CN111176287B - Doffer robot scheduling method and system - Google Patents

Abstract

The invention provides a dispatching method of doffing robots, which is characterized in that a topological map matched with the environment of a textile workshop is arranged, and the operation path of the doffing robots is planned by combining the actual coordinates of the workshop to dispatch a plurality of doffing robots. According to the dispatching method and system for the doffing robots, provided by the invention, the arrangement characteristics of a spinning workshop are reasonably utilized, so that a plurality of doffing robots can execute respective tasks in the spinning workshop at the same time, the conditions of mutual interference and mutual collision are avoided, the tasks and running paths of each robot can be reasonably planned, the use efficiency of each robot is improved, the downtime of the spinning machine is reduced, and the production efficiency of the spinning machine is improved.

Description

A scheduling method and system for a doffing robot

technical field

The invention relates to the technical field of automatic control of the textile industry, in particular to a scheduling method and system for a doffing robot.

Background technique

Dozens to hundreds of spinning machines are usually arranged in a textile workshop, and these spinning machines usually perform spinning operations continuously for 24 hours. Each spinning machine will finish spinning a batch of spindles every two to three hours. At this time, it needs to perform operations such as doffing, tube insertion, and bobbin transportation. At present, small and medium-sized textile enterprises mostly use manual doffing, which has the characteristics of high labor intensity and low production efficiency. The use of intelligent doffing robots can replace manual operations and realize functions such as automatic doffing, automatic intubation, and automatic transportation. Obviously, a single doffing robot cannot meet the production needs of the workshop. Therefore, it is necessary to arrange multiple doffing robots in the workshop, so that each robot can work on different spinning machines at the same time, so as to meet the production needs of the textile workshop.

In view of the simultaneous operation of multiple doffing robots in the textile workshop, a reasonable scheduling system is needed to assign tasks and plan running trajectories for each robot. Otherwise, robots may interfere with each other and collide. If the scheduling is unreasonable , the spinning machine may have too long waiting time for doffing, too much downtime, etc., which will affect the production efficiency of the textile workshop.

Contents of the invention

The invention provides a scheduling method and system for doffing robots, so that multiple doffing robots can perform their respective tasks in the textile workshop at the same time, avoiding mutual interference and mutual collision, and can reasonably plan the tasks and tasks of each robot. Its running path improves the use efficiency of each robot and reduces the downtime of the spinning machine, thereby improving the production efficiency of the spinning machine.

The present invention adopts following technical scheme:

A method for scheduling a doffing robot. By setting a topology map that matches the environment of a textile workshop and planning the running path of a doffing robot in combination with the actual coordinates of the workshop, multiple doffing robots are scheduled; the method includes the following steps:

S1: The host computer plans the running path for each doffing robot that performs tasks according to the topological map that matches the environment of the textile workshop, combined with the actual coordinates of the textile workshop;

S2: After any spinning machine completes spinning, submit a doffing request to the upper computer, and the upper computer puts the doffing tasks into the request queue according to the order of the requests;

S3: After the doffing robot performing the task obtains a running path planned by the host computer to the spinning machine that needs to be doffed, it starts from the parking area and runs counterclockwise along the wide main road to the spinning machine that needs to be doffed. next to the machine;

S4: After the upper computer confirms that the doffing robot that performs the task can perform the doffing task, the doffing robot runs along the planned path on the narrow doffing channel, and automatically hangs on the track of the spinning machine during the operation Execute the doffing task;

S5: After the upper computer confirms that the doffing robot that executes the task completes the doffing task, the doffing robot returns to the wider main road on the other side of the spinning machine that needs to be doffed;

S6: The doffing robot performing the task runs counterclockwise to the unloading area to perform the unloading task;

S7: After the unloading is completed, the doffing robot performing the task gets another path planned by the host computer to perform the next doffing task, or continue to run counterclockwise to the charging area or docking area;

The method for the host computer to plan the path is:

T1: Starting from the parking area, go counterclockwise from the wide main road to the left and right ends of a spinning machine that needs to be doffed;

T2: On the side of the spinning machine that needs doffing away from the unloading area, enter from the right end of the narrower doffing channel and exit from the left end; on the side of the spinning machine that needs to doffing near the unloading area, doffing from the narrower The channel enters from the left end and exits from the right end;

T3: Come out from the left and right ends of the spinning machine that needs to be doffed, and continue along the counterclockwise direction from the wider main road to the unloading area, charging area, and parking area respectively.

Further, the topology map is composed of points and lines, the points represent the actual coordinates of the workshop where the doffing robot runs in the textile workshop, and the lines represent the path of the doffing robot running; when two doffing robots one before the other When starting to perform the doffing task on the same path later, arrange the doffing robot that starts first to go to the spinning machine at the far end, and arrange the doffing robot that starts later to go to the spinning machine at the nearer end, so as to improve the speed of doffing. Efficiency avoids waiting times on the way for the doffing robot to run.

Further, the lines are magnetic strips or ribbons, the points are RFID tags or two-dimensional codes, and each point has a unique number corresponding to it; on the line between two adjacent points, only There will be a doffing robot running.

Further, the spinning machines are fixedly installed in the textile workshop in a neat and regular queue, and the wide main road is the aisle between every two rows of spinning machines, the aisle formed between the periphery of the spinning machine and the wall of the workshop , the narrower doffing channel is the channel between every two doffers.

Further, the unloading area is a room adjacent to the textile workshop, and the gate communicating with the textile workshop is always open, and the upper computer uses the gate communicating with the textile workshop as the track of the doffing robot when planning the path Plan the optimal running path.

Further, the charging area and the docking area are a small area close to the wall of the textile workshop, and the charging area and the docking area are adjacent to each other.

Further, when two doffing robots need to enter the same point from different directions simultaneously during operation, the host computer schedules the doffing robot with higher priority to pass through according to the priorities of the tasks performed by the two doffing robots; The machine can predict that the doffing time of the spinning machine needs to be scheduled correspondingly and the corresponding doffing robot will arrive in advance, and the priority of the doffing robot corresponding to the predicted doffing of the spinning machine is lower than that of the spinning machine that has made a doffing request. Corresponding doffing robot.

Further, the determination rule of the priority is: comparing the sequence of tasks performed by two doffing robots, when a task to be performed by a doffing robot is closer to the completion of the total task, the priority of the doffing robot higher level.

A scheduling system for doffing robots, which schedules multiple doffing robots by setting a topological map that matches the textile workshop environment and planning the running path of the doffing robots in combination with the actual coordinates of the workshop; the system includes:

The planning module is used for the upper computer to plan the running path for each doffing robot performing tasks according to the topological map matched with the textile workshop environment and in combination with the actual coordinates of the textile workshop;

The scheduling module is used for the upper computer to put the doffing tasks into the request queue according to the order of the doffing requests proposed by the spinning machine, and assign the planned path to the idle doffing robots to schedule the idle doffing robots to perform tasks ;

The confirmation module is used for the upper computer to confirm whether the doffing robot continues to run; wherein, the doffing robot reports its own position every time it passes a point and asks whether to run to the next point while running along a given path, After the upper computer confirms that the operation is allowed, the doffing robot will continue to run, otherwise it will stand by on the spot;

The priority module is used for the upper computer to schedule the doffing robot with higher priority to pass according to the priority of the tasks performed by the two doffing robots; wherein, when two doffing robots need to enter a same At the point of , compare the order of the tasks performed by the two doffing robots. When the task to be performed by a doffing robot is closer to the completion of the total task, the priority of the doffing robot is higher and it will pass first.

The beneficial effects of the present invention are:

(1) Since the doffing robot always runs counterclockwise along the main road, there will be no situation where two robots drive towards each other, and every time they pass a point, they will report their position to the host computer and ask whether they are allowed to run At the next point, the doffing robot will continue to run only after the upper computer confirms that the operation is allowed, thus avoiding the possibility of collision between two robots running in opposite directions.

(2) For the situation that two robots need to enter the intersection point at the same time from different directions, the host computer dispatches the robot with higher priority to pass through in sequence according to the priority of the tasks performed by the robots.

(3) After the spinning machine finishes spinning, the host computer puts up a doffing request, and the host computer puts the tasks into the request queue according to the order of the requests, and prioritizes the idle doffing robot to perform the doffing corresponding to the head of the queue task, thereby being able to minimize the downtime of the spinning machine and increase production efficiency.

(4) The topological map is set according to the existing environment of the textile workshop, which is convenient for layout, and the obstacle avoidance rules and path planning algorithms are relatively simple.

(5) Separate the doffing robot's main road from the doffing channel, so that other doffing robots will not interfere with the doffing robot performing the doffing task during operation, which can effectively improve the use efficiency of the doffing robot.

(6) Make full use of the existing environment of the textile workshop. When setting the topological map, there is no need to make too many modifications to the spinning workshop, and there is no need to rearrange the spinning machines. Therefore, it is very convenient to establish a map that completely matches the workshop environment. , the map is saved in the host computer, and the host computer can generate a feasible path for the doffing robot to run.

Description of drawings

Fig. 1 is a schematic diagram of the steps of a doffing robot scheduling method of the present invention.

Fig. 2 is a schematic diagram of the topological map of the textile workshop in the present invention.

Fig. 3 is a schematic diagram of the running path of the doffing robot in the present invention.

Fig. 4 is a schematic structural diagram of a doffing robot scheduling system according to the present invention.

In the drawings, there are planning module 21 , scheduling module 22 , confirmation module 23 , and priority module 24 .

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

Embodiment one

This embodiment provides a scheduling method for doffing robots. According to the layout characteristics of the textile workshop, a topology map matching the environment of the textile workshop is set. The topology map is composed of points and lines. The points represent the actual coordinates of the workshop where the doffing robot runs in the textile workshop, and the lines represent the path of the doffing robot. Points can be RFID tags, QR codes, etc. that can represent the actual coordinates of the workshop, and each point has a unique number corresponding to it. Lines can be magnetic strips, ribbons, etc. that can guide the trajectory of the doffing robot, and the specific forms of points and lines are determined according to the navigation method of the doffing robot.

As shown in Figure 2, Figure 2 is a schematic diagram of a topological map of a textile workshop. The spinning machines are fixedly installed in the textile workshop in a neat and regular queue. There is an aisle more than 2m wide between every two rows of spinning machines (A4 points to the aisle L4 in Figure 2). The aisle with a width of more than 3m (in Figure 2, A1 points to A7, A1 points to L1, L1 points to L7, and L7 points to the aisle of A7). These passages were originally used for workers to walk, transport goods, or place temporary goods. These channels are wide enough so that they can be used as main roads (ie wider main roads) for the doffing robots. There is an aisle more than 1m apart between each row of spinning machines (C2 points to C6 in Figure 2, D2 points to D6, etc. aisle). These aisles were originally used for doffing and intubation passages for workers. These passages are narrower and can only be used as doffing passages (i.e. narrower doffing passages) when doffing robots perform doffing tasks. In Figure 2, the unloading area is a room adjacent to the textile workshop. The positions from L0 to L1 are the gates of the workshop and the room. The gate is always open, and the doffing robot can pass through this gate freely. The gates connected to the textile workshops are used as the track of the doffing robot to plan the optimal running path. The charging area and docking area in Figure 2 are a small area close to the wall of the workshop. When the doffing robot is not working, it is charged or docked in this area.

This embodiment makes full use of the existing environment of the textile workshop. When setting the topological map, there is no need to make too many modifications to the spinning workshop, and there is no need to rearrange the spinning machines. Therefore, it is very convenient to establish a map that completely matches the workshop environment. , the map is saved in the host computer, and the host computer can generate a feasible path for the doffing robot to run.

As shown in Figure 1, the scheduling method of the doffing robot includes the following steps:

S1: The host computer plans the running path for each doffing robot that performs tasks according to the topological map that matches the environment of the textile workshop, combined with the actual coordinates of the textile workshop. The topological map shown in Figure 2 above.

S2: After any spinning machine completes spinning, the upper computer puts a doffing request, and the upper computer puts the doffing tasks into the request queue according to the order of the requests, and prioritizes the idle doffing robot to execute the tasks at the head of the queue. The corresponding doffing tasks can minimize the downtime of the spinning machine and improve production efficiency.

When two doffing robots start one after the other to perform the doffing task on the same path, arrange the doffing robot that starts first to go to the spinning machine at the far end, and arrange the doffing robot that starts later to go to the spinning machine at the nearer end. Spinning machine, so as to improve the efficiency of doffing and avoid the waiting time of the doffing robot on the way.

S3: After the doffing robot that performs the task obtains a running path planned by the host computer to the spinning machine that needs to be doffed, it starts from the parking area, passes through point A0, and runs counterclockwise along the wide main road to the spinning machine that needs to be doffed. next to the spinning machine.

S4: After the upper computer confirms that the doffing robot that performs the task can perform the doffing task, the doffing robot runs along the planned path on the narrow doffing channel, and automatically hangs on the track of the spinning machine during the operation Perform doffing tasks.

S5: After the upper computer confirms that the doffing robot that performs the task completes the doffing task, the doffing robot returns to the wider main road on the other side of the spinning machine that needs to be doffed.

S6: The doffing robot performing the task runs counterclockwise until it passes L1 point and transports the bobbin to the unloading area to perform the unloading task.

S7: After the unloading is completed, the doffing robot performing the task gets another path planned by the host computer to perform the next doffing task, or continue to run counterclockwise through point M0 to the charging area or docking area.

The method of the upper computer to plan the path is as follows:

T1: Starting from the parking area, go counterclockwise from the wide main road to the left and right ends of a spinning machine that needs to be doffed.

T2: On the side of the spinning machine that needs doffing away from the unloading area, enter from the right end of the narrower doffing channel and exit from the left end; on the side of the spinning machine that needs to doffing near the unloading area, doffing from the narrower The left end of the passage goes in and the right end goes out.

T3: Come out from the left and right ends of the spinning machine that needs to be doffed, and continue along the counterclockwise direction from the wider main road to the unloading area, charging area, and parking area respectively.

For example, as shown in Figure 3, usually the A side (the side away from the unloading area) and the B side (the side near the unloading area) of the spinning machine are spinning at the same time. The doffing robot moves to the side A and side B of the spinning machine respectively to perform the doffing task. Because the doffing robot can only move laterally to the left side of itself to realize the action of hanging on the rail, so as to complete the doffing task. Therefore, for the doffing task on side A or side B of the spinning machine, the doffing robot needs to enter the doffing channel from the left end or the right end of the spinning machine respectively to complete the corresponding task.

Path 1 in Figure 3 is the robot running path for the doffing task on the B side of the No. 2 spinning machine. The specific path of the doffing robot starts from the parking area and passes through points A1, A2, A3, A4, B4, C4, and D4 in sequence. , D3 enters the doffing channel and is on standby at D3. After being confirmed by the host computer, the doffing robot moves horizontally to the left at D3, and automatically executes the rail-hanging action, and then performs the tasks of automatic doffing and automatic intubation along the direction of the spinning machine track from D3 to D2. After completion, the robot executes Derailing action, and move to the right to stand by at D2; After being confirmed by the host computer, the doffing robot will run to the wide main road through D2, D1, E1 and other positions in turn, and continue to run until the bobbin is transported to unloading zone.

Path 2 in Fig. 3 is the running path of the robot for the doffing task on the A side of spinning machine No. Standby at C2. After being confirmed by the host computer, the robot traverses to the left at C2, and automatically executes the rail-hanging action, and then performs the tasks of automatic doffing and automatic intubation along the direction of the spinning machine track from C2 to C3. After completion, the robot performs the derailment action , and move to the right to stand by at C3; after being confirmed by the host computer, the robot runs to the main road through C3, C4, D4, E4 and other positions in sequence, and continues to run until the bobbin is transported to the unloading area.

Because the doffing robot always runs counterclockwise along the main road, there will be no situation where two robots drive towards each other, thus avoiding the possibility of collisions between two robots running towards each other. At the same time, when the doffing robot is running along the given path, it will report its position to the host computer every time it passes a point, and ask whether it is allowed to run to the next point. The yarn robot will continue to run, otherwise it will stand by on the spot. Therefore, on the line between two adjacent points, only one doffing robot is running at the same time. This rule can effectively avoid the collision of multiple robots traveling in the same direction. In addition, for the situation that two robots need to enter the intersection point at the same time from different directions, the host computer dispatches the doffing robot with higher priority to pass through according to the priority of the tasks performed by the doffing robot. The priority determination rule is: compare the order of the tasks performed by the two doffing robots. When the task to be performed by a doffing robot is closer to the completion of the total task, the priority of the doffing robot is higher. pass. At the same time, the upper computer can predict the time when the spinning machine needs to doff the doffing robot to arrive in advance, and the priority of the doffing robot that is predicted to be doffed by the spinning machine is lower than that of the spinning machine that has made a doffing request The corresponding doffing robot.

In this embodiment, the topological map is set according to the existing environment of the textile workshop, which is convenient for layout, and the obstacle avoidance rules and path planning algorithms are relatively simple. By separating the doffing robot from the doffing channel, other doffing robots will not interfere with the doffing robot performing the doffing task during operation, which can effectively improve the efficiency of the doffing robot.

Embodiment two

As shown in Figure 4, this embodiment provides a doffing robot scheduling system on the basis of Embodiment 1. By setting a topology map that matches the textile workshop environment, and combining the actual coordinates of the workshop to plan the running path of the doffing robot, Scheduling of multiple doffing robots; the system includes:

The planning module 21 is used for the upper computer to plan the running path for each doffing robot performing tasks according to the topological map matched with the textile workshop environment and in combination with the actual coordinates of the textile workshop;

The scheduling module 22 is used for the upper computer to put the doffing tasks into the request queue according to the order of the doffing requests proposed by the spinning machine, and assign the planned path to the idle doffing robot to schedule the idle doffing robot to execute Task;

The confirmation module 23 is used for the upper computer to confirm whether the doffing robot continues to run; wherein, the doffing robot reports its own position every time it passes a point and asks whether to run to the next point in the process of running along a given path , after the upper computer confirms that the operation is allowed, the doffing robot will continue to run, otherwise it will stand by on the spot;

The priority module 24 is used for the upper computer to schedule the doffing robot with higher priority to pass through according to the priority of the tasks performed by the two doffing robots; wherein, when two doffing robots need to enter a At the same point, compare the order of the tasks performed by the two doffing robots. When the task that a doffing robot is about to perform is closer to the completion of the total task, the priority of the doffing robot is higher and it will pass first.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand; it still can Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention, and all of them It should be included within the scope of the claims and description of the present invention.

Claims (8)

1. The dispatching method of the doffer robot is characterized in that a topological map matched with the environment of a textile workshop is arranged, and the operation path of the doffer robot is planned by combining the actual coordinates of the workshop to dispatch a plurality of doffer robots; the method comprises the following steps:

s1: the upper computer plans a running path for each doffing robot executing the task according to the topological map matched with the textile workshop environment and by combining the actual coordinates of the textile workshop;

s2: after spinning of any spinning machine is finished, a doffing request is sent to an upper computer, and the upper computer puts doffing tasks into a request queue according to the sequence of the requests;

s3: after a doffer robot executing the task obtains a spinning machine running path planned by an upper computer to the yarn to be doffed, starting from a stop zone, running to the side of the spinning machine to be doffed along a wider main road in a counterclockwise direction;

s4: after the upper computer confirms that the doffing robot for executing the task can execute the doffing task, the doffing robot runs on a narrower doffing channel along a planned path, and automatically hangs on a track of the spinning machine to execute the doffing task in the running process;

s5: after the upper computer confirms that the doffing robot executing the task finishes the doffing task, the doffing robot returns to the wider main road at the other side of the spinning machine needing doffing;

s6: the doffer robot for executing the task runs to the unloading area along the anticlockwise direction and executes the unloading task;

s7: after unloading is completed, the doffing robot executing the task obtains another path planned by the upper computer to execute the next doffing task, or continuously runs to the charging area or the stopping area along the anticlockwise direction;

the method for planning the path by the upper computer comprises the following steps:

t1: taking the stop area as a starting point, and respectively reaching the left end and the right end of a spinning machine needing doffing along a wider main road in the anticlockwise direction;

t2: the spinning machine needing doffing enters from the right end of the narrower doffing channel to the left end of the doffing channel at the side of the spinning machine needing doffing, which is far away from the unloading area, and enters from the left end of the narrower doffing channel to the right end of the doffing channel at the side of the spinning machine needing doffing, which is close to the unloading area;

t3: after coming out from the left end and the right end of the spinning machine needing doffing, the spinning machine continuously reaches a discharging area, a charging area and a stopping area along the anticlockwise direction from a wider main road.

2. A method of dispatching a doffer robot according to claim 1, wherein the topological map is composed of points representing actual coordinates of a doffer robot running in a textile shop and lines representing paths of the doffer robot running; when two doffing robots start in tandem to execute doffing tasks on the same path, the doffing robot which starts first is arranged at a spinning machine at a far end, and the doffing robot which starts later is arranged at a spinning machine at a near end, so that doffing efficiency is improved, and waiting time on the running path of the doffing robot is avoided.

3. The method for dispatching a doffer robot according to claim 2, wherein the thread is a magnetic stripe or a color band, the dots are RFID tags or two-dimensional codes, and each dot has a unique number corresponding to it; only one doffer robot is running at the same time on the line between two adjacent points.

4. The method according to claim 1, wherein the spinning machines are fixedly installed in a spinning workshop in regular queues, the wider main road is an aisle between every two columns of spinning machines, an aisle formed by the periphery of the spinning machines and the wall surface of a factory building, and the narrower doffing passage is a passage between every two doffers.

5. The method for dispatching doffers according to claim 1, wherein the unloading area is a room adjacent to the spinning workshop, the room is normally open to a gate communicating with the spinning workshop, and the upper computer plans the path by taking the gate communicating with the spinning workshop as a track of the doffer to plan the optimal running path.

6. A method of dispatching a doffer robot in accordance with claim 1, wherein said charging zone and docking zone are a small area immediately adjacent to a textile workshop wall, said charging zone and docking zone being disposed adjacent.

7. The method for dispatching doffer robots according to claim 1, wherein when two doffer robots need to enter a same point at the same time from different directions in the running process, the upper computer dispatches doffer robots with higher priority to pass according to the priority of the task execution of the two doffer robots; the upper computer can predict that the doffing time of the spinning machine is required to be reached in advance by corresponding to the doffing robots, and the priority of the doffing robot corresponding to the predicted spinning machine is lower than that of the doffing robot corresponding to the spinning machine which has made the doffing request.

8. The method for dispatching a doffer robot of claim 7, wherein the priority determination rule is: comparing the sequence of the tasks executed by the two doffing robots, and when the task to be executed by one doffing robot is closer to the completion of the total task, the priority of the doffing robot is higher.

Images