abstract

The invention relates to the technical field of automatic control, in particular to an upper film unwinding device and system based on automatic control, a data acquisition module obtains a signal of a detection unit and an instruction of a laminating machine main control system and outputs physical equipment state data; the state monitoring module outputs monitoring data after identifying the station state; the task scheduling module uses a dynamic priority algorithm to generate a volume loading instruction sequence; the path planning module calculates a conflict-free motion path according to the instruction sequence and the real-time position data; and the execution control module drives the automatic carrying unit and the unwinding station execution unit to carry and clamp the film roll. According to the invention, multi-station intelligent scheduling and path planning are realized through modularized cooperative control, the problem of carrying demand conflict is effectively solved, and the equipment operation efficiency and the production continuity are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation control, in particular to a film unwinding device and system based on automation control. BACKGROUND

[0002] The film unwinding device is a key component of continuous web production lines such as film coating, lamination, and printing, mainly used for stably releasing web materials from the raw material reel for subsequent processing. The device structure usually includes a reel support mechanism, a braking or driving system, and a tension control unit, which work together to achieve the continuity of the unwinding process. By adjusting the unwinding speed in real time to match the production line running rate and maintaining the web tension within a reasonable range, the film unwinding device can effectively reduce material relaxation or tensile deformation, thereby supporting the smooth progress of downstream processes such as coating, lamination, or printing, and improving the reliability of the production process.

[0003] The existing continuous web production lines such as film coating, lamination, and printing have the following technical pain points: relying on manual judgment and operation for film roll replacement and handling scheduling, the decision-making process has a lag and it is difficult to accurately coordinate the concurrent material requirements of multiple stations. When multiple unwinding stations need to replace film rolls at the same time, shared handling resources such as gantry robots will face task conflicts, and lack of real-time task priority sorting and path planning based on a central control system, which may cause the running path of the automatic handling unit to intersect or block, causing equipment waiting or empty running. For example, in the production process of a film coating machine, if station one and station three simultaneously issue a roll-up request, the operator or simple control system cannot quickly make the optimal scheduling decision, and the handling mechanism may need to complete the task of station one before moving to station three, during which station three is in a waiting state, directly causing the production process to be interrupted, affecting the continuity and stability of the entire line operation. SUMMARY

[0004] To address the deficiencies in the prior art, the present application provides a film unwinding device and system based on automation control, which solves the technical problem of low efficiency of the handling system, interruption of the production process, or waiting, thereby affecting the continuous and stable operation of the film coating machine, due to the conflict in time and space of the material handling requirements of multiple unwinding stations, and the lack of intelligent scheduling and collaborative control.

[0005] To solve the above technical problems, the specific content of the present application is as follows: In a first aspect, the present application provides a film unwinding device based on automation control, which includes a physical device and a control device, and the control device interacts with the physical device through communication connection and data exchange; The physical device includes a film roll storage unit 1, an automatic handling unit 2, an unwinding station execution unit 3, and a detection unit 4; The control device comprises a data acquisition module, a state monitoring module, a task scheduling module, a path planning module and an execution control module, and the data acquisition module, the state monitoring module, the task scheduling module, the path planning module and the execution control module are sequentially connected. The data acquisition module is used for acquiring signals and instructions from the detection unit 4 and the main control system of the film laminating machine, and outputting physical device state data constituted by the signals and instructions to the state monitoring module. The state monitoring module receives the physical device state data from the data acquisition module, identifies the current state of all stations in the unwinding station execution unit 3 using a logical algorithm, and outputs monitoring data including the station state and the device occupation to the task scheduling module. The task scheduling module receives the monitoring data from the state monitoring module, sorts the multi-station winding request in the monitoring data using a dynamic priority algorithm, generates a winding instruction sequence and outputs it to the path planning module. The path planning module receives the winding instruction sequence from the task scheduling module and the real-time position data of the automatic handling unit 2 from the state monitoring module, generates a conflict-free motion path using a motion planning algorithm, and outputs the conflict-free motion path to the execution control module. The execution control module receives the conflict-free motion path from the path planning module, controls the automatic handling unit 2 and the unwinding station execution unit 3 to perform film roll handling and clamping actions, and sends the updated station state to the main control system of the film laminating machine.

[0006] Further, the film unwinding device based on automatic control provided by the application comprises a film roll in-place sensor, a manipulator positioning sensor, an axle head standby detection sensor and a film roll installation confirmation sensor in the detection unit 4. The film roll in-place sensor is arranged in the film roll storage unit 1 and detects a film roll presence signal. The manipulator positioning sensor is arranged in the automatic handling unit 2 and collects manipulator position coordinates. The axle head standby detection sensor and the film roll installation confirmation sensor are arranged in all stations of the unwinding station execution unit 3, and respectively monitor a tensioning axle head state signal and a film roll installation state signal. The film roll presence signal, the manipulator position coordinates, the tensioning axle head state signal and the film roll installation state signal constitute the output of the detection unit 4 and serve as the input of the data acquisition module.

[0007] Further, the automatic handling unit 2 of the film unwinding device based on automatic control provided by the application is a heavy-duty truss type multi-axis manipulator, which has the movement freedom of vertical lifting, horizontal movement and rotation. The heavy-duty truss multi-axis robot is installed on a factory structure through a guide rail, and a servo driver of the heavy-duty truss multi-axis robot is electrically connected with the execution control module. The heavy-duty truss multi-axis robot moves along the conflict-free motion path between the film roll storage unit 1 and the unwinding station execution unit 3 according to the control signal sent by the execution control module.

[0008] Further, the film unwinding device based on automatic control is characterized in that the task scheduling module is configured to: The dynamic priority algorithm extracts production plan priority parameters and equipment load priority parameters according to the monitoring data from the state monitoring module; The task scheduling module fuses the production plan priority parameters and the equipment load priority parameters to generate a priority score for each winding request; When the monitoring data indicates that multiple stations trigger winding requests at the same time, the task scheduling module generates a winding instruction sequence in descending order of the priority score.

[0009] Further, the film unwinding device based on automatic control is characterized in that the path planning module is configured to: The path planning module receives the winding instruction sequence from the task scheduling module, real-time position data of the automatic handling unit 2 from the state monitoring module, and a pre-stored system environment map; The path planning module uses A algorithm or artificial potential field method to calculate a conflict-free motion path for the automatic handling unit 2 according to the priority order in the winding instruction sequence; The conflict-free motion path is output to the execution control module in the form of a path coordinate sequence.

[0010] Further, the film unwinding device based on automatic control is characterized in that the unwinding station execution unit 3 includes multiple independent stations, each station is provided with a positioning mechanism and a tensioning shaft head driven by a servo motor; The positioning mechanism guides the film roll carried by the automatic handling unit 2 to a preset clamping position; The tensioning shaft head receives a driving signal from the execution control module and performs axial movement to lock the film roll located at the preset clamping position.

[0011] Further, the film unwinding device based on automatic control is characterized in that the state monitoring module receives physical device state data as input of a state machine model, and outputs a station state table and a device occupancy table; The execution control module converts the received conflict-free motion path into servo drive signals, which are respectively sent to the servo drive of the automatic carrying unit 2 and the tension shaft head servo motor of the unwinding station execution unit 3. The data acquisition module, the state monitoring module, the task scheduling module, the path planning module and the execution control module are connected through a data bus. The execution control module feeds back the station state update signal to the data acquisition module, and the data acquisition module inputs the signal as part of the physical device state data into the state monitoring module.

[0012] Further, the film unwinding device based on automatic control provided by the application is characterized in that the task scheduling module is further configured to: The production plan priority parameter is embodied as a station weight coefficient parsed from order information received from the main control system of the film laminating machine; The device load priority parameter is embodied as a time decay factor corresponding to the station standby time parsed from the monitoring data of the state monitoring module; The task scheduling module performs weighted summation operation on the station weight coefficient and the time decay factor, and outputs a comprehensive priority score of each film winding request; The task scheduling module generates a film winding instruction sequence in descending order according to the comprehensive priority score.

[0013] Further, the film unwinding device based on automatic control provided by the application is characterized in that the path planning module is configured to: The path planning module receives the comprehensive priority score and the film winding instruction sequence from the task scheduling module; The path planning module compares the comprehensive priority scores of different stations, and plans a straight line motion path for the station with a comprehensive priority score higher than a preset threshold, and plans a curve motion path including an avoidance point for the station with a comprehensive priority score lower than the preset threshold; The execution control module receives the conflict-free motion path output by the path planning module, and controls the film winding according to the sequence in the film winding instruction sequence. The execution control module sends a ready state signal of the station with the highest comprehensive priority score to the main control system of the film laminating machine after completing the film winding action of the station.

[0014] In the second aspect, the application provides a film unwinding system based on automatic control, which is applied to the film unwinding device based on automatic control and comprises: The physical device device comprises a film roll storage unit 1, an automatic carrying unit 2, an unwinding station execution unit 3 and a detection unit 4. A control device interacts data with the physical device device through a communication connection, and the control device comprises a data acquisition module, a state monitoring module, a task scheduling module, a path planning module and an execution control module connected in sequence; The data acquisition module is configured to obtain signals and instructions from the detection unit 4 and the main control system of the film laminating machine, and output physical device state data to the state monitoring module. The state monitoring module is configured to receive physical device state data, identify the state of all stations in the unwinding station execution unit 3 using a logical algorithm, and output monitoring data to the task scheduling module. The task scheduling module is configured to receive monitoring data, sort the multi-station winding request using a dynamic priority algorithm, generate a winding instruction sequence and output it to the path planning module. The path planning module is configured to receive the winding instruction sequence and real-time position data of the automatic handling unit 2, generate a conflict-free motion path using a motion planning algorithm, and output it to the execution control module. The execution control module is configured to receive the conflict-free motion path, control the automatic handling unit 2 and the unwinding station execution unit 3 to perform film roll handling and clamping actions, and send the updated station state to the main control system of the film laminating machine.

[0015] The present application has the following advantages: The present application forms physical device state data by real-time acquisition of detection unit sensor signals and film laminating machine main control system instructions through the data acquisition module, analyzes data and outputs station state monitoring information using the logical algorithm of the state monitoring module, generates a winding instruction sequence by fusing production plans and device load parameters using the dynamic priority algorithm of the task scheduling module, calculates a conflict-free motion path according to the instruction priority and real-time position data using the path planning module, and converts the path into a servo drive signal to control the automatic handling unit and the unwinding station execution unit to work together through the execution control module. At the same time, the closed-loop control is formed by feeding back the station state update signal to the data acquisition module, so as to realize intelligent scheduling and collaborative control of multi-station handling requirements, effectively eliminate device waiting and path blockage caused by time and space conflicts, significantly improve handling system efficiency and production process continuity, and ensure stable operation of the film laminating machine. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the embodiments will be briefly introduced below. Obviously, other drawings can also be obtained by those skilled in the art without creative labor.

[0017] Figure 1 The present application provides a structure schematic diagram of the film unwinding device based on automatic control.

[0018] Figure 2 The system architecture diagram of the film unwinding system based on automatic control is provided.

[0019] BRIEF DESCRIPTION OF DRAWINGS: 1-film roll storage unit, 2-automatic handling unit, 3-unwinding station execution unit, 4-detection unit. DETAILED DESCRIPTION

[0020] In order to make the technical solutions of the present application clearer, the present application will be described below in conjunction with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. The present application provided by each embodiment of the present application will be described in detail below in conjunction with the drawings. In order to better understand the purpose of the present application, the present application will be further described in detail below.

[0021] In the first aspect, referring to Figure 1 The film unwinding device based on automatic control provided by the present application comprises a physical device and a control device, and the control device interacts data with the physical device through communication connection; The physical device comprises a film roll storage unit 1, an automatic handling unit 2, an unwinding station execution unit 3 and a detection unit 4; The positional relationship, connection relationship and function of each unit in the physical device apparatus are as follows: the film roll storage unit (1) is located at the raw material end of the entire apparatus, usually on the left side or rear side of the diagram, and is used for classified storage of film rolls of different specifications to provide material sources for the automatic handling unit (2); the automatic handling unit (2) adopts a heavy-duty truss type multi-axis manipulator, the truss structure of which is fixedly connected with the factory foundation through guide rails, spans the space above the film roll storage unit (1) and the unwinding station execution unit (3), has vertical lifting, horizontal moving and rotating capabilities, and is used for transferring film rolls between the storage unit and the station; the unwinding station execution unit (3) is located downstream of the production line, usually on the right side or front side of the diagram, includes multiple independent stations, each station is integrated with a positioning mechanism and a tension shaft head, and is used for receiving the film rolls transported by the handling unit and completing the actions of accurate positioning, clamping and tensioning; the sensors of the detection unit (4) are distributed on each physical device, the film roll in-place sensor is arranged on the storage rack of the film roll storage unit (1), the manipulator positioning sensor is integrated in the joint of the manipulator of the automatic handling unit (2), and the shaft head standby detection sensor and the film roll installation confirmation sensor are fixed to each station support of the unwinding station execution unit (3); these sensors are connected with the control device through cables, and real-time monitoring of the film roll state, the manipulator position and the station state is realized to provide data input for the control device. The units work cooperatively through mechanical interfaces and electrical connections, the film roll storage unit (1) is the starting point, the automatic handling unit (2) is the handling hub, the unwinding station execution unit (3) is the terminal, and the detection unit (4) realizes real-time monitoring of the entire process, so that the full automation of the film roll winding is realized.

[0022] The control device comprises a data acquisition module, a state monitoring module, a task scheduling module, a path planning module and an execution control module, and the data acquisition module, the state monitoring module, the task scheduling module, the path planning module and the execution control module are sequentially connected. The data acquisition module is used for acquiring signals and instructions from the detection unit 4 and the film coating machine main control system, and outputting physical device state data constituted by the signals and instructions to the state monitoring module; The state monitoring module receives the physical device state data from the data acquisition module, identifies the current state of all stations in the unwinding station execution unit 3 using a logical algorithm, and outputs monitoring data including the station state and the device occupation to the task scheduling module; The task scheduling module receives the monitoring data from the state monitoring module, sorts the multi-station winding requests in the monitoring data using a dynamic priority algorithm, generates a winding instruction sequence and outputs it to the path planning module; The path planning module receives the roll-up instruction sequence from the task scheduling module and the real-time position data of the automatic handling unit 2 from the state monitoring module, generates a conflict-free motion path using a motion planning algorithm, and outputs the conflict-free motion path to the execution control module; The execution control module receives the conflict-free motion path from the path planning module, controls the automatic handling unit 2 and the unwinding station execution unit 3 to perform film roll handling and clamping actions, and sends the updated station state to the film coating machine main control system.

[0023] The specific working process of the film unwinding device based on automatic control is as follows. The data acquisition module first starts running. The module continuously acquires electrical signals and digital instructions from various sensors of the detection unit 4 and the film coating machine main control system through hardwiring or industrial network connection. The sensors distributed on various physical devices of the detection unit 4 generate real-time raw data such as film roll presence signals, robot position coordinates, tension shaft head state signals, and film roll installation state signals; at the same time, the film coating machine main control system sends production instructions including production order number and emergency level identification to the data acquisition module. The data acquisition module performs analog-to-digital conversion and data packaging on the above multi-source signals and instructions, combines them into a physical device state data packet with unified format, and transmits it to the state monitoring module through the data bus.

[0024] After receiving the physical device state data, the state monitoring module starts the internally preset logic algorithm for state recognition. The logic algorithm takes a state machine model as the core and analyzes the input data packet: by comparing the film roll in-place signal with the inventory database, the material level state of the film roll storage unit 1 is determined; by analyzing the robot position coordinates and the preset coordinate range, it is determined whether the automatic handling unit 2 is in idle, moving or working state; by analyzing the tension shaft head state signal and the film roll installation state signal, it is determined whether each station in the unwinding station execution unit 3 is in material waiting, clamping completion or fault state. The state monitoring module structures the recognition results to generate a station state table and a device occupation table including time stamps. These two types of monitoring data are provided to the task scheduling module through memory sharing.

[0025] The task scheduling module calls a dynamic priority algorithm to process the received monitoring data. The algorithm has a double-parameter input channel: on the one hand, the order urgency parameter is extracted from the production instruction sent by the main control system of the laminating machine, which is mapped as the weight coefficient of different stations; on the other hand, the standby time of each station is calculated from the device occupation table to generate a time decay factor. The dynamic priority algorithm performs weighted summation on the weight coefficient and the decay factor, and outputs the comprehensive priority score of each roll-up request. When multiple stations request roll-up at the same time in the monitoring data, the task scheduling module generates a roll-up instruction sequence in descending order of score, which includes station number, execution priority and preset time window, etc. Control parameters are sent to the path planning module through the message queue.

[0026] The path planning module synchronously receives three-way input data: the roll-up instruction sequence from the task scheduling module, the real-time position coordinates of the automatic handling unit 2 provided by the state monitoring module, and the system environment map including device layout coordinates loaded from the non-volatile memory. The path planning module uses a motion planning algorithm to calculate the trajectory, which first allocates a straight motion path to the high-score station according to the priority order in the roll-up instruction sequence, and plans a curve path including avoidance points for the low-score station; then combines the real-time position coordinates and the environment map for collision detection, and finally generates a conflict-free motion path composed of three-dimensional coordinate points. The path planning module encodes the motion path into path coordinate sequence data packets, which are transmitted to the execution control module through real-time Ethernet.

[0027] The execution control module, as the final execution unit of the control flow, converts the received path coordinate sequence into two types of control signals: through the servo driver, it sends motion control instructions including speed, acceleration and position information to the automatic handling unit 2, so that the heavy-duty gantry multi-axis robot moves along the predetermined path; at the same time, it sends axial displacement instructions to the tensioning shaft head servo motor of the unwinding station execution unit 3 to control the tensioning shaft head to complete the film roll clamping action. During the entire execution process, the sensors of the detection unit 4 continuously feedback the execution state, and the execution control module compares and verifies these state data with the predetermined action, generates a station state update signal immediately after completing the clamping, which is fed back to the state monitoring module through the data acquisition module, forming a closed-loop control. Finally, the execution control module sends the ready station state data packet to the main control system of the laminating machine, realizing collaborative operation with the production line level control system.

[0028] The film unwinding device based on automatic control comprises a detection unit 4, an automatic carrying unit 2, a film storage unit 1 and a film unwinding station execution unit 3. The detection unit 4 comprises a film roll in-place sensor, a manipulator positioning sensor, a shaft head standby detection sensor and a film roll installation confirmation sensor. The film roll in-place sensor is installed on the storage rack of the film storage unit 1, and detects the film roll presence signal through the photoelectric sensing principle, and generates a level change signal when the film roll is put in or taken out. The manipulator positioning sensor is integrated at the joint of the manipulator of the automatic carrying unit 2, and adopts a rotary encoder to collect the manipulator position coordinates, and feeds back the coordinate values of the manipulator in the three-dimensional space in real time. The shaft head standby detection sensor and the film roll installation confirmation sensor are respectively fixed on each work station support of the film unwinding station execution unit 3. The shaft head standby detection sensor detects whether the tension shaft head is retreated to the standby position through a proximity switch, and outputs a switching signal. The film roll installation confirmation sensor detects the clamping force between the film roll and the shaft head through a pressure sensor, and outputs an analog signal. The film roll presence signal, the manipulator position coordinates, the tension shaft head state signal and the film roll installation state signal output by the sensors are transmitted to a data acquisition module through a cable, the data acquisition module carries out filtering and digitization processing on the signals, and forms a unified physical equipment state data package.

[0029] In the film unwinding device based on automatic control, the automatic carrying unit 2 adopts a heavy-duty truss type multi-axis manipulator. The manipulator is driven by a servo motor to realize vertical lifting, horizontal movement and rotation movement freedom in the X-axis, Y-axis and Z-axis directions. The truss structure of the heavy-duty truss type multi-axis manipulator is fixedly connected with the factory foundation through a guide rail, so as to ensure the stability during the movement of the manipulator. The servo driver of the manipulator is electrically connected with the execution control module through an Ethernet cable. The execution control module sends a pulse signal to control the servo driver, and the servo driver adjusts the rotating speed and direction of the servo motor. According to the control signal sent by the execution control module, the heavy-duty truss type multi-axis manipulator analyzes the coordinate point sequence in the conflict-free motion path, and sequentially executes acceleration, uniform speed and deceleration motion, moves along the predetermined track between the film storage unit 1 and the film unwinding station execution unit 3, and completes the film roll grabbing and carrying.

[0030] In the film unwinding device based on automatic control, the task scheduling module runs a dynamic priority algorithm, which extracts production plan priority parameters and equipment load priority parameters from the monitoring data received by the state monitoring module. The production plan priority parameters are parsed from the order information issued by the main control system of the film coating machine, and are mapped into a work station weight coefficient according to the order urgency, for example, a high-urgency order corresponds to a high-weight coefficient. The equipment load priority parameter is calculated from the standby time of the work station in the monitoring data, and a time decay factor is generated by an exponential decay function, and the longer the standby time, the larger the decay factor. The task scheduling module inputs the work station weight coefficient and the time decay factor into a weighted summation formula to calculate the comprehensive priority score of each unwinding request. When the monitoring data indicates that multiple work stations trigger the unwinding request at the same time, the task scheduling module sorts the comprehensive priority score from high to low, generates an unwinding instruction sequence including the work station number and the execution order, and sends the sequence to the path planning module.

[0031] In a second aspect, referring to Figure 2 The film unwinding system based on automatic control is applied to the film unwinding device based on automatic control as described, and comprises: A physical device device, comprising a film roll storage unit 1, an automatic handling unit 2, an unwinding work station execution unit 3 and a detection unit 4; A control device, which interacts with the physical device device through communication connection and data acquisition module, state monitoring module, task scheduling module, path planning module and execution control module connected in turn; The data acquisition module is configured to obtain signals and instructions from the detection unit 4 and the main control system of the film coating machine, and output physical device state data to the state monitoring module; The state monitoring module is configured to receive physical device state data, identify the state of all work stations in the unwinding work station execution unit 3 using a logical algorithm, and output monitoring data to the task scheduling module; The task scheduling module is configured to receive monitoring data, sort multiple work station unwinding requests using a dynamic priority algorithm, generate an unwinding instruction sequence and output it to the path planning module; The path planning module is configured to receive the unwinding instruction sequence and the real-time position data of the automatic handling unit 2, generate a conflict-free motion path using a motion planning algorithm, and output it to the execution control module; The execution control module is configured to receive the conflict-free motion path, control the automatic handling unit 2 and the unwinding work station execution unit 3 to perform film roll handling and clamping actions, and send the updated work station state to the main control system of the film coating machine.

[0032] The application solves the problem of conflict in time and space of material handling demand of multiple unwinding stations by constructing a hierarchical control architecture which integrates physical equipment devices and control devices closely. The data acquisition module of the control device obtains sensor signals of the detection unit 4 and production instructions of the main control system of the laminating machine in real time, forms physical equipment state data, and comprehensively perceives the system running state. The state monitoring module uses logical algorithm to analyze these data, accurately identifies the current state and equipment occupation of each station, and outputs structured monitoring data to provide real-time basis for subsequent decision-making. After receiving the monitoring data, the task scheduling module runs a dynamic priority algorithm, extracts production plan priority parameters and equipment load priority parameters, and generates a comprehensive priority score for each winding request. When multiple stations trigger requests at the same time, the module generates a winding instruction sequence in descending order of the score, thereby intelligently allocating handling tasks in the time dimension and avoiding decision lag or resource competition. The path planning module calculates a conflict-free motion path based on the priority order of the winding instruction sequence, the real-time position of the automatic handling unit 2 and the pre-stored environment map, and uses a motion planning algorithm to plan a straight path for high-priority stations and a curve path containing avoidance points for low-priority stations, thereby avoiding mechanical hand motion trajectory intersection or blocking in the spatial dimension. The execution control module converts the path into a servo drive signal to control the automatic handling unit 2 and the unwinding station execution unit 3 to act cooperatively, and returns the station state update signal to the data acquisition module through a closed-loop feedback mechanism, so that the system can dynamically adjust the response. The whole process realizes adaptive scheduling and cooperative control of multiple station demands through continuous data flow transmission between modules, effectively reduces equipment waiting time, eliminates production interruption, and ensures continuous and stable operation of the laminating machine.

Claims

1. An automated control-based film unwinding device, characterized in that, It includes physical equipment and a control device, wherein the control device interacts with the physical equipment via a communication connection; The physical equipment includes a film roll storage unit (1), an automatic handling unit (2), an unwinding station execution unit (3), and a detection unit (4). The control device includes a data acquisition module, a status monitoring module, a task scheduling module, a path planning module, and an execution control module, which are connected in sequence. The data acquisition module is used to acquire signals and instructions from the detection unit (4) and the main control system of the coating machine, and output the physical equipment status data composed of these signals and instructions to the status monitoring module; The status monitoring module receives physical equipment status data from the data acquisition module, uses a logic algorithm to identify the current status of all stations in the unwinding station execution unit (3), and outputs monitoring data including station status and equipment occupancy to the task scheduling module. The task scheduling module receives monitoring data from the status monitoring module, uses a dynamic priority algorithm to sort the multi-station roll-up requests in the monitoring data, generates a roll-up instruction sequence, and outputs it to the path planning module. The path planning module receives the roll-up instruction sequence from the task scheduling module and the real-time position data of the automatic transport unit (2) from the status monitoring module, generates a conflict-free motion path using a motion planning algorithm, and outputs the conflict-free motion path to the execution control module. The execution control module receives a conflict-free motion path from the path planning module, controls the automatic transport unit (2) and the unwinding station execution unit (3) to perform film roll transport and clamping actions, and sends the updated station status to the coating machine main control system.

2. The film unwinding device based on automated control according to claim 1, characterized in that, The detection unit (4) includes a membrane roll in-situ sensor, a robotic arm positioning sensor, a shaft head standby detection sensor, and a membrane roll installation confirmation sensor; The membrane roll in-situ sensor is installed in the membrane roll storage unit (1) to detect the presence of the membrane roll; The robotic arm positioning sensor is installed in the automatic handling unit (2) to collect the position coordinates of the robotic arm; The shaft head standby detection sensor and the film roll installation confirmation sensor are set at all stations of the unwinding station execution unit (3) to monitor the tension shaft head status signal and the film roll installation status signal, respectively. The presence signal of the membrane roll, the position coordinates of the robot arm, the state signal of the tensioning shaft head, and the installation state signal of the membrane roll constitute the output of the detection unit (4), which serves as the input of the data acquisition module.

3. The film unwinding device based on automated control according to claim 1, characterized in that, The automatic handling unit (2) is a heavy-duty truss-type multi-axis manipulator, which has vertical lifting, horizontal movement and rotational degrees of freedom. The heavy-duty truss-type multi-axis robot is mounted on the factory structure via guide rails, and the servo driver of the heavy-duty truss-type multi-axis robot is electrically connected to the execution control module. The heavy-duty truss-type multi-axis manipulator moves between the film roll storage unit (1) and the unwinding station execution unit (3) along the conflict-free motion path according to the control signal issued by the execution control module.

4. The film unwinding device based on automated control according to claim 1, characterized in that, The task scheduling module is configured as follows: The dynamic priority algorithm extracts production plan priority parameters and equipment load priority parameters based on monitoring data from the status monitoring module. The task scheduling module integrates production plan priority parameters and equipment load priority parameters to generate a priority score for each roll-up request. When monitoring data indicates that multiple workstations simultaneously trigger roll-up requests, the task scheduling module generates a roll-up instruction sequence in descending order of priority score.

5. The automated control-based film unwinding device according to claim 4, characterized in that, The path planning module is configured as follows: The path planning module receives the roll-up instruction sequence from the task scheduling module, the real-time location data of the automatic transport unit (2) from the status monitoring module, and the pre-stored system environment map; The path planning module uses the A algorithm or the artificial potential field method to calculate a conflict-free motion path for the automatic transport unit (2) based on the priority order in the upper volume instruction sequence. The conflict-free motion path is output to the execution control module in the form of a path coordinate sequence.

6. The film unwinding device based on automated control according to claim 1, characterized in that, The unwinding station execution unit (3) includes multiple independent stations, each station being equipped with a positioning mechanism and a tensioning shaft head driven by a servo motor; The positioning mechanism guides the film roll transported by the automatic transport unit (2) to the preset clamping position; The tensioning shaft head receives a drive signal from the execution control module and performs axial movement to lock the film roll located at the preset clamping position.

7. The film unwinding device based on automated control according to claim 1, characterized in that, The status monitoring module takes the received physical device status data as input to the state machine model and outputs a workstation status table and a device occupancy table. The execution control module converts the received conflict-free motion path into a servo drive signal, which is then sent to the servo driver of the automatic handling unit (2) and the tensioning shaft head servo motor of the unwinding station execution unit (3). The data acquisition module, status monitoring module, task scheduling module, path planning module, and execution control module are connected via a data bus. The execution control module feeds back the workstation status update signal to the data acquisition module, and the data acquisition module inputs the signal as part of the physical equipment status data into the status monitoring module.

8. The film unwinding device based on automated control according to claim 4, characterized in that, The task scheduling module is also configured to: The production plan priority parameter is reflected in the workstation weight coefficient parsed from the order information received from the main control system of the coating machine; The equipment load priority parameter is a time decay factor corresponding to the workstation standby time, which is parsed from the monitoring data of the status monitoring module. The task scheduling module performs a weighted summation operation on the workstation weight coefficient and the time decay factor, and outputs a comprehensive priority score for each roll-up request; The task scheduling module generates the roll-up instruction sequence based on the descending order of the comprehensive priority score.

9. The film unwinding device based on automated control according to claim 8, characterized in that, The path planning module is configured as follows: The path planning module receives a comprehensive priority score and a roll-up instruction sequence from the task scheduling module; The path planning module compares the overall priority scores of different workstations, plans a straight path for workstations with an overall priority score higher than a preset threshold, and plans a curved path including avoidance points for workstations with an overall priority score lower than a preset threshold. The execution control module receives the conflict-free motion path output by the path planning module and controls the automatic transport unit (2) to perform film roll transport according to the order in the roll-up instruction sequence; After completing the winding action for the station with the highest overall priority score, the execution control module sends a ready status signal for that station to the main control system of the coating machine.

10. An automated control-based film unwinding system, applied to the automated control-based film unwinding device as described in any one of claims 1 to 9, characterized in that, include: The physical equipment device includes a film roll storage unit (1), an automatic handling unit (2), an unwinding station execution unit (3), and a detection unit (4). A control device that interacts with the physical device via a communication connection, the control device comprising a data acquisition module, a status monitoring module, a task scheduling module, a path planning module, and an execution control module connected in sequence; The data acquisition module is configured to acquire signals and instructions from the detection unit (4) and the main control system of the coating machine, and output physical equipment status data to the status monitoring module; The status monitoring module is configured to receive physical device status data, use logical algorithms to identify the status of all stations in the unwinding station execution unit (3), and output monitoring data to the task scheduling module; The task scheduling module is configured to receive monitoring data, sort multi-station roll-up requests using a dynamic priority algorithm, generate a roll-up instruction sequence, and output it to the path planning module. The path planning module is configured to receive the roll-up instruction sequence and the real-time position data of the automatic transport unit (2), use the motion planning algorithm to generate a conflict-free motion path and output it to the execution control module; The execution control module is configured to receive conflict-free motion paths, control the automatic transport unit (2) and the unwinding station execution unit (3) to perform film roll transport and clamping actions, and send the updated station status to the main control system of the coating machine.

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