Journal of Textile Research ›› 2023, Vol. 44 ›› Issue (12): 189-196.doi: 10.13475/j.fzxb.20220801001

• Machinery & Accessories • Previous Articles     Next Articles

Task scheduling technology for automatic bobbin replacement in intelligent knitting workshop

SUN Lei1,2, TU Jiajia1,2, MAO Huimin1,2, WANG Junru1,2, SHI Weimin1,2()   

  1. 1. College of Mechanical and Automatic Control, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
    2. Key Laboratory of Modern Textile Machinery & Technology of Zhejiang Province, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
  • Received:2022-12-28 Revised:2023-03-12 Online:2023-12-15 Published:2024-01-22

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Abstract:

Objective Aiming at the automatic production of the whole process of the circular knitting machine in an intelligent workshop, this research concentrates on the reasonable scheduling of the automatic bobbin replacement of the knitting robot with acceptable efficiency.
Method In the knitting production shops, the effectiveness of bobbin replacement plays a critical role in ensuring uninterrupted production on circular knitting machines. In order to satisfy production demands for bobbin replacement, a comprehensive consideration of various factors is required, such as the amount of yarn remaining in the bobbin, the response time of the bobbin replacement task, and the path followed by the robot during bobbin replacement. This paper presents a multi-objective optimization model for the bobbin replacement task in intelligent knitting workshops and prioritizes the bobbin replacement tasks based on optimizing the heuristic rules for the replacement process. An improved genetic algorithm that takes into account the amount of remaining yarn is introduced for minimizing the overall path length of the bobbin replacement process and decreasing emergency coefficients for bobbin replacement. Emphasis is placed on replacing yarn bobbin with high emergency coefficients to optimize the production sequencing and bobbin replacement path planning, leading to improved bobbin replacement efficiency.
Results To further verify the effectiveness of the algorithm proposed in this paper, comparative experiments were conducted with ant colony algorithm, genetic algorithm, and the improved algorithm presented in this paper. The results showed that compared with the other two algorithms, the proposed algorithm exhibited outstanding performance in both algorithm convergence and solution stability. Compared to the traditional genetic algorithm, the proposed algorithm demonstrated a 50% improvement in early convergence speed and a theoretical 40% increase in efficiency for bobbin replacement. An effective solution is proposed for the bobbin replacement task in the knitting intelligent workshop.
Conclusion This paper proposes an improved genetic algorithm that takes into account the remaining yarn amount. By optimizing the sequence of bobbin replacement from both the total path of the replacement task and the urgency level of the replacement, it has been demonstrated that the constraint of remaining yarn amount can improve the quality of the initial solution of the algorithm. This algorithm can both eliminate inferior solutions with high urgency coefficients of remaining yarn amount and enhance the convergence speed. As a result, the efficiency of bobbin replacement has been improved by 40%, making it a viable solution for scheduling massive bobbin replacement tasks in the intelligent knitting workshop.

Key words: circular knitting machine, remaining yarn amount of bobbin, task scheduling, knitting bobbin changing robot, genetic algorithm, intelligent knitting workshop

CLC Number: 

  • TS181.8

Fig. 1

Functional block diagram of scheduling system of circular weft knitting robot"

Fig. 2

Bobbin changing task process of knitting bobbin changing robot"

Fig. 3

Schematic diagram of workshop layout"

Fig. 4

Improve algorithm flowchart"

Tab. 1

Bobbin changing task list"

换筒任务编号 X轴坐标 Y轴坐标 Z轴坐标 余纱量/%
0 13 5 4 84
1 2 3 4 69
2 4 3 3 33
3 11 2 4 45
4 10 5 1 86
5 1 2 4 39
… … … … …
64 7 3 3 30
65 8 5 8 20
66 10 1 7 22
67 12 5 1 27
68 13 2 3 94
69 7 4 4 21

Fig. 5

Bobbin changer point information"

Fig. 6

Convergence curve of different algorithms"

Fig. 7

Information on remaining yarn quantity of bobbin for bobbin change task"

Fig. 8

Algorithm solving stability"

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