A textile recycling system and method

Abstract

The present invention provides a textile recycling system and method, which performs surface visual recognition on textiles to obtain surface texture attribute information and surface morphology attribute information of the textiles, thereby judging whether the textiles belong to reweavable textiles, accurately screening the textiles to ensure that the textiles can provide sufficient continuous textile fibers; further determines the thread removal attribute information based on the surface morphology attribute information of each reweavable textile, thereby selecting a matching thread removal operation device and adjusting the transportation state of the reweavable textile to the matching thread removal operation device; also performs visual recognition on the thread removal operation device during the thread removal operation to obtain the fiber disassembly and storage state information of the reweavable textile currently undergoing the thread removal operation, thereby adjusting the working state of the thread removal operation device, stably and continuously disassembling and storing the textile fibers of the textiles, and improving the recycling efficiency of the textiles.

Description

Technical Field

[0001] The invention relates to the field of textile processing, and in particular to a textile recycling system and method. Background Art

[0002] The replacement speed of textiles such as clothes and home textiles is relatively fast, and the replaced textiles will become the main source of solid waste. If textiles are directly landfilled as solid waste, it will not only occupy land space, but also the chemical dyes of textiles will pollute the soil and groundwater. In actual situations, a large number of replaced textiles also have the value of recycling, so the recycling of textiles has become a mainstream treatment direction for textiles. At present, the recycling of textiles mainly includes disassembling and reweaving textiles to achieve the secondary use of textile fibers, and high-temperature oxidation and decomposition of textiles; among which high-temperature oxidation and decomposition treatment is mainly for chemical fiber textiles, while the disassembly and reweaving of textiles can be for textiles of almost all material types, and has the advantages of high recycling efficiency and the ability to quickly realize the renewal of textiles. The existing disassembly and reweaving of textiles mainly uses thread disassembly operation equipment to disassemble and sort the textiles, and then bleach and re-dye the fibers obtained by disassembling the threads, thereby forming new textile fibers for subsequent reweaving. The unwinding and finishing of textiles directly affects the availability of textile fibers. Therefore, reliable screening, stable unwinding and finishing of textiles are required to improve the recycling efficiency of textiles. Summary of the invention

[0003] The object of the present invention is to provide a textile recycling system and method, which performs surface visual recognition on the textile to obtain surface texture attribute information and surface morphology attribute information of the textile, thereby judging whether the textile is a re-woven textile, accurately screening the textile, and ensuring that the textile can provide sufficient and continuous textile fibers; it also determines its stitching attribute information based on the surface morphology attribute information of each re-woven textile, thereby selecting a matching stitching operation device, ensuring rapid and continuous stitching of the re-woven textile, and adjusting the conveying state of the re-woven textile to the matching stitching operation device, thereby avoiding stitching disorder caused by excessive workload of the stitching operation device; it also performs stitching operation visual recognition on the stitching operation device, obtains fiber disassembly and storage state information of the re-woven textile currently performing stitching operation, thereby adjusting the working state of the stitching operation device, stably and continuously disassembling and storing the textile fibers, and improving the recycling efficiency of the textile.

[0004] The present invention is achieved through the following technical solutions:

[0005] A textile recycling system, comprising:

[0006] A textile surface visual recognition module, which is used to separately photograph all textiles to obtain surface images of the textiles; and recognize the surface images to obtain surface texture attribute information and surface morphology attribute information of the textiles;

[0007] A textile state judgment module, which is used to judge whether the textile belongs to a re - weavable textile based on the surface texture attribute information;

[0008] A thread - removing operation device matching module, which is used to determine the respective thread - removing attribute information corresponding to all re - weavable textiles based on the surface morphology attribute information of all re - weavable textiles, so as to determine the thread - removing operation devices matched with each re - weavable textile;

[0009] A textile transportation adjustment module, which is used to adjust the transportation state of all re - weavable textiles to the matched thread - removing operation devices based on the real - time workload of the matched thread - removing operation devices;

[0010] A thread - removing operation device visual monitoring module, which is used to perform visual recognition on the thread - removing operation of the matched thread - removing operation device to obtain fiber disassembly and storage state information of the re - weavable textile currently performing the thread - removing operation;

[0011] A thread - removing operation device working adjustment module, which is used to adjust the working state of the matched thread - removing operation device based on the fiber disassembly and storage state information.

[0012] Optionally, the textile surface visual recognition module is used to separately photograph all textiles to obtain surface images of the textiles; and recognize the surface images to obtain surface texture attribute information and surface morphology attribute information of the textiles, including:

[0013] Performing binocular photography on all textiles separately to obtain binocular surface images of the textiles; generating a surface three - dimensional image based on the binocular disparity of the surface binocular images; performing pixel texture and contour recognition on the surface three - dimensional image to obtain texture distribution attribute information and morphology distribution attribute information of the global surface of the textiles;

[0014] The textile state judgment module is used to judge whether the textile belongs to a re - weavable textile based on the surface texture attribute information, including:

[0015] Based on the texture distribution attribute information of the global surface, determining the area proportion and distribution density of all hole surface areas not covered by fibers in the global surface of the textile; and then judging whether the textile belongs to a re - weavable textile based on the area proportion and distribution density of all hole surface areas.

[0016] Optionally, the stitch removing operation device matching module is used to determine stitch removing attribute information corresponding to all re-knittable textiles based on the surface morphology attribute information of all re-knittable textiles, so as to determine a stitch removing operation device matching each re-knittable textile, including:

[0017] Based on the surface morphology attribute information of the re-woven textile, determining the fiber weaving structure distribution information of the re-woven textile; and then based on the fiber weaving structure distribution information, determining the fiber weaving structure disassembly action trajectory information corresponding to the re-woven textile, using this as the stitch removal attribute information;

[0018] Comparing the fiber braided structure disassembly motion trajectory information with the stitch removing motion trajectory information that can be performed by all the alternative stitch removing operation devices, and determining the stitch removing operation device that matches the re-woven textile;

[0019] The textile transport adjustment module is used to adjust the transport status of all re-woven textiles to the matching stitch removing operation equipment based on the real-time workload of the matching stitch removing operation equipment, including:

[0020] Based on the real-time number of textiles to be removed by the matching stitch removing operation device, it is determined whether the matching stitch removing operation device is in an overloaded working state; if in an overloaded working state, the number of re-woven textiles delivered to the matching stitch removing operation device is reduced.

[0021] Optionally, the stitch removing operation device visual monitoring module is used to perform stitch removing operation visual recognition on the matched stitch removing operation device to obtain fiber disassembly and storage status information of the re-woven textile currently performing the stitch removing operation, including:

[0022] Visually identify the fiber disassembling working end and the fiber collecting working end of the matched wire disassembling operation device to obtain fiber disassembling speed information and spatial distribution information of disassembled fibers at the fiber disassembling working end and fiber collecting speed information and spatial distribution information of fibers to be collected at the fiber collecting working end;

[0023] The thread removing operation device operation adjustment module is used to adjust the working state of the matched thread removing operation device based on the fiber removing and storing state information, including:

[0024] Based on the disassembled fiber spatial distribution information and the fiber to be stored spatial distribution information, determine whether a disassembled fiber spatial distribution disorder event or a fiber to be stored spatial distribution disorder event occurs; if a disassembled fiber spatial distribution disorder event or a fiber to be stored spatial distribution disorder event occurs, then based on the fiber disassembly speed information and the fiber storage speed information, determine whether a fiber disassembly speed and fiber storage speed mismatch event occurs; if the mismatch event occurs, adjust the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end.

[0025] A textile recycling method includes:

[0026] Separate all textiles are photographed to obtain surface images of the textiles; the surface images are identified to obtain surface texture attribute information and surface topography attribute information of the textiles; based on the surface texture attribute information, determine whether the textiles belong to rewoven textiles;

[0027] Based on the surface topography attribute information of all rewoven textiles, determine the thread removal attribute information corresponding to each rewoven textile, so as to determine the thread removal operation device matched to each rewoven textile; based on the real-time working load of the matched thread removal operation device, adjust the transportation state of all rewoven textiles to the matched thread removal operation device;

[0028] Perform visual recognition of the thread removal operation on the matched thread removal operation device to obtain fiber disassembly and storage state information of the currently rewoven textile undergoing the thread removal operation; based on the fiber disassembly and storage state information, adjust the working state of the matched thread removal operation device.

[0029] Optionally, separate all textiles are photographed to obtain surface images of the textiles; the surface images are identified to obtain surface texture attribute information and surface topography attribute information of the textiles; based on the surface texture attribute information, determine whether the textiles belong to rewoven textiles, including:

[0030] Separate all textiles are binocularly photographed to obtain surface binocular images of the textiles; based on the binocular disparity of the surface binocular images, generate surface three-dimensional images; perform pixel texture and contour recognition on the surface three-dimensional images to obtain texture distribution attribute information and topography distribution attribute information of the global surface of the textiles;

[0031] Based on the texture distribution attribute information of the global surface, determine the area proportion and distribution density of all void surface areas on the global surface of the textile that are not covered by fibers; then, based on the area proportion and distribution density of all void surface areas, determine whether the textile belongs to a rewoven textile.

[0032] Optionally, based on the surface topography attribute information of each rewoven textile, determine the thread removal attribute information corresponding to each rewoven textile, and thereby determine the thread removal operation device matched to each rewoven textile; based on the real-time workload of the matched thread removal operation device, adjust the transportation state of all rewoven textiles to the matched thread removal operation device, including:

[0033] Based on the surface topography attribute information of the rewoven textile, determine the fiber braiding structure distribution information of the rewoven textile; then, based on the fiber braiding structure distribution information, determine the fiber braiding structure disassembly action trajectory information corresponding to the rewoven textile, and use this as the thread removal attribute information;

[0034] Compare the fiber braiding structure disassembly action trajectory information with the thread removal action trajectory information that each alternative thread removal operation device can execute, determine the thread removal operation device matched to the rewoven textile; based on the number of rewoven textiles to be thread removed in real time by the matched thread removal operation device, determine whether the matched thread removal operation device is in an overloaded working state; when in an overloaded working state, reduce the number of rewoven textiles transported to the matched thread removal operation device.

[0035] Optionally, perform visual recognition on the thread removal operation of the matched thread removal operation device to obtain the fiber disassembly and storage state information of the rewoven textile currently undergoing thread removal operation; based on the fiber disassembly and storage state information, adjust the working state of the matched thread removal operation device, including:

[0036] Perform visual recognition on the fiber disassembly working end and the fiber storage working end of the matched thread removal operation device to obtain the fiber disassembly speed information and the disassembled fiber spatial distribution information of the fiber disassembly working end, as well as the fiber storage speed information and the fiber to be stored spatial distribution information of the fiber storage working end;

[0037] Based on the disassembled fiber spatial distribution information and the fiber to be stored spatial distribution information, determine whether a disassembled fiber spatial distribution disorder event or a fiber to be stored spatial distribution disorder event occurs; if a disassembled fiber spatial distribution disorder event or a fiber to be stored spatial distribution disorder event occurs, then based on the fiber disassembly speed information and the fiber storage speed information, determine whether a fiber disassembly speed and fiber storage speed mismatch event occurs; if the mismatch event occurs, adjust the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end.

[0038] Optionally, if the mismatch event occurs, adjusting the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end includes:

[0039] Step S1, let the fiber disassembly speed of the fiber disassembly working end at time t be V ct , and the fiber storage speed of the fiber storage working end be V st , then the adjustment amount of the fiber disassembly speed of the fiber disassembly working end and the fiber storage speed of the fiber storage working end that needs to be adjusted starting from time t is:

[0040] ΔV t = w1(V ct - V st ) + w2E(1)

[0041] In the above formula (1), ΔV t is the adjustment amount of the fiber disassembly speed of the fiber disassembly working end and the fiber storage speed of the fiber storage working end that needs to be adjusted starting from time t, w1 is the speed adjustment coefficient, w2 is the event influence coefficient corresponding to the disorder working event of the fiber disassembly working end or the fiber storage working end, E is the determination value of whether a disorder working event occurs. If a disorder working event occurs, the value of E is 1. If no disorder working event occurs, the value of E is 0. The values of w1 and w2 are both greater than 0 and less than 1, and w1 + w2 = 1;

[0042] Step S2, according to the calculation result of the above step S1, determine the fiber disassembly speed of the fiber disassembly working end that needs to be adjusted starting from time t,

[0043] V c(t+1) = V ct + αΔ3 t (2)

[0044] In the above formula (2), V c(t+1) is the fiber disassembly speed of the fiber disassembly working end that needs to be adjusted starting from time t, and α is the preset fiber disassembly speed adjustment coefficient;

[0045] Step S3: Determine the increment of the fiber receiving speed of the fiber receiving working end that needs to be adjusted starting from time t according to the calculation results of the above Steps S1 and S2.

[0046] ΔV s(t+1) = V c(t+1) - V st (3)

[0047] In the above formula (3), ΔV s(t+1) is the increment of the fiber receiving speed of the fiber receiving working end that needs to be adjusted starting from time t, that is, from time t to time t + 1, the change in the fiber receiving speed of the fiber receiving working end is ΔV. S(t+1) , if ΔV s(t+1) is greater than 0, it indicates that the fiber receiving speed of the fiber receiving working end needs to be increased, and the increased value is |ΔV s(t+1) |; if ΔV s(t+1) is less than 0, it indicates that the fiber receiving speed of the fiber receiving working end needs to be decreased, and the decreased value is |ΔV s(t+1) |; if ΔV s(t+1) is equal to 0, it indicates that the fiber receiving speed of the fiber receiving working end does not need to be changed.

[0048] Optionally, if the fiber disassembling speed of the fiber disassembling working end and / or the fiber receiving speed of the fiber receiving working end are adjusted and the mismatch event occurs repeatedly after a preset time interval, the fiber disassembling speed of the fiber disassembling working end and the fiber receiving working end are respectively subjected to a uniform fiber disassembling speed and fiber receiving speed reduction operation until both the fiber disassembling speed and the fiber receiving speed become zero.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] The textile recycling system and method provided by the present application perform surface visual recognition on textiles to obtain the surface texture attribute information and surface topography attribute information of the textiles, and thereby determine whether the textiles belong to rewoven textiles, accurately screen the textiles to ensure that the textiles can provide sufficient continuous textile fibers; also, based on the surface topography attribute information of the rewoven textiles respectively, determine their thread removal attribute information, and thereby select a matching thread removal operation device to ensure rapid and continuous thread removal of the rewoven textiles, and adjust the transportation state of the rewoven textiles to the matching thread removal operation device to avoid thread removal disorder caused by excessive workload of the thread removal operation device; also perform visual recognition on the thread removal operation of the thread removal operation device to obtain the fiber disassembly and storage state information of the rewoven textile currently undergoing thread removal operation, and thereby adjust the working state of the thread removal operation device to stably and continuously disassemble and store the textile fibers of the textiles, and improve the recycling efficiency of the textiles. Description of the Drawings

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0052] Figure 1 It is a schematic structural diagram of a textile recycling system provided by the present invention.

[0053] Figure 2 It is a schematic flowchart of a textile recycling method provided by the present invention. Detailed Embodiments

[0054] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will make a detailed description of the specific embodiments of the present application in conjunction with the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the convenience of description, only parts related to the present application are shown in the drawings rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0055] The terms "comprising" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0056] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0057] Please refer to Figure 1 As shown, a textile recycling system provided by an embodiment of the present application. The textile recycling system includes:

[0058] A textile surface visual recognition module, configured to separately photograph all textiles to obtain surface images of the textiles; recognize the surface images to obtain surface texture attribute information and surface topography attribute information of the textiles;

[0059] A textile state judgment module, configured to judge whether the textile belongs to a rewoven textile based on the surface texture attribute information;

[0060] A thread removal operation device matching module, configured to determine respective thread removal attribute information corresponding to all rewoven textiles based on the surface topography attribute information of all rewoven textiles, so as to determine the thread removal operation devices matched with each rewoven textile;

[0061] A textile transportation adjustment module, configured to adjust the transportation states of all rewoven textiles to the matched thread removal operation devices based on the real-time workload of the matched thread removal operation devices;

[0062] A thread removal operation device visual monitoring module, configured to perform visual recognition of the thread removal operation on the matched thread removal operation device to obtain fiber disassembly and storage state information of the rewoven textile currently performing the thread removal operation;

[0063] A thread removal operation device working adjustment module, configured to adjust the working state of the matched thread removal operation device based on the fiber disassembly and storage state information.

[0064] The beneficial effects of the above embodiments are as follows. The textile recycling system performs surface visual recognition on textiles to obtain the surface texture attribute information and surface topography attribute information of the textiles, and thereby determines whether the textiles belong to rewoven textiles, accurately screening the textiles to ensure that the textiles can provide sufficient continuous textile fibers. Based on the surface topography attribute information of the rewoven textiles, their thread removal attribute information is determined, and thereby a matching thread removal operation device is selected to ensure rapid and continuous thread removal of the rewoven textiles, and the conveying state of the rewoven textiles to the matching thread removal operation device is adjusted to avoid thread removal disorders caused by excessive workload of the thread removal operation device. Visual recognition of the thread removal operation is also performed on the thread removal operation device to obtain the fiber disassembly and storage state information of the currently thread-removing rewoven textile, and thereby the working state of the thread removal operation device is adjusted to stably and continuously disassemble and store the textile fibers of the textiles, improving the recycling efficiency of the textiles.

[0065] In another embodiment, the textile surface visual recognition module is used to separately photograph all textiles to obtain the surface images of the textiles; the surface images are recognized to obtain the surface texture attribute information and surface topography attribute information of the textiles, including:

[0066] All textiles are separately photographed binocularly to obtain the surface binocular images of the textiles; based on the binocular disparity of the surface binocular images, a surface three-dimensional image is generated; pixel texture and contour recognition are performed on the surface three-dimensional image to obtain the texture distribution attribute information and topography distribution attribute information of the global surface of the textiles.

[0067] The textile state judgment module is used to judge whether the textile belongs to a rewoven textile based on the surface texture attribute information, including:

[0068] Based on the texture distribution attribute information of the global surface, the area ratio and distribution density of all void surface areas not covered by fibers in the global surface of the textile are determined; then, based on the area ratio and distribution density of all void surface areas, it is judged whether the textile belongs to a rewoven textile.

[0069] The beneficial effects of the above embodiments are as follows. The textiles that need to be recycled are usually waste textiles, which can have different weaving structures (i.e., the fabric structures formed by the spatial relationships between warp and weft yarns in the fabric). Different weaving structures of textiles require different thread-removing operations to ensure that the fiber threads do not break during the thread-removing process. In addition, there may be defects such as damage or holes on the surfaces of these textiles. If the area of the damage or holes on the textile surface is large enough, the textile does not have the value of being recycled by thread-removing. If such a textile is thread-removed, the fiber threads obtained by disassembly may have the problem of breakage, and the continuity of the fiber threads obtained by disassembly cannot be guaranteed. In order to ensure the continuity of the fiber threads obtained by disassembling the textile, it is necessary to pre-screen the textiles. For this purpose, each textile is photographed separately to obtain the surface image of the textile; the surface image is recognized to obtain the surface texture attribute information and surface morphology attribute information of the textile; the surface texture attribute information is the fiber texture distribution information representing the surface of the textile formed by the weaving of fiber threads, and the surface morphology attribute information is the fabric structure (i.e., the weaving structure) formed by the spatial relationships corresponding to the interlacing of warp and weft yarns on the surface of the textile. Then, based on the texture distribution attribute information of the global surface, the area ratio and distribution density of all hole surface areas on the global surface of the textile that are not covered by fibers are determined. If the area ratio of all hole surface areas exceeds the preset ratio threshold, or the distribution density of all hole surface areas exceeds the preset distribution density threshold, it indicates that there are too many hole defects on the surface of the textile to effectively form continuous fiber threads during the thread-removing process. At this time, the textile is determined to belong to the textiles that can be re-woven; otherwise, the textile is determined not to belong to the textiles that can be re-woven, so as to ensure that the selected textiles that can be re-woven can provide continuous fiber threads and improve the recycling efficiency of textiles.

[0070] In another embodiment, the thread-removing operation device matching module is used to determine the thread-removing attribute information corresponding to each of all the textiles that can be re-woven based on the surface morphology attribute information of each of all the textiles that can be re-woven, so as to determine the thread-removing operation device matched with each textile that can be re-woven, including:

[0071] Based on the surface morphology attribute information of the textile that can be re-woven, determine the fiber weaving structure distribution information of the textile that can be re-woven; then, based on the fiber weaving structure distribution information, determine the fiber weaving structure disassembly action trajectory information corresponding to the textile that can be re-woven, and use this as the thread-removing attribute information;

[0072] Compare the fiber weaving structure disassembly action trajectory information with the thread-removing action trajectory information that each of all the alternative thread-removing operation devices can execute, and determine the thread-removing operation device matched with the textile that can be re-woven;

[0073] The textile transportation adjustment module is used to adjust the transportation status of all rewoven textiles to the matched thread removal operation device based on the real-time workload of the matched thread removal operation device, including:

[0074] Based on the number of textiles to be thread-removed in real time by the matched thread removal operation device, determine whether the matched thread removal operation device is in an overloaded working state; when in an overloaded working state, reduce the number of rewoven textiles transported to the matched thread removal operation device.

[0075] The beneficial effects of the above embodiments are as follows. The spatial relationships formed by the interlacing of warp and weft threads inside textiles with different fiber weaving structures are not the same. If inappropriate thread removal actions are used during the thread removal of textiles, it is very easy to cause problems such as fiber entanglement and breakage during the thread removal process. In order to ensure continuous thread removal of textiles, it is necessary to select appropriate thread removal actions according to the different fiber weaving structures of textiles. For this purpose, based on the surface topography attribute information of the rewoven textile, determine the fiber weaving structure distribution information of the rewoven textile, and thus determine the fiber weaving structure disassembly action trajectory information corresponding to the rewoven textile, providing a reliable basis for subsequent selection of a matched thread removal operation device to perform thread removal operations on the textile. The fiber weaving structure disassembly action trajectory information is also compared with the thread removal action trajectory information that each of all alternative thread removal operation devices can execute to determine the matched thread removal operation device for the rewoven textile, thereby improving the continuity and stability of textile thread removal. And based on the number of textiles to be thread-removed in real time by the matched thread removal operation device, determine whether the matched thread removal operation device is in an overloaded working state; when in an overloaded working state, reduce the number of rewoven textiles transported to the matched thread removal operation device, which can avoid the situation of thread removal disorder of the thread removal operation device.

[0076] In another embodiment, the visual monitoring module of the thread removal operation device is used to perform visual recognition on the matched thread removal operation device during thread removal operations to obtain the fiber disassembly and storage state information of the currently thread-removed rewoven textile, including:

[0077] Perform visual recognition on the fiber disassembly working end and the fiber storage working end of the matched thread removal operation device to obtain the fiber disassembly speed information and the spatial distribution information of the disassembled fibers of the fiber disassembly working end, as well as the fiber storage speed information and the spatial distribution information of the fibers to be stored of the fiber storage working end;

[0078] The working state adjustment module of the thread removal operation device is used to adjust the working state of the matched thread removal operation device based on the fiber disassembly and storage state information, including:

[0079] Based on the spatial distribution information of the disassembled fibers and the spatial distribution information of the fibers to be stored, determine whether an event of disordered spatial distribution of disassembled fibers or an event of disordered spatial distribution of fibers to be stored occurs; if an event of disordered spatial distribution of disassembled fibers or an event of disordered spatial distribution of fibers to be stored occurs, then based on the fiber disassembling speed information and the fiber storage speed information, determine whether an event of mismatch between fiber disassembling speed and fiber storage speed occurs; if such a mismatch occurs, adjust the fiber disassembling speed of the fiber disassembling working end and / or the fiber storage speed of the fiber storage working end.

[0080] The beneficial effect of the above embodiment is that the thread removing operation device performs thread removing operation on the textile mainly including using the fiber removing working end to remove the textile to obtain the monomer fiber line, and using the fiber collecting working end to wind and collect the monomer fiber line. If the fiber removing speed of the fiber removing working end is too fast or the fiber collecting speed of the fiber collecting working end is too slow, it is easy to cause the monomer fiber line obtained by thread removal to be collected too late, so that the monomer fiber line obtained by thread removal is entangled with each other in three-dimensional space and the distribution is disordered, thereby causing the problem of the monomer fiber line being knotted. In order to ensure the normal and orderly fiber line removal and fiber collection of the thread removing operation device, it is necessary to coordinately adjust the working states of the fiber removing working end and the fiber collecting working end. To this end, visual identification is performed on the fiber disassembly working end and the fiber storage working end of the matching wire disassembly operating device to obtain the fiber disassembly speed information of the fiber disassembly working end (i.e. the length of the monomer fiber line disassembled per unit time) and the spatial distribution information of the disassembled fibers (i.e. the distribution position information of the disassembled monomer fiber line in three-dimensional space) as well as the fiber storage speed information of the fiber storage working end (i.e. the length of the monomer fiber line that can be stored per unit time) and the spatial distribution information of the fibers to be stored (i.e. the distribution position information of the monomer fiber line waiting to be stored in three-dimensional space). Based on the spatial distribution information of the disassembled fibers and the spatial distribution information of the fibers to be stored, it is determined whether a spatial distribution disorder event of the disassembled fibers occurs (for example, whether the disassembled monomer fiber lines are entangled or knotted with each other) or a spatial distribution disorder event of the fibers to be stored occurs (for example, whether the monomer fiber lines waiting to be stored are entangled or knotted with each other). If a spatial distribution disorder event of the disassembled fibers or a spatial distribution disorder event of the fibers to be stored occurs, based on the fiber disassembly speed information and the fiber storage speed information, it is determined whether a mismatch event between the fiber disassembly speed and the fiber storage speed occurs. If the difference between the length of the monomer fiber line disassembled per unit time and the length of the monomer fiber line that can be stored per unit time exceeds a preset threshold, it is determined that a mismatch event occurs. At this time, the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end are adjusted to ensure that the disassembled monomer fiber lines can be stored in time, thereby achieving stable and continuous textile fiber disassembly and storage of textiles, and improving the recycling efficiency of textiles.

[0081] Please refer to Figure 2 as shown, a method for recycling textiles provided by an embodiment of the present application. The method for recycling textiles includes:

[0082] Taking pictures of all textiles respectively to obtain the surface images of the textiles; identifying the surface images to obtain the surface texture attribute information and surface morphology attribute information of the textiles; and judging whether the textiles belong to rewoven textiles based on the surface texture attribute information;

[0083] Based on the surface morphology attribute information of all rewoven textiles, determining the thread removal attribute information corresponding to each rewoven textile, so as to determine the thread removal operation device matched with each rewoven textile; adjusting the transportation state of all rewoven textiles to the matched thread removal operation device based on the real-time workload of the matched thread removal operation device;

[0084] Performing visual recognition on the thread removal operation of the matched thread removal operation device to obtain the fiber disassembly and storage state information of the rewoven textile currently undergoing the thread removal operation; adjusting the working state of the matched thread removal operation device based on the fiber disassembly and storage state information.

[0085] The beneficial effects of the above embodiment are that the method for recycling textiles performs surface visual recognition on the textiles to obtain the surface texture attribute information and surface morphology attribute information of the textiles, thereby judging whether the textiles belong to rewoven textiles, accurately screening the textiles to ensure that the textiles can provide sufficient continuous textile fibers; also determining the thread removal attribute information based on the surface morphology attribute information of each rewoven textile, so as to select the matched thread removal operation device, ensuring rapid and continuous thread removal of the rewoven textiles, and adjusting the transportation state of the rewoven textiles to the matched thread removal operation device to avoid thread removal disorder caused by excessive workload of the thread removal operation device; also performing visual recognition on the thread removal operation of the thread removal operation device to obtain the fiber disassembly and storage state information of the rewoven textile currently undergoing the thread removal operation, thereby adjusting the working state of the thread removal operation device, stably and continuously disassembling and storing the textile fibers of the textiles, and improving the recycling efficiency of the textiles.

[0086] In another embodiment, taking pictures of all textiles respectively to obtain the surface images of the textiles; identifying the surface images to obtain the surface texture attribute information and surface morphology attribute information of the textiles; judging whether the textiles belong to rewoven textiles based on the surface texture attribute information, including:

[0087] All textiles are photographed binocularly to obtain a binocular image of the surface of the textile; a three-dimensional image of the surface is generated based on the binocular parallax of the binocular image of the surface; pixel texture and contour recognition is performed on the three-dimensional image of the surface to obtain texture distribution attribute information and morphology distribution attribute information of the global surface of the textile;

[0088] Based on the texture distribution attribute information of the global surface, the area ratio and distribution density of all hollow surface areas not covered by fibers in the global surface of the textile are determined; then based on the area ratio and distribution density of all hollow surface areas, it is judged whether the textile is a re-woven textile.

[0089] The beneficial effects of the above embodiments are that the textiles that need to be recycled are usually waste textiles. These textiles may have different weaving structures (i.e., the fabric structure formed by the spatial relationship between the warp and weft yarns in the fabric), and textiles with different weaving structures require different thread removal actions to ensure that the fiber lines will not be disconnected during the thread removal process, and these textile surfaces may have defects such as damage or holes. If the damage or hole area on the surface of the textile is large enough, the textile does not have the recycling value of being removed. If such textiles are removed, the fiber lines obtained by the removal will be broken, and the continuity of the fiber lines obtained by the removal cannot be guaranteed. In order to ensure the continuity of the fiber lines obtained by the removal of the textile, the textile needs to be screened in advance. To this end, all textiles are photographed separately to obtain the surface image of the textile; the surface image is identified to obtain the surface texture attribute information and surface morphology attribute information of the textile; wherein the surface texture attribute information is the fiber texture distribution information characterizing the textile surface formed by weaving fiber lines, and the surface morphology attribute information is the fabric structure (i.e., woven structure) corresponding to the spatial relationship formed by the interlacing of warp and weft lines on the textile surface. Based on the texture distribution attribute information of the global surface, the area proportion and distribution density of all hollow surface areas not covered by fibers in the global surface of the textile are determined. If the area proportion of all hollow surface areas exceeds the preset proportion threshold, or the distribution density of all hollow surface areas exceeds the preset distribution density threshold, it indicates that there are too many hollow defects on the textile surface and it is impossible to effectively form a continuous fiber line during the unstitching process. At this time, the textile is determined to be a re-woven textile; otherwise, the textile is determined to be not a re-woven textile, thereby ensuring that the screened re-woven textile can provide continuous fiber lines and improve the recycling efficiency of textiles.

[0090] In another embodiment, based on the surface topography attribute information of each rewoven textile, the thread removal attribute information corresponding to each rewoven textile is determined, and based on this, the thread removal operation device matched to each rewoven textile is determined; based on the real-time workload of the matched thread removal operation device, the transportation state of all rewoven textiles to the matched thread removal operation device is adjusted, including:

[0091] Based on the surface topography attribute information of the rewoven textile, the fiber braiding structure distribution information of the rewoven textile is determined; then based on the fiber braiding structure distribution information, the fiber braiding structure disassembly action trajectory information corresponding to the rewoven textile is determined, and this is used as the thread removal attribute information.

[0092] The fiber braiding structure disassembly action trajectory information is compared with the thread removal action trajectory information that each alternative thread removal operation device can execute, and the thread removal operation device matched to the rewoven textile is determined; based on the number of textiles to be thread removed in real time by the matched thread removal operation device, it is judged whether the matched thread removal operation device is in an overloaded working state; when in an overloaded working state, the number of rewoven textiles transported to the matched thread removal operation device is reduced.

[0093] The beneficial effects of the above embodiment are as follows. The spatial relationships formed by the interlacing of warp and weft in textiles with different fiber braiding structures are not the same. If inappropriate thread removal actions are used during the thread removal of textiles, it is very easy to cause problems such as fiber entanglement and breakage during the thread removal process. In order to ensure continuous thread removal of textiles, appropriate thread removal actions need to be selected according to the different fiber braiding structures of the textiles. For this reason, based on the surface topography attribute information of the rewoven textile, the fiber braiding structure distribution information of the rewoven textile is determined, and based on this, the fiber braiding structure disassembly action trajectory information corresponding to the rewoven textile is determined, providing a reliable basis for subsequent selection of a matched thread removal operation device to perform thread removal operations on the textile. The fiber braiding structure disassembly action trajectory information is also compared with the thread removal action trajectory information that each alternative thread removal operation device can execute to determine the thread removal operation device matched to the rewoven textile, thereby improving the continuity and stability of thread removal of the textile. And based on the number of textiles to be thread removed in real time by the matched thread removal operation device, it is judged whether the matched thread removal operation device is in an overloaded working state; when in an overloaded working state, the number of rewoven textiles transported to the matched thread removal operation device is reduced, which can avoid the situation of thread removal disorder of the thread removal operation device.

[0094] In another embodiment, visual recognition of the stitch removing operation is performed on the matched stitch removing operation device to obtain fiber disassembly and storage state information of the re-woven textile currently performing the stitch removing operation; and based on the fiber disassembly and storage state information, the working state of the matched stitch removing operation device is adjusted, including:

[0095] Visually identify the fiber disassembling working end and the fiber collecting working end of the matched wire disassembling operation device to obtain fiber disassembling speed information and spatial distribution information of disassembled fibers of the fiber disassembling working end and fiber collecting speed information and spatial distribution information of fibers to be collected of the fiber collecting working end;

[0096] Based on the spatial distribution information of the disassembled fibers and the spatial distribution information of the fibers to be stored, determine whether an event of disordered spatial distribution of disassembled fibers or an event of disordered spatial distribution of fibers to be stored occurs; if an event of disordered spatial distribution of disassembled fibers or an event of disordered spatial distribution of fibers to be stored occurs, then based on the fiber disassembling speed information and the fiber storage speed information, determine whether an event of mismatch between fiber disassembling speed and fiber storage speed occurs; if such a mismatch occurs, adjust the fiber disassembling speed of the fiber disassembling working end and / or the fiber storage speed of the fiber storage working end.

[0097] The beneficial effect of the above embodiment is that the thread removing operation device performs thread removing operation on the textile mainly including using the fiber removing working end to remove the textile to obtain the monomer fiber line, and using the fiber collecting working end to wind and collect the monomer fiber line. If the fiber removing speed of the fiber removing working end is too fast or the fiber collecting speed of the fiber collecting working end is too slow, it is easy to cause the monomer fiber line obtained by thread removal to be collected too late, so that the monomer fiber line obtained by thread removal is entangled with each other in three-dimensional space and the distribution is disordered, thereby causing the problem of the monomer fiber line being knotted. In order to ensure the normal and orderly fiber line removal and fiber collection of the thread removing operation device, it is necessary to coordinately adjust the working states of the fiber removing working end and the fiber collecting working end. To this end, visual identification is performed on the fiber disassembly working end and the fiber storage working end of the matching wire disassembly operating device to obtain the fiber disassembly speed information of the fiber disassembly working end (i.e. the length of the monomer fiber line disassembled per unit time) and the spatial distribution information of the disassembled fibers (i.e. the distribution position information of the disassembled monomer fiber line in three-dimensional space) as well as the fiber storage speed information of the fiber storage working end (i.e. the length of the monomer fiber line that can be stored per unit time) and the spatial distribution information of the fibers to be stored (i.e. the distribution position information of the monomer fiber line waiting to be stored in three-dimensional space). Based on the spatial distribution information of the disassembled fibers and the spatial distribution information of the fibers to be stored, it is determined whether a spatial distribution disorder event of the disassembled fibers occurs (for example, whether the disassembled monomer fiber lines are entangled or knotted with each other) or a spatial distribution disorder event of the fibers to be stored occurs (for example, whether the monomer fiber lines waiting to be stored are entangled or knotted with each other). If a spatial distribution disorder event of the disassembled fibers or a spatial distribution disorder event of the fibers to be stored occurs, based on the fiber disassembly speed information and the fiber storage speed information, it is determined whether a mismatch event between the fiber disassembly speed and the fiber storage speed occurs. If the difference between the length of the monomer fiber line disassembled per unit time and the length of the monomer fiber line that can be stored per unit time exceeds a preset threshold, it is determined that a mismatch event occurs. At this time, the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end are adjusted to ensure that the disassembled monomer fiber lines can be stored in time, thereby achieving stable and continuous textile fiber disassembly and storage of textiles, and improving the recycling efficiency of textiles.

[0098] In another embodiment, if the mismatch event occurs, adjusting the fiber disassembling speed of the fiber disassembling working end and / or the fiber collecting speed of the fiber collecting working end comprises:

[0099] Step S1, assuming that the fiber disassembly speed of the fiber disassembly working end at time t is V ct The fiber collection speed at the fiber collection working end is V st , then the adjustment amount of the fiber disassembling speed of the fiber disassembling working end and the fiber collecting speed of the fiber collecting working end needs to be adjusted starting from time t:

[0100] ΔV t = w1(V ct - V st ) + w2E(1)

[0101] In the above formula (1), ΔV t is the adjustment amount of the fiber disassembly speed of the fiber disassembly working end and the fiber storage speed of the fiber storage working end that needs to be adjusted starting from time t. w1 is the speed adjustment coefficient, w2 is the event influence coefficient corresponding to the disorder working event of the fiber disassembly working end or the fiber storage working end, E is the determination value of whether a disorder working event occurs. If a disorder working event occurs, the value of E is 1; if no disorder working event occurs, the value of E is 0. The values of w1 and w2 are both greater than 0 and less than 1, and w1 + w2 = 1;

[0102] Step S2, according to the calculation result of the above step S1, determine the fiber disassembly speed of the fiber disassembly working end that needs to be adjusted starting from time t,

[0103] V c(t+1) = V ct + αΔV t (2)

[0104] In the above formula (2), V c(t+1) is the fiber disassembly speed of the fiber disassembly working end that needs to be adjusted starting from time t, and α is the preset fiber disassembly speed adjustment coefficient;

[0105] Step S3, according to the calculation results of the above steps S1 and S2, determine the increment of the fiber storage speed of the fiber storage working end that needs to be adjusted starting from time t,

[0106] ΔV s(t+1) = V c(t+1) - V st (3)

[0107] In the above formula (3), ΔV s(t+1) is the increment of the fiber storage speed of the fiber storage working end that needs to be adjusted starting from time t, that is, from time t to time t + 1, the change amount of the fiber storage speed of the fiber storage working end is ΔV s(t+1) , if ΔV s(t+1) is greater than 0, it indicates that the fiber storage speed of the fiber storage working end needs to be increased, and the increased value is |ΔV s(t+1) |; if ΔV s(t+1) is less than 0, it indicates that the fiber storage speed of the fiber storage working end needs to be decreased, and the decreased value is |ΔV s(t+1) |; if ΔV s(t+1) is equal to 0, it indicates that the fiber storage speed of the fiber storage working end does not need to be changed.

[0108] The beneficial effects of the above embodiments are as follows. Since the fiber disassembly speed and the fiber storage speed are inconsistent, the linear fibers obtained by disassembly may be entangled and knotted without being wound up in time, which affects the operating efficiency of the entire system and may even lead to major safety accidents. Therefore, in order to match the working speeds of the two and ensure the safe and efficient operation of the entire system and avoid the occurrence of safety accidents, the relative speed difference is obtained based on the fiber disassembly speed of the fiber disassembly working end and the fiber storage speed of the fiber storage working end at a certain moment, and based on this, the target fiber disassembly speed of the fiber disassembly working end and the adjustment value of the fiber storage speed of the fiber storage working end are obtained, so that the working speeds of the two match in the next moment, ensuring the safe and efficient operation of the entire system and avoiding the occurrence of safety accidents.

[0109] In another embodiment, if the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end are adjusted and the mismatch event occurs repeatedly after a preset time interval, the fiber disassembly speed of the fiber disassembly working end and the fiber storage speed of the fiber storage working end are respectively reduced at a uniform speed until both the fiber disassembly speed and the fiber storage speed become zero.

[0110] The beneficial effects of the above embodiments are as follows. If the mismatch event occurs again after a preset time interval after the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end are adjusted, it indicates that there are abnormal working conditions at the fiber disassembly working end and the fiber storage working end. At this time, the fiber disassembly speed of the fiber disassembly working end and the fiber storage speed of the fiber storage working end are respectively reduced at a uniform speed, that is, the fiber disassembly working end and the fiber storage working end are driven to decrease uniformly with a fixed deceleration acceleration, to avoid potential safety hazards caused by too fast deceleration of the fiber disassembly working end and the fiber storage working end, until both the fiber disassembly speed and the fiber storage speed become zero, which is convenient for the staff to inspect and repair the fiber disassembly working end and the fiber storage working end.

[0111] Generally speaking, the textile recycling system and method perform surface visual recognition on textiles to obtain the surface texture attribute information and surface topography attribute information of the textiles, and thereby determine whether the textiles belong to reweavable textiles, accurately screen the textiles to ensure that the textiles can provide sufficient continuous textile fibers; also determine the thread removal attribute information based on the surface topography attribute information of each reweavable textile, and thereby select a matching thread removal operation device to ensure rapid and continuous thread removal of the reweavable textiles, and adjust the transportation state of the reweavable textiles to the matching thread removal operation device to avoid thread removal disorder caused by excessive workload of the thread removal operation device; also perform thread removal operation visual recognition on the thread removal operation device to obtain the fiber disassembly and storage state information of the reweavable textile currently undergoing the thread removal operation, and thereby adjust the working state of the thread removal operation device to stably and continuously disassemble and store the textile fibers of the textiles, improving the recycling efficiency of the textiles.

[0112] The above is only a specific embodiment of the present invention, and any improvements made on the premise of the present invention concept are regarded as the protection scope of the present invention.

Claims

1. A textile recycling system, characterized in that, Including: A textile surface visual recognition module, which is used to separately photograph all textiles to obtain the surface images of the textiles; Recognize the surface images to obtain the surface texture attribute information and surface topography attribute information of the textiles; A textile state judgment module, which is used to judge whether the textile belongs to a rewoven textile based on the surface texture attribute information; A thread removal operation equipment matching module, which is used to determine the respective thread removal attribute information corresponding to all rewoven textiles based on the respective surface topography attribute information of all rewoven textiles, so as to determine the thread removal operation equipment matched with each rewoven textile; A textile transportation adjustment module, which is used to adjust the transportation state of all rewoven textiles to the matched thread removal operation equipment based on the real-time workload of the matched thread removal operation equipment; A thread removal operation equipment visual monitoring module, which is used to perform visual recognition of the thread removal operation on the matched thread removal operation equipment to obtain the fiber disassembly and storage state information of the currently rewoven textile undergoing the thread removal operation; A thread removal operation equipment working adjustment module, which is used to adjust the working state of the matched thread removal operation equipment based on the fiber disassembly and storage state information; The textile surface visual recognition module is used to separately photograph all textiles to obtain the surface images of the textiles; Recognize the surface images to obtain the surface texture attribute information and surface topography attribute information of the textiles, including: Perform binocular photography on all textiles separately to obtain the surface binocular images of the textiles; generate a surface three-dimensional image based on the binocular disparity of the surface binocular images; perform pixel texture and contour recognition on the surface three-dimensional image to obtain the texture distribution attribute information and topography distribution attribute information of the global surface of the textiles; The textile state judgment module is used to judge whether the textile belongs to a rewoven textile based on the surface texture attribute information, including: Determine the area ratio and distribution density of all void surface areas not covered by fibers in the global surface of the textile based on the texture distribution attribute information of the global surface; then judge whether the textile belongs to a rewoven textile based on the area ratio and distribution density of all void surface areas.

2. The textile recycling system according to claim 1, wherein: The thread removal operation equipment matching module is used to determine the respective thread removal attribute information corresponding to all rewoven textiles based on the respective surface topography attribute information of all rewoven textiles, so as to determine the thread removal operation equipment matched with each rewoven textile, including: Based on the surface topography attribute information of the rewoven fabric, determine the fiber braiding structure distribution information of the rewoven fabric; then, based on the fiber braiding structure distribution information, determine the fiber braiding structure disassembly action trajectory information corresponding to the rewoven fabric, and use this as the thread removal attribute information; compare the fiber braiding structure disassembly action trajectory information with the thread removal action trajectory information that each alternative thread removal operation device can execute, and determine the thread removal operation device matched with the rewoven fabric; The fabric transportation adjustment module is used to adjust the transportation state of all rewoven fabrics to the matched thread removal operation device based on the real-time workload of the matched thread removal operation device, including: Based on the number of fabrics to be thread-removed in real time by the matched thread removal operation device, determine whether the matched thread removal operation device is in an overloaded working state; when in an overloaded working state, reduce the number of rewoven fabrics transported to the matched thread removal operation device.

3. The fabric recycling system according to claim 1, wherein: The thread removal operation device visual monitoring module is used to perform visual recognition on the matched thread removal operation device for thread removal operation, and obtain the fiber disassembly and storage state information of the currently thread-removed rewoven fabric, including: Perform visual recognition on the fiber disassembly working end and the fiber storage working end of the matched thread removal operation device, and obtain the fiber disassembly speed information and the disassembled fiber spatial distribution information of the fiber disassembly working end, as well as the fiber storage speed information and the fiber to be stored spatial distribution information of the fiber storage working end; The thread removal operation device working adjustment module is used to adjust the working state of the matched thread removal operation device based on the fiber disassembly and storage state information, including: Based on the disassembled fiber spatial distribution information and the fiber to be stored spatial distribution information, determine whether a disassembled fiber spatial distribution disorder event or a fiber to be stored spatial distribution disorder event occurs; if a disassembled fiber spatial distribution disorder event or a fiber to be stored spatial distribution disorder event occurs, then based on the fiber disassembly speed information and the fiber storage speed information, determine whether a fiber disassembly speed and fiber storage speed mismatch event occurs; if the mismatch event occurs, adjust the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end.

4. A method for recycling textiles, characterized in that, Including: Take pictures of all fabrics respectively to obtain the surface images of the fabrics; Identify the surface images to obtain the surface texture attribute information and surface topography attribute information of the fabrics; Based on the surface texture attribute information, determine whether the fabric belongs to a rewoven fabric; Based on the surface topography attribute information of all rewoven fabrics, determine the thread removal attribute information corresponding to all rewoven fabrics, and thereby determine the thread removal operation device matched with each rewoven fabric; Adjust the transportation state of all rewoven textiles to the matched thread removal operation device based on the real-time workload of the matched thread removal operation device; Perform visual recognition of the thread removal operation on the matched thread removal operation device to obtain the fiber disassembly and storage state information of the rewoven textile currently undergoing the thread removal operation; Adjust the working state of the matched thread removal operation device based on the fiber disassembly and storage state information; Take pictures of all textiles respectively to obtain the surface images of the textiles; Identify the surface images to obtain the surface texture attribute information and surface morphology attribute information of the textiles; Based on the surface texture attribute information, determine whether the textile belongs to a rewoven textile, including: Take binocular pictures of all textiles respectively to obtain the surface binocular images of the textiles; Generate a surface three-dimensional image based on the binocular disparity of the surface binocular images; Perform pixel texture and contour recognition on the surface three-dimensional image to obtain the texture distribution attribute information and morphology distribution attribute information of the global surface of the textile; Based on the texture distribution attribute information of the global surface, determine the area ratio and distribution density of all hollow surface areas on the global surface of the textile that are not covered by fibers; Then, based on the area ratio and distribution density of all hollow surface areas, determine whether the textile belongs to a rewoven textile.

5. The textile recycling method according to claim 4, wherein: Based on the surface morphology attribute information of all rewoven textiles, determine the corresponding thread removal attribute information of all rewoven textiles, and thereby determine the matched thread removal operation device for each rewoven textile; Adjust the transportation state of all rewoven textiles to the matched thread removal operation device based on the real-time workload of the matched thread removal operation device, including: Based on the surface morphology attribute information of the rewoven textile, determine the fiber weaving structure distribution information of the rewoven textile; Then, based on the fiber weaving structure distribution information, determine the fiber weaving structure disassembly action trajectory information corresponding to the rewoven textile, and use this as the thread removal attribute information; Compare the fiber weaving structure disassembly action trajectory information with the thread removal action trajectory information that each alternative thread removal operation device can execute to determine the matched thread removal operation device for the rewoven textile; Based on the number of textiles to be thread removed in real time by the matched thread removal operation device, determine whether the matched thread removal operation device is in an overloaded working state; When in an overloaded working state, reduce the number of rewoven textiles transported to the matched thread removal operation device.

6. The textile recycling method according to claim 5, wherein: Perform visual recognition of the thread removal operation on the matched thread removal operation device to obtain the fiber disassembly and storage state information of the rewoven textile currently undergoing the thread removal operation; Adjust the working state of the matched thread removal operation device based on the fiber disassembly and storage state information, including: Perform visual recognition on the fiber disassembly working end and the fiber storage working end of the matched thread removal operation device to obtain the fiber disassembly speed information and the disassembled fiber spatial distribution information of the fiber disassembly working end, as well as the fiber storage speed information and the to-be-stored fiber spatial distribution information of the fiber storage working end; Based on the disassembled fiber spatial distribution information and the to-be-stored fiber spatial distribution information, determine whether a disassembled fiber spatial distribution disorder event or a to-be-stored fiber spatial distribution disorder event occurs; if a disassembled fiber spatial distribution disorder event or a to-be-stored fiber spatial distribution disorder event occurs, then based on the fiber disassembly speed information and the fiber storage speed information, determine whether a fiber disassembly speed and fiber storage speed mismatch event occurs; if the mismatch event occurs, adjust the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end.

7. The textile recycling method according to claim 6, wherein: If the mismatch event occurs, adjusting the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end includes: Step S1, assume that at time t, the fiber disassembly speed of the fiber disassembly working end is V ct , and the fiber collection speed of the fiber collection working end is V st , then the adjustment amounts of the fiber disassembly speed of the fiber disassembly working end and the fiber collection speed of the fiber collection working end that need to be adjusted starting from time t are as follows: ΔV t = w1(V ct ―V st ) + w2E(1) In the above formula (1), ΔV t is the adjustment amount for adjusting the fiber disassembly speed of the fiber disassembly working end and the fiber storage speed of the fiber storage working end starting from time t. w1 is the speed adjustment coefficient, w2 is the event influence coefficient corresponding to the disorder working event occurring at the fiber disassembly working end or the fiber storage working end, E is the determination value of whether a disorder working event occurs. If a disorder working event occurs, the value of E is 1; if no disorder working event occurs, the value of E is 0. The values of w1 and w2 are both greater than 0 and less than 1, and w1 + w2 = 1; Step S2, according to the calculation result of the above step S1, determine that the fiber disassembly speed of the fiber disassembly working end needs to be adjusted starting from time t, V c(t+1) = V ct + αΔV t (2) In the above formula (2), V c(t+1) is the fiber disassembly speed that needs to be adjusted for the fiber disassembly working end starting from time t, and α is a preset fiber disassembly speed adjustment coefficient; Step S3, according to the calculation results of the above steps S1 and S2, determine the increment of the fiber storage speed of the fiber storage working end that needs to be adjusted starting from time t, ΔV s(t+1) = V c(t+1) − V st (3) In the above formula (3), ΔV s(t+1) is the increment of the fiber receiving speed of the fiber receiving working end that needs to be adjusted starting from time t, that is, from time t to time t + 1, the change in the fiber receiving speed of the fiber receiving working end is ΔV s(t+1) . If ΔV s(t+1) is greater than 0, it indicates that the fiber receiving speed of the fiber receiving working end needs to be increased, and the increase value is ︱ΔV s(t+1) ︱; if ΔV s(t+1) is less than 0, it indicates that the fiber receiving speed of the fiber receiving working end needs to be decreased, and the decrease value is ︱ΔV s(t+1) ︱; if ΔV s(t+1) is equal to 0, it indicates that the fiber receiving speed of the fiber receiving working end does not need to be changed.

8. The textile recycling method according to claim 7, wherein: If the fiber disassembly speed of the fiber disassembly working end and / or the fiber storage speed of the fiber storage working end are adjusted and the mismatch event occurs repeatedly after a preset time interval, perform a uniform fiber disassembly speed and fiber storage speed reduction operation on the fiber disassembly speed of the fiber disassembly working end and the fiber storage working end respectively until both the fiber disassembly speed and the fiber storage speed become zero.

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