Winding handling control method and related apparatus

Abstract

The application discloses a winding carrying control method and related equipment, relates to the technical field of automatic chemical fiber textile equipment, and comprises the following steps: acquiring a call signal sent by a winding communication cabinet; according to the call signal, an automatic guided vehicle is dispatched to a preset pickup work station corresponding to a target winding head through a robot scheduling system; in the case that the automatic guided vehicle reaches the preset pickup work station, the target winding head is controlled to perform a push cylinder operation through the winding communication cabinet, so that a cake of the target winding head is transferred to the automatic guided vehicle; in the case that the cake is transferred to the automatic guided vehicle, the automatic guided vehicle is dispatched to a preset unloading work station through the robot scheduling system; and in the case that the automatic guided vehicle reaches the preset unloading work station, a mechanical hand is controlled to perform an unloading operation, so that the cake is placed on a target silk car or a transfer station. The application can improve the equipment cooperation capability, carrying efficiency, and automation degree and flexibility of a production logistics process.

Description

Technical Field

[0001] This application relates to the field of automated equipment technology for chemical fiber textiles, and more specifically, to a winding and handling control method and related equipment. Background Technology

[0002] With the continuous improvement of automation and intelligent manufacturing in the chemical fiber textile industry, the yarn cakes produced in the winding process of the production line need to be handled and transferred promptly after unwinding to ensure the continuity of production and reduce the intensity of manual operation. To improve production efficiency and logistics coordination, more and more companies are introducing automated guided vehicles, robotic arms, and other automated equipment into the winding production line to achieve automated handling and processing of the yarn cakes from the winding equipment to subsequent workstations. Therefore, how to achieve efficient collaborative control between the winding equipment and automated logistics equipment has become a crucial technical issue in the automation upgrade of chemical fiber production lines.

[0003] However, in actual production environments, many winding devices are still relatively early-stage equipment with limited communication interfaces and data interaction capabilities. Some devices can only output simple electrical signals, making it difficult to directly connect to networked control systems. This results in the inability of automated systems to obtain real-time status information of the winding devices. Furthermore, the handling process after winding and unwinding often relies on manual operation. There is a lack of effective information interaction and collaborative control mechanisms between the automated guided vehicles (AGVs) and the winding devices, which can easily lead to problems such as untimely triggering of handling tasks, poor equipment coordination, and low operational efficiency. In the unloading process, the transfer of yarn cakes between different workstations usually lacks flexible handling methods, making it difficult to schedule reasonably according to production rhythm or equipment status, thus affecting overall logistics efficiency. In other words, the relevant technologies suffer from low coordination between winding and handling equipment and poor flexibility in logistics scheduling. Summary of the Invention

[0004] In the summary section of this application, the relevant technical solutions are described in general terms, and a series of simplified concepts are introduced. These concepts will be further elaborated in the detailed embodiments section. This summary section should not be construed as limiting the key or essential technical features of the claimed solutions, nor is it intended to limit the scope of protection of the claimed solutions.

[0005] The winding and handling control method and related equipment provided in this application can realize standardized access of winding equipment signals through a winding communication cabinet, and combined with the coordinated control of a robot scheduling system, an automated guided vehicle and a robotic arm, realize the automated connection of the yarn cake from winding and dropping to automatic handling and unloading, thereby improving equipment coordination capabilities, handling efficiency and the degree of automation and flexibility of the production logistics process.

[0006] In a first aspect, this application provides a winding and handling control method, comprising: acquiring a call signal sent by a winding communication cabinet, wherein the winding communication cabinet is used to collect the original operating signal of the winding head through a relay and convert the original operating signal into a standard signal conforming to a network transmission protocol; according to the call signal, scheduling an automated guided vehicle to a preset picking station corresponding to a target winding head through a robot scheduling system, wherein the target winding head is the winding head that corresponds to the call signal among all the winding heads; when the automated guided vehicle arrives at the preset picking station, controlling the target winding head to perform a push-tube operation through the winding communication cabinet to transfer the yarn cake of the target winding head to the automated guided vehicle; when the yarn cake is transferred to the automated guided vehicle, scheduling the automated guided vehicle to a preset unloading station through the robot scheduling system; when the automated guided vehicle arrives at the preset unloading station, controlling a robot arm to perform an unloading operation to place the yarn cake on a target yarn cart or a transfer station.

[0007] In some embodiments, acquiring the call signal sent by the winding communication cabinet includes: acquiring the call signal generated by the winding communication cabinet according to a first trigger state or a second trigger state of the relay, wherein the first trigger state corresponds to the chuck of the target winding head completing a flipping action, and the second trigger state corresponds to the yarn cake of the target winding head reaching a preset winding diameter.

[0008] In some embodiments, the step of dispatching an automated guided vehicle (AGV) to a preset pickup station corresponding to the target winding head via a robot scheduling system based on the call signal includes: parsing the call signal through the robot scheduling system to obtain the location information of the preset pickup station; planning a target travel path for the AAV based on the location information, and controlling the AAV to travel along the target travel path to the preset pickup station; during the travel process, adjusting the horizontal alignment error between the AAV's coupling shaft and the target winding head chuck in real time using onboard sensors to keep the horizontal alignment error within a preset range.

[0009] In some embodiments, controlling the target winding head to perform a push-bun operation via the winding communication cabinet includes: in response to an arrival signal from the automated guided vehicle arriving at the preset picking station, generating a push-bun permission command and sending it to the winding communication cabinet; after receiving the push-bun permission command, the winding communication cabinet triggers the push-bun mechanism of the target winding head via a relay closure to push the yarn cake from the target winding head onto the target receiving shaft of the automated guided vehicle.

[0010] In some embodiments, the automated guided vehicle includes a first picking shaft and a second picking shaft, and the winding and handling control method further includes: if the first picking shaft does not receive the yarn cake, instructing the automated guided vehicle to use the first picking shaft as the target receiving shaft; if the first picking shaft has received the yarn cake, instructing the automated guided vehicle to use the second picking shaft as the target receiving shaft.

[0011] In some embodiments, the control of the robotic arm to perform the unloading operation includes: acquiring the status information and batch matching information of the target yarn cart; determining whether the target yarn cart meets the preset yarn cart loading conditions based on the status information and the batch matching information; if the target yarn cart meets the preset yarn cart loading conditions, controlling the robotic arm to transport the yarn cake from the automated guided vehicle to the target yarn cart; if the target yarn cart does not meet the preset yarn cart loading conditions, controlling the robotic arm to temporarily store the yarn cake at the transfer station.

[0012] In some embodiments, after controlling the robotic arm to temporarily store the yarn cake at the transfer station, the winding and transporting control method further includes: recording the batch information and storage location of the yarn cake temporarily stored at the transfer station; in response to a yarn cart positioning signal, matching the yarn cake to be processed from the transfer station based on the batch information and corresponding to the target yarn cart; and, based on the storage location, scheduling the robotic arm to grab the yarn cake to be processed from the transfer station and transport it to the target yarn cart.

[0013] In some embodiments, the winding and handling control method further includes: generating a corresponding traceability identifier for each yarn cake; upon receiving the call signal, associating first traceability data with the traceability identifier, wherein the first traceability data includes the identifier of the target winding head, a production timestamp, and a batch number; after the yarn cake is transferred to the automated guided vehicle, associating second traceability data with the traceability identifier, wherein the second traceability data includes the identifier of the automated guided vehicle and a pickup timestamp; after the robot arm performs the unloading operation, associating third traceability data with the traceability identifier, wherein the third traceability data includes an unloading station identifier, an unloading timestamp, and a placement location identifier; and generating a visual handling record based on the traceability identifier in response to a user query request.

[0014] Secondly, this application also provides a winding and handling control device, comprising: a signal acquisition unit, configured to acquire a call signal sent by a winding communication cabinet, wherein the winding communication cabinet is configured to acquire the original operating signal of the winding head via a relay and convert the original operating signal into a standard signal conforming to a network transmission protocol; a pickup scheduling unit, configured to schedule an automated guided vehicle to a preset pickup station corresponding to a target winding head via a robot scheduling system according to the call signal, wherein the target winding head is the winding head corresponding to the call signal among all the winding heads; and a pickup execution unit, configured to... When the automated guided vehicle (AGV) arrives at the preset picking station, the target winding head is controlled by the winding communication cabinet to perform a push-tube operation to transfer the yarn cake from the target winding head to the AGV; the unloading scheduling unit is used to schedule the AGV to the preset unloading station through the robot scheduling system when the yarn cake is transferred to the AGV; the unloading execution unit is used to control the robot arm to perform an unloading operation when the AGV arrives at the preset unloading station to place the yarn cake on the target yarn cart or transfer station.

[0015] Thirdly, this application also provides an electronic device, including: a memory and a processor, wherein the processor is configured to implement the steps of the winding and transporting control method described in the first aspect when executing a computer program stored in the memory.

[0016] Fourthly, this application also provides a computer-readable storage medium storing computer-executable instructions or a computer program, which, when executed by a processor, implement the steps of the winding and transporting control method described in the first aspect.

[0017] Fifthly, this application also provides a computer program product, including a computer program or computer executable instructions, which, when executed by a processor, implement the steps of the winding and transporting control method provided in the embodiments of this application.

[0018] In summary, this application utilizes a winding communication cabinet to collect the original operating signals of the winding head via relays and converts them into standard signals conforming to network transmission protocols. This enables the winding equipment, which originally only had simple electrical signal outputs, to interact with a networked control system, achieving automatic identification and retrieval of equipment operating status. This improves the method's adaptability to different types of winding equipment and enables unified automated control. When the winding communication cabinet sends a call signal, the robot scheduling system can automatically dispatch an automated guided vehicle to the preset pickup position of the corresponding winding head, allowing the handling task to start automatically according to the production status without manual intervention, thus improving the handling efficiency after winding and unwinding. After the automated guided vehicle arrives at the pickup position, the winding communication cabinet... The system controls the winding head to perform a push-tube operation, enabling the yarn cake to be directly transferred to the automated guided vehicle (AGV). This facilitates coordination between the winding equipment and the automated handling equipment, improving the continuity and stability of the material transfer process. After the yarn cake is loaded, the robot scheduling system continues to dispatch the AGV to the preset unloading station. Upon arrival, the robot arm performs the unloading operation, placing the yarn cake on the target yarn cart or transfer station. This achieves automatic connection between the handling and unloading processes, reducing manual intervention and improving the overall automation level of the operation. During the unloading process, the robot arm can place the yarn cake on the target yarn cart or transfer station as needed, allowing the system to select different processing methods based on the production cycle or equipment status, thus improving the adaptability and flexibility of the production logistics process. In summary, the winding and handling control method provided in this application achieves standardized access to the winding equipment signals through a winding communication cabinet, and, in conjunction with the coordinated control of a robot scheduling system, an automated guided vehicle, and a robotic arm, realizes the automated connection of the yarn cake from winding and unloading to unloading and placement, thereby improving equipment coordination capabilities, handling efficiency, and the degree of automation and flexibility of the production logistics process. Attached Figure Description

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit this specification. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic flowchart illustrating a winding and handling control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the composition structure of a winding and handling control device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the composition structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] The terms used in the specification, claims, and drawings of this application, such as "first," "second," "third," "fourth," etc. (if any), are used to distinguish similar objects and not to describe a specific order or sequence. Therefore, it is to be understood that these terms can be used interchangeably where appropriate, allowing the described embodiments to be used in different orders, unless specifically required by the illustrations or description. Furthermore, the terms "is" and "has," and any variations thereof, are intended to cover, non-exclusively, all possible constituent elements. For example, a process, method, system, product, or apparatus comprising several steps or units is not necessarily limited to the steps or units explicitly listed, but may also include other steps or units not explicitly listed, or steps or units inherent to the process, method, product, or apparatus.

[0021] In this application, a "module" or "unit" refers to a computer program or part of a computer program that has a specific function and works in conjunction with other related parts to achieve a predetermined goal. These modules or units can be implemented by software, hardware (e.g., processing circuitry or memory), or a combination of both. One or more processors or memories can implement one or more modules or units. Furthermore, each module or unit can also be part of a larger module or unit.

[0022] The technical solutions of this application will be described in detail below with reference to the accompanying drawings of the embodiments. It should be noted that the described embodiments are only a part of this application, and not all embodiments. In the following description, the "some embodiments" mentioned are only a subset of all possible embodiments, which may be the same or different subsets, and different embodiments can be combined with each other without conflict.

[0023] Figure 1 This is a schematic flowchart illustrating a winding and handling control method provided in an embodiment of this application. For example, see [link to example]. Figure 1 The winding and handling control method provided in this application embodiment may include the following steps 101 to 105: Step 101: Obtain the call signal sent by the roll-up communication cabinet.

[0024] The winding communication cabinet is used to collect the original operating signals of the winding head through relays and convert the original operating signals into standard signals that conform to network transmission protocols.

[0025] In some examples, the winding communication cabinet is a dedicated industrial control device in this application embodiment that enables signal interaction between the winding head and various scheduling and control systems. As a signal transmission intermediary between the winding head and the Warehouse Management System (WMS) and Robot Dispatching System (RDS), it is deployed next to the production station corresponding to the winding head, integrating signal acquisition, signal conversion, and signal transmission functions. It can complete the acquisition, processing, and external transmission of winding head signals. The winding communication cabinet can be a dedicated communication control cabinet for spinning and winding, equipped with a signal acquisition card and a protocol conversion module. The relay is an electromagnetic electrical control device applied to the signal acquisition module inside the winding communication cabinet. It is the actuating element for acquiring the original operating signals of the winding head. By sensing the operating state of the winding head through changes in its own on / off state, it achieves contactless acquisition of winding head signals. It can be a 24V DC electromagnetic relay adapted to the low-voltage operating signals of the spinning and winding head. The winding head is an execution device in the chemical fiber textile production process that completes the winding and forming of chemical fiber cakes. It is the initiator of various operating signals in the winding and handling control process. It is deployed at a dedicated workstation in the winding process of the chemical fiber textile production line. Its operating status changes with the production action and generates corresponding electrical signals. It is the target device for relays to collect the original operating signals. An application example is the winding head of the winding machine that completes the winding and forming of polyester filament cakes in the chemical fiber spinning production.

[0026] The raw operating signal is the original electrical signal directly output by the winding head during the production process of winding the yarn cake, due to changes in its own operating state. This signal is the original output signal of the winding head's operating mechanism, without any formatting or protocol processing, and is directly acquired by the relays in the winding communication cabinet. The relays in the winding communication cabinet can be electrically connected to the winding head's operating mechanism, allowing the relays to sense the winding head's operating state in real time and acquire the corresponding raw electrical signal. For example, after the winding head completes a single yarn cake winding operation, it outputs a serial port analog electrical signal from its own operating mechanism. The network transmission protocol is the rule and standard for data exchange and signal transmission between various industrial devices in a computer network. It is the basis for the winding communication cabinet to complete the conversion of the raw operating signal. Commonly used network transmission protocols in the industrial field can be adopted to adapt to the industrial network communication requirements of warehouse management systems and robot scheduling systems; for example, it can be the Transmission Control Protocol / Internet Protocol (TCP / IP). A standard signal is a digital signal obtained by the winding communication cabinet after converting the format and adapting the original operating signals collected according to a preset network transmission protocol. It is a signal form that can be transmitted across devices in an industrial control network. The signal conversion module of the winding communication cabinet can be used to sequentially parse the format and convert the protocol of the original operating signals collected by the relay to generate a standard signal. For example, an Ethernet digital signal converted according to the transmission control protocol / Internet Protocol can be directly transmitted in the industrial local area network of the chemical fiber and textile production site.

[0027] The call signal is a business trigger signal generated by the winding communication cabinet based on the picking business logic of winding and handling control, which is a converted standard signal. After the winding communication cabinet completes the conversion of the original running signal to the standard signal, the internal signal processing module performs business-oriented analysis and generation of the standard signal based on the business requirements of spinning and winding picking, and then the signal sending module sends it out. For example, the winding communication cabinet generates a drop-off picking trigger signal based on the standard signal of the winding head completing the winding of the yarn cake, which is used to trigger the subsequent handling and scheduling process of the warehouse management system.

[0028] By implementing step 101, the winding communication cabinet uses relays to collect the original operating signals of the winding head and converts them into standard signals that conform to the network transmission protocol. This can transform the basic electrical signals generated by the winding equipment into data that can be transmitted and identified in the system, so that the operating status of the winding head can be acquired and utilized by the system in real time. This enables information interaction between the winding equipment and the control system, providing a reliable data foundation for the automatic triggering of subsequent handling tasks.

[0029] Step 102: Based on the call signal, the robot scheduling system dispatches an automated guided transport vehicle to the preset pickup station corresponding to the target winding head.

[0030] Among them, the target winding head is the winding head that corresponds to the call signal among all winding heads.

[0031] In some examples, the robot scheduling system is an industrial control system in this application embodiment that realizes the scheduling and management of automated guided vehicles. As a scheduling execution intermediary between the warehouse management system and the automated guided vehicles, it undertakes the functions of task parsing, path planning, and equipment scheduling. It integrates scheduling algorithms, communication modules, and workstation information databases and is deployed in the central control workstation of the chemical fiber and textile production site. For example, a special robot scheduling system for spinning and winding based on industrial fieldbus can realize the synchronous scheduling and path planning of multiple automated guided vehicles. Automated Guided Vehicles (AGVs) are handling equipment used in this application embodiment to automate the transfer of yarn cakes. Equipped with a navigation module, a walking mechanism, a cargo-carrying mechanism, and a wireless communication module, they can autonomously drive under the instructions of a robot scheduling system and complete the receiving and transfer of yarn cakes. They can be deployed throughout the entire area of ​​the winding and unloading processes in the chemical fiber textile production site. AGVs can be selected to suit the spinning and winding scenarios based on the weight and size of the yarn cakes being transferred and the driving environment of the production site. For example, a spinning-specific AGV equipped with a laser navigation module can achieve precise positioning on the production site and stable docking next to the winding head.

[0032] The target winding head is the winding head among all the winding heads in the chemical fiber textile winding production line that has a unique correspondence with the call signal sent by the winding communication cabinet. It is the dedicated target device for the automated guided vehicle to pick up goods. After receiving the call signal from the warehouse management system, the robot scheduling system can parse the signal to extract the winding head identification information. Based on this identification information, it can match the unique target winding head from the pre-stored production line winding head information database. For example, if the winding head numbered 08 in the chemical fiber textile production line completes the yarn cake winding and triggers the call signal, then the winding head numbered 08 is the target winding head corresponding to this scheduling task. Pre-defined picking stations are dedicated handling and picking areas planned and marked in advance for each winding head on a chemical fiber textile production line, based on production process requirements. They are designated docking positions for automated guided vehicles (AGVs) to receive yarn cakes, and their physical locations match the corresponding winding heads, ensuring smooth transfer of yarn cakes from the winding heads to the AGVs. Based on the installation location of the winding heads, equipment structural dimensions, and yarn cake transfer operation requirements, on-site measurements and planning can be conducted at the production site. The position coordinates and positioning marks of each station are then entered into the station information database of the robot scheduling system. For example, for target winding head number 08, the laser-positioned docking area next to it that meets the yarn cake transfer process requirements is the pre-defined picking station corresponding to that target winding head.

[0033] For example, after the warehouse management system sends the received call signal to the robot scheduling system, the robot scheduling system immediately parses the call signal, extracts the identification information in the signal, and matches the corresponding target winding head. Based on the information of the target winding head, the robot scheduling system retrieves the relevant location information of its corresponding preset picking station from the workstation information database. Based on the environmental information and equipment distribution of the production site, the robot scheduling system plans the optimal driving path from the current position of the automated guided vehicle to the preset picking station and generates a scheduling instruction to send to the corresponding automated guided vehicle. After receiving the scheduling instruction, the automated guided vehicle identifies the driving path through its own navigation module, autonomously drives to the preset picking station corresponding to the target winding head, completes precise docking, and waits for subsequent picking operations.

[0034] By implementing step 102, the automated guided vehicle is dispatched to the preset picking position of the corresponding winding head through the robot scheduling system according to the call signal. This allows the handling task to be automatically generated and executed according to the actual production status of the winding equipment, enabling the automated guided vehicle to accurately reach the winding head position that needs to be picked up, thereby improving the targeting and efficiency of the handling process.

[0035] Step 103: When the automated guided vehicle arrives at the preset picking station, the target winding head is controlled by the winding communication cabinet to perform a pusher operation to transfer the yarn cake of the target winding head to the automated guided vehicle.

[0036] In some examples, the yarn cake is the finished product of the winding process in the chemical fiber textile production process. It is a chemical fiber yarn roll formed after the winding head completes the winding and forming process of the chemical fiber raw yarn. Its physical shape and specifications are adapted to the requirements of the subsequent production process of chemical fiber textiles. The winding head can continuously wind polyester, nylon and other chemical fiber raw yarns according to the preset chemical fiber production process parameters. After the predetermined winding process is completed, it is naturally formed and can be used as the yarn cake for automated transfer without additional manual processing. For example, a cylindrical polyester yarn cake formed by winding polyester filaments by the winding head, and a nylon yarn cake formed by winding nylon elastic yarns by the winding head.

[0037] The push-tube operation is the action of the target winding head pushing out the yarn cake through its own matching push-tube mechanism after receiving the control command from the winding communication cabinet. It is a process operation that transfers the yarn cake from the winding head to the automated guided vehicle. The push-tube mechanism of the target winding head can be triggered by the electrical control of the winding communication cabinet. According to the received control command, the winding communication cabinet drives the push-tube mechanism to perform the mechanical action of extending and pushing through the electrical connection link, thereby completing the yarn cake pushing out. For example, the electric push rod mechanism of the winding head extends forward under the drive of the control signal, and smoothly pushes the wound yarn cake from the clamping shaft of the winding head to the loading shaft of the automated guided vehicle. This is the push-tube operation.

[0038] For example, after the automated guided vehicle (AGV) travels to the preset picking station corresponding to the target winding head, it accurately stops and sends a station arrival signal to the warehouse management system via a wireless communication module. After verifying the validity of the arrival signal, the warehouse management system immediately generates a push-tube control command and sends it to the winding communication cabinet. Upon receiving the push-tube control command, the winding communication cabinet drives the push-tube mechanism of the target winding head to start and execute the push-tube operation through its internal electrical control link. The push-tube mechanism smoothly pushes the yarn cake off the clamping shaft of the winding head, and the yarn cake falls directly onto the loading mechanism of the AGV, successfully completing the automated transfer of the yarn cake from the winding equipment to the handling equipment.

[0039] By implementing step 103, after the automated guided vehicle arrives at the preset picking station, the target winding head is controlled by the winding communication cabinet to perform a push operation, so that the yarn cake can be directly transferred to the automated guided vehicle. This realizes the connection and cooperation between the winding equipment and the transportation equipment, making the transfer process of the yarn cake smoother and improving the stability of the material handover process.

[0040] Step 104: After the silk cake is transferred to the automated guided vehicle, the automated guided vehicle is dispatched to the preset unloading station through the robot scheduling system.

[0041] In some examples, the preset unloading station is a dedicated work area planned and marked in advance in this application embodiment, based on the production process and on-site equipment layout, for the automated guided vehicle to complete the unloading and handover of yarn cakes. It is the designated cooperation position for the robot to perform the yarn cake unloading operation and is deployed in the dedicated work area of ​​the robot on the production site. According to the installation position and working radius of the robot, as well as the on-site placement planning requirements of the target yarn cart and transfer station, on-site measurement, spatial planning and precise marking can be carried out on the production site, and the position coordinates, positioning marks, working boundaries and other information of the station can be completely recorded into the work station information database of the robot scheduling system. For example, for the working area of ​​the No. 2 robot of the chemical fiber textile production line, a laser positioning docking area is planned and marked. This area can meet the process requirements of non-contact handover of yarn cakes between the automated guided vehicle and the robot, which is the preset unloading station corresponding to the production line.

[0042] For example, after the yarn cake is successfully transferred from the target winding head to the loading mechanism of the automated guided vehicle (AGV), the winding communication cabinet uploads the status signal of the completed yarn cake transfer to the warehouse management system in real time. The warehouse management system verifies the validity of the status signal and, upon confirming that the yarn cake has been transferred to the correct location, immediately issues a transfer scheduling instruction to the robot scheduling system to proceed to the preset unloading station. After receiving the instruction, the robot scheduling system retrieves the location coordinates of the preset unloading station from its internal station information database, plans the optimal driving path based on the equipment distribution on the production site, and generates a scheduling instruction. After receiving the scheduling instruction from the robot scheduling system, the AGV identifies the path using its own navigation module and drives autonomously and smoothly until it arrives at the preset unloading station and stops precisely, awaiting the subsequent unloading operation by the robotic arm.

[0043] By implementing step 104, after the silk cake is transferred, the automated guided vehicle is dispatched to the preset unloading station through the robot scheduling system, so that the loaded automated guided vehicle can continue to perform the handling task according to the established process, which can realize the continuous connection between the picking and transportation links and improve the continuity of the handling process.

[0044] Step 105: When the automated guided vehicle arrives at the preset unloading station, control the robotic arm to perform the unloading operation to place the yarn cake on the target yarn car or transfer station.

[0045] In some examples, robotic arms are execution devices for the unloading and handling of yarn packages in chemical fiber textile winding. Equipped with a yarn package gripping mechanism, a multi-axis motion control module, a wireless communication module, and an action signal control cabinet, they are deployed in a dedicated working area next to a pre-set unloading station. Under the command of the control system, they can complete a series of actions such as gripping, translating, and placing the yarn package. They are key equipment for transferring yarn packages from automated guided vehicles to target yarn carts or transfer stations. Industrial-grade robotic arms suitable for spinning and winding scenarios can be selected according to the specifications, size, and weight of the yarn packages in chemical fiber textiles and the working radius of the pre-set unloading station. For example, a six-axis articulated spinning-specific robotic arm equipped with a vacuum suction cup yarn package gripping mechanism can achieve non-damaging gripping and precise transfer of yarn packages.

[0046] The unloading operation is a process in which the robotic arm, after receiving the unloading command from the control system, completes the transfer of yarn cakes through its own gripping mechanism and motion control module. It is the action of transferring the yarn cakes from the automated guided vehicle to the target yarn car or transfer station. The action flow can include four stages: gripping, lifting, translating, and placing. For example, a six-axis articulated robotic arm uses a vacuum suction cup to grip the polyester yarn cake on the automated guided vehicle, lifts it, and then translates it to the designated layer on the target yarn car. Finally, it releases the suction cup to place the yarn cake. This entire set of continuous actions is the unloading operation.

[0047] The target yarn cart is a specialized carrier device used for the bulk transfer of yarn cakes in the chemical fiber textile production process. It is the main storage object in the yarn cake unloading stage and is deployed in the surrounding work area of ​​the pre-set unloading station. Its structure and specifications are adapted to the placement requirements of chemical fiber yarn cakes. It can accept yarn cakes transferred by robotic arms and complete the yarn cake transfer for subsequent production processes. According to the specifications of chemical fiber yarn cakes and the yarn cake transfer volume requirements of the production line, a spinning-specific yarn cart can be selected. For example, a steel multi-layer spinning-specific yarn cart can place multiple rolls of polyester or nylon yarn cakes in layers to meet the bulk transfer needs of the production line. A transfer station is a dedicated storage facility used for the temporary storage of yarn cakes in the winding, handling, and unloading process of chemical fiber textiles. It serves as an auxiliary support for the unloading of yarn cakes and is deployed in the vacant area next to the pre-set unloading station. It undertakes the function of temporary storage of yarn cakes and ensures the continuity of the winding, handling, and logistics process. According to the spatial layout of the production site and the temporary storage needs of yarn cakes, a dedicated temporary storage area can be planned and marked next to the pre-set unloading station, or an industrial-grade buffer rack can be selected as a transfer station. For example, a multi-layer steel buffer rack next to the pre-set unloading station can temporarily store multiple rolls of yarn cakes, which is a transfer station in the winding, handling, and control scenario.

[0048] For example, after the automated guided vehicle (AGV) travels to the preset unloading station and stops precisely, it sends a station arrival signal to the warehouse management system via a wireless communication module. After verifying the validity of the arrival signal, the warehouse management system immediately generates and issues an unloading control command to the signal control cabinet of the robotic arm. Upon receiving the command, the robotic arm starts its operation, using a gripping mechanism to non-damagely grasp the silk cakes on the AGV and transfer them to the target silk cart or transfer station for precise placement according to a preset path. After completing the unloading operation, the robotic arm sends a completion signal back to the warehouse management system via the signal control cabinet, thus completing the control process for the entire silk cake unloading process.

[0049] By implementing step 105, after the automated guided vehicle arrives at the preset unloading station, the robot arm is controlled to perform the unloading operation, placing the silk cakes on the target silk cart or transfer station. This enables the automatic unloading and sorting of the silk cakes, allowing the material transfer process to be completed at different locations according to actual needs, thereby improving the automation level and operational flexibility of the unloading process.

[0050] In summary, this embodiment of the application uses a winding communication cabinet to collect the original operating signals of the winding head via relays and converts them into standard signals conforming to network transmission protocols. This enables the winding equipment, which originally only had simple electrical signal outputs, to interact with a networked control system, achieving automatic identification and retrieval of equipment operating status. This improves the method's adaptability to different types of winding equipment and enables unified automated control. When the winding communication cabinet sends a call signal, the robot scheduling system can automatically dispatch an automated guided vehicle to the preset pickup position of the corresponding winding head based on the signal. This allows the handling task to start automatically according to the production status without manual intervention, improving the handling efficiency after winding and unwinding. After the automated guided vehicle arrives at the pickup position, the winding communication cabinet... The control cabinet controls the winding head to perform the push operation, enabling the yarn cake to be directly transferred to the automated guided vehicle (AGV). This allows for coordination between the winding equipment and the automated handling equipment, improving the continuity and stability of the material transfer process. After the yarn cake is loaded, the robot scheduling system continues to dispatch the AGV to the preset unloading station. Upon arrival, the robot arm performs the unloading operation, placing the yarn cake on the target yarn cart or transfer station. This achieves automatic connection between the handling and unloading processes, reducing manual intervention and improving the overall automation level. During the unloading process, the robot arm can place the yarn cake on the target yarn cart or transfer station as needed, allowing the system to select different processing methods based on the production cycle or equipment status, thus improving the adaptability and flexibility of the production logistics process. In summary, the winding and handling control method provided in this application realizes standardized access to the winding equipment signal through the winding communication cabinet, and combines the coordinated control of the robot scheduling system, automatic guided transport vehicle and manipulator to realize the automated connection of the yarn cake from winding and dropping to automatic handling and unloading, thereby improving the equipment coordination capability, handling efficiency and the degree of automation and flexibility of the production logistics process.

[0051] In some embodiments, the aforementioned step 101 may include: acquiring a call signal generated by the winding communication cabinet according to a first trigger state or a second trigger state of the relay, wherein the first trigger state corresponds to the chuck of the target winding head completing a flipping action, and the second trigger state corresponds to the yarn cake of the target winding head reaching a preset winding diameter.

[0052] In some examples, the first trigger state is the on / off state of the relay inside the winding communication cabinet when it senses that the chuck of the target winding head has completed its flipping action. This is one of the trigger conditions for the winding communication cabinet to generate a call signal. It corresponds to the mechanical action node completed by the winding head and is the mechanical action feedback of the winding head completing the yarn cake winding operation. The relay inside the winding communication cabinet can be electrically connected to the chuck flipping action actuator of the target winding head. The relay senses the operation status of the actuator in real time. When the chuck completes the preset flipping action according to the requirements of the chemical fiber textile production process, the on / off state of the relay circuit changes accordingly, forming the first trigger state. For example, after the target winding head completes the yarn cake winding, the chuck completes a 90-degree flipping action according to the process requirements. The relay senses the closed circuit state formed after the completion of this action, which is the first trigger state.

[0053] The second trigger state is the on / off state of the relay inside the winding communication cabinet when it senses that the yarn cake of the target winding head has reached the preset winding diameter. This is another core trigger condition for the winding communication cabinet to generate a call signal. It corresponds to the process parameter node of the winding head's production completion and is the process parameter feedback for the winding head to complete the yarn cake winding operation. The relay inside the winding communication cabinet can be electrically connected to the yarn cake diameter detection module of the target winding head. The diameter detection module collects the actual diameter data of the yarn cake in real time during the winding process. When the actual data reaches the preset winding diameter value of the chemical fiber textile production process, the diameter detection module sends an electrical signal trigger command to the relay, causing the circuit on / off state of the relay to change in a corresponding regular manner, forming the second trigger state. For example, if the preset winding diameter of the polyester yarn cake is 300mm, when the diameter detection module collects that the actual diameter of the yarn cake has reached this preset value, the circuit disconnection state formed by the relay after receiving the trigger command is the second trigger state.

[0054] For example, the winding communication cabinet electrically connects its internal relays to the chuck flipping actuator and the yarn cake diameter detection module of the target winding head, respectively. The signal acquisition module collects the on / off state changes of the relays in real time. After the target winding head completes the yarn cake winding operation, if the chuck completes the flipping action according to the process requirements, the relay forms a first trigger state. If the yarn cake diameter reaches the preset value of the production process, the relay forms a second trigger state. After the signal processing program of the winding communication cabinet detects any trigger state, it immediately generates a standardized drop-off and pick-up call signal according to the preset signal format and sends it to the warehouse management system through the industrial control network. The warehouse management system receives the call signal sent by the winding communication cabinet in real time through the network communication module, completes the effective acquisition of the signal, and then starts the subsequent robot scheduling system scheduling process.

[0055] Through the implementation of the above embodiments, a call signal is generated according to the first or second trigger state of the relay, enabling the system to promptly identify the winding completion state when the winding head chuck completes the flipping action or the yarn cake reaches the preset winding diameter. This allows for more accurate triggering of the handling task, thereby improving the reliability and timeliness of the handling task initiation. It also enables the automated guided vehicle to respond quickly after winding is completed, thereby enhancing the coordination efficiency between the winding equipment and the handling equipment.

[0056] In some embodiments, step 102 may include: parsing the call signal through the robot scheduling system to obtain the location information of the preset pickup station; planning the target driving path of the automated guided vehicle according to the location information, and controlling the automated guided vehicle to travel along the target driving path to the preset pickup station; during the journey, adjusting the horizontal alignment error between the connecting shaft of the automated guided vehicle and the target winding head chuck in real time through on-board sensors, so that the horizontal alignment error is kept within a preset range.

[0057] In some examples, location information refers to the spatial positioning data of a pre-set picking station in the chemical fiber textile production site. This includes the station's planar coordinates, on-site orientation, and relative distance to surrounding production equipment. It serves as the data basis for the robot scheduling system to plan the driving path for the automated guided vehicle. This information is associated with the identifier of the corresponding target winding head and is uniformly stored in the station information database of the robot scheduling system. For example, the X-axis planar coordinates of the pre-set picking station corresponding to target winding head 06 are 32.5m, the Y-axis planar coordinates are 15.8m, and the relative distance to the adjacent winding machine is 1.2m. This set of data constitutes the location information of the pre-set picking station.

[0058] The process of obtaining the location information of the preset picking station by parsing the call signal through the robot scheduling system involves the robot scheduling system receiving the call signal from the warehouse management system, automatically starting the signal parsing program, extracting the unique identifier of the target winding head from the call signal, and searching the internal station information database based on the identifier to match and retrieve the location information of the preset picking station corresponding to the target winding head. For example, the robot scheduling system parses the received call signal, extracts the identifier information of the target winding head 06, and then searches and retrieves the planar coordinates and orientation data of the preset picking station corresponding to the winding head in the station information database.

[0059] The target travel path is a dedicated route planned by the robot scheduling system based on the location information of the preset pickup station, the real-time current location of the automated guided vehicle (AGV), and environmental information such as equipment distribution and channel planning in the chemical fiber textile production site. This route includes the starting point, intermediate nodes, and the destination, and avoids equipment and obstacles on site, ensuring efficient and safe movement of the AGV. The robot scheduling system can use its built-in industrial path planning algorithm to comprehensively calculate the retrieved preset pickup station location information, the real-time positioning data of the AGV, and the pre-stored production site environment map data to automatically generate the optimal travel route from the current location of the AGV to the preset pickup station, and convert the route into a path instruction format that the AGV can recognize. For example, the robot scheduling system plans a travel route for the AGV from its current standby area, through the No. 5 passageway of the production line, around the spinning operation table, and finally to the preset pickup station corresponding to the target winding head 06. This route is the target travel path.

[0060] The process of planning the target driving path of an automated guided vehicle (AGV) based on location information and controlling the AGV to travel along the target driving path to the preset picking station involves the robot scheduling system automatically starting the path planning algorithm to generate the target driving path after successfully retrieving the location information of the preset picking station. The path data is then converted into driving control commands that the AGV can recognize, and the commands are sent to the corresponding AGV through the industrial wireless communication module. After receiving the commands, the AGV autonomously travels along the target driving path according to the preset program. For example, the robot scheduling system generates the optimal driving route based on the location information of the preset picking station of the target winding head 06, and sends the route command to the laser-guided AGV. After receiving the command, the AGV travels smoothly along the route until it arrives at the preset picking station.

[0061] During the movement of the automated guided vehicle (AGV), onboard sensors collect real-time data on the horizontal position deviation between the connecting shaft and the target winding head chuck, and transmit the data to the onboard control module. The onboard control module automatically adjusts the driving direction and position of the AGV based on the deviation data, keeping the horizontal alignment error within a preset range. For example, if the onboard laser sensor detects a 4mm horizontal alignment error between the AGV connecting shaft and the target winding head 06 chuck, exceeding the preset 3mm threshold, the onboard control module immediately and automatically adjusts the AGV's driving direction, correcting the error to 2mm and maintaining stability.

[0062] For example, after receiving a call signal from the warehouse management system, the robot scheduling system immediately starts the parsing program of the signal processing module to extract the target winding head identifier from the signal and retrieve the corresponding preset picking station location information from the workstation information database. The robot scheduling system combines the real-time positioning data of the automated guided vehicle (AGV) with the production site environment map to generate a dedicated target driving path through a path planning algorithm and sends the path instruction to the AGV. After receiving the instruction, the AGV moves autonomously along the target driving path, and the onboard sensors synchronously collect the horizontal alignment error data between the coupling and the target winding head clamp in real time. The onboard control module dynamically adjusts the driving position and direction of the AGV based on the collected error data, always keeping the horizontal alignment error within the process preset threshold range, until the AGV smoothly and accurately drives to the preset picking station.

[0063] Through the implementation of the above embodiments, the robot scheduling system analyzes the call signal to obtain the position information of the target winding head and plans the target driving path of the automatic guided transport vehicle, enabling the transport vehicle to accurately and efficiently reach the preset picking station. At the same time, during the journey, the on-board sensors are used to adjust the horizontal alignment error between the transport vehicle shaft and the winding head chuck in real time, keeping them within a preset range. This improves the docking accuracy between the transport vehicle and the winding equipment, reduces the deviation risk during the yarn cake transfer process, and further enhances the stability of the collaborative operation of the winding equipment and the handling equipment.

[0064] In some embodiments, the aforementioned control of the target winding head to perform the push-bun operation via the winding communication cabinet may include: generating a push-bun permission command and sending it to the winding communication cabinet in response to an arrival signal of the automated guided vehicle arriving at a preset picking station; after receiving the push-bun permission command, the winding communication cabinet triggers the push-bun mechanism of the target winding head by means of relay closure to push the yarn cake from the target winding head to the target receiving shaft of the automated guided vehicle.

[0065] In some examples, the arrival signal is a status feedback signal generated and sent out by the onboard control module after the automated guided vehicle (AGV) accurately drives to the preset pickup station and completes a stable stop. It is a prerequisite for triggering the push-tube permission command. This signal contains information such as the AGV identifier, the preset pickup station code, and the parking status, enabling accurate feedback on the arrival status of the AGV. For example, after the laser-guided AGV No. 03 accurately stops at the preset pickup station code Q12 corresponding to the target winding head 12, it generates and sends a digital feedback signal containing AGV03, station Q12, and normal parking status. This signal is the arrival signal.

[0066] The push-tube permission instruction is a control command generated by the warehouse management system after receiving the arrival signal of the automated guided vehicle and completing its validity verification. It is used to authorize the winding communication cabinet to trigger the target winding head push-tube mechanism. It is the instruction basis for the winding communication cabinet to perform the push-tube control action. This instruction may include information such as the target winding head identifier and the push-tube execution instruction. For example, after the warehouse management system verifies the validity of the arrival signal of AGV03, it generates a standardized digital control instruction containing the target winding head 12 identifier and the push-tube execution instruction. This instruction is the push-tube permission instruction.

[0067] The process of generating a push-tube permission command and sending it to the winding communication cabinet in response to the arrival signal of the automated guided vehicle (AGV) at the preset picking station involves the warehouse management system receiving the arrival signal from the AGV in real time through the industrial wireless communication module. It then initiates a built-in signal verification program to check the integrity of the signal and the matching of the station with the target winding head. If the verification result is valid, a push-tube permission command is immediately generated and sent to the winding communication cabinet corresponding to the target winding head via the industrial control network. For example, if the warehouse management system receives the arrival signal from AGV03 at station Q12, verifies that the station matches the target winding head 12 and that the parking status is normal, it generates a push-tube permission command and sends it to the winding communication cabinet corresponding to the winding head 12.

[0068] After receiving the push-tube permission command, the winding communication cabinet triggers the push-tube mechanism of the target winding head through relay closure to push the yarn cake from the target winding head to the target receiving shaft of the automated guided vehicle. This process involves the winding communication cabinet receiving the push-tube permission command from the warehouse management system via the industrial communication module, starting the command parsing program to extract the target winding head identifier, and then controlling the relay associated with the target winding head push-tube mechanism through the internal circuit control module to complete the closing action. The electric drive signal generated after the relay closes is transmitted to the push-tube mechanism of the target winding head, triggering the push-tube mechanism to perform a mechanical pushing action, smoothly pushing the yarn cake from the clamping shaft of the target winding head to the target receiving shaft of the automated guided vehicle. For example, after receiving the push-tube permission command, the winding communication cabinet corresponding to winding head 12 parses the identifier of target winding head 12, controls the internal 24V DC electromagnetic relay to complete the closing action, drives the electric push rod push-tube mechanism of winding head 12 to start, smoothly pushing the polyester yarn cake from the clamping shaft of the winding head to the target receiving shaft of AGV03. This is a practical application of this execution logic.

[0069] Through the implementation of the above embodiments, after the automatic guided transport vehicle arrives at the picking station, a push-tube permission command is generated, and the push-tube mechanism of the winding head is triggered by the winding communication cabinet through a relay, so that the push-tube action is only executed after the transport vehicle is accurately in place. This can establish a linkage control mechanism between the winding equipment and the transport equipment, thereby avoiding the situation where the transport vehicle is not in place when the tube is pushed, and improving the safety and stability of the process of transferring the yarn cake from the winding head to the transport vehicle.

[0070] In some embodiments, the automated guided vehicle may include a first picking shaft and a second picking shaft, and the aforementioned winding and handling control method may further include: if the first picking shaft does not receive the yarn package, instructing the automated guided vehicle to use the first picking shaft as the target receiving shaft; if the first picking shaft has received the yarn package, instructing the automated guided vehicle to use the second picking shaft as the target receiving shaft.

[0071] In some examples, the first picking shaft is the main picking shaft of a dual-axis automated guided vehicle (AGV), which is a yarn cake receiving shaft with a preset main position in the cargo area of ​​the AGV. It is the bearing shaft that is used first when there is no cargo. Its structural specifications are adapted to the size and weight of yarn cakes produced by chemical fiber textiles, and it can stably receive yarn cakes pushed by the winding head. For example, the main yarn receiving shaft on the left side of a laser-guided dual-axis AGV can stably receive cylindrical polyester yarn cakes and nylon yarn cakes, which is the first picking shaft of the equipment. The second picking shaft is an auxiliary picking shaft for a dual-axis automated guided vehicle (AGV). It is a pre-positioned wire cake receiving shaft in the cargo area of ​​the AGV. It is an auxiliary bearing shaft that is activated after the first picking shaft receives the wire cake. Its structural specifications are completely consistent with the first picking shaft, and it can cooperate with the first picking shaft to achieve continuous receiving of double wire cakes. For example, the auxiliary wire receiving shaft on the right side of a laser-guided dual-axis AGV has the same specifications as the main wire receiving shaft on the left side. It can receive the wire cake after the main wire receiving shaft is loaded, and it is the second picking shaft of the equipment.

[0072] For example, the warehouse management system uses an industrial wireless communication module to obtain real-time loading status information of the first and second picking axes of a dual-axis automated guided vehicle (AGV). Before the robot scheduling system dispatches the AGV to the preset picking station, the warehouse management system initiates an axle position condition judgment program to first verify the receiving status of the first picking axis. If the verification result is that the first picking axis has not received the yarn package, the warehouse management system immediately generates an axle position indication command, instructing the AGV to use the first picking axis as the target receiving axis. If the verification result is that the first picking axis has received the yarn package, an indication command is generated, instructing the AGV to switch to the second picking axis as the target receiving axis. After receiving the axle position indication command, the AGV's onboard control module completes the position adjustment of the target receiving axis, and then travels along the planned path to the preset picking station to wait for the yarn package to be pushed and received.

[0073] By implementing the above embodiments, a first picking shaft and a second picking shaft are set in the automated guided vehicle, and a target receiving shaft is selected according to the current receiving status of the picking shaft. This enables the vehicle to continuously receive multiple yarn cakes in one run, reducing the number of round trips and improving transportation efficiency. This enhances the task carrying capacity during the winding and handling process and makes the connection between the winding equipment and the transportation equipment more efficient.

[0074] In some embodiments, the aforementioned control of the robotic arm to perform unloading operations may include: acquiring the status information and batch matching information of the target yarn cart; determining whether the target yarn cart meets the preset yarn cart loading conditions based on the status information and batch matching information; if the target yarn cart meets the preset yarn cart loading conditions, controlling the robotic arm to transport the yarn cake from the automated guided vehicle to the target yarn cart; if the target yarn cart does not meet the preset yarn cart loading conditions, controlling the robotic arm to temporarily store the yarn cake at the transfer station.

[0075] In some examples, status information refers to the real-time operation and load-bearing status data of the target yarn cart at the chemical fiber textile production site. This data serves as the basis for determining whether the target yarn cart is capable of receiving yarn cakes. It may include the target yarn cart's spatial parking status, remaining load-bearing space, and the equipment's own operating status. This information provides real-time feedback on the actual load-bearing capacity of the target yarn cart. For example, if target yarn cart 09 has accurately parked at the preset yarn loading station, has 4 layers of remaining yarn cake load-bearing space, and its operating mechanism is functioning correctly, this set of real-time data constitutes the status information of target yarn cart 09. Batch matching information refers to the pre-set batch load-bearing requirements for the target yarn cart. This data serves as the basis for determining whether the yarn cake to be unloaded is batch-compatible with the target yarn cart. It may include the target yarn cart's preset batch number, production process number, and other information related to yarn cake production. This information is compatible with the batch management requirements of chemical fiber textile production. For example, if target yarn cart 09 is preset to receive nylon yarn cakes with batch number C20251012, this preset requirement constitutes the batch matching information of target yarn cart 09.

[0076] The preset loading conditions for yarn carts can include the target yarn cart being parked in place, having remaining space to carry yarn cakes, the equipment operating normally, and the production batch of the yarn cakes to be unloaded matching the batch information of the target yarn cart. The warehouse management system can retrieve the status information of the target yarn cart, batch matching information, and batch information of the yarn cakes to be unloaded, and verify each item according to the preset loading conditions, and make logical judgments based on the verification results. For example, the warehouse management system verifies that the target yarn cart 09 is parked in place, has remaining space to carry, the equipment is operating normally, and the batch number of the nylon yarn cakes to be unloaded is C20251012, which matches the batch matching information, and determines that the preset loading conditions are met. If the yarn cart is not parked in place or the batch number does not match, it is determined that the preset loading conditions are not met.

[0077] For example, after the automated guided vehicle (AGV) arrives at the preset unloading station, the warehouse management system synchronously retrieves the status information and batch matching information of the target yarn cart, as well as the production batch information of the yarn cakes to be unloaded on the AGV, from the internal database. The warehouse management system verifies each type of information retrieved according to the preset yarn cart loading conditions and completes the logical judgment of whether the target yarn cart has the conditions to accept the load. Based on the judgment result, the warehouse management system generates the corresponding unloading control command and sends it to the signal control cabinet of the robot arm. After receiving the command, the robot arm performs the standardized unloading action of transporting the yarn cakes to the target yarn cart or temporarily storing them in the transfer station.

[0078] By implementing the above embodiments, the status information and batch matching information of the target yarn car are obtained, and the yarn cake is determined to be transported to the target yarn car or temporarily stored in the transfer station based on the judgment result. This enables the unloading process to make dynamic decisions based on the actual production status, avoids logistics blockage caused by the yarn car not being in place or batch mismatch, thereby improving the scheduling flexibility of the handling system and making the logistics connection between winding production and subsequent processes smoother.

[0079] In some embodiments, after controlling the aforementioned robotic arm to temporarily store the yarn cake at the transfer station, the winding and transport control method may further include: recording the batch information and storage location of the yarn cake temporarily stored at the transfer station; in response to the yarn cart positioning signal, matching the yarn cake to be processed from the transfer station based on the batch information and corresponding to the target yarn cart; and, based on the storage location, scheduling the robotic arm to grab the yarn cake to be processed from the transfer station and transport it to the target yarn cart.

[0080] In some examples, batch information refers to batch-related characteristic data generated during the production of yarn cakes in chemical fiber textiles. This includes the production batch number, process number, and production timestamp of the yarn cake, serving as the basis for matching the yarn cake with the target yarn cart batch. Storage location refers to the specific spatial positioning data of the yarn cake in the transfer station. This includes the site number of the transfer station, the layer and compartment where the yarn cake is placed, serving as the spatial basis for the robot arm to accurately grasp the yarn cake. For example, if the batch number of a temporarily stored polyester yarn cake is D20251015 and the process number is F03, and the yarn cake is placed in compartment number 5 on the 3rd floor of transfer station 02, the information that completes the association and binding is the batch information and storage location of the temporarily stored yarn cake.

[0081] The yarn cart positioning signal is a status feedback signal generated and sent out after the target yarn cart has accurately stopped at the preset yarn loading station in the chemical fiber textile production site and its own load-bearing and operating status meets the requirements for yarn cake receiving. It is a prerequisite for triggering the warehouse management system to perform the matching and handling scheduling actions of the temporarily stored yarn cakes in the transfer station. This signal can include information such as the on-site identification of the target yarn cart, the code of the preset yarn loading station, and the normal yarn cart receiving status. For example, when the target yarn cart 10 accurately stops at the preset yarn loading station S05, the on-board module detects that it has 6 layers of yarn cake carrying space and that the equipment is operating without faults. Then, it generates and sends a digital feedback signal containing yarn cart 10, station S05, and normal receiving status. This signal is the yarn cart positioning signal.

[0082] The process of matching the yarn cakes to be processed from the transfer station based on batch information involves the warehouse management system receiving the yarn cake positioning signal, retrieving the preset batch acceptance information of the target yarn cake from the system's production information database, and then retrieving the batch information of all temporarily stored yarn cakes in the transfer station from the system's temporary yarn cake management database. These two types of information are then precisely compared item by item to filter out yarn cakes whose batch information perfectly matches the target yarn cake's acceptance requirements, and these yarn cakes are defined as yarn cakes to be processed. For example, if target yarn cake 10 is preset to accept polyester yarn cake with batch number D20251015, the warehouse management system retrieves and compares the batch information of all temporarily stored yarn cakes in the transfer station, ultimately selecting the polyester yarn cake with batch number D20251015, which is the yarn cake to be processed corresponding to target yarn cake 10.

[0083] Based on the storage location, the process of scheduling a robotic arm to grab the silk cake to be processed from the transfer station and transport it to the target silk cart involves the warehouse management system completing batch matching of the silk cakes to be processed. It then retrieves the specific storage location of the silk cake at the transfer station from the system's temporary silk cake management database, combines this with the preset silk loading station information of the target silk cart, and generates a grabbing scheduling instruction containing the silk cake storage location, the target transport station, and the robotic arm's motion parameters. This instruction is then sent to the robotic arm's signal control cabinet via the industrial control network. Upon receiving the instruction, the signal control cabinet drives the robotic arm to execute the transport action according to a preset program. For example, if the warehouse management system matches the silk cake to be processed to slot 5 on the 3rd floor of transfer station 02, it immediately generates a corresponding grabbing scheduling instruction and sends it to the signal control cabinet of the six-axis articulated robotic arm. The control cabinet drives the robotic arm to move to that position to grab the silk cake and then smoothly transports it to the target silk cart 10 parked at workstation S05.

[0084] Through the implementation of the above embodiments, after the silk cakes are temporarily stored at the transfer station, their batch information and storage location are recorded. When the silk cart is in place, the corresponding silk cakes are matched from the transfer station according to the batch information and the robotic arm is dispatched to transport them. This enables the temporarily stored silk cakes to be dispatched and processed quickly and accurately when the conditions are met. This not only ensures batch consistency but also improves the material management efficiency of the transfer station, thereby further enhancing the system's logistics scheduling capabilities under complex production rhythms.

[0085] In some embodiments, the aforementioned winding and handling control method may further include: generating a corresponding traceability identifier for each yarn package; upon receiving a call signal, associating first traceability data with the traceability identifier, wherein the first traceability data includes the identifier of the target winding head, a production timestamp, and a batch number; after the yarn package is transferred to an automated guided vehicle (AGV), associating second traceability data with the traceability identifier, wherein the second traceability data includes the identifier of the AAV and a pickup timestamp; after the robot performs an unloading operation, associating third traceability data with the traceability identifier, wherein the third traceability data includes an unloading station identifier, an unloading timestamp, and a placement location identifier; and generating a visual handling record based on the traceability identifier in response to a user query request.

[0086] In some examples, the traceability identifier is a unique identifier generated for each roll of yarn in the production and handling process of chemical fiber textiles. It is the carrier of traceability data associated with each stage of the yarn roll process. The identifier runs through the entire handling process of the yarn roll from the completion of winding to unloading and placement, and can realize precise directional traceability of a single roll of yarn roll. For example, the unique code TS202510160128, a combination of numbers and letters, is a unique traceability identifier for a single roll of nylon yarn roll, and no other yarn roll has the same identifier.

[0087] The first traceability data is the production source data associated with the yarn cake traceability identifier when the warehouse management system receives a call signal. This data may include the target winding head identifier, production timestamp, and batch number. It is the core data for tracing the starting point of yarn cake production and is directly related to the yarn cake's production process, serving as the foundation for traceability. For example, the target winding head identifier J22, production timestamp 2025-10-16 10:15:22, and batch number P2025101603, when integrated, constitute the first traceability data for the corresponding yarn cake. The second traceability data is the picking and handling data associated with the yarn cake traceability identifier after the yarn cake has been successfully transferred to the automated guided vehicle (AGV). This data may include the AGV identifier and picking timestamp, tracing the yarn cake's transfer from the winding head to the handling equipment. For example, the AGV identifier AGV12 and picking timestamp 2025-10-16 10:18:45, when integrated, constitute the second traceability data for the corresponding yarn cake. The third traceability data is the data associated with the unloading and placement of the silk cake traceability identifier after the robotic arm performs the unloading operation in the warehouse management system. It can include the unloading station identifier, unloading timestamp, and placement location identifier. It is the data that traces the transfer of the silk cake from the handling equipment to the storage carrier. For example, the unloading station identifier X15, the unloading timestamp 2025-10-16 10:25:30, and the placement location identifier SC18 are the third traceability data of the corresponding silk cake after these three types of data are integrated.

[0088] A user query request is a traceability information query instruction initiated by relevant management personnel in chemical fiber textile production to the warehouse management system based on the traceability management needs of yarn cakes. This request includes the traceability identifier of the yarn cake to be queried, the scope of the traceability information query, and other information. Users can input the traceability identifier or relevant query conditions of the yarn cake to be queried through the dedicated yarn cake traceability query interface of the warehouse management system, via devices such as the central control operation terminal or industrial-grade query machine at the production site. The warehouse management system receives and parses the input through the human-machine interaction module, forming a formal user query request. For example, a manager might input the traceability identifier TS202510160128 into the central control operation terminal to initiate a query operation for the traceability information of the entire handling process of this yarn cake. The warehouse management system receives and parses the input to form the corresponding user query request. A visual handling record is a report generated by the warehouse management system in response to a user query. It integrates all associated traceability data based on the traceability identifier of the silk roll being queried. This report is presented in charts, timelines, and other formats suitable for industrial management, clearly showing information about each stage of the silk roll handling process. Upon receiving a user query, the system retrieves the first, second, and third traceability data associated with that identifier from the silk roll traceability database. Using the system's built-in visualization data generation module, all traceability data is organized and formatted according to the silk roll handling timeline and stages, ultimately generating a visual handling record containing text and tables. For example, a traceability report presented as a timeline list sequentially displays information such as the silk roll's production equipment, production time, picking equipment, picking time, unloading station, and placement location, thus providing a visual handling record for that silk roll.

[0089] Through the implementation of the above embodiments, a traceability identifier is generated for each yarn cake, and corresponding traceability data is associated with key nodes such as winding completion, automatic guided vehicle pickup, and robotic arm unloading, so that the equipment information, time information, and location data of the yarn cake in the entire handling process can be completely recorded. When the user queries, a visual handling record can be generated based on the traceability identifier, which can realize full-process traceability management of the yarn cake production and handling process, and improve the transparency and management efficiency of the production process.

[0090] Furthermore, as an implementation of the aforementioned method embodiments, this application also provides a winding and transporting control device for implementing the aforementioned method embodiments. This device embodiment corresponds to the aforementioned method embodiments. For ease of reading, this winding and transporting control device embodiment will not repeat the details of the aforementioned method embodiments one by one, but it should be understood that the device in this application embodiment can correspondingly implement all the contents of the aforementioned method embodiments. For example... Figure 2As shown, the winding and handling control device 20 includes: a signal acquisition unit 201, a picking and dispatching unit 202, a picking and execution unit 203, an unloading and dispatching unit 204, and an unloading and execution unit 205. The signal acquisition unit 201 is used to acquire a call signal sent by the winding communication cabinet, which collects the original operating signal of the winding head via a relay and converts the original operating signal into a standard signal conforming to a network transmission protocol. The picking and dispatching unit 202, based on the call signal, dispatches an automated guided vehicle to a preset picking station corresponding to the target winding head via a robot dispatching system. The head is the winding head that corresponds to the call signal among all the winding heads; the picking execution unit 203 is used to control the target winding head to perform a push operation through the winding communication cabinet when the automated guided vehicle arrives at the preset picking station, so as to transfer the yarn cake of the target winding head to the automated guided vehicle; the unloading scheduling unit 204 is used to schedule the automated guided vehicle to the preset unloading station through the robot scheduling system when the yarn cake is transferred to the automated guided vehicle; the unloading execution unit 205 is used to control the robot arm to perform an unloading operation when the automated guided vehicle arrives at the preset unloading station, so as to place the yarn cake on the target yarn car or transfer station.

[0091] In some embodiments, the signal acquisition unit 201 is further configured to acquire a call signal generated by the winding communication cabinet according to a first trigger state or a second trigger state of the relay, wherein the first trigger state corresponds to the chuck of the target winding head completing a flipping action, and the second trigger state corresponds to the yarn cake of the target winding head reaching a preset winding diameter.

[0092] In some embodiments, the pickup scheduling unit 202 is further configured to parse the call signal through the robot scheduling system to obtain the location information of the preset pickup station; plan the target driving path of the automated guided vehicle according to the location information, and control the automated guided vehicle to travel along the target driving path to the preset pickup station; during the travel, adjust the horizontal alignment error between the connecting shaft of the automated guided vehicle and the target winding head chuck in real time through on-board sensors, so that the horizontal alignment error is kept within a preset range.

[0093] In some embodiments, the picking execution unit 203 is further configured to generate a push-tube permission instruction and send it to the winding communication cabinet in response to the arrival signal of the automated guided vehicle arriving at the preset picking station; after receiving the push-tube permission instruction, the winding communication cabinet triggers the push-tube mechanism of the target winding head by means of relay closure, so as to push the yarn cake from the target winding head to the target receiving shaft of the automated guided vehicle.

[0094] In some embodiments, the automated guided vehicle includes a first picking shaft and a second picking shaft. The picking execution unit 203 is further configured to instruct the automated guided vehicle to use the first picking shaft as the target receiving shaft if the first picking shaft has not received the silk cake, and to instruct the automated guided vehicle to use the second picking shaft as the target receiving shaft if the first picking shaft has received the silk cake.

[0095] In some embodiments, the unloading execution unit 205 is further configured to acquire the status information and batch matching information of the target yarn cart; determine whether the target yarn cart meets the preset yarn cart loading conditions based on the status information and batch matching information; if the target yarn cart meets the preset yarn cart loading conditions, control the robot arm to transport the yarn cake on the automatic guided transport vehicle to the target yarn cart; if the target yarn cart does not meet the preset yarn cart loading conditions, control the robot arm to temporarily store the yarn cake at the transfer station.

[0096] In some embodiments, the winding and transporting control device 20 further includes a transfer scheduling unit for recording batch information and storage location of yarn cakes temporarily stored at the transfer station; in response to the yarn cart positioning signal, matching the yarn cakes to be processed corresponding to the target yarn cart from the transfer station based on the batch information; and scheduling a robotic arm to grab the yarn cakes to be processed from the transfer station and transport them to the target yarn cart based on the storage location.

[0097] In some embodiments, the winding and handling control device 20 further includes an identification and traceability unit for generating a corresponding traceability identifier for each yarn package; when a call signal is received, first traceability data is associated with the traceability identifier, wherein the first traceability data includes the identifier of the target winding head, a production timestamp, and a batch number; after the yarn package is transferred to the automated guided vehicle, second traceability data is associated with the traceability identifier, wherein the second traceability data includes the identifier of the automated guided vehicle and a pickup timestamp; after the robot performs the unloading operation, third traceability data is associated with the traceability identifier, wherein the third traceability data includes the unloading station identifier, an unloading timestamp, and a placement location identifier; and in response to a user query request, a visual handling record is generated based on the traceability identifier.

[0098] This application also provides a computer-readable storage medium storing computer-executable instructions or computer programs that, when executed by a processor, will cause the processor to perform any step of the winding and transporting control method provided in this application.

[0099] In some embodiments, the computer-readable storage medium may be a random access memory (RAM), a read-only memory (ROM), flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); or it may be a variety of devices that include one or any combination of the above-mentioned memories.

[0100] In some embodiments, computer-executable instructions may take the form of programs, software, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

[0101] In some embodiments, computer-executable instructions may, but do not necessarily, correspond to files in a file system, and may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files that store one or more modules, subroutines, or code sections).

[0102] In some embodiments, computer-executable instructions may be deployed to execute on an electronic device, or on multiple electronic devices located at one location, or on multiple electronic devices distributed across multiple locations and interconnected via a communication network.

[0103] like Figure 3 As shown, this application also provides an electronic device 30, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor. When the processor 320 executes the computer program 311, it implements any step of the above-described winding and transporting control method.

[0104] This application also provides a computer program product comprising a computer program or computer-executable instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer program or computer-executable instructions from the computer-readable storage medium and executes the computer program or computer-executable instructions, causing the electronic device to perform any step of the winding and transporting control method described above.

[0105] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A winding and transport control method, characterized in that, include: Acquire a call signal sent by a winding communication cabinet, wherein the winding communication cabinet is used to acquire the original operating signal of the winding head through a relay and convert the original operating signal into a standard signal conforming to the network transmission protocol; According to the call signal, the robot scheduling system dispatches an automated guided vehicle to the preset pickup station corresponding to the target winding head, wherein the target winding head is the winding head that corresponds to the call signal among all the winding heads. When the automated guided vehicle arrives at the preset picking station, the target winding head is controlled by the winding communication cabinet to perform a pusher operation to transfer the yarn cake of the target winding head to the automated guided vehicle. When the silk cake is transferred to the automated guided vehicle, the automated guided vehicle is dispatched to the preset unloading station by the robot scheduling system; When the automated guided vehicle arrives at the preset unloading station, the robot arm is controlled to perform the unloading operation to place the yarn cake on the target yarn cart or transfer station.

2. The winding and handling control method according to claim 1, characterized in that, The acquisition of the call signal sent by the roll-up communication cabinet includes: The call signal generated by the winding communication cabinet according to the first or second trigger state of the relay is acquired, wherein the first trigger state corresponds to the chuck of the target winding head completing the flipping action, and the second trigger state corresponds to the yarn cake of the target winding head reaching the preset winding diameter.

3. The winding and handling control method according to claim 1, characterized in that, The step of dispatching an automated guided vehicle to a preset pickup station corresponding to the target winding head via a robot scheduling system based on the call signal includes: The robot scheduling system analyzes the call signal to obtain the location information of the preset pickup station; The system plans the target driving path of the automated guided vehicle based on the location information and controls the automated guided vehicle to travel along the target driving path to the preset picking station. During the journey, the horizontal alignment error between the automatic guided vehicle's connecting shaft and the target winding head chuck is adjusted in real time by onboard sensors to keep the horizontal alignment error within a preset range.

4. The winding and handling control method according to claim 1, characterized in that, The step of controlling the target winding head to perform a push-tube operation via the winding communication cabinet includes: In response to the arrival signal of the automated guided vehicle at the preset picking station, a push-tube permission command is generated and sent to the winding communication cabinet; After receiving the pusher permission command, the winding communication cabinet triggers the pusher mechanism of the target winding head by closing a relay to push the yarn cake from the target winding head to the target axle of the automated guided vehicle.

5. The winding and handling control method according to claim 4, characterized in that, The automated guided vehicle includes a first picking shaft and a second picking shaft, and the winding and handling control method further includes: If the first picking shaft does not pick up the yarn cake, the automated guided vehicle is instructed to use the first picking shaft as the target receiving shaft. If the first pick-up shaft has already received the yarn cake, then the automated guided vehicle is instructed to use the second pick-up shaft as the target receiving shaft.

6. The winding and handling control method according to claim 1, characterized in that, The control robot arm performs the unloading operation, including: Obtain the status information and batch matching information of the target yarn car; Based on the status information and the batch matching information, determine whether the target yarn carriage meets the preset yarn loading conditions; If the target yarn cart meets the preset yarn cart loading conditions, then control the robotic arm to transport the yarn cake on the automated guided transport vehicle to the target yarn cart; If the target yarn cart does not meet the preset conditions for loading the yarn cart, the robotic arm is controlled to temporarily store the yarn cake at the transfer station.

7. The winding and handling control method according to claim 6, characterized in that, After controlling the robotic arm to temporarily store the yarn cake at the transfer station, the winding and handling control method further includes: Record the batch information and storage location of the silk cakes temporarily stored at the transfer station; In response to the yarn cart positioning signal, the yarn cake to be processed corresponding to the target yarn cart is matched from the transfer station based on the batch information; Based on the storage location, the robotic arm is dispatched to grab the silk cake to be processed from the transfer station and transport it to the target silk cart.

8. The winding and handling control method according to any one of claims 1 to 7, characterized in that, The winding and transport control method further includes: Generate a corresponding traceability identifier for each of the silk cakes; When the call signal is acquired, the first traceability data is associated with the traceability identifier, wherein the first traceability data includes the identifier of the target winding head, the production timestamp, and the batch number; After the silk cake is transferred to the automated guided vehicle, the second traceability data is associated with the traceability identifier, wherein the second traceability data includes the identifier of the automated guided vehicle and the pickup timestamp; After the robotic arm performs the unloading operation, the third traceability data is associated with the traceability identifier, wherein the third traceability data includes the unloading station identifier, the unloading timestamp, and the placement location identifier; In response to a user query request, a visual transport record is generated based on the traceability identifier.

9. A winding and conveying control device, characterized in that, include: A signal acquisition unit is used to acquire a call signal sent by a winding communication cabinet, wherein the winding communication cabinet is used to acquire the original running signal of the winding head through a relay and convert the original running signal into a standard signal that conforms to the network transmission protocol. The pickup scheduling unit is used to schedule an automated guided vehicle to a preset pickup station corresponding to the target winding head through a robot scheduling system according to the call signal. The target winding head is the winding head that corresponds to the call signal among all the winding heads. The picking execution unit is used to control the target winding head to perform a pusher operation through the winding communication cabinet when the automated guided vehicle arrives at the preset picking station, so as to transfer the yarn cake of the target winding head to the automated guided vehicle. The unloading scheduling unit is used to schedule the automated guided vehicle to a preset unloading station through the robot scheduling system when the silk cake is transferred to the automated guided vehicle. The unloading execution unit is used to control the robotic arm to perform unloading operations when the automated guided vehicle arrives at the preset unloading station, so as to place the yarn cake on the target yarn cart or transfer station.

10. An electronic device, comprising: The memory and processor are characterized in that the processor, when executing a computer program stored in the memory, implements the steps of the winding and transporting control method as described in any one of claims 1 to 8.

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