Multi-roll cooperative transfer method of automatic guiding cloth receiving vehicle

Abstract

The present application relates to the technical field of textile flow transfer control, and particularly relates to a multi-roll cooperative transfer method of an automatic guide cloth receiving vehicle. The present application aims at the problems of inaccurate judgment of the release of the lower cloth receiving space after the first roll is lifted, insufficient stability and space passing verification in the cloth receiving and driving-off stages, generates lifting permission information after the first roll forms a roll bearing state, acquires a candidate second roll receiving task and determines the cloth receiving release height, further generates a lifting and driving cooperative control sequence in a predicted time domain, calculates a predicted stability margin in five stages, and screens a target executable sequence in combination with the route space passing condition and the rated load condition to control the cooperative completion of the second roll receiving by the lifting bracket, the cloth receiving vehicle and the cloth receiving mechanism, and is suitable for the cooperative transfer control of multiple rolls in a textile field.

Description

Technical Field

[0001] This invention relates to the field of textile logistics transfer control technology, and in particular to a method for the coordinated transfer of multiple fabric rolls using an automated guided fabric receiving vehicle. Background Technology

[0002] In textile production, after the loom finishes winding the fabric, the roll usually needs to be transferred from the loom to a temporary storage rack, storage area, or subsequent use location. Existing automated guided fabric receiving vehicles generally use a vision system to identify the completion status of the fabric roll at the loom, and automatically travel to the corresponding receiving station after confirming completion, where the receiving mechanism receives the roll. Some receiving vehicles are also equipped with a lifting bracket, allowing the receiving mechanism to flip the received roll onto the lifting bracket, enabling the bracket to support the roll or adjust its height.

[0003] For fabric receiving vehicles equipped with a fabric receiving mechanism and a lifting bracket, existing control methods typically focus on detecting the presence or absence of fabric rolls, the positioning of the fabric receiving mechanism, the positioning of the lifting bracket, and vehicle path control. The resetting of the fabric receiving mechanism, the lifting of the bracket, vehicle movement, and the subsequent reception of the second fabric roll are mostly executed according to their respective fixed conditions. Since the lifting of the first fabric roll changes the vehicle's center of gravity and space occupancy, and the resetting of the fabric receiving mechanism and the entry of the second fabric roll into the lower fabric receiving space will generate additional space occupancy and dynamic loads, if control is still based solely on a single positioning signal or a fixed speed threshold, problems such as inaccurate judgment of the release of the lower fabric receiving space, insufficient stability verification before fabric receiving, or incomplete judgment of space passage conditions when both rolls leave are likely to occur. Summary of the Invention

[0004] In view of the above-mentioned problems in the prior art, the present invention provides the following technical solution: This invention provides a method for the coordinated transfer of multiple fabric rolls using an automated guided fabric receiving vehicle. The fabric receiving vehicle is equipped with a fabric receiving mechanism, a lifting bracket, and a lower fabric receiving space, comprising: S1. Control the fabric receiving mechanism to receive the first fabric roll in the lower fabric receiving space and flip it up to the lifting bracket. The lifting bracket carries the fabric roll and establishes a fabric roll carrying state. When the carrying state meets the lifting conditions, a lifting permission information is generated. S2. Obtain the fabric receiving task of the candidate second fabric roll, and determine the status of the candidate second fabric roll, the corresponding route and the fabric receiving release height for each fabric receiving task. The fabric receiving release height represents the minimum bracket height for the fabric receiving mechanism to reset and receive the candidate second fabric roll after the lifting bracket lifts the first fabric roll. S3. Based on the lifting permission information, generate a lifting and driving coordinated control sequence for each fabric splicing task in the prediction time domain, which enables the first fabric roll to reach the corresponding fabric splicing release height under stable constraints. The sequence includes bracket lifting parameters and vehicle driving parameters. S4. Determine the predictive stability margin of each lifting and traveling coordinated control sequence according to the five stages: single roll lifting and traveling, cloth receiving mechanism reset, second roll receiving, second roll not stable, and double roll departure. S5. Based on the predicted stability margin, the corresponding release height of the connecting cloth, the route space passage conditions, and the rated load conditions, determine the executable sequence from each lifting and traveling coordinated control sequence; S6. Determine the target executable sequence from the executable sequences, and control the lifting bracket and the fabric receiving vehicle according to the target executable sequence. When the lifting bracket reaches the corresponding fabric receiving release height and the fabric receiving vehicle reaches the second fabric receiving station, trigger the fabric receiving mechanism to reset and receive the second fabric roll. If there is no executable sequence, prohibit the fabric receiving mechanism from receiving the second fabric roll.

[0005] Optionally, establishing the roll bearing state and generating lifting permission information when the bearing state meets the lifting conditions includes: Acquire information on the support position, load, and off-center load of the first fabric roll after it has been flipped up onto the lifting bracket by the fabric receiving mechanism; Based on the support positioning information, it is determined whether the first fabric roll is effectively supported by the lifting bracket; based on the load information, it is determined whether the load of the first fabric roll remains stable within the preset confirmation time window; and based on the off-center load information, it is determined whether the degree of off-center load of the first fabric roll is within the allowable range. When the first roll of fabric is effectively supported by the lifting bracket, the load remains stable, and the degree of off-center load is within the allowable range, it is determined that the load-bearing state of the roll of fabric meets the lifting conditions, and lifting permission information is generated.

[0006] Optionally, the candidate second roll state includes expected outline information and unwinding position information, and the determination of the fabric release height includes: Based on the motion path of the fabric receiving mechanism from the upward position to the receiving position, determine the envelope occupied by the reset motion of the fabric receiving mechanism; Based on the predicted outline information and unloading position information, determine the receiving area occupied when the candidate second roll enters the lower fabric receiving space and is received by the fabric receiving mechanism. Based on the occupied areas of the lifting bracket and the first fabric roll at each bracket height, the clearance between the reset motion occupancy envelope and the receiving occupancy area and the lifting bracket and the first fabric roll is determined respectively. The minimum bracket height when all the aforementioned clearances are not less than the corresponding preset safety clearance is determined as the fabric release height for the corresponding fabric splicing task.

[0007] Optionally, the step of generating a lifting and driving coordinated control sequence in the prediction time domain for each fabric splicing task, which enables the first fabric roll to reach the corresponding fabric splicing release height under stability constraints, includes: Based on the current position of the receiving vehicle, the position of the corresponding second receiving station, the corresponding route, and the expected receiving time period of the candidate second roll determined by the receiving task, the predicted time domain from the current moment until the receiving mechanism receives the candidate second roll and forms the lower bearing state, after which the two rolls leave the corresponding second receiving station. The prediction time domain is divided into multiple continuous control periods, and multiple sets of bracket lifting parameters and vehicle driving parameters are configured for each control period. The bracket lifting parameters include lifting status, lifting speed and lifting acceleration, and the vehicle driving parameters include vehicle speed, longitudinal acceleration or deceleration and turning angular velocity. The lifting parameters of each bracket and the driving parameters of the vehicle are combined according to the time sequence of each control period to form multiple lifting and driving coordinated control sequences. Based on each lifting and driving coordinated control sequence, the bracket height, vehicle position and the time when the receiving vehicle arrives at the corresponding second receiving station are predicted for each control period.

[0008] Optionally, the determination of the predicted stability margin of each lifting and traveling coordinated control sequence according to the five stages of single roll lifting and traveling, fabric receiving mechanism reset, second roll receiving, second roll instability, and double roll departure includes: The time period from the current moment to the arrival of the receiving vehicle at the corresponding second receiving station is defined as the single roll lifting and traveling stage, and the time period from the upward position to the receiving position after the receiving vehicle arrives at the corresponding second receiving station is defined as the receiving mechanism reset stage. The period from when the candidate second roll begins to be received by the splicing mechanism to when it forms effective support on the splicing mechanism is defined as the second roll receiving stage; the period from when the candidate second roll forms effective support on the splicing mechanism to when its position and load-bearing capacity distribution reach stability is defined as the second roll unstable stage. The period from when the receiving vehicle carrying the first roll of fabric and the candidate second roll of fabric leaves the corresponding second receiving station until it enters a stable transportation state is defined as the double roll departure stage. The stage stability margin is determined based on the bracket height, vehicle driving parameters, fabric connection mechanism operation status, and the load-bearing status of the first fabric roll and the candidate second fabric roll in the corresponding stage. The minimum value among the stage stability margins corresponding to the five stages is determined as the predicted stability margin of the corresponding lifting and driving coordinated control sequence.

[0009] Optionally, the stability margin for each stage is determined as follows: Determine the support area formed by the wheels of the fabric receiving vehicle and the multiple overturning edges corresponding to the support area; For each overturning edge, based on the route slope and cross slope of each control period within the corresponding stage, the vehicle's weight is decomposed into normal and tangential components relative to the wheel support surface. When there is a roll eccentric load, the centroid coordinates of the corresponding roll are updated based on the eccentric load information. The restoring torque is determined based on the normal component and the updated position of the vehicle's center of gravity relative to the overturning edge. The overturning torque is determined based on the tangential component and the inertial effect generated by at least one of the following: vehicle longitudinal acceleration, lateral acceleration, bracket lifting motion, fabric receiving mechanism reset motion, second roll receiving impact, and candidate second roll rolling or swaying. The ratio of the difference between the restoring moment and the overturning moment to the reference moment corresponding to the overturning edge is determined as the edge stability margin; wherein, the reference moment is the restoring moment formed by the fabric receiving vehicle relative to the corresponding overturning edge under rated static load conditions; The minimum value among the edge stability margins corresponding to each control period and each overturning edge within the same stage is determined as the stage stability margin for that stage.

[0010] Optionally, the determination of the route space access conditions includes: Obtain the route boundary, station boundary, lateral obstacle position and overhead clearance boundary of the corresponding route and the corresponding second splicing station in the corresponding area of ​​each control period; Based on the vehicle position predicted by the corresponding lifting and driving coordinated control sequence, the vehicle driving posture determined by the vehicle driving parameters, the bracket height, the outer contour of the receiving vehicle, the outer contour of the receiving mechanism in the corresponding action state, the outer contour of the lifting bracket, the outer contour of the first roll at the corresponding bracket height, and the outer contour of the candidate second roll during the control period after the candidate second roll is received, the spatial occupancy envelope formed when the receiving vehicle moves along the corresponding route in each control period and when it performs the receiving mechanism reset or the second roll receiving action at the corresponding second receiving station is determined. Determine the spatial clearance between the spatial occupancy envelope and the route boundary, workstation boundary, lateral obstacles, and overhead clearance boundary; When the spatial gap corresponding to each control period is not less than the corresponding preset spatial gap, it is determined that the lifting and driving coordinated control sequence meets the route space passage condition; otherwise, it is determined that the lifting and driving coordinated control sequence does not meet the route space passage condition.

[0011] Optionally, determining the executable sequence from each lifting and driving coordinated control sequence includes: Obtain the load information of the first roll and the expected load information of the candidate second roll. Based on the load information of the first roll and the expected load information of the candidate second roll, determine the expected double roll load after the receiving vehicle receives the candidate second roll. When the lifting and driving coordinated control sequence simultaneously meets the following conditions, the lifting and driving coordinated control sequence is determined as an executable sequence: the predicted stability margin is not lower than the preset safety margin threshold, the bracket height when the receiving vehicle arrives at the corresponding second receiving station is not lower than the corresponding receiving release height, the lifting and driving coordinated control sequence meets the route space passage conditions, and the expected double roll load is not greater than the rated load of the receiving vehicle. If any condition is not met, the corresponding lifting and lowering coordinated control sequence will be excluded.

[0012] Optionally, the step of determining a target executable sequence from the executable sequences, controlling the lifting bracket and the fabric receiving carriage according to the target executable sequence, and triggering the fabric receiving mechanism to reset and receive the second fabric roll when the lifting bracket reaches the corresponding fabric receiving release height and the fabric receiving carriage reaches the second fabric receiving station includes: Determine the predictive stability margin, estimated task completion time, duration for which the lifting bracket remains at or above the corresponding fabric release height, and the number of speed limits or stops for each executable sequence; If only one executable sequence exists, that executable sequence is identified as the target executable sequence. When multiple executable sequences exist, a target executable sequence is determined from the multiple executable sequences based on the predicted stability margin, the expected task completion time, the duration, and the number of speed limits or stops for each executable sequence. The fabric receiving task corresponding to the target executable sequence is determined as the target fabric receiving task, and the lifting bracket and the fabric receiving vehicle are controlled to execute the target fabric receiving task according to the target executable sequence; When the lifting bracket reaches the fabric release height corresponding to the target fabric receiving task and the fabric receiving vehicle arrives at the second fabric receiving station corresponding to the target fabric receiving task, the fabric receiving mechanism is controlled to reset and receive the second fabric roll.

[0013] Optionally, during the process of controlling the lifting bracket and the receiving vehicle to perform the target fabric receiving task according to the target executable sequence, the method further includes: When the fabric receiving vehicle approaches or arrives at the second fabric receiving station corresponding to the target fabric receiving task, the actual load-bearing state of the first fabric roll, the actual bracket height of the lifting bracket, the actual parking posture of the fabric receiving vehicle relative to the corresponding second fabric receiving station, and the actual outline information, actual unloading position information and actual load information of the candidate second fabric roll corresponding to the target fabric receiving task are re-acquired. Based on the reacquired information, update the fabric release height, route space passage conditions, expected double roll load, and stage stability margins for the target executable sequence corresponding to the fabric splicing mechanism reset, second roll reception, second roll instability, and double roll departure stages. If the updated target executable sequence still meets the conditions for determining the executable sequence, the control mechanism for receiving fabric is reset to the receiving position and receives the second roll of fabric. If the updated target executable sequence does not meet the conditions for determining the executable sequence, the lifting and driving coordinated control sequence is regenerated and filtered based on the current state of the receiving vehicle and the remaining candidate receiving tasks. The target executable sequence is determined from the re-filtered executable sequences. If no executable sequence is found after re-filtering, the receiving mechanism is prohibited from receiving the second roll of fabric.

[0014] Beneficial effects The technical solution provided by this invention has the following beneficial effects: 1. This invention determines the fabric release height based on the coordination relationship between the fabric receiving mechanism, the lifting bracket, and the lower fabric receiving space. It also determines the clearance between the fabric receiving mechanism's reset motion envelope from the upward position to the fabric receiving position, and the receiving area occupied by the candidate second fabric roll when it enters the lower fabric receiving space and is received by the fabric receiving mechanism, and the occupancy areas of the lifting bracket and the first fabric roll, respectively. Since the fabric release height simultaneously reflects the reset space of the fabric receiving mechanism and the receiving space of the second fabric roll, it reduces the likelihood of judging the lower fabric receiving space as released solely based on the bracket's positioning signal or a fixed height. This makes it less likely for the reset of the fabric receiving mechanism and the receiving of the second fabric roll to cause spatial interference with the higher-positioned first fabric roll.

[0015] 2. This invention generates a lifting and driving coordinated control sequence for each fabric splicing task within the prediction time domain, and determines the executable sequence based on the prediction stability margin, the corresponding fabric splicing release height, the route space passage conditions, and the rated load conditions. Since the bracket lifting parameters and vehicle driving parameters are organized into the same predictive control process, the lifting target of the first fabric roll is no longer judged separately from the fabric splicing vehicle's driving process. This reduces the possibility that when the fabric splicing vehicle arrives at the second fabric splicing station, the first fabric roll has not yet released the lower fabric splicing space, or the high-level load-bearing state has deviated from the stability constraint in order to release the lower fabric splicing space.

[0016] 3. This invention determines the predicted stability margin in five stages: single roll lifting and travel, fabric receiving mechanism reset, second roll receiving, second roll instability, and double roll departure. The stage stability margin is determined based on the support area, overturning edge, restoring torque, overturning torque, and reference torque. Since the fabric receiving mechanism reset motion, the impact of the second roll receiving, and the rolling or swaying of the candidate second roll are all included in the stage stability margin calculation, it can reduce situations where stability checks are not covered during the fabric receiving mechanism reset and the instability of the second roll.

[0017] 4. This invention separately determines the route space passage conditions and predicted stability margin, and determines the space occupancy envelope based on the outer contour of the receiving vehicle, the outer contour of the receiving mechanism in the corresponding action state, the outer contour of the lifting bracket, the outer contour of the first fabric roll, and the outer contour of the candidate second fabric roll during and after receiving. Since the boundaries of the corresponding route and the corresponding second receiving station are included in the space judgment, the resetting action of the receiving mechanism, the entry path of the candidate second fabric roll, the position change range of the candidate second fabric roll during the unstable period, and the outer contour of the second fabric roll during the double roll departure stage can all be included in the space occupancy envelope, thereby reducing the situation where the route can be passed based solely on the receiving vehicle body or the outer contour of the first fabric roll, while omitting the station operation space and the space occupancy of the lower second fabric roll.

[0018] 5. When the fabric receiving vehicle approaches or arrives at the second fabric receiving station corresponding to the target fabric receiving task, this invention re-acquires the actual load-bearing state of the first fabric roll, the actual support height of the lifting bracket, the actual parking posture, and the actual outline information, actual unloading position information, and actual load information of the candidate second fabric roll. Based on this, it updates the fabric receiving release height, route space passage conditions, expected double-roll load, and related stage stability margin. Since the executable sequence can be re-determined based on the measured state before receiving the second fabric roll, it can reduce the direct execution of unsuitable fabric receiving actions caused by changes in the actual state of the candidate second fabric roll, parking posture deviations, or load changes. Attached Figure Description

[0019] Figure 1 A schematic diagram of the fabric receiving vehicle structure provided in an embodiment of the present invention; wherein, 1, fabric receiving mechanism; 2, lifting bracket; Figure 2 This is a schematic diagram illustrating the steps of the multi-roll collaborative transfer method provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the lifting and driving coordinated control process provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the fabric release height determination process provided in an embodiment of the present invention; Figure 5 A schematic diagram illustrating the stage division of the predicted stability margin provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the process for determining the stage stability margin provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the stage stability margin force analysis provided in an embodiment of the present invention; Figure 8 This is a schematic diagram illustrating the route space determination process based on conditions provided in an embodiment of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1 , Figure 1 This is a schematic diagram of the fabric receiving cart structure provided in an embodiment of the present invention; wherein, 1 is a fabric receiving mechanism; and 2 is a lifting bracket. This fabric receiving cart is used for automatic fabric roll transfer scenarios in textile production sites. It is suitable for situations where there are multiple fabric receiving stations between weaving machines, fabric inspection equipment, temporary storage racks, or storage areas, and the same fabric receiving cart needs to receive multiple fabric rolls sequentially in a single transfer task. The fabric receiving cart can automatically travel along a preset route to the fabric receiving station on the weaving machine side. After the weaving machine completes the fabric roll roll and issues the fabric receiving task, the fabric receiving mechanism 1 receives the fabric roll in the lower fabric receiving space of the fabric receiving cart.

[0022] exist Figure 1 In the structure shown, the fabric receiving mechanism 1 is located in the lower middle part of the fabric receiving carriage. It is used to receive the fabric roll released or unloaded by the loom at the receiving position, and can perform an upward flipping action after receiving to transfer the received first fabric roll to the lifting bracket 2. The lifting bracket 2 is located in the lifting and bearing area above the fabric receiving carriage. It is used to carry the first fabric roll transferred by the upward flipping of the fabric receiving mechanism 1, and changes the height position of the first fabric roll as the fabric receiving carriage continues to travel. The fabric receiving mechanism 1, the lifting bracket 2, and the lower fabric receiving space cooperate with each other in space: only when the first fabric roll is located on the lifting bracket 2 and the lifting bracket 2 is raised to a sufficient height can the lower fabric receiving space meet the conditions for the fabric receiving mechanism 1 to reset and continue to receive the second fabric roll.

[0023] In actual operation, the controller of the fabric receiving vehicle is connected to the fabric receiving mechanism 1, the lifting bracket 2, the vehicle traveling mechanism, and the detection unit used to acquire information on the fabric roll status, bracket height, load, off-center load, vehicle position, and route environment. After receiving the receiving status and carrying status of the first fabric roll, the controller determines whether the first fabric roll has been effectively supported by the lifting bracket 2. At the same time, the controller also receives candidate second fabric roll receiving tasks from the production scheduling system, the weaving machine control system, or the field detection unit, and determines whether the fabric receiving vehicle can continue to receive the second fabric roll while carrying the first fabric roll, based on the position, outline, expected load, corresponding route, and the status of the receiving station of each candidate second fabric roll.

[0024] The application scope of this invention lies in the fact that the fabric receiving vehicle does not simply lift itself to a fixed height immediately after receiving the first fabric roll, nor does it merely reset based on the arrival signal of the fabric receiving mechanism after reaching the second fabric receiving station. Instead, it considers the lifting bracket height, the reset space of the fabric receiving mechanism, the receiving space for the second fabric roll to enter the lower fabric receiving space, the overall vehicle stability, the route space conditions, and the rated load conditions, all while ensuring that the first fabric roll has already formed a lifting bracket support state. Therefore, the fabric receiving vehicle can integrate the bracket lifting action, vehicle driving action, and subsequent fabric receiving action into a single control process during the coordinated transfer of multiple fabric rolls. This is suitable for textile logistics scenarios that require improved fabric roll transfer efficiency and need to avoid interference from high-level fabric rolls, vehicle overturning risks, or route space collision risks.

[0025] In the aforementioned application scenarios, after receiving the first fabric roll, the existing fabric receiving vehicle typically performs subsequent actions based on the arrival signals of the fabric receiving mechanism, the arrival signal of the lifting bracket, and the vehicle's path travel status. In this type of control method, the resetting of the fabric receiving mechanism, the lifting of the lifting bracket, the movement of the fabric receiving vehicle to the next fabric receiving station, and the reception of the second fabric roll are all triggered by independent fixed conditions. The controller has difficulty in timely determining whether the space avoidance conditions and vehicle stability conditions have been met simultaneously after the first fabric roll is lifted. When the first fabric roll rises with the lifting bracket, the position of the vehicle's center of gravity and the space occupied above the vehicle change; when the fabric receiving mechanism resets from the upward position to the receiving position, the movement trajectory of the fabric receiving mechanism itself will occupy the lower fabric receiving space. If only the lifting bracket reaching a certain fixed height is used as the basis for the release of the lower fabric receiving space, there may be situations where the resetting motion envelope of the fabric receiving mechanism interferes with the first fabric roll or the lifting bracket, or there is insufficient avoidance between the second fabric roll entering the lower fabric receiving space and the area occupied by the higher-positioned first fabric roll.

[0026] Meanwhile, as the fabric receiving vehicle carries the first fabric roll to the second receiving station, acceleration, deceleration, turning, and the gradient and cross slope of the route all affect the stability of the entire vehicle. If the first fabric roll is unevenly loaded, or if the lifting bracket continues to perform lifting actions while the vehicle is in motion, the recovery capability of the vehicle's support area relative to the vehicle's center of gravity will change. Existing methods, if stability is judged only when the vehicle is stationary or at a single speed threshold, cannot cover the different stress states in continuous stages such as single roll lifting and travel, fabric receiving mechanism reset, second fabric roll reception, the second fabric roll not yet stabilized, and double roll departure. In particular, it is difficult to cover the receiving impact generated when the second fabric roll is just received by the fabric receiving mechanism, and the dynamic load formed when the second fabric roll roll rolls or swings on the fabric receiving mechanism but has not yet stabilized.

[0027] Furthermore, the overall outline of the receiving vehicle carrying the first and second fabric rolls differs from that of a single roll during transport. When the first roll is on the lifting bracket, it occupies overhead space; when the second roll is on the lower receiving space or the receiving mechanism, it occupies both lower and lateral space. The outline of the receiving mechanism also differs from its static, stowed state when it is in reset or receiving mode. If route passability is judged solely based on the outline of the receiving vehicle itself or a single fabric roll, the space occupancy envelope formed by the combined effects of the double roll configuration, bracket height changes, and the receiving mechanism's operational state can easily be overlooked in narrow passages, near lateral obstacles, or sections with overhead clearance restrictions, thus affecting subsequent departure and transfer safety.

[0028] To address the aforementioned issues, this invention, after the first fabric roll is flipped onto the lifting bracket by the fabric receiving mechanism, first establishes the fabric roll's load-bearing state. Then, when the first fabric roll is effectively supported by the lifting bracket, the load is stable, and the off-center load is within the allowable range, lifting permission information is generated. Subsequently, this invention no longer separately determines the lifting bracket's lifting, vehicle movement, and second fabric roll reception. Instead, for each fabric receiving task of the candidate second fabric roll, it determines the candidate second fabric roll's state, corresponding route, and fabric release height, and generates a lifting and driving coordinated control sequence containing bracket lifting parameters and vehicle movement parameters within the prediction time domain.

[0029] In this control process, the fabric release height is used to characterize the minimum bracket height required for the fabric receiving mechanism to reset and receive the candidate second fabric roll after the lifting bracket lifts the first fabric roll. This ensures that the release judgment of the lower fabric receiving space simultaneously considers the occupancy of the fabric receiving mechanism's reset movement and the occupancy of the second fabric roll's reception. The lifting and driving coordinated control sequence is used to coordinate the bracket's lifting state, lifting speed, lifting acceleration, vehicle speed, longitudinal acceleration or deceleration, and turning angular velocity as the fabric receiving vehicle moves towards the second fabric receiving station. This ensures that the first fabric roll can reach the corresponding fabric release height under stable constraints, and that the fabric receiving vehicle can reach the corresponding second fabric receiving station at the appropriate time.

[0030] This invention further determines the predicted stability margin in five stages: single roll lifting and travel, fabric splicing mechanism reset, second roll reception, second roll instability, and double roll departure. It also selects executable sequences based on route space conditions and rated load conditions. Therefore, the second roll reception is not mechanically triggered after the vehicle arrives, but rather executed when the lifting bracket reaches the fabric splicing release height, the fabric splicing vehicle arrives at the corresponding second splicing station, the stability margin meets the requirements, the route space conditions meet the requirements, and the expected double roll load does not exceed the rated load. This method enables the space release judgment, stability judgment, load judgment, and route passage judgment to form a continuous control closed loop, reducing spatial interference, overturning risks, and unsuitable splicing actions during multi-roll coordinated transport.

[0031] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Before introducing specific embodiments of the present invention, the technical terms involved in the present invention will be explained: A fabric receiving mechanism refers to a mechanism on a fabric receiving vehicle used to receive fabric rolls at the receiving position and capable of performing flipping or resetting actions. In this invention, the fabric receiving mechanism has an flipping position and a receiving position; when it is in the receiving position, it is used to receive fabric rolls in the lower receiving space; after flipping the first fabric roll to the lifting bracket, it needs to be reset while meeting space clearance conditions in order to continue receiving candidate second fabric rolls.

[0033] A lifting bracket is a lifting and supporting component installed on the fabric receiving vehicle to support the first fabric roll. In this invention, the lifting bracket not only supports the first fabric roll but also changes the positional relationship of the first fabric roll relative to the fabric receiving mechanism, the lower fabric receiving space, and the route clearance boundary by adjusting the bracket height. The height, lifting speed, and lifting acceleration of the lifting bracket collectively affect the fabric release height, the vehicle's center of gravity, and the stability margin.

[0034] The lower fabric receiving space refers to the lower space area in the fabric receiving vehicle where the fabric receiving mechanism resets and receives the fabric roll. Whether this space is released is not determined by a single height, but rather by a combination of the envelope occupied by the reset movement of the fabric receiving mechanism, the area occupied by the candidate second fabric roll, and the areas occupied by the lifting bracket and the first fabric roll.

[0035] The first fabric roll refers to the fabric roll that has been received by the fabric receiving mechanism and flipped onto the lifting bracket during the current multi-fabric roll collaborative transfer process. The candidate second fabric roll refers to subsequent fabric rolls provided by the scheduling system, weaving machine control system, or on-site detection unit that can be received by the fabric receiving vehicle. The second fabric roll refers to the fabric roll that is identified as the target fabric receiving task from the candidate second fabric rolls and is actually received by the fabric receiving mechanism.

[0036] The fabric roll bearing status refers to the state established by the controller based on the bearing position information, load information, and off-center load information after the first fabric roll is flipped up onto the lifting bracket by the fabric receiving mechanism. This status is used to characterize whether the first fabric roll is effectively supported by the lifting bracket, whether the load is stable, and whether the degree of off-center load is within the allowable range, and serves as the basis for generating lifting permission information.

[0037] Lifting permission information refers to control permission information generated when the fabric roll's load-bearing state meets the lifting conditions. This information indicates that the controller allows the lifting bracket to lift the first fabric roll during subsequent predictive control, but it does not mean that the fabric receiving mechanism is ready to receive the second fabric roll. Whether the fabric receiving mechanism can receive the second fabric roll still depends on meeting the fabric release height, predictive stability margin, route space conditions, and rated load conditions.

[0038] The fabric receiving task refers to the transfer task information for the corresponding candidate second fabric roll. It is used to determine at least the status of the candidate second fabric roll, the corresponding second fabric receiving station, the corresponding route, and the expected receiving time period. The second fabric receiving station refers to the station location that the fabric receiving vehicle needs to reach when receiving the candidate second fabric roll or the second fabric roll itself. The corresponding route refers to the route taken by the fabric receiving vehicle from its current location to the corresponding second fabric receiving station and then leaving that station after receiving the fabric.

[0039] The fabric release height refers to the minimum bracket height required for the fabric receiving mechanism to reset and receive the candidate second fabric roll after the lifting bracket has lifted the first fabric roll. In this invention, this height is determined by the envelope occupied by the reset movement of the fabric receiving mechanism, the area occupied by the candidate second fabric roll, the areas occupied by the lifting bracket and the first fabric roll at different bracket heights, and a preset safety gap.

[0040] The prediction time domain refers to the time range from the current moment, covering the movement of the fabric receiving vehicle towards the corresponding second fabric receiving station, the receiving mechanism receiving the candidate second fabric roll and forming the lower load-bearing state, and the movement of both rolls away from the corresponding second fabric receiving station until entering a stable transportation state. The control period refers to the continuous time segments obtained by dividing the prediction time domain, with each control period corresponding to one or more sets of bracket lifting parameters and vehicle driving parameters.

[0041] The lifting and traveling coordinated control sequence refers to a control sequence formed by combining control periods in the prediction time domain. It includes bracket lifting parameters and vehicle traveling parameters. The bracket lifting parameters include lifting state, lifting speed, and lifting acceleration; the vehicle traveling parameters include vehicle speed, longitudinal acceleration or deceleration, and turning angular velocity. This sequence is used to simultaneously constrain the lifting process of the first roll and the traveling process of the receiving vehicle.

[0042] Predicted stability margin refers to the stability margin calculated for a given lifting and traveling coordinated control sequence across five stages: single-roll lifting and traveling, fabric receiving mechanism reset, second roll receiving, second roll instability, and dual roll departure. The predicted stability margin is determined by the minimum of the stage stability margins corresponding to the five stages, and is used to characterize the stability and safety level of the sequence under the most unfavorable stage.

[0043] Stage stability margin refers to the stability margin determined within any of the five stages mentioned above, based on the bracket height, vehicle driving parameters, fabric splicing mechanism operation status, and fabric roll load status. Edge stability margin refers to the stability margin determined for a specific overturning edge within the fabric splicing vehicle's support area, based on the restoring moment, overturning moment, and reference moment. Stage stability margin is determined by the minimum value among the edge stability margins corresponding to each control period and each overturning edge within the same stage.

[0044] The support area refers to the support zone formed after the wheels of the fabric-attaching vehicle contact the ground. The overturning edge is the boundary line within the support area used to determine the tendency of the vehicle to overturn around it. The restoring moment is the anti-overturning moment formed by the normal component of the vehicle's weight and the position of the vehicle's center of gravity relative to the overturning edge. The overturning moment is the moment that causes the vehicle to tend to overturn, generated by the tangential component of the vehicle's weight relative to the wheel support surface, as well as the vehicle's longitudinal acceleration or deceleration, lateral acceleration, dynamic off-center load changes of the fabric roll, the lifting and lowering motion of the support frame, the resetting motion of the fabric-attaching mechanism, the impact received by the second fabric roll, and the rolling or swaying of the candidate second fabric roll. The static off-center load of the fabric roll is reflected by updating the centroid coordinates of the corresponding fabric roll and the position of the vehicle's center of gravity, and the same static off-center load is not repeatedly included in the overturning moment as an independent inertial effect.

[0045] The route space access condition refers to the judgment condition that determines whether the lifting and traveling coordinated control sequence meets the requirements of route passage space and workstation operating space during the movement of the corresponding route and when the resetting of the fabric receiving mechanism and the second fabric roll receiving action are performed at the corresponding second fabric receiving workstation. This condition is determined by the spatial clearance between the space occupancy envelope and the route boundary, workstation boundary, lateral obstacles, and upper clearance boundary.

[0046] The spatial occupancy envelope refers to the spatial occupancy range formed by the changes in the vehicle's position, vehicle driving posture, the operating state of the fabric receiving mechanism, and the receiving state of the candidate second fabric roll during and after reception, as the fabric receiving vehicle moves along the corresponding route. The spatial occupancy envelope includes the sweeping occupancy envelope formed when the fabric receiving vehicle moves along the corresponding route, and the station spatial occupancy envelope formed when the fabric receiving vehicle stops, the fabric receiving mechanism resets, the candidate second fabric roll is received, and the candidate second fabric roll's unstable state is confirmed at the corresponding second fabric receiving station.

[0047] The expected load capacity of the dual rolls refers to the expected load capacity of the receiving vehicle after receiving the candidate second roll, determined jointly by the load information of the first roll and the expected load information of the candidate second roll. The rated load refers to the maximum load limit that the receiving vehicle is allowed to bear, used to determine whether the receiving vehicle can continue to perform transfer operations in a dual-roll state.

[0048] An executable sequence refers to a lifting and driving coordinated control sequence that simultaneously satisfies the following conditions: the predicted stability margin is not lower than the preset safety margin threshold, the bracket height when the receiving vehicle arrives at the corresponding second receiving station is not lower than the corresponding receiving release height, the route space conditions meet the requirements, and the expected double-roll load is not greater than the rated load. A target executable sequence refers to the final execution sequence determined from one or more executable sequences based on the predicted stability margin, the expected task completion time, the duration for which the lifting bracket is not lower than the corresponding receiving release height, and the number of speed limits or stops.

[0049] Please see Figure 2 and Figure 3 , Figure 2 This is a schematic diagram illustrating the steps of the multi-roll collaborative transfer method provided in an embodiment of the present invention; Figure 3 This is a schematic flowchart illustrating the lifting and traveling coordinated control provided in an embodiment of the present invention. On one hand, the present invention provides a multi-roll coordinated transfer method for an automated guided fabric receiving vehicle, wherein the fabric receiving vehicle is equipped with a fabric receiving mechanism, a lifting bracket, and a lower fabric receiving space, including: S1. Control the fabric receiving mechanism to receive the first fabric roll in the lower fabric receiving space and flip it up to the lifting bracket. The lifting bracket carries the fabric roll and establishes a fabric roll carrying state. When the carrying state meets the lifting conditions, a lifting permission information is generated. S2. Obtain the fabric receiving task of the candidate second fabric roll, and determine the status of the candidate second fabric roll, the corresponding route and the fabric receiving release height for each fabric receiving task. The fabric receiving release height represents the minimum bracket height for the fabric receiving mechanism to reset and receive the candidate second fabric roll after the lifting bracket lifts the first fabric roll. S3. Based on the lifting permission information, generate a lifting and driving coordinated control sequence for each fabric splicing task in the prediction time domain, which enables the first fabric roll to reach the corresponding fabric splicing release height under stable constraints. The sequence includes bracket lifting parameters and vehicle driving parameters. S4. Determine the predictive stability margin of each lifting and traveling coordinated control sequence according to the five stages: single roll lifting and traveling, cloth receiving mechanism reset, second roll receiving, second roll not stable, and double roll departure. S5. Based on the predicted stability margin, the corresponding release height of the connecting cloth, the route space passage conditions, and the rated load conditions, determine the executable sequence from each lifting and traveling coordinated control sequence; S6. Determine the target executable sequence from the executable sequences, and control the lifting bracket and the fabric receiving vehicle according to the target executable sequence. When the lifting bracket reaches the corresponding fabric receiving release height and the fabric receiving vehicle reaches the second fabric receiving station, trigger the fabric receiving mechanism to reset and receive the second fabric roll. If there is no executable sequence, prohibit the fabric receiving mechanism from receiving the second fabric roll.

[0050] Specifically, this invention is executed by a controller of a fabric receiving vehicle. The controller is connected to the fabric receiving mechanism, a lifting bracket, a vehicle traveling mechanism, a load detection unit, a bracket height detection unit, a vehicle positioning unit, a fabric receiving mechanism position detection unit, and a detection unit for acquiring the fabric roll outline and unloading position. After the fabric receiving mechanism receives the first fabric roll, the controller first controls the fabric receiving mechanism to complete an upward flipping action, transferring the first fabric roll to the lifting bracket. After the lifting bracket carries the first fabric roll, the controller reads the support positioning information, load information, and off-center load information, and generates the fabric roll carrying status. If the fabric roll carrying status does not meet the lifting conditions, the controller keeps the fabric receiving mechanism and the lifting bracket in a safe holding state and does not enter the candidate second fabric roll receiving control; if the fabric roll carrying status meets the lifting conditions, lifting permission information is generated, and subsequent control sequences are generated for the candidate second fabric roll receiving task.

[0051] After obtaining the lifting permission information, the controller acquires the fabric splicing task of the candidate second fabric roll from the production scheduling system, the loom control system, or the field detection unit. Each fabric splicing task includes the candidate second fabric roll identifier, the corresponding second fabric splicing station, the expected receiving time period, the expected load information, the expected outline information, and the unloading position information. The controller determines the corresponding route based on the current position of the fabric splicing vehicle, the corresponding second fabric splicing station, and the factory area access information. It also determines the fabric splicing release height corresponding to the splicing task based on the receiving area occupied when the candidate second fabric roll enters the lower fabric splicing space, the envelope occupied by the resetting movement of the fabric splicing mechanism, and the area occupied by the first fabric roll after it is lifted by the lifting bracket. If the expected outline information, unloading position information, or expected load information of the candidate second fabric roll is missing, and this missing information will affect the splicing release height, route space access conditions, or rated load conditions, the controller will not directly include the corresponding fabric splicing task in the executable sequence screening. Instead, it will output the reacquisition status information or the information for manual verification. After the reacquisition information meets the calculation requirements, it will then enter the subsequent predictive control process.

[0052] Subsequently, the controller plans the lifting and lowering motion of the lifting bracket and the traveling motion of the receiving vehicle together within the prediction time domain. Each lifting and traveling coordinated control sequence includes multiple continuous control periods. Each control period records the lifting status, lifting speed, lifting acceleration, vehicle speed, longitudinal acceleration or deceleration, turning angular velocity, predicted bracket height, predicted vehicle position, predicted vehicle attitude, and corresponding stage identifier. For each lifting and traveling coordinated control sequence, the controller selects one parameter group from multiple parameter groups corresponding to each control period and connects the selected parameter groups in the order of each control period to form a control sequence covering the entire prediction time domain.

[0053] The controller predicts the following for each lifting and driving coordinated control sequence: the height change of the first fabric roll, the arrival time of the receiving vehicle at the corresponding second receiving station, the start and end times of the resetting of the receiving mechanism, the start and effective support times of receiving the candidate second fabric roll, the time when the candidate second fabric roll reaches stability, and the state of both rolls leaving. The resetting parameters of the receiving mechanism, the receiving parameters of the candidate second fabric roll, and the predicted duration parameters of the unstable stage of the second fabric roll are not used as the bracket lifting parameters or vehicle driving parameters in the lifting and driving coordinated control sequence, but rather as stage action parameters associated with the corresponding lifting and driving coordinated control sequence, used to determine the time boundaries of the five stages and the stability margin of each stage.

[0054] Specifically, the controller determines the estimated time when the vehicle arrives at and stops at the corresponding second fabric-gathering station, and the estimated time when the lifting bracket reaches the corresponding fabric-gathering release height, based on the lifting and driving coordinated control sequence. The later of these two times is determined as the estimated time when the fabric-gathering mechanism is allowed to begin resetting. "The vehicle arrives at and stops at the corresponding second fabric-gathering station" means that the distance between the vehicle's position and the target parking position of the corresponding second fabric-gathering station is not greater than a preset parking position deviation, the difference between the vehicle's heading angle and the target parking heading angle is not greater than a preset parking angle deviation, the vehicle's speed is not greater than a preset parking speed threshold, and the vehicle is in a braking holding state.

[0055] The reset trajectory of the fabric splicing mechanism is determined by the fabric splicing mechanism parameter table. This parameter table records at least the upward flip position, fabric splicing position, rotation center, allowable reset angular velocity, allowable reset angular acceleration, and standard reset duration. The controller determines the reset angle, reset angular velocity, and reset angular acceleration of the fabric splicing mechanism for each control period according to a preset trapezoidal velocity trajectory, S-shaped velocity trajectory, or a field-calibrated reset angle trajectory, and updates the outer contour and center-of-gravity position of the fabric splicing mechanism accordingly. The reset end time of the fabric splicing mechanism is determined jointly by the reset start time and the standard reset duration, or by the fabric splicing position information output by the fabric splicing mechanism position detection unit.

[0056] The expected start time for receiving the candidate second fabric roll is determined based on the end time of the fabric feeding mechanism reset, the expected unloading time in the fabric feeding task, and the unloading permission information output by the loom. In one embodiment, the controller determines the later of the end time of the fabric feeding mechanism reset and the expected unloading time as the expected start time for receiving; after obtaining the unloading permission information output by the loom, the controller allows the candidate second fabric roll to enter the fabric feeding mechanism along the expected receiving path. The expected receiving path, expected receiving speed, and expected receiving duration of the candidate second fabric roll are jointly determined by the loom unloading mechanism parameters, the unloading position information of the candidate second fabric roll, and historical receiving calibration data.

[0057] The controller determines the expected receiving impact for the second roll receiving phase based on the expected load, expected receiving speed, the location of the splicing mechanism's bearing point, and historical receiving calibration data. Based on the expected outline of the candidate second roll, the dimensions of the splicing mechanism's support groove, the expected entry position deviation, and historical stabilization time, the controller determines the expected position change range and expected duration for the unstable phase of the second roll. During the splicing mechanism reset phase, the second roll receiving phase, and the second roll unstable phase, the vehicle remains in a parked braking state. Only after the position and load distribution of the second roll have stabilized does the controller allow the vehicle to enter the dual-roll departure phase according to the corresponding lifting and driving coordinated control sequence.

[0058] Based on the aforementioned stage action parameters and the corresponding lifting and traveling coordinated control sequence, the controller calculates the predicted stability margin, route space conditions, and expected double-roll load. Only sequences that simultaneously meet the requirements of stability, space, height, and load are retained as executable sequences; if no executable sequence exists, the controller prohibits the fabric receiving mechanism from receiving the second roll, ensuring that the fabric receiving vehicle remains in a safe state of transporting the first roll or awaiting rescheduling.

[0059] The aforementioned preset load stability threshold, preset off-center load threshold, preset safety clearance, preset spatial clearance, preset safety margin threshold, preset position stability threshold, preset load-bearing stability threshold, and each evaluation weight are jointly determined by the rated load of the fabric receiving vehicle, vehicle dimensions, lifting bracket stroke, maximum outer diameter of the fabric roll, vehicle positioning error, sensor measurement error, repeatability error of the fabric receiving mechanism, and on-site calibration data. For example, when the rated load of the fabric receiving vehicle is 500 kg, the static error of the load detection unit is ±1 kg, and the on-site calibration shows that the normal load fluctuation caused by the receiving action of the fabric receiving mechanism does not exceed 3 kg, the preset load stability threshold is 5 kg; when the allowable difference between the left and right bearing points of the lifting bracket under the rated load is determined by test to be 8% of the total load, the preset off-center load threshold is 8%; when the vehicle positioning error is 20 mm, the fabric roll outline recognition error is 15 mm, the repeatability error of the fabric receiving mechanism is 10 mm, and the installation and control margin is 15 mm, the corresponding preset safety clearance is 60 mm. The example values ​​above are only for illustrating the source of the threshold. In actual implementation, the values ​​should be written into the controller parameter table according to the specifications of the fabric receiving vehicle, the on-site calibration results, and the fabric roll specifications.

[0060] In one optional implementation, establishing the roll bearing state and generating lifting permission information when the bearing state meets the lifting conditions includes: Acquire information on the support position, load, and off-center load of the first fabric roll after it has been flipped up onto the lifting bracket by the fabric receiving mechanism; Based on the support positioning information, it is determined whether the first fabric roll is effectively supported by the lifting bracket; based on the load information, it is determined whether the load of the first fabric roll remains stable within the preset confirmation time window; and based on the off-center load information, it is determined whether the degree of off-center load of the first fabric roll is within the allowable range. When the first roll of fabric is effectively supported by the lifting bracket, the load remains stable, and the degree of off-center load is within the allowable range, it is determined that the load-bearing state of the roll of fabric meets the lifting conditions, and lifting permission information is generated.

[0061] Specifically, the support positioning information is generated by the contact detection switch, position detection unit, or support load-bearing area detection unit on the lifting bracket, indicating whether the first fabric roll has left the fabric receiving mechanism and the lifting bracket bears the main load. Load information is obtained by the load detection unit located at the support point of the lifting bracket. The controller continuously samples the load value within a preset confirmation time window and determines whether the load is stable based on the difference between the maximum and minimum load values ​​within that time window. Off-center load information is determined by the load difference between the two sides or multiple support points of the lifting bracket, the positional deviation of the first fabric roll center relative to the bracket center, or a combination of both. If the support positioning information shows that at least the preset support position requirement is met, the load fluctuation is not greater than the preset load stability threshold, and the off-center load degree does not exceed the preset off-center load threshold, then the controller writes the fabric roll load status as meeting the lifting conditions and generates lifting permission information including the first fabric roll identifier, confirmation time, current bracket height, load value, off-center load degree, and permission validity period. If any condition is not met, the controller does not generate lifting permission information and outputs the reason for the status of support not being in place, load instability, or off-center load exceeding the limit.

[0062] The lifting permit information is set to invalidate under certain conditions. If, before the lifting bracket reaches the corresponding fabric release height and before entering the planned reset phase of the fabric receiving mechanism, the permit validity period expires, the first fabric roll load fluctuation exceeds the preset load stability threshold again, the off-center load exceeds the preset off-center load threshold, the lifting bracket height feedback is abnormal, the fabric receiving mechanism fails to maintain the upward position, or the vehicle controller receives an emergency stop signal, the controller will set the lifting permit information to invalidate and stop generating new lifting and driving coordinated control sequences. If the target executable sequence is being executed, the controller will stop triggering the fabric receiving mechanism reset and enter a safety hold or reassessment process. When the lifting bracket reaches the corresponding fabric release height and the fabric receiving vehicle enters the fabric receiving mechanism reset phase according to the target executable sequence, the planned action of the fabric receiving mechanism resetting from the upward position to the receiving position does not trigger the lifting permit information invalidation. Instead, the subsequent second fabric roll receiving permit is formed by the fabric receiving mechanism reset status, the fabric release height, the route space conditions, and the stage stability margin. For example, the validity period of the permit is determined based on the allowable time from the confirmation of the first roll bearing to the arrival of the receiving vehicle at the farthest candidate second receiving station; when the farthest travel time to the candidate second receiving station in the factory area is 180 seconds and the reconfirmation cycle of the lifting bracket status is 30 seconds, the validity period of the permit is no more than 30 seconds, and after this time, the bearing position information, load information and off-center load information are reread.

[0063] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating the fabric release height determination process provided in an embodiment of the present invention. In an optional implementation, the candidate second fabric roll state includes expected outline information and unwinding position information, and the determination of the fabric release height includes: Based on the motion path of the fabric receiving mechanism from the upward position to the receiving position, determine the envelope occupied by the reset motion of the fabric receiving mechanism; Based on the predicted outline information and unloading position information, determine the receiving area occupied when the candidate second roll enters the lower fabric receiving space and is received by the fabric receiving mechanism. Based on the occupied areas of the lifting bracket and the first fabric roll at each bracket height, the clearance between the reset motion occupancy envelope and the receiving occupancy area and the lifting bracket and the first fabric roll is determined respectively. The minimum bracket height when all the aforementioned clearances are not less than the corresponding preset safety clearance is determined as the fabric release height for the corresponding fabric splicing task.

[0064] Specifically, the controller obtains the reset motion envelope swept across the lower fabric receiving space by the fabric receiving mechanism when it resets from the upper position to the receiving position, based on the rotation center of the fabric receiving mechanism, the length of the swing arm, the outer contour of the fabric receiving component, the upward flip position, the fabric receiving position, and the reset angular velocity limit. The expected outer contour information of the candidate second fabric roll includes the roll diameter, width, axial direction, outer contour error range, and expected posture; the unloading position information includes the lateral position, longitudinal position, and height position of the candidate second fabric roll relative to the corresponding second fabric receiving station. The controller converts the expected outer contour information and the unloading position information to the fabric receiving vehicle coordinate system to obtain the receiving area occupied when the candidate second fabric roll enters the lower fabric receiving space and is received by the fabric receiving mechanism.

[0065] For each candidate height of the lifting bracket, the controller determines the high-position occupancy area formed by the outer contour of the lifting bracket and the outer contour of the first fabric roll, and calculates the first clearance between this high-position occupancy area and the reset movement occupancy envelope, and the second clearance between this high-position occupancy area and the receiving occupancy area. The fabric release height is determined according to the following formula:

[0066] in, Indicates the fabric release height. Indicates the height of the candidate bracket. This indicates the clearance between the reset motion's occupancy envelope and the area occupied by the lifting bracket and the first fabric roll. This indicates the clearance between the receiving area and the lifting bracket and the area occupied by the first fabric roll. and These represent the corresponding preset safety gaps. and These represent the minimum and maximum allowable heights of the lifting bracket, respectively. When no candidate bracket height meets the above conditions, the controller will mark the corresponding fabric connection task as having an unreachable fabric release height and exclude the corresponding lifting and driving coordinated control sequence during subsequent screening.

[0067] For example, if the positioning error corresponding to the envelope occupied by the resetting motion of the fabric receiving mechanism is 20 mm, the repeatability error of the mechanism motion is 10 mm, the fabric roll outline recognition error is 15 mm, and the conservative allowance is 15 mm, then... Taking 60 mm; the unwinding position error corresponding to the receiving area of ​​the candidate second roll is 25 mm, the roll outline identification error is 15 mm, and the receiving action margin is 20 mm, then... Take 60 mm. This is calculated when the controller is at a bracket height of 1.20 meters. 45 mm and The value is 80 mm, calculated at a bracket height of 1.30 meters. It is 66 mm and If the thickness is 72 mm, then 1.30 meters is determined as the fabric release height for this fabric splicing task.

[0068] In one optional implementation, generating a lifting and driving coordinated control sequence for each fabric splicing task in the prediction time domain, which enables the first fabric roll to reach the corresponding fabric splicing release height under stability constraints, includes: Based on the current position of the receiving vehicle, the position of the corresponding second receiving station, the corresponding route, and the expected receiving time period of the candidate second roll determined by the receiving task, the predicted time domain from the current moment until the receiving mechanism receives the candidate second roll and forms the lower bearing state, after which the two rolls leave the corresponding second receiving station. The prediction time domain is divided into multiple continuous control periods, and multiple sets of bracket lifting parameters and vehicle driving parameters are configured for each control period. The bracket lifting parameters include lifting status, lifting speed and lifting acceleration, and the vehicle driving parameters include vehicle speed, longitudinal acceleration or deceleration and turning angular velocity. The lifting parameters of each bracket and the driving parameters of the vehicle are combined according to the time sequence of each control period to form multiple lifting and driving coordinated control sequences. Based on each lifting and driving coordinated control sequence, the bracket height, vehicle position and the time when the receiving vehicle arrives at the corresponding second receiving station are predicted for each control period.

[0069] Specifically, the controller uses the current position of the receiving vehicle as the prediction starting point and the prediction ending point as the receiving vehicle arrives at the corresponding second receiving station, the receiving mechanism completes the reception of the candidate second roll, the candidate second roll forms a lower supporting state, and the two rolls leave the corresponding second receiving station and enter a stable transportation state, thus establishing a prediction time domain. The length of the prediction time domain is jointly determined by the corresponding route length, the vehicle's permissible speed, the expected reception period, the receiving mechanism's reset time, the second roll reception time, and the time required for the two rolls to leave. The controller divides the prediction time domain into multiple continuous control periods, each numbered sequentially from control period 1 to control period K. The length of each control period is determined based on the receiving vehicle control cycle, the lifting bracket response cycle, and the receiving mechanism's action time.

[0070] In one implementation, the controller establishes a state record for the k-th control period. This state record includes at least the vehicle's longitudinal position, lateral position, heading angle, speed, lifting bracket height, and lifting bracket lifting speed. The controller also configures multiple parameter sets for the k-th control period. Each parameter set includes at least the lifting / lowering state, lifting / lowering speed, lifting / lowering acceleration, vehicle speed, longitudinal acceleration or deceleration, and turning angular velocity. The lifting / lowering state includes one of holding, ascending, descending, and stopping; the vehicle driving state includes one of driving, decelerating, stopping, and holding a stop.

[0071] For any set of parameters, the controller updates the state at the end of the k-th control period based on the state record at the start of the k-th control period and the set of parameters. In one implementation, the state update relationship includes:

[0072]

[0073]

[0074]

[0075]

[0076]

[0077] in, and Indicates the first Control the vehicle position at the start of the control period. Indicates the vehicle's heading angle. Indicates vehicle speed. Indicates the height of the lifting bracket. Indicates the lifting speed of the lifting bracket. Indicates the longitudinal acceleration or deceleration of a vehicle. Indicates the turning angular velocity. This indicates the lifting acceleration of the lifting bracket. This indicates the length of the control period. When the vehicle travels along the preset route, the controller also performs route constraint verification on the updated vehicle position and heading angle based on the centerline, curvature, and allowable lateral deviation of the corresponding route.

[0078] The controller generates a lifting and driving coordinated control sequence in a progressively expanding manner. In the first control period, the controller forms an initial sequence for each parameter group that satisfies the current vehicle state and actuator state. In subsequent control periods, the controller appends each parameter group of the current control period to the sequence retained from the previous control period, resulting in multiple expanded sequences. For each expanded sequence, the controller sequentially determines whether the changes in vehicle speed, turning angular velocity, bracket lifting speed, and bracket lifting acceleration between adjacent control periods are within the corresponding allowable ranges. It excludes expanded sequences where the vehicle speed exceeds the route speed limit, the bracket height exceeds the allowable height, the lifting speed or lifting acceleration exceeds the actuator's allowable value, the vehicle deviates from the corresponding route, fails to reach the corresponding second splicing station within the expected receiving period, or the bracket height is lower than the corresponding splicing release height upon arrival.

[0079] The stability constraints in the sequence generation stage described in this embodiment refer to the preliminary stability constraints used to eliminate obviously unstable parameter combinations during the expansion process of each control time period. These preliminary stability constraints include at least the allowable vehicle speed range, vehicle longitudinal acceleration or deceleration range, vehicle lateral acceleration range, turning angular velocity range, bracket lifting speed range, and bracket lifting acceleration range under different bracket heights and different fabric roll load conditions. The vehicle lateral acceleration is determined based on the vehicle speed and turning angular velocity, or based on the vehicle speed and the corresponding route curvature. The above allowable ranges are jointly determined by the vehicle parameter table, the static stability calibration results of the fabric splicing vehicle, and the dynamic stability calibration results.

[0080] During the control period-by-control extension process, if the vehicle speed, longitudinal acceleration or deceleration, lateral acceleration, turning angular velocity, or bracket lifting speed or acceleration for any control period exceeds the corresponding allowable range, the controller will exclude the corresponding extension sequence. Through these preliminary stability constraints, the controller excludes parameter combinations that clearly cannot meet the vehicle stability requirements when generating the lifting and driving coordinated control sequence.

[0081] Step S4, the calculation of the predicted stability margin, involves further calculating the restoring moment, overturning moment, and edge stability margin for each control period and each overturning edge after the lifting and traveling coordinated control sequence has initially met the stability constraints. This is done according to five stages: single-roll lifting and traveling, fabric receiving mechanism reset, second roll receiving, second roll instability, and double roll departure. The minimum value among the stage stability margins corresponding to the five stages is determined as the predicted stability margin. Therefore, the initial stability constraints are used for parameter range screening during the control sequence generation process, and the predicted stability margin is used for staged stability evaluation of the generated complete lifting and traveling coordinated control sequence. These correspond to the initial elimination of parameter combinations and the overall stability verification of the sequence, respectively.

[0082] To prevent the number of extended sequences from continuously increasing due to the increase in the number of control periods, after completing the expansion and exclusion in each control period, the controller determines the intermediate evaluation result of each extended sequence based on the remaining route distance corresponding to each extended sequence, the deviation between the expected arrival time and the expected reception time, the difference between the current bracket height and the corresponding splice release height, and the degree of parameter change in adjacent control periods. A preset number of extended sequences are then retained for the next control period according to these intermediate evaluation results. The preset number is determined based on the controller's computing power and prediction calculation cycle.

[0083] For example, for each control period, three candidate values ​​for vehicle longitudinal acceleration or deceleration, three candidate values ​​for turning angular velocity, and three candidate values ​​for bracket lifting acceleration are set. The above candidate values ​​are combined, and after completing the allowable range and route constraint verification, each control period forms no more than 27 sets of parameters.

[0084] In the example above, the vehicle speed is calculated based on the vehicle speed at the end of the previous control period and the vehicle's longitudinal acceleration or deceleration corresponding to the current control period. The lifting speed of the lifting bracket is calculated based on the bracket's lifting speed at the end of the previous control period and the bracket's lifting acceleration corresponding to the current control period. Therefore, the vehicle speed and the bracket's lifting speed, as state variables obtained from the state update relationship, are no longer set as independent discrete candidate variables. The vehicle's driving state is determined based on the vehicle speed, the vehicle's longitudinal acceleration or deceleration, and a preset stopping speed threshold. The lifting state is determined based on the bracket's lifting speed, the bracket's lifting acceleration, and the bracket's height boundary; these are also no longer treated as independent combined variables.

[0085] Therefore, in this embodiment, the parameters that need to be independently combined for each control period are the vehicle's longitudinal acceleration or deceleration, turning angular velocity, and bracket lifting acceleration. The number of parameter groups does not exceed 3×3×3, i.e., 27 groups. The controller retains the top 20 extended sequences with the best intermediate evaluation results in each control period, so the number of extended branches that need to be evaluated in each control period does not exceed 540. When the prediction time domain includes 146 control periods, the controller completes the generation of the lifting and driving cooperative control sequence by expanding each control period, eliminating out-of-bounds errors, and retaining a limited number of parameters, without needing to perform a full permutation of the parameter groups for all control periods at once.

[0086] In other embodiments, at least one of vehicle speed, bracket lifting speed, vehicle driving state or lifting state can be set as an independent candidate quantity. In this case, the number of parameter groups formed in each control period is determined according to the actual independent candidate quantity and the corresponding number of candidate values, and is not limited to the above 27 groups.

[0087] After completing the expansion of the entire prediction time domain, the controller obtains multiple lifting and driving coordinated control sequences to be evaluated. Based on each sequence, it predicts the bracket height, first roll height, vehicle position, vehicle attitude, route segment number, the time when the receiving vehicle arrives at the corresponding second receiving station, and the expected start and end times of each subsequent stage at the end of each control period. The controller then performs a complete screening of the lifting and driving coordinated control sequences to be evaluated according to the five-stage stability margin, route space passage conditions, and rated load conditions described in this embodiment.

[0088] The parameters for the prediction time domain and control period are determined by the vehicle control cycle, the on-site task cycle time, and the response capability of the actuators. For example, if the vehicle chassis control cycle is 100 milliseconds, the lifting bracket height feedback cycle is 100 milliseconds, the fabric receiving mechanism reset action duration is 2 seconds, and the factory scheduling allows a prediction calculation cycle of 1 second, the controller divides the prediction time domain into control periods of 1 second length, and performs subdivided control using the controller's underlying cycle within each control period. If the estimated travel time for the corresponding route is 120 seconds, the fabric receiving mechanism reset and the second fabric roll reception require 6 seconds, and the time from dual roll departure to a stable transportation state requires 20 seconds, then the prediction time domain coverage is no less than 146 seconds.

[0089] In one optional implementation, the controller employs a rolling time-domain execution method. During each control update, it only executes the bracket lifting and vehicle driving parameters corresponding to the current control period in the target executable sequence. Upon entering the next control period, it updates the status record based on the actual vehicle position, actual vehicle speed, actual bracket height, and actual bracket lifting speed. When the deviation between the actual state and the predicted state exceeds the corresponding allowable deviation, the controller regenerates the lifting and driving coordinated control sequence for the remaining prediction time domain based on the updated actual state.

[0090] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating the stage division of the predicted stability margin provided in an embodiment of the present invention. In one optional embodiment, determining the predicted stability margin of each lifting and traveling coordinated control sequence according to five stages—single roll lifting and traveling, fabric receiving mechanism reset, second roll receiving, second roll unstable, and double roll departure—includes: The time period from the current moment to the arrival of the receiving vehicle at the corresponding second receiving station is defined as the single roll lifting and traveling stage, and the time period from the upward position to the receiving position after the receiving vehicle arrives at the corresponding second receiving station is defined as the receiving mechanism reset stage. The period from when the candidate second roll begins to be received by the splicing mechanism to when it forms effective support on the splicing mechanism is defined as the second roll receiving stage; the period from when the candidate second roll forms effective support on the splicing mechanism to when its position and load-bearing capacity distribution reach stability is defined as the second roll unstable stage. The period from when the receiving vehicle carrying the first roll of fabric and the candidate second roll of fabric leaves the corresponding second receiving station until it enters a stable transportation state is defined as the double roll departure stage. The stage stability margin is determined based on the bracket height, vehicle driving parameters, fabric connection mechanism operation status, and the load-bearing status of the first fabric roll and the candidate second fabric roll in the corresponding stage. The minimum value among the stage stability margins corresponding to the five stages is determined as the predicted stability margin of the corresponding lifting and driving coordinated control sequence.

[0091] Specifically, the controller labels each control period with stage attributes based on the vehicle arrival time, fabric receiving mechanism reset start time, fabric receiving mechanism reset end time, candidate second fabric roll reception start time, candidate second fabric roll effective support time, candidate second fabric roll stabilization time, and double roll departure stabilization time in the lifting and driving coordinated control sequence. In the single roll lifting and driving stage, the vehicle carries the first fabric roll and may simultaneously perform the lifting action of the lifting bracket; in the fabric receiving mechanism reset stage, the vehicle is located at the corresponding second fabric receiving station, and the fabric receiving mechanism resets from the upward position to the fabric receiving position; in the second fabric roll reception stage, the candidate second fabric roll enters the support range of the fabric receiving mechanism from the weaving machine or unloading position; in the second fabric roll stabilization stage, although the candidate second fabric roll has formed effective support, its position and load-bearing capacity distribution may still change; in the double roll departure stage, the fabric receiving vehicle carries both the first fabric roll and the candidate second fabric roll and leaves the corresponding second fabric receiving station.

[0092] The lower load-bearing state is determined by the effective support confirmation result of the candidate second fabric roll on the splicing mechanism. The controller reads the load detection value of the splicing mechanism and the position detection result of the candidate second fabric roll; when the load detection value of the splicing mechanism reaches the preset support confirmation value, and the outer center or axis position of the candidate second fabric roll is within the preset support range of the splicing mechanism, it is determined that the candidate second fabric roll has formed a lower load-bearing state. The preset support confirmation value is determined based on the expected load of the candidate second fabric roll, the weight compensation value of the splicing mechanism itself, and the load detection error. For example, when the expected load of the candidate second fabric roll is 180 kg, the no-load compensation value of the splicing mechanism has been deducted, and the load detection error is ±2 kg, the preset support confirmation value is 80% of the expected load, i.e., 144 kg; when the load value of the splicing mechanism is detected to be not less than 144 kg and the outer center of the candidate second fabric roll is within the support range, it is determined that it has formed a lower load-bearing state.

[0093] The termination condition for the unstable stage of the second fabric roll is jointly determined by the stability of its position and the stability of its load-bearing capacity distribution. Within a preset stability confirmation time window, the controller continuously acquires the positional changes of the candidate second fabric roll and the load changes at multiple load-bearing points of the splicing mechanism. When the positional change of the candidate second fabric roll is not greater than a preset positional stability threshold, and the difference in load changes or load distribution at each load-bearing point is not greater than a preset load-bearing stability threshold, its position and load-bearing capacity distribution are determined to be stable. The preset positional stability threshold is determined based on the fabric roll diameter, the size of the splicing mechanism's support groove, and visual or positional detection errors; the preset load-bearing stability threshold is determined based on load detection errors, the stiffness of the splicing mechanism, and the allowable off-center load range. For example, when the visual detection error is ±3 mm and the fabric splicing mechanism's support groove allows the fabric roll center to swing by no more than 12 mm, the preset position stability threshold is 10 mm; when the load detection error is ±2 kg and the load change caused by normal micro-vibration of the fabric splicing mechanism is no more than 3 kg, the preset load stability threshold is 5 kg; if the position change is 6 mm and the load change is 4 kg within the 1.5-second stability confirmation time window, then the second fabric roll's unstable stage is determined to have ended.

[0094] The stability margin for each stage is determined by the most unfavorable control period within that stage. The controller reads the bracket height, vehicle speed, longitudinal acceleration or deceleration, turning angular velocity, route gradient, cross slope, fabric splicing mechanism operation status, first roll load and off-center load status, and the load status of the candidate second roll for each stage, and calculates the stability margin for each stage. The predicted stability margin for the corresponding lifting and driving coordinated control sequence is determined according to the following formula:

[0095] in, Indicates the predicted stability margin. This indicates that a single roll improves the stage stability margin during the driving phase. This indicates the stage stability margin during the reset phase of the fabric receiving mechanism. This indicates the stage stability margin during the second roll receiving stage. This indicates the stage stability margin during the unstable phase of the second roll. This represents the stage stability margin during the dual-roll departure phase. By taking the minimum value of the five stages, the controller uses the most unfavorable stage as the criterion for determining whether the sequence is safe to execute.

[0096] Please see Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the process for determining the stage stability margin provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the stage stability margin force analysis provided for an embodiment of the present invention. In an optional embodiment, the stability margin of each stage is determined as follows: Determine the support area formed by the wheels of the fabric receiving vehicle and the multiple overturning edges corresponding to the support area; For each overturning edge, based on the route slope and cross slope of each control period within the corresponding stage, the vehicle's weight is decomposed into normal and tangential components relative to the wheel support surface. When there is eccentric loading of the fabric roll, the centroid coordinates of the corresponding fabric roll are updated according to the eccentric loading information. The restoring torque is determined based on the normal component and the updated position of the vehicle's center of gravity relative to the overturning edge. The overturning torque is determined based on the tangential component and the inertial effect generated by at least one of the following: vehicle longitudinal acceleration, lateral acceleration, bracket lifting motion, fabric splicing mechanism reset motion, second fabric roll receiving impact, and candidate second fabric roll rolling or swaying. The ratio of the difference between the restoring moment and the overturning moment to the reference moment corresponding to the overturning edge is determined as the edge stability margin; wherein, the reference moment is the restoring moment formed by the fabric receiving vehicle relative to the corresponding overturning edge under rated static load conditions; The minimum value among the edge stability margins corresponding to each control period and each overturning edge within the same stage is determined as the stage stability margin for that stage.

[0097] Specifically, the controller forms a support area based on the ground contact points of each wheel of the fabric receiving vehicle, and defines the outer perimeter of the support area as multiple overturning edges. For each control period, the controller determines the center of gravity of the entire vehicle based on the mass unit formed by the fabric receiving vehicle body, lifting bracket, fabric receiving mechanism, first fabric roll, and candidate second fabric roll. The coordinates of the center of gravity of the entire vehicle in the fabric receiving vehicle coordinate system are determined according to the following formula:

[0098]

[0099]

[0100] in, and These represent the longitudinal, lateral, and height coordinates of the vehicle's center of gravity in the fabric receiving vehicle's coordinate system, respectively. Indicates the first The mass of each mass unit and They represent the first The coordinates of the centroid of a mass unit. This indicates the number of mass units involved in the center of gravity calculation. A mass unit includes the fabric receiving vehicle body, the lifting bracket, the fabric receiving mechanism, the first fabric roll, and candidate second fabric rolls that have been received or are expected to be received at the corresponding stage. The mass and reference center of gravity coordinates of the fabric receiving vehicle body, the lifting bracket, and the fabric receiving mechanism are given by the vehicle parameter table; the mass of the first fabric roll and candidate second fabric rolls is given by load detection values, expected load information, or actual load information.

[0101] When the height of the support changes, the controller updates the height coordinates of the lifting support center of gravity and the first fabric roll center of gravity based on the feedback value of the lifting support height. When the fabric receiving mechanism resets, the controller updates the center of gravity coordinates of the fabric receiving mechanism according to the rotation center and structural dimensions of the fabric receiving mechanism based on the reset angle in the rotation sensor of the fabric receiving mechanism or the corresponding stage action parameters. When the candidate second fabric roll rolls roll or swings, if the actual position detection is available, the actual position is used to update the center of gravity coordinates of the candidate second fabric roll. If only the predicted position is available, the predicted position is used. If both the actual position and the predicted position are unreliable, the most unfavorable position that minimizes the stability margin of the corresponding overturning edge is used.

[0102] The fabric roll eccentric loading described in this embodiment includes static eccentric loading and dynamic eccentric loading changes. Static eccentric loading refers to the situation where, within the corresponding control period, the fabric roll's center of gravity remains offset relative to the specified reference bearing position, or there is a substantially constant load difference between each bearing point. For static eccentric loading, the controller updates the corresponding fabric roll's center of gravity coordinates based on the fabric roll's axial offset, lateral offset, or load difference between each bearing point, and uses the updated center of gravity coordinates to determine the vehicle's center of gravity, the position of the vehicle's center of gravity relative to the corresponding overturning edge, and the restoring moment.

[0103] Dynamic off-center load change refers to the change in the position of the fabric roll's center of gravity or the load distribution at each load point over time during vehicle acceleration, deceleration, turning, bracket lifting, fabric splicing mechanism operation, or the rolling or oscillating of the candidate second fabric roll. The controller determines the equivalent inertial effect caused by the dynamic off-center load change based on the change in the fabric roll's center of gravity position, the rate of change in the fabric roll's position, the acceleration of the change in the fabric roll's position, or the change in the load difference at each load point at adjacent sampling times, and incorporates this equivalent inertial effect into the overturning moment for the corresponding control period.

[0104] For the same off-center load effect, the controller does not perform repeated calculations. When a certain off-center load only manifests as a fixed offset in the center of gravity position, the off-center load is reflected only by updating the coordinates of the roll center of gravity and the position of the vehicle's center of gravity. When the off-center load state changes over time and forms an additional dynamic effect, based on the recovery moment calculated using the current center of gravity position, only the additional dynamic effect generated by the off-center load change is included in the overturning moment as an equivalent inertial effect, and the same static offset is not included again as an independent inertial force.

[0105] For each overturning edge, the controller calculates the vertical distance of the vehicle's center of gravity projected onto the wheel bearing surface relative to that overturning edge, and, combining the road gradient and cross slope, decomposes the vehicle's gravity into normal and tangential components relative to the wheel bearing surface. In one embodiment, the edge stability margin is expressed as:

[0106] in, Indicates the edge stability margin. Indicates the restoring torque. Indicates the overturning moment. This represents the reference moment corresponding to the current overturning edge. The restoring moment and overturning moment are expressed as follows:

[0107]

[0108] in, This represents the normal component of the vehicle's weight relative to the wheel bearing surface. This represents the vertical distance from the vehicle's center of gravity projected onto the corresponding overturning edge. This represents the tangential component of the vehicle's weight relative to the wheel bearing surface. This represents the equivalent arm of the tangential component relative to the corresponding overturning edge. Indicates the first Equivalent inertial force, Indicates the first The equivalent inertial force relative to the corresponding overturning edge, This indicates the number of equivalent inertial forces involved in the overturning moment calculation during this control period. The equivalent inertial forces include the longitudinal inertial force generated by the vehicle's longitudinal acceleration, the lateral inertial force generated by the lateral acceleration, the lifting inertial force generated by the bracket's lifting acceleration, the mechanism inertial force generated by the resetting action of the fabric receiving mechanism, the impact equivalent force generated by the second fabric roll receiving the impact, the additional equivalent inertial force generated by the dynamic off-center load change of the fabric roll, and the equivalent inertial force generated by the rolling or swaying of the candidate second fabric roll.

[0109] When determining the restoring moment and overturning moment, the controller establishes a local coordinate system for each overturning edge in the support region. For the first... For each overturning edge, the controller determines the direction along which the overturning edge extends as the overturning edge axis, the direction within the support surface perpendicular to the overturning edge and pointing from the inside of the support area to the outside of the support area as the outward tilting direction, and the direction of the moment that causes the fabric receiving vehicle to tilt outward around the overturning edge as the positive direction.

[0110] For a force acting on the entire vehicle or any mass unit, the controller determines the force's direction, point of application, and magnitude based on the force's direction of application and the first mass unit. The position of the overturning edge determines the force relative to the first The moment formed by the overturning edge. Let the first... The force is The point of application of this force is relative to the first The position vector of the reference point on the overturning edge is , No. The axial unit vector of the overturning edge is Then the force is relative to the first The directional moment of the overturning edge is determined by the following formula:

[0111] Among them, when When, it indicates that the force causes the fabric receiving vehicle to tend to tilt outwards around the e-th overturning edge, and the controller includes this in the overturning moment; when When the torque is 0, it indicates that the force acts in the opposite direction to the outward tilt. When calculating according to the actual force distribution, the controller uses this reverse torque to counteract the overturning torque corresponding to the same overturning edge; when calculating in a conservative manner, the controller sets this reverse torque to 0 and does not use it as an additional restoring torque.

[0112] The normal component of the vehicle's weight relative to the wheel bearing surface is used to determine the restoring torque. The controller projects the vehicle's center of gravity onto the first... The vertical distance of the overturning edge determines the stress arm, and according to... Determine the restoring moment. The tangential component of the vehicle's weight relative to the supporting surface is used to determine the directional moment according to its direction and point of application. When this directional moment causes the vehicle to tilt outward, it is included in the overturning moment. When the directional moment is opposite to the tilting direction, it is used to offset the overturning moment according to the actual force distribution or, in a conservative calculation, it is taken as 0.

[0113] The longitudinal inertial force of the vehicle, the lateral inertial force of the vehicle, the equivalent inertial force generated by the lifting and lowering motion of the bracket, the mechanical inertial force generated by the resetting motion of the fabric splicing mechanism, the impact of the second fabric roll receiving, the dynamic off-center load change of the fabric roll, and the equivalent inertial force generated by the rolling or swaying of the candidate second fabric roll are all included in the overturning moment according to their respective points of action, directions of action, and directional moments relative to the corresponding overturning edge. For all dynamic actions that actually occur within the same control period and can be determined based on the lifting and driving coordinated control sequence, stage action parameters, fabric splicing task information, or detection information, the controller includes them in the stability margin calculation of the corresponding overturning edge.

[0114] The inertial action described in this invention, generated by at least one of the following: vehicle longitudinal acceleration, lateral acceleration, bracket lifting motion, fabric receiving mechanism reset motion, second fabric roll receiving impact, and candidate second fabric roll rolling or swaying, refers to the different types of dynamic actions actually existing in different stages and control periods. For a specific control period, when two or more dynamic actions exist simultaneously, the controller determines the directional torque for each actual dynamic action and includes them together, rather than arbitrarily selecting one from the multiple actual dynamic actions for calculation.

[0115] When the fabric roll eccentric load manifests only as a static offset of the fabric roll's center of gravity relative to a specified reference bearing position, the controller reflects this static eccentric load by updating the corresponding fabric roll's center of gravity coordinates and the vehicle's center of gravity position. When the fabric roll eccentric load state changes over time and generates additional dynamic effects, the controller calculates its additional equivalent inertial effect according to the aforementioned method for determining dynamic eccentric load changes, and includes this additional equivalent inertial effect in the overturning moment of the corresponding control period.

[0116] The reference torque is the restoring torque relative to the corresponding overturning edge when the fabric receiving vehicle is located on a horizontal support surface, both its longitudinal and lateral accelerations are zero, it bears the rated fabric roll load, each fabric roll is located at a specified reference load position, the lifting bracket is at a specified reference height, and the fabric receiving mechanism is at a specified reference position. For different overturning edges, the controller establishes corresponding reference torques, expressed as follows:

[0117] in, This represents the normal component of the vehicle's weight relative to the horizontal support surface under rated static load conditions. This indicates the projection of the vehicle's center of gravity onto the first [unit / location] under rated static load conditions. The vertical distance of the overturning edge, Indicates the first The reference moment corresponding to the overturning edge. The specified reference bearing position, specified reference height, and specified reference position are written into the vehicle parameter table; for example, the specified reference height is the center height of the lifting bracket, the specified reference position of the fabric splicing mechanism is the upward holding position or the static bearing position specified by the manufacturer, and the specified reference bearing position of the fabric roll is the geometric center bearing position of the bracket or the fabric splicing mechanism.

[0118] The lateral acceleration of a vehicle is determined by its velocity and turning angular velocity, and is expressed as... ,in, Indicates lateral acceleration. Indicates vehicle speed. This represents the turning angular velocity; when the corresponding route is recorded using curvature, the lateral acceleration is expressed as... ,in, The curvature of the route is represented. The longitudinal inertial force is obtained by multiplying the equivalent mass of the vehicle by its longitudinal acceleration, and the lateral inertial force is obtained by multiplying the equivalent mass of the vehicle by its lateral acceleration. The equivalent inertial force corresponding to the lifting motion of the bracket is determined based on the mass of the lifting bracket and the first roll of fabric it carries, as well as the lifting acceleration. The aforementioned acceleration, mass, and lever arm are all derived from the control sequence, vehicle parameter table, load detection results, and component geometric parameter table.

[0119] The impact of receiving the second roll is estimated by the rate of change of the bearing capacity of the splicing mechanism, the sudden change in load, or the receiving speed. In one embodiment, the controller sets a receiving impact window during the second roll receiving stage, and determines the receiving impact equivalent force by the difference between the peak bearing capacity of the splicing mechanism and the average bearing capacity after receiving stabilizes within this window. The rolling or swaying of the candidate second roll is determined by the change in the roll position, the change in the load distribution of multiple bearing points of the splicing mechanism, or the image detection result; when the position detection is continuously available, the controller obtains the swaying acceleration based on the difference in the center position of the roll at adjacent sampling times, and uses the product of the candidate second roll mass and the swaying acceleration as the equivalent inertial force; when the position detection is unavailable but the load distribution of the bearing points is available, the controller determines the conservative equivalent force based on the change in the difference in the loads of the left and right bearing points. For example, if the mass of the second roll is 180 kg, the average bearing capacity of the stabilizing fabric splicing mechanism is 1765 N, and the peak bearing capacity within the impact receiving window is 2050 N, then the equivalent impact receiving force is taken as 285 N; if the center of the roll generates an 8 mm displacement within 0.2 seconds and the differential calculation yields a swing acceleration of 0.4 m / s², then the equivalent inertial force of rolling or swinging is taken as 72 N.

[0120] In the stability margin calculation of the above five stages, the controller determines the center of gravity change factors and dynamic action factors that need to be included in the calculation based on the actual action state of each stage.

[0121] During the single-roll lifting and traveling phase, the controller determines the center of gravity of the entire vehicle based on at least the fabric receiving vehicle body, the lifting bracket, the fabric receiving mechanism, and the first fabric roll. It also determines the corresponding restoring torque and overturning torque based on the route gradient, the route cross slope, the vehicle's longitudinal acceleration or deceleration, the vehicle's lateral acceleration, the center of gravity shift caused by the static off-center load of the first fabric roll, the dynamic off-center load change of the first fabric roll, and the lifting acceleration of the bracket. When the lifting bracket is in the holding state, the equivalent inertial force corresponding to the lifting acceleration of the bracket is taken as 0.

[0122] During the fabric resetting phase, the vehicle remains in a parking brake state. The controller determines the corresponding restoring torque and overturning torque based on the height of the first fabric roll on the bracket, the off-center load state of the first fabric roll, the actual parking posture, the slope and cross slope of the support surface of the route or work station, the change in the center of gravity position of the fabric resetting mechanism during the resetting process, and the resetting angular velocity and resetting angular acceleration of the fabric resetting mechanism. When the longitudinal acceleration and lateral acceleration of the vehicle do not exceed the corresponding parking state threshold, the corresponding vehicle inertial force is taken as 0.

[0123] In the second roll receiving stage, based on the factors used in the roll receiving mechanism reset stage, the controller further determines the effects of the center of gravity change and receiving impact formed during the second roll entering the roll receiving mechanism, based on the centroid position, receiving speed, rate of change of bearing capacity of the roll receiving mechanism, peak bearing capacity, expected or actual load of the candidate second roll, and the point of impact of receiving.

[0124] During the unstable phase of the second roll, the controller determines the restoring torque and overturning torque during the unstable phase of the candidate second roll based on the overall vehicle center of gravity formed by the first roll and the candidate second roll, the range of position change of the candidate second roll on the splicing mechanism, the position change speed and acceleration caused by the rolling or swinging of the candidate second roll, and the load distribution and its change at each bearing point of the splicing mechanism; during this phase, the vehicle remains in a parking brake state.

[0125] During the dual-roll departure phase, the controller determines the vehicle's center of gravity based on the fabric receiving vehicle body, lifting bracket, fabric receiving mechanism, first fabric roll, and second fabric roll. It also determines the corresponding restoring moment and overturning moment based on the route gradient, cross slope, vehicle longitudinal acceleration or deceleration, vehicle lateral acceleration, the off-center loading status of the first and second fabric rolls, and the possible residual sway of the second fabric roll during the initial departure period. When the position and load-bearing capacity distribution of the second fabric roll have stabilized and its residual sway is less than a preset sway threshold, the equivalent inertial force generated by the rolling or swaying of the second fabric roll is set to 0.

[0126] For any given stage, the controller determines the stress torque only for the actual effects occurring within that stage. For effects that cannot be confirmed to have occurred based on vehicle status, actuator status, or roll-up status, their corresponding equivalent inertial forces are set to 0. For effects where data is temporarily missing but the absence of the corresponding effect cannot be confirmed, the controller uses the most unfavorable allowable value from the parameter table, the historical calibration upper limit, or the conservative value that minimizes the stability margin of the corresponding overturning edge for calculation.

[0127] For the same stage, the controller traverses all control periods and all overturning edges within that stage, obtaining multiple edge stability margins, and determining the minimum value as the stage stability margin. If route slope or cross slope data is missing for a certain control period, the controller uses the preset most unfavorable slope or cross slope for the route segment for conservative calculation; if the fabric roll off-center loading information is missing, the corresponding fabric roll centroid coordinates are updated according to the upper limit of the allowable off-center loading range. Thus, even when the fabric splicing mechanism is reset, the second fabric roll receives an impact, or the second fabric roll is unstable, the controller can still incorporate dynamic stress factors and the center of gravity shift caused by off-center loading into the stability judgment.

[0128] The preset safety margin threshold is determined based on the reference torque under the rated static load condition of the fabric splicing vehicle, the on-site road slope error, the load detection error, and the control response delay. For example, if the reference torque of a certain overturning edge under the rated static load condition is 1200 Nm, and the on-site calibration requires that at least 120 Nm of torque margin be reserved during dynamic fabric splicing, then the preset safety margin threshold is 0.10. When there is a large cross slope on the factory route or the fabric roll diameter is close to the maximum specification, the controller increases this threshold to 0.12 or 0.15 to increase the conservative margin.

[0129] Please see Figure 8 , Figure 8 This is a schematic diagram illustrating the route space passage condition determination process provided in an embodiment of the present invention. In an optional embodiment, the determination of the route space passage condition includes: Obtain the route boundary, station boundary, lateral obstacle position and overhead clearance boundary of the corresponding route and the corresponding second splicing station in the corresponding area of ​​each control period; Based on the vehicle position predicted by the corresponding lifting and driving coordinated control sequence, the vehicle driving posture determined by the vehicle driving parameters, the bracket height, the outer contour of the receiving vehicle, the outer contour of the receiving mechanism in the corresponding action state, the outer contour of the lifting bracket, the outer contour of the first roll at the corresponding bracket height, and the outer contour of the candidate second roll during the control period after the candidate second roll is received, the spatial occupancy envelope formed when the receiving vehicle moves along the corresponding route in each control period and when it performs the receiving mechanism reset or the second roll receiving action at the corresponding second receiving station is determined. Determine the spatial clearance between the spatial occupancy envelope and the route boundary, workstation boundary, lateral obstacles, and overhead clearance boundary; When the spatial gap corresponding to each control period is not less than the corresponding preset spatial gap, it is determined that the lifting and driving coordinated control sequence meets the route space passage condition; otherwise, it is determined that the lifting and driving coordinated control sequence does not meet the route space passage condition.

[0130] Specifically, the controller obtains the corresponding entry / exit routes and the corresponding second fabric receiving station's route boundaries, station boundaries, lateral obstacle positions, and overhead clearance boundaries from the plant map, vehicle positioning system, or route management system for each control period. Route boundaries define the lateral range through which the fabric receiving vehicle and fabric roll can pass; station boundaries define the working space when the fabric receiving vehicle stops at the second fabric receiving station, the fabric receiving mechanism resets, and the second fabric roll enters; lateral obstacle positions define the lateral space between the receiving vehicle and weaving machines, temporary storage racks, guardrails, or other equipment; and overhead clearance boundaries define the height space through which the lifting bracket and the first fabric roll can pass after being raised. If the boundaries, lateral obstacle positions, or overhead clearance boundaries of the corresponding entry / exit route or the corresponding second fabric receiving station are missing and cannot be supplemented by the plant map or on-site detection unit, the controller determines the corresponding lifting and driving coordinated control sequence as not meeting the route space passage conditions and does not presume passage based on unknown spatial information.

[0131] For each control period, the controller, based on the vehicle position and attitude predicted by the lifting and driving coordinated control sequence, transforms the outline of the fabric receiving vehicle, the outline of the fabric receiving mechanism in the corresponding action state, the outline of the lifting bracket, the outline of the first fabric roll, and the outline of the candidate second fabric roll after it is received into the route coordinate system or the workstation coordinate system, forming the spatial occupancy envelope corresponding to that control period. This spatial occupancy envelope includes the swept occupancy envelope formed by the continuous movement of the fabric receiving vehicle, as well as the static or quasi-static occupancy envelope formed when the fabric receiving vehicle is stationary at the corresponding second fabric receiving workstation but the fabric receiving mechanism has reset, the second fabric roll has entered the lower fabric receiving space, or the second fabric roll has not yet stabilized. For continuous motion control periods, the controller samples the vehicle movement path based on the vehicle position, vehicle attitude, and turning trajectory at the start and end of the control period, and performs union of the outline occupancy areas at each sampled position to obtain the swept occupancy envelope; for workstation action control periods, the controller determines the corresponding workstation spatial occupancy envelope based on the reset motion trajectory of the fabric receiving mechanism, the entry path of the second fabric roll, and the position change range during the period when the fabric roll is not stable. For example, on straight road sections, the sampling interval is no more than 0.2 meters; on turning road sections, an outline sample is taken every time the vehicle's heading angle changes by 2 degrees or the travel distance reaches 0.2 meters, with the first of the two conditions being used as the sampling trigger condition.

[0132] The controller calculates the lateral clearance between the space occupancy envelope and the route boundary or workstation boundary, the obstacle clearance with lateral obstacles, and the height clearance with the overhead clearance boundary. If any space clearance during any control period is less than the corresponding preset space clearance, the controller marks the lifting and driving coordinated control sequence as not meeting the route space passage conditions; if all control periods meet the corresponding preset space clearance, the sequence is determined to meet the route space passage conditions. The preset space clearance is determined based on vehicle positioning error, route map error, outline recognition error, vehicle control error, and on-site safety margin. For example, if the vehicle lateral positioning error is 15 mm, the map boundary error is 20 mm, the outline recognition error is 15 mm, the vehicle control lateral deviation is 20 mm, and the safety margin is 30 mm, then the lateral preset space clearance is 100 mm; if the overhead clearance detection error is 20 mm, the bracket height detection error is 10 mm, the first roll outline recognition error is 20 mm, and the safety margin is 30 mm, then the overhead preset space clearance is 80 mm. In this way, the outer contour of the candidate second roll located in the lower fabric receiving space, the resetting action of the fabric receiving mechanism in the second fabric receiving station, and the receiving action of the second roll are all included in the spatial judgment during the double roll departure stage, avoiding the judgment of whether it can be passed or received based solely on the fabric receiving vehicle body or the outer contour of the first roll.

[0133] In one alternative implementation, determining the executable sequence from each lifting and traveling coordinated control sequence includes: Obtain the load information of the first roll and the expected load information of the candidate second roll. Based on the load information of the first roll and the expected load information of the candidate second roll, determine the expected double roll load after the receiving vehicle receives the candidate second roll. When the lifting and driving coordinated control sequence simultaneously meets the following conditions, the lifting and driving coordinated control sequence is determined as an executable sequence: the predicted stability margin is not lower than the preset safety margin threshold, the bracket height when the receiving vehicle arrives at the corresponding second receiving station is not lower than the corresponding receiving release height, the lifting and driving coordinated control sequence meets the route space passage conditions, and the expected double roll load is not greater than the rated load of the receiving vehicle. If any condition is not met, the corresponding lifting and lowering coordinated control sequence will be excluded.

[0134] Specifically, the controller reads the load information of the first fabric roll from the fabric roll load status and the expected load information of the candidate second fabric roll from the splicing task. The expected dual-roll load is determined by the load of the first fabric roll and the expected load of the candidate second fabric roll; when the expected load of the candidate second fabric roll is given in the form of a range, the controller takes the upper limit of the range as the screening criterion. The controller sequentially judges the predicted stability margin, height arrival status, route space passage conditions, and rated load conditions for each lifting and traveling coordinated control sequence. Sequences with a predicted stability margin lower than the preset safety margin threshold are excluded; sequences where the bracket height is lower than the corresponding splicing release height when reaching the corresponding second splicing station are excluded; sequences that do not meet the route space passage conditions are excluded; sequences where the expected dual-roll load is greater than the rated load of the splicing vehicle are excluded. The remaining sequences are written into the executable sequence set and associated with and saved with their corresponding splicing tasks.

[0135] If the load information of the first roll or the expected load information of the candidate second roll is missing, the controller determines whether the missing information can be supplemented through on-site detection or task records. If it can be supplemented, the controller reacquires the corresponding load information; if it cannot be supplemented, the corresponding splicing task is not included in the executable sequence set. If there is a difference between the expected load of the candidate second roll and the actual load on-site, the actual load information is used to update the double roll load capacity during the pre-sponsoring verification stage. The actual load information of the candidate second roll is directly obtained by the loom roll load detection unit, the loom unloading mechanism weighing unit, or the second splicing station weighing unit; when no weighing unit is set, the controller calculates the load characterization value based on the actual roll length, fabric unit area mass, fabric width, and roll core mass, and uses this load characterization value as the actual load information used for pre-sponsoring verification. For example, if the first roll of fabric has a load of 210 kg, the expected load range of the candidate second roll of fabric is 170 kg to 190 kg, and the rated load of the fabric receiving vehicle is 450 kg, then the expected load of the two rolls is calculated as 400 kg, which meets the rated load condition. If the actual load of the candidate second roll of fabric is detected to be 250 kg during the pre-fabrication check, then the updated load of the two rolls of fabric is 460 kg, which exceeds the rated load, and the controller prohibits the fabric receiving mechanism from receiving the second roll of fabric.

[0136] In one optional implementation, the step of determining a target executable sequence from the executable sequences, controlling the lifting bracket and the fabric receiving carriage according to the target executable sequence, and triggering the fabric receiving mechanism to reset and receive the second fabric roll when the lifting bracket reaches the corresponding fabric receiving release height and the fabric receiving carriage reaches the second fabric receiving station includes: Determine the predictive stability margin, estimated task completion time, duration for which the lifting bracket remains at or above the corresponding fabric release height, and the number of speed limits or stops for each executable sequence; If only one executable sequence exists, that executable sequence is identified as the target executable sequence. When multiple executable sequences exist, a target executable sequence is determined from the multiple executable sequences based on the predicted stability margin, the expected task completion time, the duration, and the number of speed limits or stops for each executable sequence. The fabric receiving task corresponding to the target executable sequence is determined as the target fabric receiving task, and the lifting bracket and the fabric receiving vehicle are controlled to execute the target fabric receiving task according to the target executable sequence; When the lifting bracket reaches the fabric release height corresponding to the target fabric receiving task and the fabric receiving vehicle arrives at the second fabric receiving station corresponding to the target fabric receiving task, the fabric receiving mechanism is controlled to reset and receive the second fabric roll.

[0137] Specifically, the controller establishes an evaluation record for each executable sequence. This evaluation record includes predicted stability margin, estimated task completion time, duration during which the lifting bracket remains at or above the corresponding release height of the connecting fabric, number of speed limits, and number of stops. The predicted stability margin characterizes the safety margin, the estimated task completion time characterizes task efficiency, the duration during which the lifting bracket remains at or above the corresponding release height of the connecting fabric characterizes the sustainability of high-level load-bearing capacity, and the number of speed limits and stops together characterize the continuity of route execution.

[0138] The controller records the number of speed limit attempts as follows: The number of parking times is recorded as The original speed limit or number of stops is determined based on the number of speed limit attempts and the number of stops. , is represented as:

[0139] A continuous period of time during which a vehicle is continuously under the same speed limit control state is counted as one speed limit; when a vehicle re-enters the speed limit control state after being released from the speed limit control state, it is counted as another speed limit. The process of a vehicle changing from a driving state to a stationary state and then resuming driving is counted as one stop. Planned stops performed by the receiving vehicle after arriving at the second receiving station corresponding to the target receiving task to perform the resetting of the receiving mechanism and the receiving of the second roll of fabric are not counted as stops; stops caused by route obstruction, replanning, stability limitations, or other unplanned reasons are counted as stops.

[0140] When only one executable sequence exists, the controller directly identifies it as the target executable sequence. When multiple executable sequences exist, the controller first excludes sequences whose predicted stability margin is lower than the preset safety margin threshold, and then normalizes and evaluates the predicted stability margin, expected task completion time, duration during which the lifting bracket is not lower than the corresponding release height of the connecting cloth, and the original speed limit or number of stops for the remaining sequences.

[0141] In one implementation, the target executable sequence is determined based on a comprehensive evaluation value, which is expressed as:

[0142] in, This represents the overall evaluation value. This represents the normalized prediction stability margin. This represents the normalized estimated task completion time. This indicates the duration during which the normalized lifting bracket remains at or above the corresponding fabric release height. This represents the normalized speed limit or number of stops. This represents the evaluation weights, and the sum of all evaluation weights is 1. The above normalization process is used to ensure that evaluation indicators with different dimensions can be included in the same evaluation relationship.

[0143] Within the current set of executable sequences, each normalized value is determined according to the maximum and minimum values ​​of the corresponding metric. For prediction stability margin, a larger value indicates better performance, and the normalized value is determined according to the following formula:

[0144] For the estimated task completion time, the duration during which the lifting bracket remains at or above the corresponding fabric release height, and the number of speed limits or stops, smaller values ​​indicate better performance. However, these values ​​are deducted from the overall evaluation, and their normalized values ​​are determined according to the following formulas:

[0145]

[0146]

[0147] in, This indicates the prediction stability margin of the currently evaluated executable sequence. and These represent the maximum and minimum predicted stability margins in the current set of executable sequences, respectively. This indicates the estimated task completion time for the currently evaluated executable sequence. and These represent the maximum and minimum estimated task completion times, respectively. This indicates the duration during which the lifting bracket remains at or above the corresponding fabric release height in the currently evaluated executable sequence. and These represent the maximum and minimum durations during which the lifting bracket remains at or above the corresponding fabric release height. and These represent the original rate limit or number of stops in the current set of executable sequences, respectively. The maximum and minimum values ​​of the original index. When the maximum value of any original index is equal to the minimum value, the controller sets the normalized value of the corresponding index to 0 to avoid division by zero, and indicates that the index does not participate in the difference evaluation within the current set of executable sequences.

[0148] Evaluation weights are determined based on the task strategy table. The task strategy table is configured by on-site management personnel according to objectives such as safety priority, efficiency priority, or minimizing high-load time, and the sum of each weight is 1. For example, under the safety priority strategy, Take 0.45, Take 0.25, Take 0.20, Set the value to 0.10; under the efficiency-first strategy, Take 0.35, Take 0.35, Take 0.20, Set the value to 0.10. The controller selects the executable sequence with the highest comprehensive evaluation value as the target executable sequence. When multiple executable sequences have the same comprehensive evaluation value, the sequence with the larger predicted stability margin is selected first. If the predicted stability margins are still the same, the sequence with the shorter expected task completion time is selected.

[0149] After determining the target executable sequence, the controller writes the corresponding fabric receiving task into the target fabric receiving task and sequentially issues the bracket lifting control command and vehicle driving control command according to the control time period in the target executable sequence. During execution, the controller continuously reads back the bracket height, vehicle position, vehicle attitude, and vehicle speed. When the lifting bracket reaches the fabric receiving release height corresponding to the target fabric receiving task, and the fabric receiving vehicle arrives at the second fabric receiving station corresponding to the target fabric receiving task, the controller triggers the fabric receiving mechanism to reset from the upward position to the fabric receiving position and controls the fabric receiving mechanism to receive the second roll of fabric. If the fabric receiving vehicle has arrived at the corresponding second fabric receiving station but the bracket height has not yet reached the fabric receiving release height, the controller keeps the fabric receiving mechanism from resetting and continues to control the lifting bracket to rise or wait for reassessment; if the bracket height has reached the fabric receiving release height but the fabric receiving vehicle has not yet arrived at the corresponding second fabric receiving station, the controller continues to control the vehicle driving according to the target executable sequence.

[0150] In one optional embodiment, during the process of controlling the lifting bracket and the receiving vehicle to perform the target fabric receiving task according to the target executable sequence, the method further includes: When the fabric receiving vehicle approaches or arrives at the second fabric receiving station corresponding to the target fabric receiving task, the actual load-bearing state of the first fabric roll, the actual bracket height of the lifting bracket, the actual parking posture of the fabric receiving vehicle relative to the corresponding second fabric receiving station, and the actual outline information, actual unloading position information and actual load information of the candidate second fabric roll corresponding to the target fabric receiving task are re-acquired. Based on the reacquired information, update the fabric release height, route space passage conditions, expected double roll load, and stage stability margins for the target executable sequence corresponding to the fabric splicing mechanism reset, second roll reception, second roll instability, and double roll departure stages. If the updated target executable sequence still meets the conditions for determining the executable sequence, the control mechanism for receiving fabric is reset to the receiving position and receives the second roll of fabric. If the updated target executable sequence does not meet the conditions for determining the executable sequence, the lifting and driving coordinated control sequence is regenerated and filtered based on the current state of the receiving vehicle and the remaining candidate receiving tasks. The target executable sequence is determined from the re-filtered executable sequences. If no executable sequence is found after re-filtering, the receiving mechanism is prohibited from receiving the second roll of fabric.

[0151] Specifically, when the receiving vehicle approaches or arrives at the second receiving station corresponding to the target receiving task, the controller enters the pre-receiving verification process. Approaching the corresponding second receiving station means that the distance between the receiving vehicle and the target parking position is not greater than the preset verification distance, but the receiving vehicle has not yet met the parking holding conditions; arriving at the corresponding second receiving station means that the position deviation, heading angle deviation, and vehicle speed of the receiving vehicle are all within the corresponding allowable range, and the vehicle is in a parking brake holding state.

[0152] When the receiving vehicle approaches the corresponding second receiving station but has not yet stopped, the controller reads the current actual vehicle position, current actual vehicle heading angle, and current actual vehicle speed output by the vehicle positioning unit and vehicle attitude detection unit. Combining this with the remaining travel path, route gradient, route cross slope, vehicle steering parameters, and vehicle braking parameters, the controller predicts the receiving vehicle's stopping position, stopping heading angle, and stopping attitude relative to the station support surface after completing the remaining travel and braking. The controller uses the stopping position deviation, vehicle body angle deviation, and height deviation predicted from the current measured vehicle state as advance estimates of the actual stopping attitude.

[0153] When the fabric receiving vehicle arrives and stops at the corresponding second fabric receiving station, the controller obtains the parking position deviation, vehicle body angle deviation, and height direction deviation through the vehicle positioning unit and vehicle posture detection unit, and uses the detection results as the measured values ​​of the actual parking posture. When the difference between the measured value of the actual parking posture and the pre-estimated value exceeds the corresponding preset posture deviation threshold, the controller replaces the pre-estimated value with the measured value and re-executes the pre-fabrication verification.

[0154] During the pre-fabrication verification process, the controller also reads the actual load-bearing status of the first fabric roll on the lifting bracket, including the current load, off-center load degree, and support position; reads the actual bracket height of the lifting bracket; and re-acquires the actual outline information, actual unloading position information, and actual load information of the candidate second fabric roll through the on-site detection unit. The above measured information and actual parking posture information are used to replace or correct the predicted information used in the prediction time domain.

[0155] When the receiving vehicle is approaching the corresponding second receiving station but has not yet stopped, the controller updates the remaining single roll lifting and driving stage according to the current actual vehicle status in a rolling time-domain execution mode. It also performs advance verification of the receiving mechanism reset, second roll reception, second roll instability and double roll departure stages based on the advance estimate of the actual parking posture, the actual bracket height, the actual outline information of the candidate second roll, the actual roll unloading position information and the actual load information.

[0156] When the fabric receiving vehicle arrives and stops at the corresponding second fabric receiving station, the controller re-determines the reset space of the fabric receiving mechanism and the candidate second fabric roll receiving space based on the measured value of the actual parking posture and the actual bracket height; recalculates the fabric release height based on the actual outline information and the actual unloading position information; updates the expected load-bearing capacity of the double rolls based on the actual load information; and recalculates the stage stability margins of the fabric receiving mechanism reset, second fabric roll receiving, second fabric roll instability, and double roll departure stages based on the updated parking posture, load status, and action sequence.

[0157] Simultaneously, the controller reassesses the route space passage conditions of the target executable sequence based on the current posture of the receiving vehicle, the current height of the lifting bracket, the operational status of the receiving mechanism, and the actual outline of the candidate second roll. If the updated target executable sequence still meets the prediction stability margin, height, route space passage conditions, and rated load conditions, the controller controls the receiving mechanism to reset to the receiving position and receive the second roll. If the updated target executable sequence does not meet the above conditions, the controller temporarily marks the target receiving task as unacceptable and regenerates and filters the lifting and driving cooperative control sequence based on the current status of the receiving vehicle and the remaining candidate receiving tasks.

[0158] The controller sets stop conditions for re-screening. If the number of re-screening attempts reaches the preset maximum, the remaining candidate fabric receiving tasks are empty, the target fabric receiving task exceeds the allowed receiving time period, the current load or off-center load status of the fabric receiving vehicle does not allow for continued waiting, or the lifting permission information expires and cannot be restored after reconfirmation, the controller prohibits the fabric receiving mechanism from receiving the second fabric roll and outputs rescheduling information. The preset maximum number of re-screening attempts is determined based on the allowed waiting time of the scheduling system and the controller's predicted calculation cycle. For example, when the scheduling system allows the fabric receiving vehicle to wait near the second fabric receiving station for no more than 60 seconds, and it takes 10 seconds to regenerate and screen the lifting and driving coordinated control sequence, the preset maximum number of re-screening attempts is 5 times; when no executable sequence is found after 5 re-screening attempts, the controller keeps the fabric receiving mechanism in a prohibited receiving state and sends the current first fabric roll transfer task or rescheduling request to the production scheduling system.

[0159] For example, in one implementation, after the fabric receiving vehicle receives the first fabric roll, the load detection unit on the lifting bracket detects that the load on the first fabric roll is 210 kg. The preset confirmation time window is 2 seconds, and the load fluctuation within this time window is 3 kg, which is lower than the preset load stability threshold of 5 kg; the off-center load degree is 4%, which is lower than the preset off-center load threshold of 8%. The controller generates lifting permission information. At this time, there are two candidate second fabric roll receiving tasks. The receiving release height corresponding to the first receiving task is 1.30 meters, and the receiving release height corresponding to the second receiving task is 1.45 meters. The controller generates lifting and driving coordinated control sequences for the two fabric receiving tasks. It calculates that the predicted stability margin of a set of sequences for the first fabric receiving task is 0.18, the estimated task completion time is 260 seconds, the duration of the lifting bracket not being lower than the corresponding fabric receiving release height is 90 seconds, and the number of speed limits or stops is 1. The predicted stability margin of a set of sequences for the second fabric receiving task is 0.13, the estimated task completion time is 230 seconds, the duration of the lifting bracket not being lower than the corresponding fabric receiving release height is 120 seconds, and the number of speed limits or stops is 3.

[0160] If the preset safety margin threshold is 0.10, and both sets of sequences meet the route space passage condition and rated load condition, then both sets of sequences are included in the executable sequence set. Under the safety-first strategy, the evaluation weight is taken as... , , , After normalizing the two sequences, the controller found that the sequence corresponding to the first rendezvous task was better in terms of prediction stability margin and the number of speed limits or stops, while the sequence corresponding to the second rendezvous task was better in terms of expected task completion time. After comprehensive evaluation, the sequence corresponding to the first rendezvous task had a larger comprehensive evaluation value, so the controller determined it as the target executable sequence and controlled the lifting bracket to rise to more than 1.30 meters as the vehicle drove toward the corresponding second rendezvous station.

[0161] Before the fabric receiving vehicle reaches the corresponding second fabric receiving station, the on-site detection unit re-acquires the actual load and actual outline of the candidate second fabric roll. If, after verification, the fabric release height is still 1.30 meters, the actual double-roll load is 390 kg, and the predicted stability margin is updated to 0.16, still meeting the conditions for determining an executable sequence, the controller triggers the fabric receiving mechanism to reset to the fabric receiving position and receive the second fabric roll. If, during verification, it is found that the actual outline of the candidate second fabric roll has increased, causing the fabric release height to increase to 1.55 meters, and the current bracket height and remaining travel time cannot meet this height requirement, or the actual double-roll load exceeds the rated load of the fabric receiving vehicle, the controller prohibits the fabric receiving mechanism from receiving the second fabric roll and re-selects executable sequences based on the remaining candidate fabric receiving tasks; if no executable sequence is found after re-selection, the fabric receiving vehicle remains in a single-roll load state and waits for rescheduling.

[0162] The above description is merely a specific embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, adjustments can be made to the detection unit type, route data source, threshold calibration method, control period length, or evaluation weight configuration of the fabric delivery vehicle without departing from the principle of the present invention. These adjustments do not change the technical concept of the present invention, which revolves around the coordinated transfer control of multiple fabric rolls based on the fabric release height, lifting and driving coordinated control sequence, prediction stability margin, route space passage conditions, and rated load conditions.

[0163] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for coordinated transfer of multiple fabric rolls using an automated guided fabric receiving vehicle, wherein the fabric receiving vehicle is equipped with a fabric receiving mechanism, a lifting bracket, and a lower fabric receiving space, characterized in that, include: S1. Control the fabric receiving mechanism to receive the first fabric roll in the lower fabric receiving space and flip it up to the lifting bracket. The lifting bracket carries the fabric roll and establishes a fabric roll carrying state. When the carrying state meets the lifting conditions, a lifting permission information is generated. S2. Obtain the fabric receiving task of the candidate second fabric roll, and determine the status of the candidate second fabric roll, the corresponding route and the fabric receiving release height for each fabric receiving task. The fabric receiving release height represents the minimum bracket height for the fabric receiving mechanism to reset and receive the candidate second fabric roll after the lifting bracket lifts the first fabric roll. S3. Based on the lifting permission information, generate a lifting and driving coordinated control sequence for each fabric splicing task in the prediction time domain, which enables the first fabric roll to reach the corresponding fabric splicing release height under stable constraints. The sequence includes bracket lifting parameters and vehicle driving parameters. S4. Determine the predictive stability margin of each lifting and traveling coordinated control sequence according to the five stages: single roll lifting and traveling, cloth receiving mechanism reset, second roll receiving, second roll not stable, and double roll departure. S5. Based on the predicted stability margin, the corresponding release height of the connecting cloth, the route space passage conditions, and the rated load conditions, determine the executable sequence from each lifting and traveling coordinated control sequence; S6. Determine the target executable sequence from the executable sequences, and control the lifting bracket and the fabric receiving vehicle according to the target executable sequence. When the lifting bracket reaches the corresponding fabric receiving release height and the fabric receiving vehicle reaches the second fabric receiving station, trigger the fabric receiving mechanism to reset and receive the second fabric roll. If there is no executable sequence, prohibit the fabric receiving mechanism from receiving the second fabric roll.

2. The method according to claim 1, characterized in that, The establishment of the fabric roll bearing state, and the generation of lifting permission information when the bearing state meets the lifting conditions, includes: Acquire information on the support position, load, and off-center load of the first fabric roll after it has been flipped up onto the lifting bracket by the fabric receiving mechanism; Based on the support positioning information, it is determined whether the first fabric roll is effectively supported by the lifting bracket; based on the load information, it is determined whether the load of the first fabric roll remains stable within the preset confirmation time window; and based on the off-center load information, it is determined whether the degree of off-center load of the first fabric roll is within the allowable range. When the first roll of fabric is effectively supported by the lifting bracket, the load remains stable, and the degree of off-center load is within the allowable range, it is determined that the load-bearing state of the roll of fabric meets the lifting conditions, and lifting permission information is generated.

3. The method according to claim 1, characterized in that, The candidate second roll status includes the expected outline information and unloading position information, and the determination of the fabric release height includes: Based on the motion path of the fabric receiving mechanism from the upward position to the receiving position, determine the envelope occupied by the reset motion of the fabric receiving mechanism; Based on the predicted outline information and unloading position information, determine the receiving area occupied when the candidate second roll enters the lower fabric receiving space and is received by the fabric receiving mechanism. Based on the occupied areas of the lifting bracket and the first fabric roll at each bracket height, the clearance between the reset motion occupancy envelope and the receiving occupancy area and the lifting bracket and the first fabric roll is determined respectively. The minimum bracket height when all the aforementioned clearances are not less than the corresponding preset safety clearance is determined as the fabric release height for the corresponding fabric splicing task.

4. The method according to claim 1, characterized in that, The process involves generating a lifting and driving coordinated control sequence for each fabric splicing task within the prediction time domain, ensuring that the first fabric roll reaches the corresponding splicing release height under stable constraints. This sequence includes: Based on the current position of the receiving vehicle, the position of the corresponding second receiving station, the corresponding route, and the expected receiving time period of the candidate second roll determined by the receiving task, the predicted time domain from the current moment until the receiving mechanism receives the candidate second roll and forms the lower bearing state, after which the two rolls leave the corresponding second receiving station. The prediction time domain is divided into multiple continuous control periods, and multiple sets of bracket lifting parameters and vehicle driving parameters are configured for each control period. The bracket lifting parameters include lifting status, lifting speed and lifting acceleration, and the vehicle driving parameters include vehicle speed, longitudinal acceleration or deceleration and turning angular velocity. The lifting parameters of each bracket and the driving parameters of the vehicle are combined according to the time sequence of each control period to form multiple lifting and driving coordinated control sequences. Based on each lifting and driving coordinated control sequence, the bracket height, vehicle position and the time when the receiving vehicle arrives at the corresponding second receiving station are predicted for each control period.

5. The method according to claim 4, characterized in that, The predicted stability margin of each lifting and traveling coordinated control sequence is determined according to five stages: single roll lifting and traveling, fabric receiving mechanism reset, second roll receiving, second roll instability, and double roll departure. This includes: The time period from the current moment to the arrival of the receiving vehicle at the corresponding second receiving station is defined as the single roll lifting and traveling stage, and the time period from the upward position to the receiving position after the receiving vehicle arrives at the corresponding second receiving station is defined as the receiving mechanism reset stage. The period from when the candidate second roll begins to be received by the splicing mechanism to when it forms effective support on the splicing mechanism is defined as the second roll receiving stage; the period from when the candidate second roll forms effective support on the splicing mechanism to when its position and load-bearing capacity distribution reach stability is defined as the second roll unstable stage. The period from when the receiving vehicle carrying the first roll of fabric and the candidate second roll of fabric leaves the corresponding second receiving station until it enters a stable transportation state is defined as the double roll departure stage. The stage stability margin is determined based on the bracket height, vehicle driving parameters, fabric connection mechanism operation status, and the load-bearing status of the first fabric roll and the candidate second fabric roll in the corresponding stage. The minimum value among the stage stability margins corresponding to the five stages is determined as the predicted stability margin of the corresponding lifting and driving coordinated control sequence.

6. The method according to claim 5, characterized in that, The stability margin for each stage is determined as follows: Determine the support area formed by the wheels of the fabric receiving vehicle and the multiple overturning edges corresponding to the support area; For each overturning edge, based on the route slope and cross slope of each control period within the corresponding stage, the vehicle's weight is decomposed into normal and tangential components relative to the wheel support surface. When there is a roll eccentric load, the centroid coordinates of the corresponding roll are updated based on the eccentric load information. The restoring torque is determined based on the normal component and the updated position of the vehicle's center of gravity relative to the overturning edge. The overturning torque is determined based on the tangential component and the inertial effect generated by at least one of the following: vehicle longitudinal acceleration, lateral acceleration, bracket lifting motion, fabric receiving mechanism reset motion, second roll receiving impact, and candidate second roll rolling or swaying. The ratio of the difference between the restoring moment and the overturning moment to the reference moment corresponding to the overturning edge is determined as the edge stability margin; wherein, the reference moment is the restoring moment formed by the fabric receiving vehicle relative to the corresponding overturning edge under rated static load conditions; The minimum value among the edge stability margins corresponding to each control period and each overturning edge within the same stage is determined as the stage stability margin for that stage.

7. The method according to claim 5, characterized in that, The determination of the route space traversal conditions includes: Obtain the route boundary, station boundary, lateral obstacle position and overhead clearance boundary of the corresponding route and the corresponding second splicing station in the corresponding area of ​​each control period; Based on the vehicle position predicted by the corresponding lifting and driving coordinated control sequence, the vehicle driving posture determined by the vehicle driving parameters, the bracket height, the outer contour of the receiving vehicle, the outer contour of the receiving mechanism in the corresponding action state, the outer contour of the lifting bracket, the outer contour of the first roll at the corresponding bracket height, and the outer contour of the candidate second roll during the control period after the candidate second roll is received, the spatial occupancy envelope formed when the receiving vehicle moves along the corresponding route in each control period and when it performs the receiving mechanism reset or the second roll receiving action at the corresponding second receiving station is determined. Determine the spatial clearance between the spatial occupancy envelope and the route boundary, workstation boundary, lateral obstacles, and overhead clearance boundary; When the spatial gap corresponding to each control period is not less than the corresponding preset spatial gap, it is determined that the lifting and driving coordinated control sequence meets the route space passage condition; otherwise, it is determined that the lifting and driving coordinated control sequence does not meet the route space passage condition.

8. The method according to claim 7, characterized in that, The step of determining the executable sequence from each lifting and driving coordinated control sequence includes: Obtain the load information of the first roll and the expected load information of the candidate second roll. Based on the load information of the first roll and the expected load information of the candidate second roll, determine the expected double roll load after the receiving vehicle receives the candidate second roll. When the lifting and driving coordinated control sequence simultaneously meets the following conditions, the lifting and driving coordinated control sequence is determined as an executable sequence: the predicted stability margin is not lower than the preset safety margin threshold, the bracket height when the receiving vehicle arrives at the corresponding second receiving station is not lower than the corresponding receiving release height, the lifting and driving coordinated control sequence meets the route space passage conditions, and the expected double roll load is not greater than the rated load of the receiving vehicle. If any condition is not met, the corresponding lifting and lowering coordinated control sequence will be excluded.

9. The method according to claim 8, characterized in that, The step of determining a target executable sequence from the executable sequences, controlling the lifting bracket and the fabric receiving carriage according to the target executable sequence, and triggering the fabric receiving mechanism to reset and receive the second fabric roll when the lifting bracket reaches the fabric receiving release height and the fabric receiving carriage reaches the corresponding second fabric receiving station includes: Determine the predictive stability margin, estimated task completion time, duration for which the lifting bracket remains at or above the corresponding fabric release height, and the number of speed limits or stops for each executable sequence; If only one executable sequence exists, that executable sequence is identified as the target executable sequence. When multiple executable sequences exist, a target executable sequence is determined from the multiple executable sequences based on the predicted stability margin, the expected task completion time, the duration, and the number of speed limits or stops for each executable sequence. The fabric receiving task corresponding to the target executable sequence is determined as the target fabric receiving task, and the lifting bracket and the fabric receiving vehicle are controlled to execute the target fabric receiving task according to the target executable sequence; When the lifting bracket reaches the fabric release height corresponding to the target fabric receiving task and the fabric receiving vehicle arrives at the second fabric receiving station corresponding to the target fabric receiving task, the fabric receiving mechanism is controlled to reset and receive the second fabric roll.

10. The method according to claim 9, characterized in that, The process of controlling the lifting bracket and the receiving vehicle to perform the target fabric receiving task according to the target executable sequence also includes: When the fabric receiving vehicle approaches or arrives at the second fabric receiving station corresponding to the target fabric receiving task, the actual load-bearing state of the first fabric roll, the actual bracket height of the lifting bracket, the actual parking posture of the fabric receiving vehicle relative to the corresponding second fabric receiving station, and the actual outline information, actual unloading position information and actual load information of the candidate second fabric roll corresponding to the target fabric receiving task are re-acquired. Based on the reacquired information, update the fabric release height, route space passage conditions, expected double roll load, and stage stability margins for the target executable sequence corresponding to the fabric splicing mechanism reset, second roll reception, second roll instability, and double roll departure stages. If the updated target executable sequence still meets the conditions for determining the executable sequence, the control mechanism for receiving fabric is reset to the receiving position and receives the second roll of fabric. If the updated target executable sequence does not meet the conditions for determining the executable sequence, the lifting and driving coordinated control sequence is regenerated and filtered based on the current state of the receiving vehicle and the remaining candidate receiving tasks. The target executable sequence is determined from the re-filtered executable sequences. If no executable sequence is found after re-filtering, the receiving mechanism is prohibited from receiving the second roll of fabric.

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