The invention provides an intelligent doffing control system and method for a lower computer of a textile robot. An AGV (automated guide vehicle) control system and a doffer control system are included herein. The AGV control system is connected with the doffer control system through a high-speed real-time bus; the AGV control system comprises an AGV control unit, an RFID (radio frequency identification) reader, magnets pre-distributed, RFID tags, sensors and a lifting mechanism; the doffer control system comprises a doffer control unit; the AGV control unit is connected with the RFID reader,the sensors and the lifting mechanism; the lifting mechanism is also connected with a doffer. The doffer is lowered or raised through the lifting mechanism; the RFID tags are fitted to the magnet pre-distributed. The intelligent doffing control system and method have the advantages that an AGV can be controlled to automatically execute doffing, bobbin inserting and bobbin conveying steps, can upload AGV positions in real time and can upload AGV position in real time, automatic charging is engaged in case of a low threshold of power level, labor is reduced, and efficiency is improved.