Self-adaptive rolling control method and system for drip irrigation tape

Abstract

The application discloses a drip irrigation belt adaptive winding control method and system, and belongs to the technical field of drip irrigation belt processing. The method comprises the following steps: collecting the running state of the drip irrigation belt winding system in real time, extracting the state characteristics and determining the running state category, performing associated calculation on the preset winding control parameters according to the state classification result, generating a matched adaptive winding parameter set, combining the multi-source sensor data of the drip irrigation belt surface features, performing consistency checking and correction on the adaptive winding parameter set, forming an optimized winding parameter set, controlling winding execution according to the optimized winding parameter set, continuously acquiring action execution state data in the winding process, performing closed-loop compensation adjustment according to the deviation from the preset target state, and completing winding. Through real-time monitoring, dynamic parameter adjustment and closed-loop compensation, high-precision tension control, winding drum arrangement optimization and automatic defect correction of the drip irrigation belt winding process are realized, and the winding stability and production efficiency are improved.

Description

Technical Field

[0001] This application belongs to the field of drip irrigation tape processing technology, specifically relating to an adaptive winding control method and system for drip irrigation tape. Background Technology

[0002] In the production of agricultural drip irrigation tape, the winding process directly affects product quality and production efficiency. Because drip irrigation tape is made of soft, uneven material, and needs to adapt to different specifications and dynamic tension changes during winding, traditional control methods struggle to match complex working conditions in real time. This leads to problems such as inconsistent winding tightness and interlayer misalignment, becoming a key bottleneck restricting automated production. Therefore, there is an urgent need for a technology that can dynamically sense the operating status and adaptively adjust control parameters to achieve stability and accuracy in the winding process.

[0003] Existing technologies typically employ open-loop control or fixed parameter adjustment modes, first preset initial winding tension and speed parameters; monitor basic operating data through a single sensor; statically correct the parameters based on empirical formulas or segmented thresholds; and finally output the corrected parameters to the actuator to complete winding.

[0004] Existing technologies rely on fixed rules and a single data source, which cannot dynamically capture the characteristics of complex working conditions, resulting in poor parameter adaptability. Furthermore, the parameter verification and optimization processes are disconnected, and a closed-loop feedback mechanism is not formed, making it easy to deviate from the target state due to accumulated errors. At the same time, compensation for action deviations relies solely on post-event corrections, making it difficult to correct deviations in real time. Summary of the Invention

[0005] To overcome the above-mentioned shortcomings, this invention is proposed to provide solutions or at least partially solve the technical problems of existing technologies that rely on fixed rules and a single data source, are unable to dynamically capture complex working conditions, resulting in poor parameter adaptability, and have a disconnect between parameter verification and optimization processes without forming a closed-loop feedback mechanism, making them prone to deviating from the target state due to accumulated errors. At the same time, compensation for action deviations relies solely on post-event corrections, making it difficult to correct deviations in real time.

[0006] In a first aspect, the present invention provides an adaptive winding control method for drip irrigation tape, the method comprising:

[0007] The system acquires the current operating status data of the drip irrigation tape winding system, extracts state feature parameters to characterize the operating status of the drip irrigation tape based on the current operating status data, and performs state determination based on the state feature parameters and preset state determination rules to obtain the state classification result of the drip irrigation tape operating status.

[0008] Based on the state classification results and the current operating state data, the preset winding control parameter set is correlated and calculated to obtain an adaptive winding parameter set that matches the state classification results.

[0009] Acquire multi-source sensor data on the surface features of drip irrigation tape, and perform consistency verification and correction on the adaptive winding parameter set based on the multi-source sensor data to obtain an optimized winding parameter set;

[0010] The drip irrigation tape winding system is controlled to perform the winding action based on the optimized winding parameter set. During the winding process, the first action execution status data of the drip irrigation tape winding system is continuously acquired. Based on the first action execution status data and the first preset target status, the first action execution deviation of the drip irrigation tape winding system is compensated in a closed loop until the winding action is completed and the first preset target status is reached.

[0011] In a second aspect, the present invention provides an adaptive winding control system for drip irrigation tape, the system comprising:

[0012] The status determination module is used to acquire the current operating status data of the drip irrigation tape winding system, extract status feature parameters to characterize the operating status of the drip irrigation tape based on the current operating status data, and perform status determination based on the status feature parameters and preset status determination rules to obtain the status classification result of the drip irrigation tape operating status.

[0013] The association calculation module is used to perform association calculation on the preset winding control parameter set based on the state classification result and the current running state data, so as to obtain an adaptive winding parameter set that matches the state classification result.

[0014] The consistency optimization module is used to acquire multi-source sensor data on the surface characteristics of the drip irrigation tape, and to perform consistency verification and correction on the adaptive winding parameter set based on the multi-source sensor data to obtain an optimized winding parameter set.

[0015] The winding control module is used to control the drip irrigation tape winding system to perform the winding action based on the optimized winding parameter set. During the winding process, it continuously acquires the first action execution status data of the drip irrigation tape winding system, and performs closed-loop compensation for the first action execution deviation of the drip irrigation tape winding system based on the first action execution status data and the first preset target state, until the winding action is completed and the first preset target state is reached.

[0016] In a third aspect, an electronic device is provided, comprising a processor, a memory, and a program or instructions stored in the memory and executable on the processor, the program or instructions being loaded and run by the processor to perform the steps of the aforementioned adaptive winding control method for drip irrigation tape.

[0017] In a fourth aspect, a computer-readable storage medium is provided, wherein a plurality of program codes are stored therein, the program codes being adapted to be loaded and run by a processor to perform the steps of the above-described adaptive winding control method for drip irrigation tape.

[0018] The above-described technical solutions of the present invention have at least one or more of the following beneficial effects:

[0019] In implementing the technical solution of this invention, high-precision tension control, roll arrangement optimization, and automatic defect correction are achieved in the drip irrigation tape winding process through real-time monitoring, dynamic parameter adjustment, and closed-loop compensation, thereby improving winding stability, finished product quality, and production efficiency. Attached Figure Description

[0020] The disclosure of this invention will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. Furthermore, similar numbers in the drawings are used to denote similar components, wherein:

[0021] Figure 1 This is a schematic diagram of the first main steps of an adaptive winding control method for drip irrigation tape according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic flowchart of the second main step of an adaptive winding control method for drip irrigation tape according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the main structure of an adaptive winding control system for drip irrigation tape according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0025] Some embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0026] In the description of this invention, "module" and "processor" can include hardware, software, or a combination of both. A module can include hardware circuitry, various suitable sensors, communication ports, memory, and may also include software components, such as program code, or a combination of software and hardware. A processor can be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and / or signal processing capabilities. The processor can be implemented in software, in hardware, or a combination of both. Non-transitory computer-readable storage media include any suitable medium capable of storing program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The terms "at least one A or B" or "at least one of A and B" have a similar meaning to "A and / or B" and can include only A, only B, or A and B. The singular terms "a" or "this" can also include plural forms.

[0027] See appendix Figure 1 , Figure 1 This is a schematic flowchart of the first main steps of an adaptive winding control method for drip irrigation tape according to an embodiment of the present invention. Figure 1 As shown, an adaptive winding control method for drip irrigation tape in an embodiment of the present invention mainly includes the following steps S101-S104.

[0028] Step S101: Obtain the current operating status data of the drip irrigation tape winding system, extract the status feature parameters to characterize the operating status of the drip irrigation tape based on the current operating status data, and make a status judgment based on the status feature parameters and the preset status judgment rules to obtain the status classification result of the drip irrigation tape operating status.

[0029] The drip irrigation tape winding system is an automated equipment set at the end of the drip irrigation tape production line or at the post-processing station. It is specifically designed for the traction, tension adjustment, guidance and correction, length counting, cutting, and roll winding of the formed drip irrigation tape. It includes a winding drive unit, roll assembly, tension control mechanism, guiding mechanism, meter counting and cutting mechanism, automatic roll changing mechanism, and multi-source detection and control unit.

[0030] The current operating status data is a collection of data collected in real time by sensors, detection devices, and control modules installed at various key locations during the operation of the drip irrigation tape winding system. This data accurately reflects the operating status of the equipment and the tape itself. It includes instantaneous drum speed, drum rotation speed, winding linear speed, tape tension value, tension change rate, tension fluctuation amplitude, roll diameter change data, meter length data, guide position and offset data, cutting execution status data, roll change execution status data, and surface quality characteristic data such as air bubble location data, broken piece location data, and broken piece length data obtained through visual inspection devices.

[0031] State characteristic parameters are a set of feature quantities extracted from the current operating status data, used to characterize the operational stability, quality status, and equipment execution status of drip irrigation tape. These include average tension and tension change rate, tension fluctuation amplitude, instantaneous speed change of the drum, winding speed stability, abnormal surface characteristic parameters of the tape, guide offset, metering error, and roll change trigger deviation. Among these, abnormal surface characteristic parameters include the number of air bubbles, bubble location, fragment length, and fragment location.

[0032] The preset state determination rules are pre-established state identification and classification logic rules based on historical data of normal and abnormal operation of drip irrigation tape, process control thresholds, and equipment operation standards. These rules are used to determine state characteristic parameters and thus identify the corresponding operating state category. They include multi-condition determination rules based on preset tension stability threshold ranges, speed fluctuation thresholds, and surface defect detection thresholds; bubble anomaly determination rules based on bubble characteristic parameters; and fragment anomaly determination rules based on fragment length, fragment frequency, and tension mutation characteristics.

[0033] The status classification result is the current operating status category of the drip irrigation tape, determined by comprehensively judging the status characteristic parameters based on preset status judgment rules. This includes normal winding status, air bubble abnormality status, and fragment breakage abnormality status.

[0034] After the drip irrigation tape enters the winding station, the first step is to continuously collect multi-source physical quantities during the operation of the drip irrigation tape winding system to form complete current operating status data. Rotary encoders are installed on the winding drive shaft and the end of the drum to perform high-frequency sampling of the drum's rotational angular displacement, and the instantaneous linear velocity and diameter change of the drum are calculated based on the change in angular displacement per unit time. Simultaneously, tension sensors are placed at the traction roller and transition guide roller positions to convert the force signal of the tape into a voltage signal. After analog-to-digital conversion, a real-time tension value sequence is formed. Differential calculations are performed on adjacent sampling points within the control cycle to obtain the tension change rate and tension fluctuation amplitude. Linear scan industrial cameras are arranged along the winding path to continuously scan the tape surface, collecting the gray data. The input image preprocessing program first performs illumination equalization and median filtering for noise reduction. Then, it extracts the bubble outline and fragment boundaries using edge enhancement and region segmentation algorithms. Based on the calibrated ratio of pixels to actual length, it calculates the bubble position, bubble size, fragment position, and fragment length. Simultaneously, it reads the encoder pulse accumulation value at the metering roller and calculates the real-time winding length by combining it with the drum rotation speed data. It records the lateral displacement data of the guide roller at the guide mechanism position to reflect the strip deviation status. During the cutting execution, it records the cutter action timestamp and position feedback data. All of the above data are time-aligned and cached according to a unified time base to form complete current operating status data that can reflect the transient and trend changes in the winding process.

[0035] After the current operating status data is generated, the data is structured based on a unified sampling time window to extract state feature parameters that characterize the operating stability and abnormal tendency of the strip. Within each sampling period, the average tension, tension change rate, and tension fluctuation amplitude are calculated from the tension data sequence. The short-cycle tension standard deviation is calculated using a sliding window method to reflect tension stability. The speed change and speed fluctuation coefficient are calculated from the instantaneous speed data of the roll to indicate whether there are sudden changes in the roll speed. The bubble position coordinates obtained from visual detection are mapped to the meter length data to obtain the relative position parameters of the bubbles in the whole roll. At the same time, the number of bubbles per unit length and the bubble size change rate are counted to form bubble feature parameters. Connected component identification is performed on the fragment image region. The fragment length and fragment occurrence frequency are calculated in combination with the meter data. The fragment position is correlated with the time point of the roll speed change to obtain the coupling characteristics between fragment occurrence and running state. The offset amplitude and offset change rate are calculated from the guide displacement data to determine the lateral stability of the strip. Finally, the above multiple features are synchronously organized according to a unified time series to form a comprehensive state feature parameter that includes tension stability features, speed stability features, surface quality features, and position distribution features.

[0036] After obtaining the state characteristic parameters, the current winding state is determined based on the preset state judgment rules established according to production process requirements and historical stable operation data. The real-time extracted tension fluctuation amplitude is compared with a preset tension stability threshold range. When the tension fluctuation amplitude exceeds the preset tension stability threshold range within multiple consecutive sampling periods, and is accompanied by an increase in speed fluctuation, a potential abnormal trend is identified. Specifically, the preset tension stability threshold range is used to assess the amplitude of tension changes, ensuring it remains within the normal operating range. If it exceeds this preset tension stability threshold range, it indicates abnormal tension fluctuation, which may lead to strip quality problems. The bubble number density and size change rate in the bubble characteristic parameters are compared with the bubble abnormality threshold. When the number of bubbles per unit length exceeds a set upper limit or the bubble size continues to increase, a bubble abnormality judgment condition is triggered. The breakage length and breakage frequency are matched with the breakage judgment threshold. When continuous breakage or a single breakage length exceeding the allowable range is detected, a breakage abnormality judgment condition is triggered. Simultaneously, cross-validation is performed using tension stability features and guide offset features to avoid misjudgments due to instantaneous interference. When the corresponding combination of judgment conditions is met, the corresponding state label is output. Finally, based on the preset state determination rules, all state feature parameters are comprehensively and logically matched to obtain a state classification result reflecting the current operating state of the drip irrigation tape. The state classification result includes at least the normal winding state, the air bubble abnormal state, and the fragmentation abnormal state.

[0037] Step S102: Based on the state classification results and the current operating state data, perform correlation calculations on the preset winding control parameter set to obtain an adaptive winding parameter set that matches the state classification results.

[0038] The preset winding control parameter set is a set of basic winding control parameters that are pre-set based on equipment structural parameters, process requirements, and historical operating experience under normal production and various typical operating conditions of the drip irrigation tape winding system. These parameters are stored in the control program and serve as the initial control reference for the winding action. The set includes drum speed setting, winding linear speed setting, tape tension setting, advance roll change length, guide cut delay, guide end delay, and extended roll change length in case of failure.

[0039] The adaptive winding parameter set is a dynamic set of winding control parameters that matches the current operating state. It is created by specifically modifying, compensating for, or reorganizing relevant parameters in a preset winding control parameter set after obtaining the state classification results and current operating state data. This set guides the winding system to perform winding actions that conform to actual working conditions. It includes adaptive tension setpoints, adaptive advance winding change meters, adaptive fault extension winding change meters, adaptive guide end delays, and adaptive guide cut-off delays.

[0040] After obtaining the status classification results and current operating status data, the pre-stored preset winding control parameter set is first retrieved from the control program as the basic parameter benchmark for this correlation calculation. At the same time, the current operating status data is processed for time synchronization, aligning the instantaneous speed of the drum, strip tension, tension change rate, roll diameter change, meter length data, and abnormal location data on the strip surface at the same time coordinate, forming a real-time operating benchmark data sequence that can be used for parameter correction.

[0041] Subsequently, based on the state classification results, the correction direction of the current winding parameters is determined. When the state classification result is a normal winding state, the difference between the instantaneous speed of the drum in the current operating state data and the winding linear speed set value of the preset winding control parameter set is calculated. Combined with the roll diameter change data, the linear speed change trend is calculated. Then, based on the real-time tension value and tension change rate collected by the tension sensor, the preset strip tension set value is checked to ensure that the tension set value is consistent with the current roll diameter increase and linear speed change. This yields tension correction values ​​and speed correction values ​​that match the stable winding state, and corresponding basic adaptive tension set values ​​and adaptive linear speed parameters are generated accordingly.

[0042] When the status classification result is an abnormal bubble state, the bubble position data in the current operating status data is spatially correlated with the meter length data to determine the remaining running distance of the bubble relative to the current position of the drum. Simultaneously, combined with the instantaneous speed data of the drum, the time required for the bubble to reach the critical winding position is calculated. This time is then superimposed with the preset advance winding meter count to obtain the winding trigger correction amount in the bubble state. The preset advance winding meter count is then reassigned to form adaptive advance winding meter count data. At the same time, strip tension data and tension change rate data are extracted and compared with the preset tension setpoint. The tension setpoint is proportionally corrected based on the tension fluctuation amplitude to obtain an adaptive tension setpoint. Then, based on the correspondence between the bubble position and the instantaneous speed of the drum, the time difference between the bubble reaching the guide position and the cutting position is calculated. This time difference is converted into a delay base correction amount and superimposed on the preset guide end delay and cutting guide delay parameters to obtain adaptive guide end delay and adaptive cutting delay data.

[0043] When the status classification result is a broken piece abnormality, the broken piece location data is first matched and converted with the instantaneous speed of the drum to obtain the real-time distance and time for the broken piece to reach the key winding position. Based on this, the preset advance winding meter is compensated and corrected to obtain adaptive advance winding meter data. Then, based on the broken piece length data and tension fluctuation amplitude data, the impact of the broken piece on the stability of continuous winding is calculated. The impact is converted into an extended winding compensation amount, and the preset fault extended winding meter is superimposed and corrected to obtain adaptive fault extended winding meter data. At the same time, the difference between the real-time tension data and the preset tension set value is calculated, and the trend is corrected by combining the tension change rate so that the tension set value can adapt to the instantaneous fluctuation when the broken piece passes through, forming an adaptive tension set value.

[0044] After the parameters corresponding to each state are corrected, the obtained adaptive tension setting, adaptive early roll change length, adaptive fault extension roll change length, adaptive guide end delay, adaptive guide cut-off delay, and other corrected parameters are combined with the uncorrected basic parameters for parameter reorganization and consistency verification. This ensures that the parameters are coordinated and consistent in terms of time sequence and execution logic, and finally forms an adaptive winding parameter set that matches the current state classification result and real-time operating state. This parameter set is then written into the execution control sequence of this winding action to guide the winding system to complete subsequent winding actions.

[0045] Based on the above technical solution, optionally, based on the state classification result and the current operating state data, a preset winding control parameter set is correlated and calculated to obtain an adaptive winding parameter set that matches the state classification result, including:

[0046] If the state classification result is an abnormal bubble state, the instantaneous speed data of the drum and the strip tension change rate data are extracted based on the current operating state data. The first roll change trigger compensation amount is calculated based on the instantaneous speed data of the drum and the strip tension change rate data. The advance roll change meter data in the preset winding control parameter set is corrected based on the first roll change trigger compensation amount to obtain the first adaptive advance roll change meter data.

[0047] Extract strip tension data based on current operating status data, calculate tension correction amount based on strip tension data and strip tension change rate data, and correct the tension set value in the preset winding control parameter set based on the tension correction amount to obtain adaptive tension set value.

[0048] Extract strip bubble position data based on current operating status data, calculate the basic delay correction amount based on drum instantaneous speed data and strip bubble position data, and correct the guide end delay data and cutting delay data in the preset winding control parameter set based on the basic delay correction amount to obtain adaptive guide end delay data and adaptive cutting delay data.

[0049] Based on the first adaptive advance roll change meter data, adaptive tension set value, adaptive guide end delay data, adaptive cut-off delay data, and preset winding control parameter set, an adaptive winding parameter set matching the bubble abnormality state is generated.

[0050] In this scheme, the instantaneous speed data of the roll is the real-time linear velocity data of the roll at a certain moment during the drip irrigation tape winding process, which can reflect the actual movement of the roll winding action.

[0051] Strip tension change rate data is the rate of change of strip tension per unit time during the winding process. It is mainly used to characterize the stability of strip tension and reflect the fluctuation trend of tension.

[0052] The first roll change trigger compensation is a value calculated based on the actual changes in the instantaneous speed of the roll and the strip tension, and is used to accurately correct the triggering timing of the roll change action.

[0053] The advance roll change length data is a value set in the preset winding control parameters, referring to the length of strip that needs to be wound in advance before the roll change action is executed.

[0054] The first adaptive advance roll change length data is a dynamically adjusted value obtained by correcting the preset advance roll change length after acquiring the current operating status data of the winding system and completing the calculation of the first roll change trigger compensation amount. It can accurately match the actual operating status of the strip.

[0055] Tape tension data is the instantaneous tension value of the drip irrigation tape during the winding process. This data can be used to determine the actual stress on the tape and to show the uniformity of the tape tension during the winding process.

[0056] The tension correction amount is a correction value calculated by combining strip tension data and tension change rate, and is used to adjust the preset tension setting value in a targeted manner.

[0057] The tension setpoint is the target tension value of the strip material set in the preset winding control parameter setpoint, which serves as the control reference for the winding system.

[0058] The adaptive tension setpoint is a dynamic control value obtained by correcting the original tension setpoint after the tension correction amount has been calculated.

[0059] The data on the location of air bubbles in the strip is obtained by a dedicated detection device and is the specific location data of air bubbles on the strip surface along the length of the strip.

[0060] The basic delay correction is a time correction value calculated by combining the instantaneous speed of the drum and the position of the strip bubble. It is used to adjust the basic delay of the guiding and cutting actions.

[0061] The delay data at both ends of the guide is a value set in the preset winding control parameters, indicating the delay time for the guide device to perform actions at both ends.

[0062] The cutting delay data is a value set in the preset winding control parameters. It refers to the delay time for the cutting device to perform the cutting action, ensuring that the cutting position is synchronized with the actual movement state of the strip.

[0063] The adaptive guide delay data at both ends is a dynamic time value obtained by correcting the original guide delay data after the basic delay correction amount has been calculated.

[0064] The adaptive cutoff delay data is a dynamic time value obtained by correcting the original cutoff delay data after the basic delay correction amount has been calculated.

[0065] If the status classification result indicates an abnormal bubble state, the current operating status data is continuously collected first, including the drum rotation speed sequence obtained by the drum rotation sensor, the strip tension value sequence and its rate of change measured by the tension sensor, and the bubble position sequence on the strip surface obtained by the vision inspection device. The collected data is first filtered and smoothed to remove abnormal peaks and noise, and then aligned by time to ensure that the drum rotation speed, tension value, and bubble position correspond at the same sampling time.

[0066] Instantaneous drum speed data is obtained from the drum rotation speed sequence by multiplying the rotation speed at each sampling point by the drum diameter and π value, and then dividing by the sampling time interval to obtain the instantaneous winding speed at each time point. Strip tension change rate data is calculated based on the strip tension value sequence by dividing the difference in tension values ​​at consecutive sampling points by the time interval, forming a rate curve of strip tension change over time. The first winding-change trigger compensation amount is calculated using the instantaneous drum speed data and the strip tension change rate data. Specifically, the deviation between the instantaneous speed and the tension change rate is combined according to empirical weights to obtain a meter compensation value, which is used to adjust the winding-change timing. This compensation amount is applied to the advance winding-change meter data in the preset winding control parameter set to generate the first adaptive advance winding-change meter data, ensuring that the winding-change action is triggered in a timely manner before the bubble abnormality position.

[0067] The strip tension data is extracted from the current operating status data, and the tension correction amount is calculated by combining the strip tension change rate data. The method is to compare the deviation between the actual tension and the current tension set value, and to smooth the deviation by considering the tension change rate, so as to obtain a correction value suitable for the current state. The tension correction amount is applied to the tension set value to obtain an adaptive tension set value, so as to ensure the tension stability during the winding process and avoid strip stretching or breakage due to abnormal tension.

[0068] The bubble position data of the strip is extracted from the bubble position sequence obtained from the vision inspection device. A delay correction is calculated by combining this data with the instantaneous speed data of the drum. The method involves calculating the advance or delay time required for the guiding or cutting action based on the bubble appearance position and the winding speed, ensuring that the action is synchronized with the actual state of the strip. This delay correction is then applied to the delay data at both ends of the guide and the cutting delay data, respectively, to obtain adaptive delay data at both ends of the guide and adaptive cutting delay data, ensuring that the action accurately aligns with the bubble position.

[0069] The first adaptive advance roll change meter data, adaptive tension setpoint, adaptive guide end delay data, and adaptive cut-off delay data are integrated with other parameters from the original preset winding control parameter set to form a complete adaptive winding parameter set that matches the bubble anomaly state. The other parameters in the original preset winding control parameter set may include the drum base speed setpoint, normal winding linear speed setpoint, base guide trajectory parameters, and conventional fault protection thresholds. These do not need to be adjusted under bubble anomaly conditions and can be retained and integrated as unchanged parameters along with the various adaptive correction parameters to form a complete adaptive winding parameter set.

[0070] This solution enables real-time adjustment of winding action parameters, precise response to abnormal bubble conditions, stable strip tension, more accurate roll changing and cutting, and improved winding quality and production efficiency.

[0071] Based on the above technical solution, optionally, based on the state classification result and the current operating state data, a preset winding control parameter set is correlated and calculated to obtain an adaptive winding parameter set that matches the state classification result, further comprising:

[0072] If the state classification result is a strip breakage abnormal state, extract the instantaneous speed data of the drum and the strip breakage location data based on the current operating state data, calculate the second roll change trigger compensation amount based on the instantaneous speed data of the drum and the strip breakage location data, and correct the advance roll change meter data in the preset winding control parameter set based on the second roll change trigger compensation amount to obtain the second adaptive advance roll change meter data.

[0073] Based on the current operating status data, extract the strip fragment length data and strip tension fluctuation amplitude data. Calculate the extension roll replacement compensation amount based on the strip fragment length data and strip tension fluctuation amplitude data. Then, based on the extension roll replacement compensation amount, correct the fault extension roll replacement meter data in the preset winding control parameter set to obtain adaptive fault extension roll replacement meter data.

[0074] Extract strip tension data and strip tension change rate data based on the current operating status data. Calculate the tension correction amount based on the strip tension data and strip tension change rate data. Then, correct the tension set value in the preset winding control parameter set based on the tension correction amount to obtain an adaptive tension set value.

[0075] Based on the second adaptive advance rewind meter data, adaptive fault extension rewind meter data, adaptive tension set value, and preset rewind control parameter set, an adaptive rewind parameter set matching the film breakage abnormal state is generated.

[0076] In this scheme, the second roll change trigger compensation amount is a compensation amount calculated based on the correspondence between the instantaneous speed data of the roll and the position data of the strip breakage after the abnormal state of strip breakage is determined. This compensation amount is used to correct the timing of the roll change trigger.

[0077] The second adaptive advance roll change meter data is a dynamic roll change trigger meter data formed after the abnormal state of film breakage is determined by making targeted corrections to the advance roll change meter data in the preset take-up control parameter set based on the second roll change trigger compensation amount.

[0078] The data on the location of the broken strips is collected by visual inspection devices or various sensors during the winding process of drip irrigation tape, showing the specific position sequence of the broken strips on the roll or conveying path.

[0079] Strip fragment length data is obtained by measuring the start and end points of strip fragments, and can intuitively reflect the size of the fragments.

[0080] The strip tension fluctuation amplitude data is the amplitude of the change in strip tension over time during the operation of the strip, that is, the difference between the peak and valley of tension.

[0081] The extended roll change compensation amount is a compensation value used to extend and adjust the roll change operation in the case of abnormal conditions such as insufficient premature triggering of the roll winding or deviation caused by changes in strip tension.

[0082] The fault extension roll replacement distance data is a basic value set in the preset take-up control parameter set, which is specifically used to control the extension of the roll replacement distance in the event of a film breakage.

[0083] The adaptive fault extension roll replacement meter data is obtained by modifying and compensating the preset fault extension roll replacement meter data after acquiring strip break location data, break length data, and tension fluctuation amplitude data, and finally forming a dynamic control value.

[0084] If the status classification result indicates a strip breakage abnormality, continuous data collection of the current operating status is performed, including the drum rotation speed sequence obtained from the drum rotation sensor, the strip breakage location sequence obtained from the vision inspection device, the strip tension value sequence and its rate of change measured by the tension sensor, and the strip surface tension fluctuation amplitude sequence. The collected data is first filtered and smoothed to remove abnormal peaks and noise, and then aligned by time to ensure that the drum rotation speed, tension value, tension fluctuation, and strip breakage location correspond at the same sampling time.

[0085] Instantaneous roll speed data is obtained by converting the roll speed sequence. This is achieved by multiplying the roll speed at each sampling point by the roll diameter and the value of π, and then dividing by the sampling time interval to obtain the instantaneous winding speed at each time point. Combined with strip breakage location data obtained from a vision inspection device, the impact of the breakage on the roll change trigger timing is calculated, forming a second roll change trigger compensation amount. This is achieved by adjusting the roll change trigger meter based on the breakage location and the instantaneous roll speed, according to empirical weights, to ensure that the roll change action is triggered appropriately before the breakage location. The second roll change trigger compensation amount is then applied to the advance roll change meter data in a preset roll-up control parameter set to generate a second adaptive advance roll change meter data.

[0086] Extract strip fragment length data and strip tension fluctuation amplitude data from the current operating status data. Strip fragment length data quantifies the actual length of each fragment, while strip tension fluctuation amplitude data describes the degree of disturbance the fragment causes to the strip tension. Calculate the extension rewinding compensation amount using the fragment length and tension fluctuation amplitude. Specifically, weight the fragment length and tension fluctuation amplitude empirically to obtain the required extension in meters. Apply this extension rewinding compensation amount to the fault extension rewinding meter data in the preset winding control parameter set to generate adaptive fault extension rewinding meter data. This ensures that the rewinding action extends the distance sufficiently during fragmentation, preventing strip slack or tangling.

[0087] Extract strip tension data and strip tension change rate data from the current operating status data, calculate the tension deviation correction value to form the tension correction amount. The method is to compare the deviation between the actual tension and the current set value, and smooth the tension change rate to correct the deviation, thus obtaining an adjustment value suitable for the current state. Apply the tension correction amount to the tension set value in the preset winding control parameter set to obtain an adaptive tension set value, ensuring tension stability during the winding process and avoiding strip stretching or breakage due to sheet breakage.

[0088] The second adaptive early roll change meter data, adaptive fault extended roll change meter data, adaptive tension setpoint, and the original preset winding control parameter set are integrated to form a complete adaptive winding parameter set that matches the film breakage abnormal state. Other unmodified parameters in this scheme can be the same as other unmodified parameters in the preset winding control parameter set for the bubble abnormal state.

[0089] In this solution, the roll change and tension control strategies can be adjusted in a timely manner when a roll breakage occurs, to avoid the expansion of the roll breakage and the instability of the winding, reduce scrap and downtime, and improve winding continuity.

[0090] Step S103: Acquire multi-source sensor data of the surface features of the drip irrigation tape, and perform consistency verification and correction on the adaptive winding parameter set based on the multi-source sensor data to obtain an optimized winding parameter set.

[0091] Multi-source sensor data is a dataset collected in real time by various types of detection devices installed at key locations along the winding path during the drip irrigation tape winding process. This is done to comprehensively obtain information on the surface quality and operational consistency of the drip irrigation tape. The data includes surface image data and defect identification data acquired by visual inspection devices; edge contour and positional offset data acquired by photoelectric or laser ranging devices; real-time tension and tension fluctuation data acquired by tension detection devices; and tape length and positional correspondence data acquired by meter counting devices.

[0092] The optimized winding parameter set is based on the already generated adaptive winding parameter set. It further combines the actual surface quality status of the drip irrigation tape and the operational consistency reflected by multi-source sensor data to perform secondary verification, correction and coordination of the relevant winding control parameters, forming the final winding control parameter set.

[0093] After the drip irrigation tape enters the winding path, surface quality detection and running consistency detection devices are sequentially arranged along the tape's running direction. During continuous tape operation, these devices simultaneously collect surface features and the tape's running trajectory. First, an industrial camera is installed behind the guide mechanism to continuously scan or array images of the drip irrigation tape surface. During acquisition, a stable light source provides uniform illumination to the tape surface, ensuring clear contrast images of bubbles, fragments, wrinkles, and localized thickness anomalies. After image acquisition, the system reads the images frame by frame, establishing an image sequence based on the tape's running direction. The continuous images are matched with the real-time meter length to obtain surface quality data such as the number and location of bubbles, fragment locations, and fragment lengths. Simultaneously, laser displacement detection devices and photoelectric edge detection devices are installed at the guide roller and tension roller positions to scan the tape's edge contour and lateral offset in real time. During tape operation, continuous edge displacement and contour change data are generated. These data are then aligned with the image data by timestamp to obtain displacement detection data reflecting the tape's edge neatness and running trajectory stability.

[0094] While acquiring surface images and displacement detection data, a tension detection device is installed at the tension control roller to collect tension values ​​and tension fluctuation data in real time during the tape's operation. This data is continuously recorded according to the sampling period to form a tension time series. At the winding drive end, the instantaneous speed and winding linear speed data of the drum are acquired and correlated with the tape length data recorded by the meter counting device. This ensures that the surface quality data of each segment of the tape corresponds to its winding speed and tension state. Subsequently, the bubble position, fragment position, and length data obtained from surface image recognition, the edge offset data obtained from laser displacement detection, and the tension and speed-related data are synchronously processed according to a unified time reference. This ensures a one-to-one correspondence between surface quality information and operational status information within the same time period, resulting in a multi-source sensor data set that comprehensively reflects the distribution of bubbles, fragments, and edge neatness on the drip irrigation tape surface.

[0095] After forming a multi-source sensor data set, the multi-source sensor data is matched with the currently generated adaptive winding parameter set. First, based on the meter length and drum rotation data, the actual operating section of each strip segment under the current winding parameter conditions is determined. Then, based on the bubble position, break position, and edge offset data corresponding to this segment, it is determined whether the existing adaptive tension setting, advance rewinding meter, and guide delay parameters are consistent with the actual surface state of the strip. When a bubble concentration section is detected to be offset from the predetermined cutting or rewinding trigger section, the time difference between the strip reaching the cutting and guide positions is recalculated based on the correspondence between the bubble position and the instantaneous speed of the drum. Accordingly, the adaptive cutting guide delay and the delay at both ends of the guide are synchronously corrected to ensure that the cutting and guide actions can be staggered or avoided from the bubble section. When a break or surface discontinuity section is detected to be close to the winding trigger length, the adaptive advance rewinding meter or fault extension rewinding meter is rechecked based on the distance relationship between the break position and the current winding length to ensure that the rewinding timing maintains a safe distance from the break section.

[0096] Subsequently, based on the real-time tension value and tension fluctuation amplitude obtained from tension detection, these are analyzed in correspondence with bubble concentration sections and edge offset sections. If excessive tension or intensified fluctuations occur in the surface defect concentration section, the adaptive tension setpoint is refined and corrected according to the tension change trend of that section, ensuring that the strip maintains a relatively stable stress state when passing through the defect section, preventing defect expansion or tearing. After the above checks and corrections, the corrected adaptive tension setpoint, adaptive early rewinding length, adaptive guide end delay, adaptive cut-off guide delay, and fault extension rewinding length are reintegrated to form the final set of winding control parameters that matches the current actual surface quality state and operational consistency of the strip, thus obtaining the optimized winding parameter set.

[0097] Based on the above technical solution, optionally, the adaptive winding parameter set can be subjected to consistency verification and correction based on multi-source sensor data to obtain an optimized winding parameter set, including:

[0098] Based on the multi-source sensor data, verification feature parameters for characterizing the actual abnormal state of the strip are extracted. Based on the verification feature parameters and the adaptive winding parameter set, consistency verification is performed to obtain parameter consistency results.

[0099] Based on the parameter consistency results and the adaptive winding parameter set, the correction amount is calculated to obtain the parameter correction amount corresponding to each parameter in the adaptive winding parameter set.

[0100] The adaptive winding parameter set is modified based on the parameter correction amount corresponding to each parameter to obtain the optimized winding parameter set.

[0101] In this scheme, the verification characteristic parameters are a set of verification data parameters extracted from multi-source sensor data, used to reflect the actual abnormal state of the strip and the real operating characteristics of the winding process. These include the location and length characteristics of surface defects on the strip, the actual value and fluctuation amplitude of tension, the stability characteristics of the actual speed of the drum, the strip deviation characteristics, and the characteristics of local thickness changes, etc.

[0102] The parameter consistency result is the parameter adaptation judgment result obtained by matching and verifying the verification feature parameters with the target execution states corresponding to each control parameter in the adaptive winding parameter set. It is used to represent the degree of matching between the current adaptive winding parameters and the actual abnormal state of the strip. It can be presented as a judgment state such as consistent, basically consistent, or inconsistent, and can also include relevant information such as the direction and degree of deviation.

[0103] The parameter correction amount is a correction data amount calculated based on the parameter consistency results and the verification characteristic parameters. It is used to further fine-tune or compensate for each control parameter in the adaptive winding parameter set. It reflects the magnitude and specific correction direction of the deviation between the actual operating state and the current adaptive winding parameters, including tension correction amount, roll change length correction amount, delay basis correction amount, and speed matching correction amount, etc.

[0104] During the drip irrigation tape winding process, real-time data is first acquired from multi-source sensors installed at key locations along the winding path. This raw data undergoes filtering, smoothing, and time alignment to remove spikes and noise, ensuring temporal consistency among sampling points. After data processing, verification feature parameters characterizing the actual abnormal state of the tape are extracted from the multi-source sensor data. These parameters include: calculating the instantaneous speed of the drum based on the rotational speed sequence collected by the drum rotation sensor, and generating a winding speed curve; calculating the tension change rate by differential calculation of the tension value sequence collected by the tension sensor, while retaining the actual tension value to determine tension deviation and fluctuation; identifying the position and length of bubbles or fragments on the tape surface using a visual inspection device, and determining their specific position relative to the winding start point using a metering device; extracting the fragment length for abnormal states and calculating its impact on winding stability based on tension fluctuations; and acquiring tape edge offset and contour changes using photoelectric or laser ranging devices to form the tape's geometric stability characteristics. The verification feature parameters generated through these steps comprehensively characterize the actual abnormal state of the tape during the winding process.

[0105] The verification feature parameters extracted from multi-source sensor data are compared item by item with the current set values ​​of each parameter in the adaptive winding parameter set. For parameters such as advance roll change meters, tension set value, and guide and cut-off delay, the deviation direction and magnitude between the actual value and the set value are calculated. Specifically, the advance roll change meters are calculated by estimating the actual trigger distance based on the bubble or break position and the instantaneous speed of the drum, and then compared with the set value; the tension set value is compared with the set value based on the actual tension and tension change rate; the guide and cut-off delay are compared with the delay parameters based on the actual time of the bubble or break at the key station. Other winding-related parameters are also compared in this way, thereby forming a parameter consistency result that reflects the difference between each parameter and the current set value under actual abnormal conditions.

[0106] Based on the parameter consistency results, parameter correction amounts are calculated for each parameter in the adaptive winding parameter set. If the current state is an air bubble anomaly, the actual distance and time it takes for the air bubble to reach the guide and cutting stations are calculated based on the air bubble position and the instantaneous speed of the drum. This is then compared with the trigger distances and times corresponding to the first adaptive early winding change meter, the adaptive guide end delay, and the adaptive cutting delay to form correction amounts for winding change and delay parameters. Simultaneously, the deviation between the actual tension and the adaptive tension set value, as well as the tension fluctuation amplitude, are combined to form the tension parameter correction amount. If the current state is a sheet breakage anomaly, the trigger distance is calculated based on the sheet breakage position and the instantaneous speed of the drum. This is then compared with the trigger distance corresponding to the second adaptive early winding change meter to form the early winding change parameter correction amount. Based on the sheet breakage length and tension fluctuation amplitude, the impact range of the sheet breakage on the subsequent winding stability is calculated. This is then compared with the adaptive fault extended winding change meter to form the extended winding change parameter correction amount. At the same time, the tension parameter correction amount is generated.

[0107] The correction values ​​of each parameter are applied to the corresponding adaptive winding parameter set to adjust parameters such as the advance roll change length, tension setting value, guide delay, cut-off delay, and fault extension roll change, thereby obtaining an optimized winding parameter set.

[0108] This solution can reflect the deviation between each winding parameter and the actual abnormal state in real time, providing a basis for precise adjustment and improving the synchronization of winding action and the stability of strip quality.

[0109] Step S104: Control the drip irrigation tape winding system to perform the roll winding action based on the optimized winding parameter set. During the winding process, continuously acquire the first action execution status data of the drip irrigation tape winding system, and perform closed-loop compensation for the first action execution deviation of the drip irrigation tape winding system based on the first action execution status data and the first preset target state, until the roll winding action is completed and the first preset target state is reached.

[0110] The first action execution status data is a set of data acquired in real time during the winding process based on the optimized winding parameter set. This data reflects the actual execution status of the winding action and represents the current execution effect and operational stability of the winding system. It includes actual drum rotation speed, instantaneous drum speed, winding linear speed, actual strip tension value and tension change rate, roll diameter growth curve, roll arrangement neatness data, guide position and offset data, meter length data, cutting execution feedback data, and roll change execution feedback data.

[0111] The first preset target state is the target winding operation state determined before the winding action begins, based on the optimized winding parameter set and process requirements. It serves as the benchmark state for winding process control and deviation verification. This includes the target drum speed range, the target winding linear speed stability range, the target tension setpoint and allowable fluctuation range, the target roll diameter growth curve, the target layout neatness requirements, the target guide offset allowable range, the target metering accuracy range, and the target roll changing and cutting execution sequence.

[0112] The first action execution deviation is the difference or deviation between the actual execution result and the target state obtained by comparing the first action execution status data with the first preset target state during the winding process. It is used to represent the degree of deviation in the winding action execution. It mainly includes the deviation between the actual drum speed and the target speed, the deviation between the actual tension value and the target tension setting value, the deviation between the roll diameter growth rate and the target growth curve, the deviation between the guide position offset and the target allowable range, the arrangement neatness deviation, and the timing deviation of roll changing and cutting execution, etc.

[0113] Before initiating the winding operation, the system initializes the drum motion based on parameters such as drum speed, winding linear speed, strip tension setpoints, and guide delay, setting the optimal winding parameters in a centralized configuration. This brings the winding system into a predetermined startup state. Once the winding operation begins, sensors and detection devices continuously collect data on the execution status of the first action. This data includes the instantaneous drum speed, actual drum speed, winding linear speed, actual strip tension and its rate of change, roll diameter growth curve, guide position and offset, meter length, cutting execution feedback data, and roll change execution feedback data. During the data collection process, the drum speed data is recorded in real time via photoelectric or encoder signals to track speed changes. The winding linear speed is calculated synchronously with the drum rotation and strip movement. The strip tension is monitored and its instantaneous rate of change is calculated using a tension sensor. The guide offset and roll arrangement neatness are obtained through laser scanning or visual inspection devices. The meter length and the execution status of cutting and roll change actions are recorded in real time by encoders and position sensors.

[0114] During data acquisition, each acquired data point is compared with a first preset target state. This target state includes the target drum rotation speed range, the stable range of winding speed, the target tension value and allowable fluctuation range, the target diameter growth curve, the allowable range of guide offset, the neatness requirement of the layout, and the timing requirements for changing and cutting. The system compares the first action execution state data with these target values ​​item by item, and calculates the deviation of each parameter, which is the first action execution deviation. Examples include deviations such as actual drum rotation speed from the target rotation speed, actual tension value from the target tension, winding diameter growth rate from the target curve, guide position offset exceeding the target range, meter counting errors, or timing deviations for changing and cutting actions.

[0115] For each deviation in the execution of the first action, the system dynamically adjusts the winding execution parameters according to the magnitude and direction of the deviation to achieve closed-loop control. For example, when the actual tension value is lower than the target tension, the winding system will appropriately increase the drum torque to tighten the strip; when the instantaneous speed of the drum exceeds the target speed, the drive motor power will be adjusted to reduce speed; when the guide offset exceeds the limit, the guide mechanism position will be automatically adjusted to correct the strip path; when meter counting or cutting deviation occurs, the cutting delay will be dynamically adjusted or the roll length will be changed earlier to ensure that the finished product length is consistent with the roll arrangement.

[0116] The entire closed-loop compensation process continues, with the system constantly collecting new execution status data for the first action, calculating the execution deviation of the first action in real time, and updating the control signals. Each adjustment is immediately fed back to the drum drive, tension control, and guide mechanism. This cycle continues until the drum winding action is completed, at which point all collected execution status data are within the target allowable range, the deviation is controlled to a minimum, and the winding system reaches the first preset target state.

[0117] Based on the above steps S101-S104, high-precision tension control, roll arrangement optimization, and automatic defect correction are achieved in the drip irrigation tape winding process through real-time monitoring, dynamic parameter adjustment, and closed-loop compensation, thereby improving winding stability, finished product quality, and production efficiency.

[0118] Based on the above technical solution, optionally, based on the first action execution state data and the first preset target state, closed-loop compensation is performed on the first action execution deviation of the drip irrigation tape winding system until the roll winding action is completed and the first preset target state is reached, including:

[0119] Based on the comparison between the first action execution state data and the first preset target state, the drum speed deviation, strip tension deviation and guide position deviation are determined, and the drum speed deviation, strip tension deviation and guide position deviation are integrated into the first action execution deviation;

[0120] Based on the deviation of the first action execution, deviation mapping and adjustment amount calculation are performed to obtain the drum drive compensation amount, tension adjustment compensation amount and guide mechanism compensation amount respectively;

[0121] Based on the compensation amount of the drum drive, the compensation amount of the tension adjustment, and the compensation amount of the guide mechanism, the actuators of the drip irrigation tape winding system are adjusted to achieve closed-loop compensation for the first action execution deviation until the drum winding action is completed and the first preset target state is reached.

[0122] In this scheme, the drum speed deviation is the difference between the instantaneous rotational speed of the drum measured during the actual winding process and the target rotational speed set in the first preset target state.

[0123] Strip tension deviation is the difference between the actual tension value measured during the actual winding process and the target tension set in the first preset target state.

[0124] The guide position deviation refers to the difference between the actual position reached by the guide mechanism and the standard guide position set in the first preset target state.

[0125] The drum drive compensation amount is an adjustment value calculated based on the drum speed deviation. It is specifically used to control the take-up drive unit, reduce the deviation of the drum speed, and allow the drum speed to gradually return to the target speed.

[0126] The tension adjustment compensation amount is an adjustment value calculated based on the strip tension deviation. It is used to adjust the operating state of the tension control mechanism so that the actual tension of the strip is restored to the preset target tension range.

[0127] The compensation amount of the guiding mechanism is an adjustment value calculated based on the deviation of the guiding position. It is used to fine-tune the actual position of the guiding mechanism, correct the guide deviation of the strip, and bring the strip back to the predetermined running trajectory.

[0128] The actuator is a physical device in the drip irrigation tape take-up system that can respond to control commands and actually perform adjustment actions. It is mainly responsible for adjusting the roll speed, tape tension and guide position, and specifically includes a take-up drive unit, a tension control mechanism and a guide mechanism.

[0129] During the drip irrigation tape winding process, the execution status data of the first action is continuously collected, including the real-time rotational speed sequence of the drum, the tape tension value sequence, and the guide mechanism position sequence. The collected data is filtered and smoothed to remove spike noise and outliers, and then aligned according to time to ensure that the drum speed, tape tension, and guide position at each sampling point correspond at the same time. Subsequently, the processed drum speed data is compared point by point with the target rotational speed in the first preset target state to calculate the speed deviation at each sampling point. Then, a weighted average of the deviations throughout the winding process is calculated to obtain the drum speed deviation. The actual tension value sequence is compared point by point with the target tension sequence to calculate the deviation amplitude and smooth it to obtain the tape tension deviation. The actual position of the guide mechanism is compared point by point with the target position to calculate the position deviation and form a deviation curve to obtain the guide position deviation. The drum speed deviation, tape tension deviation, and guide position deviation are integrated according to the set weights to form the overall first action execution deviation, which is used to represent the overall deviation of the winding action from the preset target state.

[0130] Based on the deviation in the execution of the first action, corresponding methods are used to calculate the adjustment amount: for the deviation in drum speed, speed correction is achieved by adjusting the drive current of the drum motor or the PWM duty cycle, forming the drum drive compensation amount; for the deviation in strip tension, tension correction is achieved by adjusting the tension control mechanism, such as the output torque of the braking device or tension control mechanism, or by adjusting the pressure of the tension roller, forming the tension adjustment compensation amount; for the deviation in guide position, the stepping of the guide mechanism is adjusted to allow the guide wheel or pulley to move along the target trajectory, forming the guide mechanism compensation amount.

[0131] The compensation amounts from the drum drive, tension adjustment, and guiding mechanism are directly applied to the actuators of the drip irrigation tape take-up system: the drum motor adjusts its speed according to the drum drive compensation amount, gradually bringing the actual drum speed closer to the target value; the tension control mechanism adjusts the torque or roller pressure according to the tension adjustment compensation amount, restoring the tape tension to the preset range; and the guiding mechanism moves the guide wheels according to the guiding mechanism compensation amount, allowing the tape to run smoothly along the target trajectory. By continuously collecting data, calculating deviations, generating compensation amounts, and executing adjustments, closed-loop compensation for the first action execution deviation is achieved until the drum take-up action is completed, reaching the first preset target state.

[0132] This solution enables real-time closed-loop compensation of drum speed, strip tension, and guide position, improving winding accuracy and stability, reducing the risk of strip stretching or breakage, and ensuring consistent winding quality.

[0133] See appendix Figure 2 , Figure 2 This is a schematic flowchart of the second main step of an adaptive winding control method for drip irrigation tape according to an embodiment of the present invention. Figure 2As shown, an adaptive winding control method for drip irrigation tape in an embodiment of the present invention mainly includes the following steps S201-S205.

[0134] Step S201: Obtain the current operating status data of the drip irrigation tape winding system, extract the status feature parameters to characterize the operating status of the drip irrigation tape based on the current operating status data, and make a status judgment based on the status feature parameters and the preset status judgment rules to obtain the status classification result of the drip irrigation tape operating status.

[0135] Step S202: Based on the state classification results and the current operating state data, perform correlation calculations on the preset winding control parameter set to obtain an adaptive winding parameter set that matches the state classification results.

[0136] Step S203: Acquire multi-source sensor data on the surface features of the drip irrigation tape, and perform consistency verification and correction on the adaptive winding parameter set based on the multi-source sensor data to obtain an optimized winding parameter set.

[0137] Step S204: Control the drip irrigation tape winding system to perform the roll winding action based on the optimized winding parameter set. During the winding process, continuously acquire the first action execution status data of the drip irrigation tape winding system, and perform closed-loop compensation for the first action execution deviation of the drip irrigation tape winding system based on the first action execution status data and the first preset target state, until the roll winding action is completed and the first preset target state is reached.

[0138] Step S205: If the drip irrigation tape winding system is detected to have completed the roll winding, control the robot arm to pick up the completed roll and place it in the preset target position, and obtain the second action execution status data of the robot arm. Based on the second action execution status data and the second preset target state, perform closed-loop compensation for the second action execution deviation of the robot arm until the robot arm places the roll in the preset target position.

[0139] In this embodiment, the robotic arm is an automated operating device in the drip irrigation tape winding system responsible for gripping, transporting, and placing the rolls. It can accurately perform movement and positioning actions to meet the precision requirements of roll handling.

[0140] The preset target position is the designated placement point to which the robot arm moves the drum after it has finished winding.

[0141] The second action execution status data is the action-related information collected in real time during the entire process of the robot arm handling the drum, including the position, posture, movement speed, and gripping status of the robot arm's end effector.

[0142] The second preset target state is the target action standard that the robot arm needs to achieve when handling the roll, including the target position at the end, the target posture, and the judgment mark for completion of grasping.

[0143] The second action execution deviation is the deviation between the actual handling action of the robot and the second preset target state, including position deviation, posture deviation, or grasping state deviation.

[0144] Once the system detects that the drip irrigation tape has been wound up, meaning the roll has reached the predetermined winding state, the control logic issues a robotic arm grasping command. At this point, the robotic arm will grasp the roll and perform a transport action. The target location is a preset target position stored in the system, which has been pre-determined according to the winding operation plan and is specifically used to place the wound roll. During the grasping and transporting process, the robotic arm collects real-time data on the execution status of the second action, including end-effector position, gripper status, posture angle, and movement speed, providing data support for subsequent closed-loop control.

[0145] The second motion execution status data collected by the robotic arm is compared item by item with the second preset target status stored in the system. During the comparison, the coordinate difference between the end effector position and the preset target position is calculated to obtain the position deviation; the end effector attitude angle is compared with the preset attitude angle in the second preset target status to obtain the attitude deviation; the gripper status is checked against the preset gripping completion status in the second preset target status to determine whether the drum gripping is safe. The position deviation, attitude deviation, and gripper deviation are integrated together to form the second motion execution deviation of the robotic arm, which intuitively reflects the difference in magnitude and specific direction between the actual and expected motion of the robotic arm.

[0146] The closed-loop compensation is calculated based on the deviation of the second action: The movement path and speed of the robot's end effector are adjusted according to the positional deviation to ensure accurate arrival at the preset target position; the angle of the robot's rotary joints is adjusted according to the posture deviation to ensure the gripper's posture matches the second preset target state stored in the system; and the gripping force and timing are adjusted according to the gripper deviation to ensure the drum is safely and securely gripped. The compensation is updated in real time and directly affects the robot's control commands, continuously correcting its handling actions.

[0147] Closed-loop control continues, with the robotic arm repeatedly collecting data on the execution status of the second action, calculating the deviation of the second action, and updating the compensation amount during the handling process, until the end position, posture, and gripper status all reach the second preset target state stored in the system. At this point, it is confirmed that the drum has been safely placed in the preset target position. Throughout the process, the pre-stored preset target position and posture provide a clear reference benchmark for the robotic arm's closed-loop compensation work.

[0148] Based on the above steps S201-S205, high-precision closed-loop control of the drum handling action can be realized. By using the pre-stored preset target position and posture as a reference, the robot arm can ensure stable, safe and accurate handling, while reducing repeated corrections and improving work efficiency and system reliability.

[0149] Based on the above technical solution, optionally, based on the second action execution state data and the second preset target state, closed-loop compensation is performed on the second action execution deviation of the robot arm until the robot arm places the drum at the preset target position, including:

[0150] Based on the comparison between the second action execution state data and the second preset target state, the position deviation data and clamping action deviation data of the robot are determined, and the position deviation data and clamping action deviation data are integrated into the second action execution deviation;

[0151] Based on the deviation of the second action execution, deviation mapping and adjustment amount calculation are performed to obtain the position compensation amount of the robot arm and the compensation amount of the gripping mechanism, respectively.

[0152] The robot's movements are adjusted based on the robot's position compensation amount and the clamping mechanism compensation amount to achieve closed-loop compensation for the second action execution deviation until the robot accurately places the roll into the preset target position.

[0153] In this solution, the position deviation data is the spatial difference between the robot's current position and posture during the handling and placement of the roll and the preset target position and posture stored in the system. Specifically, it includes three-dimensional coordinate offset and angular offset.

[0154] The clamping action deviation data is the difference between the actual clamping force, clamping opening and closing position, or clamping stability state of the robotic arm clamping mechanism during the clamping and releasing of the drum and the preset clamping target state. It is used to indicate whether there are abnormal problems such as being too tight, too loose, or clamping position deviation during the clamping process.

[0155] Position compensation is adjustment data calculated based on position deviation data. It is used to correct the robot's running trajectory and end effector posture. It includes compensation for the movement distance of each axis and the posture angle compensation. Its function is to guide the robot to make precise corrections to the preset target position and ensure accurate positioning.

[0156] The clamping mechanism compensation amount is adjustment data generated based on the clamping action deviation data. It is used to adjust the opening and closing range and clamping force of the robotic arm clamping mechanism. By correcting the clamping state, the roll remains stable throughout the entire process of handling and placement, while meeting the preset clamping requirements.

[0157] During the process of the robotic arm picking up and transporting the roll to a pre-stored target position, the second motion execution status data of the robotic arm is continuously recorded. This includes the current spatial coordinates, attitude angles, trajectory information, and the current opening / closing position and clamping force value of the gripping mechanism at the robotic arm's end effector. These status data are compared item by item with the pre-stored second preset target state in the system. First, the displacement deviation of the robotic arm in the X, Y, and Z directions is calculated based on the difference between the spatial coordinates and the target coordinates. Simultaneously, the attitude offset is calculated by combining the difference between the attitude angle and the target attitude angle, forming complete position deviation data. Then, the current clamping force value is compared with the preset clamping force target value to calculate the clamping force deviation. Next, the difference between the actual opening / closing position of the gripping mechanism and the preset clamping opening / closing position is calculated to obtain the clamping opening / closing deviation. The clamping force deviation and the clamping opening / closing deviation are integrated to form clamping motion deviation data. Finally, the position deviation data and the clamping motion deviation data are synchronized and matched according to a unified time base. Based on the weight of each deviation in the overall placement action, a weighted integration is performed to form a second motion execution deviation that comprehensively reflects the current motion execution status of the robotic arm.

[0158] After obtaining the second action execution deviation, a correspondence between the deviation and the adjustment action is established based on the positional offset in each direction and its changing trend. The axial displacement difference in the position deviation data is converted into the corresponding trajectory correction distance, and the attitude offset is converted into the end-effector attitude adjustment angle, forming the position compensation amount of the robot arm. Simultaneously, the clamping force deviation and clamping opening / closing deviation in the clamping action deviation data are matched with the current handling stability requirements. The clamping force deviation is converted into the torque adjustment amount of the clamping drive motor, and the clamping opening / closing deviation is converted into the gripper opening / closing stroke adjustment amount. These two together form the clamping mechanism compensation amount. All of the above compensation amounts are updated synchronously according to the current action execution cycle, ensuring that the position compensation amount and the clamping mechanism compensation amount act on the robot arm action within the same control cycle.

[0159] The calculated position compensation of the robot arm is applied to its current motion trajectory. Based on the original trajectory, the movement distance of each axis and the end effector posture are finely adjusted to allow the robot arm to gradually converge towards the preset target position. Simultaneously, the compensation of the gripping mechanism is applied to the gripping drive control to adjust the gripping force and the opening and closing degree of the grippers in real time, ensuring the stability and positioning accuracy of the drum during handling and placement. After each control cycle, new second action execution state data is collected again and compared with the second preset target state. The position deviation data and gripping action deviation data are recalculated, continuously generating new position compensation and gripping mechanism compensation, and continuously correcting the robot arm's actions in a closed loop until the position deviation and gripping action deviation converge to the allowable range. Finally, the robot arm accurately places the drum at the preset target position and completes the placement action.

[0160] In this solution, by performing closed-loop compensation on the position and gripping action of the robotic arm, the accuracy of roll handling and placement can be significantly improved, the risk of deviation and falling can be reduced, the roll can be stably positioned, and the automation and reliability of the overall winding operation can be improved.

[0161] It should be noted that although the steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effects of the present invention, different steps do not necessarily have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders, and these variations are all within the scope of protection of the present invention.

[0162] Furthermore, the present invention also provides an adaptive winding control system for drip irrigation tape.

[0163] See appendix Figure 3 , Figure 3 This is a main structural block diagram of an adaptive winding control system for drip irrigation tape according to an embodiment of the present invention. Figure 3 As shown, it specifically includes:

[0164] The status determination module 301 is used to acquire the current operating status data of the drip irrigation tape winding system, extract status feature parameters to characterize the operating status of the drip irrigation tape based on the current operating status data, and perform status determination based on the status feature parameters and preset status determination rules to obtain the status classification result of the drip irrigation tape operating status.

[0165] The association calculation module 302 is used to perform association calculation on the preset winding control parameter set based on the state classification result and the current running state data, so as to obtain an adaptive winding parameter set that matches the state classification result.

[0166] The consistency optimization module 303 is used to acquire multi-source sensor data of the surface features of the drip irrigation tape, and perform consistency verification and correction on the adaptive winding parameter set based on the multi-source sensor data to obtain an optimized winding parameter set.

[0167] The winding control module 304 is used to control the drip irrigation tape winding system to perform the winding action based on the optimized winding parameter set. During the winding process, it continuously acquires the first action execution status data of the drip irrigation tape winding system, and performs closed-loop compensation for the first action execution deviation of the drip irrigation tape winding system based on the first action execution status data and the first preset target state, until the winding action is completed and the first preset target state is reached.

[0168] The drip irrigation tape adaptive winding control system provided in this application embodiment can achieve... Figure 1 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0169] Those skilled in the art will understand that all or part of the processes in the method of the above embodiment of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0170] Furthermore, the present invention also provides an electronic device 400, including a processor 401, a memory 402, and a program or instructions stored in the memory 402 and executable on the processor 401. When the program or instructions are executed by the processor 401, they implement the various processes of the above-described embodiment of the adaptive winding control method for drip irrigation tape and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0171] Furthermore, the present invention also provides a computer-readable storage medium. In one embodiment of the computer-readable storage medium according to the present invention, the computer-readable storage medium can be configured to store a program for executing a drip irrigation tape adaptive winding control method according to the above-described method embodiments. This program can be loaded and run by a processor to implement the above-described drip irrigation tape adaptive winding control method. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. The computer-readable storage medium can be a storage device comprising various electronic devices. Optionally, in the embodiments of the present invention, the computer-readable storage medium is a non-transitory computer-readable storage medium.

[0172] Furthermore, it should be understood that since the various modules are only provided to illustrate the functional units of the device of the present invention, the physical devices corresponding to these modules may be the processor itself, or a part of the processor's software, a part of its hardware, or a combination of software and hardware. Therefore, the number of modules shown in the figures is merely illustrative.

[0173] Those skilled in the art will understand that the various modules in the device can be adaptively split or combined. Such splitting or combining of specific modules will not cause the technical solution to deviate from the principles of the present invention; therefore, the technical solutions after splitting or combining will fall within the protection scope of the present invention.

[0174] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A method for adaptive winding control of drip irrigation tape, characterized in that, The method includes: The system acquires the current operating status data of the drip irrigation tape winding system, extracts state feature parameters to characterize the operating status of the drip irrigation tape based on the current operating status data, and performs state determination based on the state feature parameters and preset state determination rules to obtain the state classification result of the drip irrigation tape operating status. Based on the state classification results and the current operating state data, a preset winding control parameter set is correlated and calculated to obtain an adaptive winding parameter set that matches the state classification results. This includes, if the state classification result is an abnormal bubble state, extracting instantaneous drum speed data and strip tension change rate data based on the current operating state data, calculating a first roll change trigger compensation amount based on the instantaneous drum speed data and strip tension change rate data, and correcting the advance roll change meter data in the preset winding control parameter set based on the first roll change trigger compensation amount to obtain a first adaptive advance roll change meter data. Extract strip tension data based on current operating status data, calculate tension correction amount based on strip tension data and strip tension change rate data, and correct the tension set value in the preset winding control parameter set based on the tension correction amount to obtain adaptive tension set value. Extract strip bubble position data based on current operating status data, calculate the basic delay correction amount based on drum instantaneous speed data and strip bubble position data, and correct the guide end delay data and cutting delay data in the preset winding control parameter set based on the basic delay correction amount to obtain adaptive guide end delay data and adaptive cutting delay data. Based on the first adaptive advance roll change meter data, adaptive tension set value, adaptive guide end delay data, adaptive cut-off delay data, and preset winding control parameter set, an adaptive winding parameter set matching the bubble abnormal state is generated. Acquire multi-source sensor data on the surface features of drip irrigation tape, and perform consistency verification and correction on the adaptive winding parameter set based on the multi-source sensor data to obtain an optimized winding parameter set; The drip irrigation tape winding system is controlled to perform the winding action based on the optimized winding parameter set. During the winding process, the first action execution status data of the drip irrigation tape winding system is continuously acquired. Based on the first action execution status data and the first preset target status, the first action execution deviation of the drip irrigation tape winding system is compensated in a closed loop until the winding action is completed and the first preset target status is reached.

2. The adaptive winding control method for drip irrigation tape according to claim 1, characterized in that, in, Based on the state classification results and current operating state data, a correlation calculation is performed on the preset winding control parameter set to obtain an adaptive winding parameter set that matches the state classification results, which also includes: If the state classification result is a strip breakage abnormal state, extract the instantaneous speed data of the drum and the strip breakage location data based on the current operating state data, calculate the second roll change trigger compensation amount based on the instantaneous speed data of the drum and the strip breakage location data, and correct the advance roll change meter data in the preset winding control parameter set based on the second roll change trigger compensation amount to obtain the second adaptive advance roll change meter data. Based on the current operating status data, extract the strip fragment length data and strip tension fluctuation amplitude data. Calculate the extension roll replacement compensation amount based on the strip fragment length data and strip tension fluctuation amplitude data. Then, based on the extension roll replacement compensation amount, correct the fault extension roll replacement meter data in the preset winding control parameter set to obtain adaptive fault extension roll replacement meter data. Extract strip tension data and strip tension change rate data based on the current operating status data. Calculate the tension correction amount based on the strip tension data and strip tension change rate data. Then, correct the tension set value in the preset winding control parameter set based on the tension correction amount to obtain an adaptive tension set value. Based on the second adaptive advance rewind meter data, adaptive fault extension rewind meter data, adaptive tension set value, and preset rewind control parameter set, an adaptive rewind parameter set matching the film breakage abnormal state is generated.

3. The adaptive winding control method for drip irrigation tape according to claim 1, characterized in that, in, Based on multi-source sensor data, the adaptive winding parameter set is subjected to consistency verification and correction to obtain an optimized winding parameter set, including: Based on the multi-source sensor data, verification feature parameters for characterizing the actual abnormal state of the strip are extracted. Based on the verification feature parameters and the adaptive winding parameter set, consistency verification is performed to obtain parameter consistency results. Based on the parameter consistency results and the adaptive winding parameter set, the correction amount is calculated to obtain the parameter correction amount corresponding to each parameter in the adaptive winding parameter set. The adaptive winding parameter set is modified based on the parameter correction amount corresponding to each parameter to obtain the optimized winding parameter set.

4. The adaptive winding control method for drip irrigation tape according to claim 1, characterized in that, in, Based on the first action execution status data and the first preset target state, closed-loop compensation is performed on the first action execution deviation of the drip irrigation tape winding system until the roll winding action is completed and the first preset target state is reached, including: Based on the comparison between the first action execution state data and the first preset target state, the drum speed deviation, strip tension deviation and guide position deviation are determined, and the drum speed deviation, strip tension deviation and guide position deviation are integrated into the first action execution deviation; Based on the deviation of the first action execution, deviation mapping and adjustment amount calculation are performed to obtain the drum drive compensation amount, tension adjustment compensation amount and guide mechanism compensation amount respectively; Based on the compensation amount of the drum drive, the compensation amount of the tension adjustment, and the compensation amount of the guide mechanism, the actuators of the drip irrigation tape winding system are adjusted to achieve closed-loop compensation for the first action execution deviation until the drum winding action is completed and the first preset target state is reached.

5. The adaptive winding control method for drip irrigation tape according to claim 1, characterized in that, in, After performing closed-loop compensation for the first action deviation of the drip irrigation tape winding system until the roll winding action is completed and the first preset target state is reached, the method further includes: If the drip irrigation tape winding system is detected to have completed the roll winding, the robot arm is controlled to pick up the wound roll and place it in the preset target position. The robot arm's second action execution status data is acquired. Based on the second action execution status data and the second preset target status, the robot arm's second action execution deviation is compensated in a closed loop until the robot arm places the roll in the preset target position.

6. The adaptive winding control method for drip irrigation tape according to claim 5, characterized in that, in, Based on the second action execution state data and the second preset target state, closed-loop compensation is performed on the second action execution deviation of the robot arm until the robot arm places the drum at the preset target position, including: Based on the comparison between the second action execution state data and the second preset target state, the position deviation data and clamping action deviation data of the robot are determined, and the position deviation data and clamping action deviation data are integrated into the second action execution deviation; Based on the deviation of the second action execution, deviation mapping and adjustment amount calculation are performed to obtain the position compensation amount of the robot arm and the compensation amount of the gripping mechanism, respectively. The robot's movements are adjusted based on the robot's position compensation amount and the clamping mechanism compensation amount to achieve closed-loop compensation for the second action execution deviation until the robot accurately places the roll into the preset target position.

7. An adaptive winding control system for drip irrigation tape, characterized in that, The system includes: The status determination module is used to acquire the current operating status data of the drip irrigation tape winding system, extract status feature parameters to characterize the operating status of the drip irrigation tape based on the current operating status data, and perform status determination based on the status feature parameters and preset status determination rules to obtain the status classification result of the drip irrigation tape operating status. The correlation calculation module is used to perform correlation calculations on the preset winding control parameter set based on the state classification result and the current operating state data to obtain an adaptive winding parameter set that matches the state classification result. This includes, if the state classification result is an abnormal bubble state, extracting instantaneous drum speed data and strip tension change rate data based on the current operating state data, calculating a first roll change trigger compensation amount based on the instantaneous drum speed data and strip tension change rate data, and correcting the advance roll change meter data in the preset winding control parameter set based on the first roll change trigger compensation amount to obtain a first adaptive advance roll change meter data. Extract strip tension data based on current operating status data, calculate tension correction amount based on strip tension data and strip tension change rate data, and correct the tension set value in the preset winding control parameter set based on the tension correction amount to obtain adaptive tension set value. Extract strip bubble position data based on current operating status data, calculate the basic delay correction amount based on drum instantaneous speed data and strip bubble position data, and correct the guide end delay data and cutting delay data in the preset winding control parameter set based on the basic delay correction amount to obtain adaptive guide end delay data and adaptive cutting delay data. Based on the first adaptive advance roll change meter data, adaptive tension set value, adaptive guide end delay data, adaptive cut-off delay data, and preset winding control parameter set, an adaptive winding parameter set matching the bubble abnormal state is generated. The consistency optimization module is used to acquire multi-source sensor data on the surface characteristics of the drip irrigation tape, and to perform consistency verification and correction on the adaptive winding parameter set based on the multi-source sensor data to obtain an optimized winding parameter set. The winding control module is used to control the drip irrigation tape winding system to perform the winding action based on the optimized winding parameter set. During the winding process, it continuously acquires the first action execution status data of the drip irrigation tape winding system, and performs closed-loop compensation for the first action execution deviation of the drip irrigation tape winding system based on the first action execution status data and the first preset target state, until the winding action is completed and the first preset target state is reached.

8. An electronic device comprising a processor, a memory, and a program or instructions stored in the memory and executable on the processor, characterized in that, The program or instructions are adapted to be loaded and run by the processor to perform an adaptive winding control method for drip irrigation tape according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform an adaptive winding control method for drip irrigation tape according to any one of claims 1 to 6.

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