Method and equipment for processing target object and storage medium

Abstract

The embodiment of the invention relates to a method and device for processing a target object and a storage medium. The method comprises the steps that first sampling data about multiple sampling moments of the target object and second sampling data about multiple sampling moments of a first motor and a second motor are acquired; determining a first real-time rolling diameter of the target object on the first roller and a second real-time rolling diameter of the target object on the second roller according to the first sampling data and the second sampling data; and according to the first real-time rolling diameter and the second real-time rolling diameter, the torque and / or the angular speed of the first motor and / or the second motor are / is adjusted, so that the tension stability and / or the linear speed stability of the target object are / is maintained. According to the technical scheme, the tension stability and / or the linear speed stability of the target object can be maintained, so that the spray dyeing effect is improved.

Description

Technical Field

[0001] The embodiments of this disclosure generally relate to the field of spray painting and printing technology, and more specifically to a method, apparatus and storage medium for processing a target object. Background Technology

[0002] Spray dyeing equipment is used to spray dye or coat target objects (such as fabrics, object surfaces, etc.). During the spray dyeing process, or after spray dyeing, during the steaming process of the target object, the target object needs to be transferred and wound between two rollers.

[0003] If the tension on the target object or the linear speed of the target object is unstable during the transmission process, it will affect the dyeing effect. Summary of the Invention

[0004] To address the aforementioned problems, this disclosure provides a method, apparatus, and storage medium for processing target objects, which can maintain the tension and / or linear velocity of the target objects to improve the dyeing effect.

[0005] According to a first aspect of this disclosure, a method for processing a target object is provided. The target object is configured to be released from a first roller and wound onto a second roller via a drive, the first roller being configured to be driven via a first motor and the second roller being configured to be driven via a second motor. The method includes: acquiring first sampling data about the target object at multiple sampling times and second sampling data about the first motor and the second motor at multiple sampling times; determining a first real-time winding diameter of the target object on the first roller and a second real-time winding diameter of the target object on the second roller based on the first sampling data and the second sampling data; and adjusting the torque and / or angular velocity of the first motor and / or the second motor based on the first real-time winding diameter and the second real-time winding diameter to maintain tension stability and / or linear velocity stability of the target object.

[0006] In some embodiments, the target object is a target object after spraying and dyeing, and the first roller and the second roller are disposed in the steaming unit. The method further includes controlling the steaming unit to steam the target object.

[0007] In some embodiments, the method further includes: controlling a spraying unit disposed at a spraying station to spray a target liquid onto a target object, wherein the spraying station is located at any of the following locations: the location corresponding to the first roller; the location corresponding to the second roller; and between the first roller and the second roller.

[0008] In some embodiments, the first sampling data includes the remaining number of turns of the target object on the first roller and the number of turns of the target object on the second roller; the second sampling data includes at least one of the following: a first rotation angle of the first motor and a second rotation angle of the second motor; and the torque of the first motor and the torque of the second motor.

[0009] In some embodiments, determining the first real-time roll diameter of the target object on the first roller and the second real-time roll diameter of the target object on the second roller based on the first sampling data and the second sampling data includes: determining the stretching coefficient and the thickness of the target object based on the first sampling data, the first rotation angle of the first motor and the second rotation angle of the second motor; determining the first real-time roll diameter based on the thickness of the target object and the real-time remaining number of turns of the target object on the first roller, and determining the second real-time roll diameter based on the thickness of the target object and the real-time number of turns of the target object on the second roller.

[0010] In some embodiments, determining the stretch coefficient and the thickness of the target object based on the first sampling data, the first rotation angle of the first motor, and the second rotation angle of the second motor includes: determining the stretch coefficient and the thickness based on the first sampling data, the first rotation angle of the first motor, the second rotation angle of the second motor, and the conservation relationship between the length of the target object released on the first roller and the length of the target object wound on the second roller.

[0011] In some embodiments, determining the stretch coefficient and the thickness includes: constructing a first linear equation system based on first sampling data, a first rotation angle of a first motor, and a second rotation angle of a second motor, and based on the relationship between the length of the target object released on the first roller and the remaining number of turns, the first rotation angle, and the thickness, and the relationship between the length of the target object wound on the second roller and the number of turns, the second rotation angle, the thickness, and the stretch coefficient; and solving the first linear equation system using the least squares method to determine the stretch coefficient and the thickness.

[0012] In some embodiments, determining the first real-time roll diameter of the target object on the first roller and the second real-time roll diameter of the target object on the second roller based on the first sampling data and the second sampling data includes: determining the frictional force and the thickness of the target object based on the first sampling data, the torque of the first motor and the torque of the second motor; determining the first real-time roll diameter based on the thickness of the target object and the real-time remaining number of turns of the target object on the first roller, and determining the second real-time roll diameter based on the thickness of the target object and the real-time number of turns of the target object on the second roller.

[0013] In some embodiments, determining the frictional force and the thickness of the target object based on the first sampling data, the torque of the first motor, and the torque of the second motor includes: determining the frictional force and the thickness based on the balance relationship between the first sampling data, the torque of the first motor, the torque of the second motor, the release tension of the first roller with respect to the target object, the winding tension of the second roller with respect to the target object, and the sum of the frictional force.

[0014] In some embodiments, determining the friction force and the thickness includes: constructing a second set of linear equations based on first sampling data and second sampling data, and based on the relationship between the release tension of the first roller with respect to the target object and the remaining number of turns, the thickness, and the relationship between the winding tension of the second roller with respect to the target object and the number of turns, the thickness, and the friction force; and solving the second set of linear equations using the least squares method to determine the friction force and the thickness.

[0015] According to a second aspect of the present disclosure, an apparatus for processing a target object is provided, the apparatus comprising: a first roller configured to be driven via a first motor; a second roller configured to be driven via a second motor, the target object being configured to be released from the first roller and wound onto the second roller by drive; and a control unit configured to perform the method according to the first aspect of the present disclosure.

[0016] In some embodiments, the device further includes a steaming unit, wherein the first roller and the second roller are disposed within the steaming unit.

[0017] According to a third aspect of this disclosure, an electronic device is provided. The electronic device includes: a processor; and a memory coupled to the processor, the memory having instructions stored therein, which, when executed by the processor, cause the electronic device to perform the method according to a first aspect of this disclosure.

[0018] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided that stores computer-executable instructions thereon, wherein the computer-executable instructions are executed by a processor to implement the method according to a first aspect of this disclosure.

[0019] According to the technical solution of this disclosure, based on first sampling data regarding the target object at multiple sampling times and second sampling data regarding the first and second motors at multiple sampling times, the first real-time roll diameter of the target object on the first roller and the second real-time roll diameter of the target object on the second roller can be determined. Based on the first and second real-time roll diameters, the torque and / or angular velocity of the first and / or second motors can be adjusted to maintain stable tension and / or linear velocity of the target object, thereby improving the dyeing effect. For example, it may not be necessary to additionally install a device for directly detecting the first and second real-time roll diameters.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0021] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements.

[0022] Figure 1 A schematic diagram of a portion of a device for processing a target object, according to an embodiment of the present disclosure, is shown.

[0023] Figure 2 A schematic diagram of a portion of a device for processing a target object, according to an embodiment of the present disclosure, is shown.

[0024] Figure 3 A schematic diagram of a portion of a device for processing a target object, according to an embodiment of the present disclosure, is shown.

[0025] Figure 4 A schematic table illustrating first and second sampling data from embodiments of this disclosure is shown.

[0026] Figure 5 A schematic table illustrating first and second sampling data from embodiments of this disclosure is shown.

[0027] Figure 6 A flowchart of a method for processing a target object according to an embodiment of the present disclosure is shown.

[0028] Figure 7 A schematic block diagram of an example electronic device is shown, illustrating a method for processing a target object that can be used to implement embodiments of the present disclosure. Detailed Implementation

[0029] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0030] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0031] As described earlier, unstable tension on the target object during transport can affect the dyeing effect. For example, during the steaming process of the dyeing process, the target object needs to be transported and wound between two rollers. Initially, the target object is wound on the source roller. As the target object is transported and wound between the two rollers, the diameter of the target object on the source roller gradually decreases, while the diameter on the target roller gradually increases. If the rotational speed of the source and target rollers is not properly controlled during this process, the tension on the target object from the source and target rollers will become unstable, affecting the dyeing effect.

[0032] Furthermore, after spraying the target liquid (such as dye, ink, etc.) onto the target object, the sprayed target object is placed in a steaming chamber for steaming and color development. During steaming, the target object is transferred back and forth between two rollers, with the output roller serving as the source roller and the input roller as the target roller. It should be understood that as the target object is transferred and wound between the two rollers, the roll diameter on the source roller gradually decreases, while the roll diameter on the target roller gradually increases. If the rotational speed of the source and target rollers is not properly controlled during this process, the tension on the target object from the source and target rollers will be unstable, affecting the dyeing (color development) effect. In particular, within the steaming chamber, due to the high temperature and high pressure environment during steaming, it is impossible to install a device to directly detect the linear velocity of the target object being transported, or a device to directly detect the real-time roll diameter of the target object on the source and target rollers. Therefore, controlling the tension of the target object is challenging.

[0033] To at least partially address one or more of the aforementioned problems and other potential issues, exemplary embodiments of this disclosure propose a scheme for processing a target object, wherein the target object is configured to be driven to be released from a first roller and wound on a second roller, the first roller being configured to be driven via a first motor and the second roller being configured to be driven via a second motor. The method includes: acquiring first sampling data about the target object at multiple sampling times and second sampling data about the first motor and the second motor at multiple sampling times; determining a first real-time winding diameter of the target object on the first roller and a second real-time winding diameter of the target object on the second roller based on the first sampling data and the second sampling data; and adjusting the torque and / or angular velocity of the first motor and / or the second motor based on the first real-time winding diameter and the second real-time winding diameter to maintain tension stability and / or linear velocity stability of the target object. According to the technical solution of this disclosure, based on first sampling data regarding the target object at multiple sampling times and second sampling data regarding the first and second motors at multiple sampling times, the first real-time roll diameter of the target object on the first roller and the second real-time roll diameter of the target object on the second roller can be determined. Based on the first and second real-time roll diameters, the torque and / or angular velocity of the first and / or second motors can be adjusted to maintain stable tension and / or linear velocity of the target object, thereby improving the dyeing effect. For example, it may not be necessary to additionally install a device for directly detecting the first and second real-time roll diameters.

[0034] The technical solutions of the embodiments of this disclosure will be described below with reference to the accompanying drawings.

[0035] Figure 1 A partial schematic diagram of an apparatus 100 for processing a target object, according to an embodiment of the present disclosure, is shown. The apparatus 100 includes, for example, a first roller 102, a second roller 104, and a control unit 106.

[0036] Figure 2 A schematic diagram of a portion of a device 100 for processing a target object, according to an embodiment of the present disclosure, is shown. In some embodiments, reference is made to... Figure 2 The equipment 100 also includes, for example, a printing unit 108, which is disposed at a spraying station. The spraying station is disposed, for example, between the first roller 102 and the second roller 104. Alternatively, the spraying station is disposed at a position corresponding to the first roller 102, for example, the spraying unit 108 is disposed above the first roller 102. Or, the spraying station is disposed at a position corresponding to the second roller 104, for example, the spraying unit 108 is disposed above the second roller 104. The printing unit 108 may, for example, adopt a cantilever mounting structure, be disposed at the spraying station, and achieve vertical lifting via a guide rail slider mechanism. The printing unit 108 is connected to a liquid supply system, which can uniformly spray liquid onto the surface of the target object 201.

[0037] Figure 3 FIG. shows a partial schematic view of a device 100 for processing a target object according to an embodiment of the present disclosure. In some embodiments, referring to Figure 3 , the device 100 further includes, for example, a steaming unit 110, and a first roller 102 and a second roller 104 are disposed inside the cavity defined by the steaming unit 110. The steaming unit 110 provides a sealed steaming environment, and the temperature control system supporting the steaming unit 110 can achieve temperature control of the rolling-steaming process.

[0038] In some embodiments, the printing unit 108 adopts, for example, a plug-and-play connection structure (quick interface), and supports flexible assembly of a single set of printing unit 108 with multiple steaming units 110, so as to achieve efficient reuse of the device.

[0039] The first roller 102 is configured to be driven by a first motor, and the second roller 104 is configured to be driven by a second motor. The target object 201 is configured to be driven to be transmitted between the first roller 102 and the second roller 104. When the target object 201 is transmitted from the first roller 102 to the second roller 104, the first roller 102 is the source roller, the corresponding first motor is the source motor, the second roller 104 is the target roller, and the corresponding second motor is the target motor. Similarly, when the target object 201 is transmitted from the second roller 104 to the first roller 102, the second roller 104 is the source roller, the corresponding second motor is the source motor, the first roller 102 is the target roller, and the corresponding first motor is the target motor. Among them, the first motor and the second motor are, for example, servo motors and have encoders.

[0040] It should be understood that as the source roller, it is configured to be driven by the source motor; as the target roller, it is configured to be driven by the target motor, and the target object 201 is configured to be driven to be released from the source roller and wound on the target roller.

[0041] In some embodiments, an expanding roller 103 is further disposed between the source roller and the target roller. The expanding roller 103 has, for example, a middle-convex curved surface structure (the middle of the roller diameter is larger than both ends), and the expanding roller 103 laterally expands the target object 201 to eliminate wrinkles and ensure smooth conveyance of the target object 201.

[0042] The control unit 106 is implemented based on, for example, a PLC (programmable controller), an MCU (microcontroller), etc.

[0043] During the process of performing a spraying operation using the Figure 2 shown device 100, for example, the first roller 102 is used as the source roller and the second roller 104 is used as the target roller. The control unit 106 controls the angular velocity of the source motor and the angular velocity of the target motor to control the rotational speeds of the source roller and the target roller, so as to maintain the stability of the linear velocity of the transmission of the target object.

[0044] For example, after the spraying operation is completed on the target object 201, the target object 201 can be transferred to the interior of the steaming device 110, utilizing... Figure 3 The device 100 shown is used to perform a steaming operation. Initially, the roller carrying the target object 201 is, for example, the first roller 102. For example, the end of the target object on the first roller 102 can be flattened by an expanding roller and then glued and fixed to the second roller 104. When the device 100 performs the steaming (steaming) operation, the control unit 106 controls the first motor corresponding to the first roller 102 and the second motor corresponding to the second roller 104 to drive the target object 201 back and forth between the first roller 102 and the second roller 104 and perform the steaming operation.

[0045] As the target object 201 is transferred from the first roller 102 to the second roller 104, the real-time roll diameter of the target object on the first roller 102 gradually decreases, while the real-time roll diameter on the second roller 104 gradually increases. When the size corresponding to the remaining target object 201 on the first roller 102 is smaller than a predetermined size, the control unit 106 controls the first motor and the second motor to stop, and then controls the first motor and the second motor to reverse, so that the target object 201 is transferred from the second roller 104 to the first roller 102. This process is repeated during the rolling process.

[0046] During the process of the target object being released from the source roller and wound on the target roller by the drive, the control unit 106 controls the torque of the source motor and the torque of the target motor based on the first sampling data of the target object 201 at multiple sampling times and the second sampling data of the source motor and the target motor at multiple sampling times to maintain the tension stability of the target object, and / or controls the angular velocity of the source motor and the target motor to maintain the linear velocity of the target object being transported to be stable.

[0047] For example, the control unit 106 acquires first sampling data about the target object at multiple sampling times and second sampling data about the source motor and the target motor at multiple sampling times. Based on the first sampling data and the second sampling data, it determines the first real-time roll diameter of the target object on the source roller and the second real-time roll diameter of the target object on the target roller. Based on the first real-time roll diameter, it adjusts the torque of the source motor and the torque of the target motor to maintain the tension stability of the target object, and / or adjusts the angular velocity of the source motor and the angular velocity of the target motor based on the first real-time roll diameter to maintain the linear velocity of the target object being transported to be stable.

[0048] The first sampling data includes, for example, the number of remaining turns of the target object on the source roller and the number of turns of the target object on the target roller. The second sampling data includes, for example, the first rotation angle of the source motor and the second rotation angle of the target motor.

[0049] The determination of the stretch coefficient and the thickness of the target object based on the first sampling data, the first rotation angle of the first motor and the second rotation angle of the second motor includes: determining the stretch coefficient and the thickness based on the first sampling data, the first rotation angle of the first motor and the second rotation angle of the second motor, and the conservation relationship between the length of the target object released on the first roller and the length of the target object wound on the second roller.

[0050] It is worth noting that during the transfer of the target object, the target object 201 is stretched due to tension. Therefore, during the transfer of the target object from the source roller to the target roller, there is a proportionality coefficient between the length of the target object wound on the target roller (e.g., called the "wrap length") and the length of the target object released from the source roller (e.g., called the "release length"). This proportionality coefficient is the stretching coefficient. When the tension is constant, there is a conservation relationship between the release length and the wrap length, which can be characterized by the following formula (1): k=Lj / Ls (1) Where k represents the stretching coefficient, Lj represents the winding length, and Ls represents the release length.

[0051] It is worth noting that the length of the target object 201 released on the source roller is related to the first angle of rotation of the source roller. And the real-time roll diameter of target object 201 on the source roll. There is a relationship between them, which can be represented by the following formula (2): (2) It is worth noting that the length of the target object wound on the target roller (wound length) is related to the second angle of rotation of the target roller. and the real-time roll diameter of target object 201 on target roller There is a relationship between them, which can be represented by, for example, the following formula (3): (3) It should be understood that the real-time roll diameter of target object 201 on the source roll The remaining number of revolutions of the target object 201 on the source roller (e.g., real-time remaining number of revolutions). The thickness h of the target object 201 and the diameter of the source roller (e.g., using...) There is a relationship between the representations, which is represented, for example, by the following formula (4): (4) Real-time roll diameter of target object 201 on target roll The number of turns of the target object 201 on the target roller (e.g., real-time number of turns). The thickness h of the target object 201 and the diameter of the target roller (e.g., using...) There is a relationship between the representations, which is represented, for example, by the following formula (5): (5) Therefore, according to the above formulas (1) to (5), the length (release length) Ls of the target object released on the source roller and the remaining number of revolutions can be used as a reference. First rotation angle The relationship between the thickness h of the target object 201 and the length (winding length) Lj of the target object wound on the target roller and the number of winding turns. Second rotation angle The relationship between the thickness h of the target object 201 and the tensile coefficient k is used to construct a conservation relationship between the length of the target object released from the source roller and the length of the target object wound on the target roller (e.g., the following formula (6)): (6) It should be understood that the above illustration is based on the example of the source roller and the target roller having equal roller diameters. Wherein, after the source roller and the target roller are set, for formula (6), the roller diameters of the source roller and the target roller are constants.

[0052] It is worth noting that, due to the spraying of the target liquid, the penetration of the target liquid into the target object 201, and the processes of evaporation and color development, the thickness of the target object 201 will change relative to its initial thickness when it was not sprayed with the target liquid, and this change has a certain dynamic range.

[0053] The control unit 106 acquires, for example, first sampling data about the target object 201 at multiple sampling times and second sampling data about the source motor and the target motor at multiple sampling times. The first sampling data includes, for example, the remaining number of turns of the target object on the source roller and the number of turns of the target object on the target roller. The second sampling data includes, for example, a first rotation angle of the source motor and a second rotation angle of the target motor.

[0054] Figure 4 A schematic table illustrating first and second sampling data from embodiments of this disclosure is shown. as well as The unit is, for example, rad (radians). It should be understood that... Figure 4 This is merely an illustration; multiple sampling times beyond t1, t2, t3, and t4 shown in the diagram can include more sampling times. For example, the first and second motors may be servo motors with encoders. The number of pulses detected by the encoders related to motor rotation can, for example, reflect the angle of motor rotation. The first rotation angle... and remaining laps For example, it is determined based on data about the rotation of the source motor detected by the encoder of the source motor. For example, the data about the rotation of the source motor detected by the encoder of the source motor can reflect the first rotation angle. Furthermore, the data on the rotation of the source motor detected by the encoder of the source motor can reflect the number of revolutions of the source roller. The difference between the initial number of revolutions of the target object 201 on the source roller and the number of revolutions of the source roller can reflect the remaining number of revolutions. Similarly, the second rotation angle and number of turns For example, it is determined based on data about the rotation of the target motor detected by the encoder of the target motor. For instance, the data about the rotation of the target motor detected by the encoder of the target motor can reflect the second rotation angle. In addition, the data on the target motor's rotation detected by the encoder can reflect the number of revolutions the target roller has made, and this number of revolutions reflects the number of winding turns. .

[0055] Control unit 106, for example, based on the first sampling data and the second sampling data, considers the length Ls of the target object released from the source roller and the remaining number of revolutions. First rotation angle The relationship between the thickness h of the target object 201 and the length Lj of the target object wound on the target roller and the number of winding turns. Second rotation angle The relationship between the thickness h of the target object 201 and the tensile coefficient k is used to construct the first linear equation system. The constructed first linear equation system is shown in the following equation system (7): (7) in, , ... For the second rotation angle corresponding to multiple sampling times The sampled values, , ... For the number of winding turns corresponding to multiple sampling times The sampled values, , ... For the first rotation angle corresponding to multiple sampling times The sampled values, , ... For the remaining number of cycles corresponding to multiple sampling times The sampled values.

[0056] The control unit 106 solves the first set of linear equations (e.g., equation (7)) based on the least squares method to determine the tensile coefficient k and the thickness h.

[0057] For example, the control unit 106 transforms the first system of linear equations (e.g., equation (7)) into the following formula (8) based on the least squares method: (8) This transforms the nonlinear problem into a linear least squares problem. The stretching coefficient k and the thickness h are the unknowns.

[0058] Solving formula (8) yields the tensile coefficient k and thickness h. It should be understood that the obtained tensile coefficient k and thickness h are based on the first and second sampling data (historical data) corresponding to multiple sampling times. The obtained tensile coefficient k and thickness h can reflect the overall situation of the tensile coefficient k and thickness h of the target object 201 in the historical stage corresponding to multiple sampling times, and can be used as the basis for controlling the source motor and the target motor.

[0059] by Figure 4 Taking the first and second sampling data as examples, the tensile coefficient k corresponding to the target object 201 is, for example, 1.024, and the thickness h of the target object 201 is, for example, 0.52 mm. Therefore, the control unit 106 can determine the real-time roll diameter of the target object 201 on the source roller. The remaining number of revolutions of the target object 201 on the source roller (e.g., real-time remaining number of revolutions). The relationship between the thickness h of the target object 201 (and the diameter of the source roller) (e.g., formula (4)) is used to determine the real-time roll diameter of the target object 201 on the source roller. (e.g., the first real-time roll diameter), and the real-time roll diameter of the target object 201 on the target roller. The number of turns of the target object 201 on the target roller (e.g., real-time number of turns). The relationship between the thickness h of the target object 201 (and the diameter of the target roller) (e.g., formula (5)) is used to determine the real-time roll diameter of the target object 201 on the target roller. (For example, the second real-time roll diameter). With Figure 4 Taking the first and second sampled data as examples, the obtained first real-time roll diameter is, for example, 32.6 cm, and the second real-time roll diameter is, for example, 21.4 cm.

[0060] Then, the control unit 106 adjusts the torque of the source motor according to the first real-time roll diameter and the torque of the target motor according to the second real-time roll diameter to maintain the tension stability of the target object 201. The control unit 106 automatically adjusts the motor torque according to the real-time roll diameter, for example, based on the lever principle. This stabilizes the tension on the target object 201, eliminating tension fluctuations caused by changes in roll diameter. For example, the tension fluctuations on the target object 201 can be controlled within ±1% of the target tension. This ensures uniform dyeing of the entire roll of target object 201 and that the color difference is less than a predetermined range.

[0061] Additionally, the second sampling data may include, for example, the torque of the source motor and the torque of the target motor. The control unit 106 can also determine the frictional force relative to the target object based on the first and second sampling data. and the thickness h of the target object 201; the control unit 106 determines the thickness h of the target object 201 and the real-time remaining number of revolutions of the target object on the source roller. Determine the first real-time roll diameter ( ), and based on the thickness h of the target object 201 and the real-time number of turns of the target object 201 on the target roller. Determine the second real-time roll diameter ( ), so as to determine the first real-time roll diameter ( Adjust the angular velocity of the source motor and according to the determined second real-time roll diameter ( Adjust the angular velocity of the target motor.

[0062] For example, the control unit 106 determines the friction force based on the first sampling data, the second sampling data, and the balance between the release tension of the source roller with respect to the target object and the sum of the winding tension of the target roller with respect to the target object and the friction force. And thickness h.

[0063] It is worth noting that the release tension of the source roller with respect to the target object is characterized, for example, as... ,in, Characterizing the release torque of the source motor, Characterizing the first real-time roll diameter of target object 201 on the source roll Half of. The winding tension of the target roller with respect to the target object is, for example, characterized as... ,in, Characterizing the winding torque of the target motor, Characterizing the second real-time roll diameter of target object 201 on the target roll Half of it. The balance between the release tension of the source roller with respect to the target object and the sum of the winding tension and friction of the target roller with respect to the target object can be characterized, for example, by referring to the following formula (9): (9) Formula (9) can be transformed into the following formula (10): (10) Formula (10) can be transformed into the following formula (11): (11) It should be understood that formula (11) reflects the release tension of the source roller with respect to the target object and the number of remaining revolutions. The relationship between thickness and h, and the winding tension and number of turns of the target roller with respect to the target object. Thickness h and friction The relationships between them.

[0064] Figure 5 A schematic table illustrating first and second sampling data from embodiments of this disclosure is shown. as well as The unit is, for example, N•m (Newton-meter). For example, the first and second motors are servo motors, which can feedback their corresponding torque. The release torque of the source motor... For example, the torque fed back from the source motor, and the winding torque of the target motor. For example, the torque fed back by the target motor.

[0065] Based on the first and second sampled data, and considering the relationship between the release tension of the source roller with respect to the target object and the remaining number of turns and thickness, as well as the relationship between the winding tension of the target roller with respect to the target object and the number of winding turns, thickness, and friction, the control unit 106 constructs a second set of linear equations. The constructed second set of linear equations is shown, for example, in the following set of equations (12): (12) in, , ... To provide the release torque of the source motor corresponding to multiple sampling times. The sampled values, , ... For the remaining number of cycles corresponding to multiple sampling times The sampled values, , ... The winding torque of the target motor corresponding to multiple sampling times. The sampled values, , ... For the number of winding turns corresponding to multiple sampling times The sampled values.

[0066] Control unit 106 solves the second set of linear equations (e.g., equation (12)) using the least squares method to determine the frictional force. And thickness h.

[0067] For example, the control unit 106 transforms the second system of linear equations (e.g., system of equations (12)) into the following formula (13) based on the least squares method: (13) This transforms the nonlinear problem into a linear least squares problem. Among these, friction... And the thickness h is an unknown quantity.

[0068] Solving for formula (13) yields the frictional force. And thickness h. For example, the Levenberg-Marquardt method can be used to solve equation (13). The Levenberg-Marquardt method is an estimation method for least squares estimation of regression parameters in nonlinear regression. It should be understood that the obtained friction force The thickness h is obtained based on the first and second sampling data (historical data) corresponding to multiple sampling times, and the obtained friction force And the thickness h can reflect the frictional force corresponding to the target object 201 in the historical stages corresponding to multiple sampling times. The overall condition of the thickness h can serve as a basis for controlling the source motor and the target motor.

[0069] by Figure 5 Taking the first and second sampled data as examples, the frictional force corresponding to the target object 201 obtained is... For example, the thickness h of the target object 201 is 0.51 mm, and the value is 15.2 N. Therefore, the control unit 106 can adjust the real-time roll diameter of the target object 201 on the source roller. The remaining number of revolutions of the target object 201 on the source roller (e.g., real-time remaining number of revolutions). The relationship between the thickness h of the target object 201 (and the diameter of the source roller) (e.g., formula (4)) is used to determine the real-time roll diameter of the target object 201 on the source roller. (e.g., the first real-time roll diameter), and the real-time roll diameter of the target object 201 on the target roller. The number of turns of the target object 201 on the target roller (e.g., real-time number of turns). The relationship between the thickness h of the target object 201 (and the diameter of the target roller) (e.g., formula (5)) is used to determine the real-time roll diameter of the target object 201 on the target roller. (For example, the second real-time roll diameter). With Figure 5 Taking the first and second sampled data as examples, the first real-time roll diameter is, for example, 32.8 cm, and the second real-time roll diameter is, for example, 21.2 cm.

[0070] Then, the control unit 106 adjusts the angular velocity of the source motor according to the first real-time roll diameter and the angular velocity of the target motor according to the second real-time roll diameter to maintain a stable linear velocity of the target object being transported. For example, the linear velocity error can be kept within ±0.5 m / min. For example, it can ensure the uniformity of dyeing of the entire roll of target object 201 and that the color difference is less than a predetermined range.

[0071] In some embodiments, during the process of the target object 201 being transferred from the source roller to the target roller, the control unit 106 controls the spraying unit 108 disposed between the source roller and the target roller to spray the target liquid onto the target object 201.

[0072] In some embodiments, the target object is the target object after spraying and dyeing. The first roller 102 and the second roller 104 are disposed in the steaming unit 110. During the process of the target object 201 being transferred from the source roller to the target roller, the control unit 106 controls the steaming unit 110 to steam the target object 201.

[0073] It is worth noting that, based on the first sampling data of the target object at multiple sampling times and the second sampling data of the first motor and the second motor at multiple sampling times, the first real-time roll diameter of the target object on the first roller and the second real-time roll diameter of the target object on the second roller can be determined. Based on the first real-time roll diameter and the second real-time roll diameter, the torque and / or angular velocity of the first motor and / or the second motor can be adjusted to maintain the tension stability and / or linear velocity stability of the target object, so as to improve the dyeing effect.

[0074] It is worth noting that the first and second data are obtained based on the data fed back by the source motor and the target motor (e.g., the first motor and the second motor). Therefore, it is not necessary to set up an additional device for directly detecting the first real-time roll diameter and the second real-time roll diameter.

[0075] Figure 6A flowchart of a method 500 for processing a target object according to an embodiment of the present disclosure is shown. It should be understood that method 500 may also include other steps. Method 500 may be executed, for example, at control unit 106 or at electronic device 600.

[0076] At step 502, first sampling data about the target object at multiple sampling times and second sampling data about the first motor and the second motor at multiple sampling times are obtained.

[0077] At step 504, the first real-time roll diameter of the target object on the first roller and the second real-time roll diameter of the target object on the second roller are determined based on the first sampling data and the second sampling data.

[0078] At step 506, the torque and / or angular velocity of the first motor and / or the second motor are adjusted according to the first real-time roll diameter and the second real-time roll diameter to maintain the tension stability and / or linear velocity stability of the target object.

[0079] The first sampling data includes, for example, the remaining number of turns of the target object on the source roller and the number of turns of the target object on the target roller. The second sampling data includes, for example, a first rotation angle of the source motor and a second rotation angle of the target motor. The first and second data are obtained based on data fed back by the source motor and the target motor (e.g., the first motor and the second motor). Specifically, at step 502, the control unit 106 obtains data fed back by the source motor and the target motor, for example, to obtain the first and second data. For example, at step 502, the control unit 106 obtains, for example, first sampling data regarding the target object 201 at multiple sampling times and second sampling data regarding the source motor and the target motor at multiple sampling times. The first sampling data includes, for example, the remaining number of turns of the target object on the source roller and the number of turns of the target object on the target roller. The second sampling data includes, for example, the first rotation angle of the source motor and the second rotation angle of the target motor.

[0080] In step 504, the control unit 106 determines the stretch coefficient and thickness of the target object based on the first sampling data and the second sampling data by: determining the stretch coefficient and thickness of the target object based on the first sampling data, the second sampling data, and the conservation relationship between the length of the target object released from the source roller and the length of the target object wound on the target roller.

[0081] It is worth noting that during the transmission of the target object, the target object 201 is stretched due to tension. Therefore, during the transmission of the target object from the source roller to the target roller, there is a proportionality coefficient between the length of the target object wound on the target roller (e.g., called the "wrap length") and the length of the target object released from the source roller (e.g., called the "release length"). This proportionality coefficient is the stretching coefficient. When the tension is constant, there is a conservation relationship between the release length and the wrap length, which can be characterized by, for example, formula (1).

[0082] Figure 4 A schematic table illustrating first and second sampling data from embodiments of this disclosure is shown. as well as The unit is, for example, rad (radians). It should be understood that... Figure 4 This is merely an illustration; multiple sampling times beyond t1, t2, t3, and t4 shown in the diagram can include more sampling times. For example, the first and second motors may be servo motors with encoders. The number of pulses detected by the encoders related to motor rotation can, for example, reflect the angle of motor rotation. The first rotation angle... and remaining laps For example, it is determined based on data about the rotation of the source motor detected by the encoder of the source motor. For example, the data about the rotation of the source motor detected by the encoder of the source motor can reflect the first rotation angle. Furthermore, the data on the rotation of the source motor detected by the encoder of the source motor can reflect the number of revolutions of the source roller. The difference between the initial number of revolutions of the target object 201 on the source roller and the number of revolutions of the source roller can reflect the remaining number of revolutions. Similarly, the second rotation angle and number of turns For example, it is determined based on data about the rotation of the target motor detected by the encoder of the target motor. For instance, the data about the rotation of the target motor detected by the encoder of the target motor can reflect the second rotation angle. In addition, the data on the target motor's rotation detected by the encoder can reflect the number of revolutions the target roller has made, and this number of revolutions reflects the number of winding turns. .

[0083] Control unit 106, for example, based on the first sampling data and the second sampling data, considers the length Ls of the target object released from the source roller and the remaining number of revolutions. First rotation angle The relationship between the thickness h of the target object 201 and the length Lj of the target object wound on the target roller and the number of winding turns. Second rotation angle The relationship between the thickness h of the target object 201 and the tensile coefficient k is used to construct the first linear equation system. The constructed first linear equation system is shown in the following equation system (7).

[0084] The control unit 106 solves the first set of linear equations (e.g., equation (7)) based on the least squares method to determine the tensile coefficient k and the thickness h.

[0085] by Figure 4 Taking the first and second sampling data as examples, the tensile coefficient k corresponding to the target object 201 is, for example, 1.024, and the thickness h of the target object 201 is, for example, 0.52 mm. Therefore, the control unit 106 can determine the real-time roll diameter of the target object 201 on the source roller. The remaining number of revolutions of the target object 201 on the source roller (e.g., real-time remaining number of revolutions). The relationship between the thickness h of the target object 201 (and the diameter of the source roller) (e.g., formula (4)) is used to determine the real-time roll diameter of the target object 201 on the source roller. (e.g., the first real-time roll diameter), and the real-time roll diameter of the target object 201 on the target roller. The number of turns of the target object 201 on the target roller (e.g., real-time number of turns). The relationship between the thickness h of the target object 201 (and the diameter of the target roller) (e.g., formula (5)) is used to determine the real-time roll diameter of the target object 201 on the target roller. (For example, the second real-time roll diameter). With Figure 4 Taking the first and second sampled data as examples, the obtained first real-time roll diameter is, for example, 32.6 cm, and the second real-time roll diameter is, for example, 21.4 cm.

[0086] At step 506, the control unit 106 adjusts the torque of the source motor according to the first real-time roll diameter and the torque of the target motor according to the second real-time roll diameter to maintain the tension stability of the target object 201. The control unit 106 automatically adjusts the motor torque according to the real-time roll diameter, for example, based on the lever principle. This stabilizes the tension on the target object 201, eliminating the problem of tension fluctuations on the target object 201 caused by changes in roll diameter.

[0087] In some embodiments, the second sampling data may include, for example, the torque of the source motor and the torque of the target motor. The control unit 106 may also determine the frictional force with respect to the target object based on the first and second sampling data. and the thickness h of the target object 201; the control unit 106 determines the thickness h of the target object 201 and the real-time remaining number of revolutions of the target object on the source roller. Determine the first real-time roll diameter ( ), and based on the thickness h of the target object 201 and the real-time number of turns of the target object 201 on the target roller. Determine the second real-time roll diameter ( ), so as to determine the first real-time roll diameter ( Adjust the angular velocity of the source motor and according to the determined second real-time roll diameter ( Adjust the angular velocity of the target motor.

[0088] For example, the control unit 106 determines the friction force based on the first sampling data, the second sampling data, and the balance between the release tension of the source roller with respect to the target object and the sum of the winding tension of the target roller with respect to the target object and the friction force. And thickness h.

[0089] It is worth noting that the release tension of the source roller with respect to the target object is characterized, for example, as... ,in, Characterizing the release torque of the source motor, Characterizing the first real-time roll diameter of target object 201 on the source roll Half of. The winding tension of the target roller with respect to the target object is, for example, characterized as... ,in, Characterizing the winding torque of the target motor, Characterizing the second real-time roll diameter of target object 201 on the target roll Half of it. The balance between the release tension of the source roller with respect to the target object and the sum of the winding tension and friction of the target roller with respect to the target object can be characterized, for example, by referring to formula (9).

[0090] Figure 5 A schematic table illustrating first and second sampling data from embodiments of this disclosure is shown. as well as The unit is, for example, N•m (Newton-meter). For example, the first and second motors are servo motors, which can feedback their corresponding torque. The release torque of the source motor... For example, the torque fed back from the source motor, and the winding torque of the target motor. For example, the torque fed back by the target motor.

[0091] Based on the first and second sampling data, and considering the relationship between the release tension of the source roller with respect to the target object and the remaining number of turns and thickness, as well as the relationship between the winding tension of the target roller with respect to the target object and the number of winding turns, thickness, and friction, the control unit 106 constructs a second set of linear equations. The constructed second set of linear equations is shown, for example, with reference to equation (12).

[0092] Control unit 106 solves the second set of linear equations (e.g., equation (12)) using the least squares method to determine the frictional force. And thickness h.

[0093] The control unit 106 solves for formula (13) to obtain the frictional force. And thickness h. For example, the Levenberg-Marquardt method can be used to solve equation (13). The Levenberg-Marquardt method is an estimation method for least squares estimation of regression parameters in nonlinear regression. It should be understood that the obtained friction force The thickness h is obtained based on the first and second sampling data (historical data) corresponding to multiple sampling times, and the obtained friction force And the thickness h can reflect the frictional force corresponding to the target object 201 in the historical stages corresponding to multiple sampling times. The overall condition of the thickness h can serve as a basis for controlling the source motor and the target motor.

[0094] by Figure 5 Taking the first and second sampled data as examples, the frictional force corresponding to the target object 201 obtained is... For example, the thickness h of the target object 201 is 0.51 mm, and the value is 15.2 N. Therefore, the control unit 106 can adjust the real-time roll diameter of the target object 201 on the source roller. The remaining number of revolutions of the target object 201 on the source roller (e.g., real-time remaining number of revolutions). The relationship between the thickness h of the target object 201 (and the diameter of the source roller) (e.g., formula (4)) is used to determine the real-time roll diameter of the target object 201 on the source roller. (e.g., the first real-time roll diameter), and the real-time roll diameter of the target object 201 on the target roller. The number of turns of the target object 201 on the target roller (e.g., real-time number of turns). The relationship between the thickness h of the target object 201 (and the diameter of the target roller) (e.g., formula (5)) is used to determine the real-time roll diameter of the target object 201 on the target roller. (For example, the second real-time roll diameter). With Figure 5Taking the first and second sampled data as examples, the first real-time roll diameter is, for example, 32.8 cm, and the second real-time roll diameter is, for example, 21.2 cm.

[0095] At step 506, the control unit 106 adjusts the angular velocity of the source motor according to the first real-time roll diameter and the angular velocity of the target motor according to the second real-time roll diameter to maintain a stable linear velocity of the target object being transported.

[0096] In some embodiments, during the process of the target object 201 being transferred from the source roller to the target roller, the control unit 106 controls the spraying unit 108 disposed between the source roller and the target roller to spray the target liquid onto the target object 201.

[0097] In some embodiments, the target object is the target object after spraying and dyeing. The first roller 102 and the second roller 104 are disposed in the steaming unit 110. During the process of the target object 201 being transferred from the source roller to the target roller, the control unit 106 controls the steaming unit 110 to steam the target object 201.

[0098] It is worth noting that, based on the first sampling data of the target object at multiple sampling times and the second sampling data of the first motor and the second motor at multiple sampling times, the first real-time roll diameter of the target object on the first roller and the second real-time roll diameter of the target object on the second roller can be determined. Based on the first real-time roll diameter and the second real-time roll diameter, the torque and / or angular velocity of the first motor and / or the second motor can be adjusted to maintain the tension stability and / or linear velocity stability of the target object, so as to improve the dyeing effect.

[0099] It is worth noting that the first and second data are obtained based on the data fed back by the source motor and the target motor (e.g., the first motor and the second motor). Therefore, it is not necessary to set up an additional device for directly detecting the first real-time roll diameter and the second real-time roll diameter.

[0100] in, Figure 7A schematic block diagram of an example electronic device 600 for processing a target object, which can be used to implement embodiments of the present disclosure, is shown. As shown, the electronic device 600 includes a central processing unit (i.e., CPU 601), which can perform various appropriate actions and processes according to computer program instructions stored in read-only memory (i.e., ROM 602) or loaded from storage unit 608 into random access memory (i.e., RAM 603). Various programs and data required for the operation of the electronic device 600 may also be stored in RAM 603. The CPU 601, ROM 602, and RAM 603 are interconnected via bus 604. Input / output interfaces (i.e., I / O interfaces 605) are also connected to bus 604.

[0101] Multiple components in electronic device 600 are connected to I / O interface 605, including: input unit 606, such as keyboard, mouse, microphone, etc.; output unit 607, such as various types of displays, speakers, etc.; storage unit 608, such as disk, optical disk, etc.; and communication unit 609, such as network card, modem, wireless transceiver, etc. Communication unit 609 allows electronic device 600 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0102] The various processes and procedures described above, such as method 500, can be executed by CPU 601. For example, in some embodiments, method 500 can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by CPU 601, one or more actions of method 500 described above can be performed.

[0103] This disclosure relates to methods, apparatus, systems, electronic devices, computer-readable storage media, and / or computer program products. A computer program product may include computer-readable program instructions for performing various aspects of this disclosure.

[0104] In some embodiments, the method 500 described above can be implemented as a computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of this disclosure.

[0105] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0106] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge computing devices. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to computer-readable storage media within the respective computing / processing device.

[0107] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0108] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0109] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0110] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0111] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0112] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

[0113] The above are merely optional embodiments of this disclosure and are not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for handling a target object, the target object being configured to be driven to be released from a first roller and to be wound on a second roller, the first roller being configured to be driven via a first motor, the second roller being configured to be driven via a second motor, characterized in that, The method comprises: acquiring first sampling data about a plurality of sampling moments of a target object and second sampling data about a plurality of sampling moments of a first motor and a second motor; determining a first real-time winding diameter of the target object on a first roller and a second real-time winding diameter of the target object on a second roller according to the first sampling data and the second sampling data; and adjusting a torque and / or an angular velocity of the first motor and / or the second motor according to the first real-time winding diameter and the second real-time winding diameter to maintain a tension stability and / or a linear velocity stability of the target object.

2. The method of claim 1, wherein, The target object is a target object after spraying and dyeing, and the first roller and the second roller are arranged in a steaming unit, and the method further comprises: controlling the steaming unit to steam the target object.

3. The method of claim 1, wherein, Further comprising: controlling a spraying unit arranged at a spraying station to spray a target liquid on the target object, and the spraying station is located at any one of the following positions: a position corresponding to the first roller; a position corresponding to the second roller; and a position between the first roller and the second roller.

4. The method of claim 1, wherein, The first sampling data comprises a remaining number of turns of the target object on the first roller and a winding number of turns of the target object on the second roller; The second sampling data comprises at least one of the following: a first rotation angle of the first motor and a second rotation angle of the second motor; and a torque of the first motor and a torque of the second motor. The determination of the first real-time winding diameter of the target object on the first roller and the second real-time winding diameter of the target object on the second roller according to the first sampling data and the second sampling data comprises:

5. The method of claim 4, wherein, determining a stretching coefficient of the target object and a thickness of the target object according to the first sampling data, the first rotation angle of the first motor and the second rotation angle of the second motor; and determining the first real-time winding diameter according to the thickness of the target object and the real-time remaining number of turns of the target object on the first roller, and determining the second real-time winding diameter according to the thickness of the target object and the real-time winding number of turns of the target object on the second roller. The determination of the stretching coefficient of the target object and the thickness of the target object according to the first sampling data, the first rotation angle of the first motor and the second rotation angle of the second motor comprises:

6. The method of claim 5, wherein, determining the stretching coefficient and the thickness according to the first sampling data, the first rotation angle of the first motor and the second rotation angle of the second motor, and a conservation relationship between a length of the target object released on the first roller and a length of the target object wound on the second roller. The determination of the stretching coefficient and the thickness comprises:

7. The method of claim 6, wherein, constructing a first linear equation set based on the first sampling data, the first rotation angle of the first motor and the second rotation angle of the second motor, an association relationship between the length of the target object released on the first roller and the remaining number of turns, the first rotation angle, the thickness, and an association relationship between the length of the target object wound on the second roller and the winding number of turns, the second rotation angle, the thickness and the stretching coefficient; and solving the first linear equation set based on a least square method to determine the stretching coefficient and the thickness. The determination of the first real-time winding diameter of the target object on the first roller and the second real-time winding diameter of the target object on the second roller according to the first sampling data and the second sampling data comprises:

8. The method of claim 7, wherein, ​ determine the friction force and the thickness of the target object according to the first sampling data, the torque of the first motor, and the torque of the second motor; and determine the first real-time winding diameter according to the thickness of the target object and the real-time remaining winding turns of the target object on the first roller, and determine the second real-time winding diameter according to the thickness of the target object and the real-time winding turns of the target object on the second roller.

9. The method of claim 8, wherein, determine the friction force and the thickness of the target object according to the first sampling data, the torque of the first motor, and the torque of the second motor includes: determine the friction force and the thickness of the target object according to the first sampling data, the torque of the first motor, and the torque of the second motor, and a balance relationship between the release tension of the first roller on the target object and the sum of the friction force and the winding tension of the second roller on the target object.

10. The method of claim 9, wherein, determine the friction force and the thickness of the target object includes: construct a second linear equation set according to the first sampling data, the second sampling data, and based on a correlation relationship between the release tension of the first roller on the target object and the remaining winding turns and the thickness, and a correlation relationship between the winding tension of the second roller on the target object and the winding turns, the thickness, and the friction force; solve the second linear equation set based on a least square method to determine the friction force and the thickness.

11. An apparatus for processing a target object, characterized by, comprise: a first roller configured to be driven via a first motor; a second roller configured to be driven via a second motor, and the target object is configured to be driven to be released from the first roller and wound on the second roller; and a control unit configured to perform the method according to any one of claims 1 to 10.

12. The apparatus of claim 11, wherein, further comprise: a steaming unit, and the first roller and the second roller are arranged in the steaming unit.

13. An electronic device, comprising: comprise: a processor; and a memory coupled with the processor, the memory having stored therein instructions which, when executed by the processor, cause the electronic device to perform the method according to any one of claims 1 to 10.

14. A computer-readable storage medium, characterized in that, having computer-executable instructions stored thereon, wherein the computer-executable instructions are executed by a processor to implement the method according to any one of claims 1 to 10.

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