Display module film tearing and feeding system

Abstract

The invention relates to the technical field of unmanned storage yard intelligent control systems, and discloses a display module film tearing and feeding system which comprises a material conveying module, a sensing feedback module and a system control module. The system control module identifies the transient contact state of the bearing unit crossing the boundary of the driving logic section according to the displacement feedback quantity, reconstructs adjacent control nodes into an absorption state coupling cluster, and issues a differential cooperation instruction based on station beat fluctuation characteristics, so that the linear speed of the driving logic section meets the kinetic energy continuity constraint, and the dynamic performance of the driving logic section is improved. By establishing a common-mode control mechanism between logic nodes, physical conflicts between discreteness of a driving section and material movement continuity are eliminated, friction shear force generated by cross-region of a bearing unit is counteracted, displacement deviation between materials is corrected, the conveying precision of a high-density storage yard under the working condition of variable takt is guaranteed, and the space utilization rate of a system is increased.

Description

A display module film peeling and feeding system Technical Field

[0001] This invention belongs to the field of intelligent control technology for unmanned storage yards, and particularly relates to a display module film-tearing and feeding system. Background Technology

[0002] Current conventional control logic relies on preset physical storage allocation strategies and first-in-first-out (FIFO) modes. To maintain the continuity of the entire production line, the system sets up a physical buffer of fixed length between the power source and the loading machine to absorb the cycle time fluctuations of the downstream machines during processing. In the scenario of display module film peeling and loading, the operating cycle time of the film peeling machine is affected by physical variables such as film peeling force and environmental humidity, exhibiting nonlinear micro-fluctuations. When the cycle time of the film peeling machine is lengthened due to an increase in instantaneous peeling resistance, the rigid stockpile scheduling strategy still maintains the original material delivery frequency. This cycle time feedback lag caused by the rigid allocation of physical storage locations results in physical compression of material pallets at the machine entrance, which in turn triggers sensor errors and causes a complete line shutdown.

[0003] To avoid downtime risks caused by mismatched cycle times, increasing the length of the physical buffer or setting up redundant storage compartments are common methods. However, this approach creates a conflict between space utilization and dynamic adaptability, resulting in a large number of compartments being inefficiently occupied for most of the operating time. Furthermore, the conveyor power source is composed of multiple discrete drive sections. When material pallets cross adjacent drive sections in a high-density queuing state, the discreteness of speed commands between sections causes physical orientation deviations. Existing speed control strategies are insufficient to meet the smoothness requirements of precision electronic modules. Hardware redundancy buffer strategies provide transient margins in physical space, but... The layer control logic has not escaped the rigid timing constraints between discrete dynamic segments, and the software coordination capability is disconnected from the physical continuity of the hardware. For example, Chinese invention patent with authorization announcement number CN213800433U discloses a multi-task turntable structure for automatic bagging and packaging of grapefruit. It adopts physical workstation allocation and fixed pneumatic timing logic. When it is placed in a scenario where the peeling force is sensitive and the environmental humidity affects the precision assembly of the display module film tearing, it cannot achieve logic reconstruction and kinetic energy smooth compensation between control nodes due to the lack of a dynamic absorption mechanism for the cycle fluctuation of the execution end. It is prone to tray posture deviation and system deadlock due to the speed shear force between segments.

[0004] Therefore, the technical problem to be solved by this invention is how to construct an adaptive control mechanism that can absorb execution cycle fluctuations and ensure high-density flow accuracy without increasing physical space redundancy. Summary of the Invention

[0005] This invention provides a display module film peeling and feeding system, the system comprising:

[0006] The material conveying module includes a first drive logic segment, a second drive logic segment, and a material handling logic unit located at the end of the second drive logic segment, which are connected sequentially along the flow direction.

[0007] The perception feedback module is used to acquire in real time the displacement feedback amount representing the position of the first bearing unit in the first driving logic segment and the second bearing unit in the second driving logic segment;

[0008] The system control module is connected to the material conveying module and the sensing feedback module, respectively. It is used to identify the transient contact state of the first or second bearing unit crossing the logical boundary between the first and second driving logic segments based on the displacement feedback. When a transient contact state is identified, the topology reconstruction logic is executed to define the first control node corresponding to the first driving logic segment and the second control node corresponding to the second driving logic segment as an absorption-state coupling cluster in a common-mode control state. Based on the real-time cycle fluctuation characteristics of the material handling logic unit, differential speed coordination instructions are issued to the first and second driving logic segments to ensure that the end driving linear velocity of the first driving logic segment and the beginning driving linear velocity of the second driving logic segment satisfy the kinetic energy continuity constraint within the absorption-state coupling cluster. This is to offset the frictional shear force generated by the first or second bearing unit crossing the logical boundary and correct the reduction displacement deviation between the first and second bearing units.

[0009] Preferably, the system control module further includes a dynamic feature recognition unit and a damping coordination unit; the dynamic feature recognition unit is used to extract the electrical feature parameters of the drive execution end in the material conveying module in real time and convert them into a mapping value reflecting the motion inertia of the bearing unit; the damping coordination unit dynamically calculates the viscosity coefficient of the logic node based on the mapping value of the virtual position offset of the displacement feedback and the motion inertia, so as to correct the deceleration slope in the frequency conversion control command, and provide logical damping when the distance between the first bearing unit and the second bearing unit is compressed to a preset threshold, thereby eliminating the braking drift phenomenon caused by the braking deviation of the drive execution end.

[0010] Preferably, the system control module further includes a node lease unit and a conflict determination unit; the node lease unit introduces a resource usage right allocation protocol based on micro-clock frequency during the topology reconstruction process; the conflict determination unit performs priority arbitration on multiple material requests competing for the same logical node according to the cycle consumption characteristic, allocates a logical waiting clock for requests that have not obtained a lease and triggers micro-oscillations in the physical layer, thereby eliminating the risk of path contention and deadlock caused by high-concurrency material loading requests in advance at the logical layer.

[0011] Preferably, the system control module further includes a pose feedback unit and a differential speed calibration unit; the pose feedback unit is used to analyze the torque deviation value of the drive execution ends on both sides of the material conveying module in real time; when the logic node is defined as an absorbing state coupling cluster, the differential speed calibration unit adjusts the running speed difference between the two power output ends to generate an asymmetric drive quantity to correct the pose deviation of the bearing unit during the dynamic pitch reduction process.

[0012] Preferably, the system control module performs flexible handover compensation within the absorbing state coupled cluster, and the flexible handover compensation follows a velocity compensation algorithm: Where Δv is the real-time drive compensation difference between the first drive logic segment and the second drive logic segment; k is the preset dynamic coupling coefficient; and These are the original set speeds of the first and second drive logic segments, respectively; σ is the preset attenuation factor characterizing the physical properties of the bearing unit and the characteristics of the drive medium; and t is the duration of the micro-clock signal during the transient contact state.

[0013] Preferably, the system control module further includes a logic displacement prediction unit; the logic displacement prediction unit predicts the occlusion timing of the carrying unit based on the virtual logic displacement within the absorbing state coupling cluster; when the deviation between the trigger time of the sensing signal generated by the sensing feedback module and the predicted occlusion timing generated by the logic displacement prediction unit exceeds a preset pulse threshold, the system control module resets the duty cycle of the current logic node and initiates a second integral correction of the driving linear velocity.

[0014] Preferably, the material conveying module further includes a dynamic buffer module located upstream of the first drive logic segment; the dynamic buffer module includes multiple sets of parallel arranged logic buffer compartments; the system control module dynamically adjusts the release frequency of the carrying units entering the material conveying module according to the flow throughput rate of the absorption-state coupling cluster, so that the logic buffer compartments in the dynamic buffer module are in a nonlinear compression state.

[0015] Preferably, the drive execution end of the material conveying module adopts a variable frequency closed-loop control mode, and its operating frequency is not less than 50Hz; the system control module extracts the slip characteristics of the bearing unit on the drive medium by analyzing the bus voltage fluctuation frequency of the drive execution end, and adjusts the gain parameters of the differential speed coordination command in real time according to the slip characteristics.

[0016] Preferably, the material handling logic unit is connected to an execution feedback module and a load feedback module; the system control module receives the reverse resistance data fed back by the load feedback module and establishes a mapping model of the reverse resistance and the cycle fluctuation of the material handling logic unit, thereby dynamically compensating for the kinetic energy intensity of the absorbing state coupled cluster.

[0017] Preferably, the system control module adopts a distributed topology; each drive logic segment corresponds to an autonomous control node; each autonomous control node exchanges displacement feedback and kinetic energy consistency parameters through a real-time bus, autonomously completing the construction and decoupling of the absorbing state coupling cluster within the local logic domain, and the response latency of a single autonomous control node is no higher than 10ms.

[0018] Compared with existing technologies, the display module film-peeling and feeding system of the present invention has the following advantages:

[0019] 1. In the display module film-tearing and feeding system, a logical node array is established through a mapping module, and the execution cycle of the film-tearing and feeding machine is monitored by a state evaluation module. This enables the physical bins to have dynamically adjustable logical attributes, changing the rigid dependence of the traditional stockyard on the physical buffer zone. The logic reconstruction module defines the physical bins close to the film-tearing and feeding machine as absorption state nodes based on global timing offset parameters, and synchronously adjusts the virtual position offset of adjacent logical nodes. Without changing the length of the physical guide rail, the instantaneous acceptance capability of the physical bins for material pallets is improved, eliminating the risk of line downtime caused by nonlinear fluctuations in the execution cycle. This gives the stockyard the flexibility to absorb unsteady cycles when physical space is limited, and realizes the smooth flow of discrete materials at the variable cycle receiving end.

[0020] 2. When the material pallet is in a cross-zone occupancy state, the execution drive module executes transient master-slave takeover logic. It determines the torque reference threshold by obtaining the real-time output current value of the sending power source and switches the receiving power source from speed closed-loop control mode to torque follower control mode. It uses the rigid structure of the material pallet itself to establish a follow-up traction connection between the upstream and downstream power sources, eliminating the speed shear force generated by the segmented drive section during the narrowing queuing process. This prevents the material pallet from physical tilting or surface slippage due to unequal friction when crossing zones, ensuring that the narrowing displacement planned by the logic layer is accurately realized at the physical execution layer, and improving the system stability under high-density stacking conditions.

[0021] 3. The inertia identification module extracts the phase current characteristics of the drive motor in real time and converts them into a mapping value that reflects the motion inertia of the material pallet. The damping coordination unit dynamically configures the virtual viscosity coefficient of the logic node based on the virtual position offset and the motion inertia mapping value, so that the execution drive module can correct the deceleration slope in the frequency conversion control command and provide matching physical damping when the pallet gap is compressed to the critical point. Through flexible deceleration, the physical inertia deviation of the material during frequent start-stop processes is offset, eliminating the brake drift phenomenon caused by motor braking deviation. This allows the system to achieve precise offsetting of logical displacement and physical kinetic energy without introducing additional sensing hardware. Attached Figure Description

[0022] Figure 1 is a flowchart of the differential collaborative control of the display module film-tearing and feeding system of the present invention.

[0023] Figure 2 is a perception-driven and logic interaction diagram of the display module film-tearing and feeding system of the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0025] It should be noted that all directional and positional terms used in this invention, such as: up, down, left, right, front, back, vertical, horizontal, inner, outer, top, bottom, transverse, longitudinal, center, etc., are only used to explain the relative positional relationship and connection between components in a specific state (as shown in the accompanying drawings). They are only for the convenience of describing this invention and do not require that this invention be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention. In addition, the descriptions of "first," "second," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0026] In the description of this invention, unless otherwise explicitly specified and limited, the terms installation, connection, and linking should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0027] In the description of this specification, references to the terms "an embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example, and the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0028] A display module film peeling and feeding system, the system includes:

[0029] The material conveying module includes a first drive logic segment, a second drive logic segment, and a material handling logic unit located at the end of the second drive logic segment, which are connected sequentially along the flow direction.

[0030] The perception feedback module is used to acquire in real time the displacement feedback amount representing the position of the first bearing unit in the first driving logic segment and the second bearing unit in the second driving logic segment;

[0031] The system control module is connected to the material conveying module and the sensing feedback module, respectively. It is used to identify the transient contact state of the first or second bearing unit crossing the logical boundary between the first and second driving logic segments based on the displacement feedback. When a transient contact state is identified, the topology reconstruction logic is executed to define the first control node corresponding to the first driving logic segment and the second control node corresponding to the second driving logic segment as an absorption-state coupling cluster in a common-mode control state. Based on the real-time cycle fluctuation characteristics of the material handling logic unit, differential speed coordination instructions are issued to the first and second driving logic segments to ensure that the end driving linear velocity of the first driving logic segment and the beginning driving linear velocity of the second driving logic segment satisfy the kinetic energy continuity constraint within the absorption-state coupling cluster. This is to offset the frictional shear force generated by the first or second bearing unit crossing the logical boundary and correct the reduction displacement deviation between the first and second bearing units.

[0032] Preferably, the system control module further includes a dynamic feature recognition unit and a damping coordination unit; the dynamic feature recognition unit is used to extract the electrical feature parameters of the drive execution end in the material conveying module in real time and convert them into a mapping value reflecting the motion inertia of the bearing unit; the damping coordination unit dynamically calculates the viscosity coefficient of the logic node based on the mapping value of the virtual position offset of the displacement feedback and the motion inertia, so as to correct the deceleration slope in the frequency conversion control command, and provide logical damping when the distance between the first bearing unit and the second bearing unit is compressed to a preset threshold, thereby eliminating the braking drift phenomenon caused by the braking deviation of the drive execution end.

[0033] Preferably, the system control module further includes a node lease unit and a conflict determination unit; the node lease unit introduces a resource usage right allocation protocol based on micro-clock frequency during the topology reconstruction process; the conflict determination unit performs priority arbitration on multiple material requests competing for the same logical node according to the cycle consumption characteristic, allocates a logical waiting clock for requests that have not obtained a lease and triggers micro-oscillations in the physical layer, thereby eliminating the risk of path contention and deadlock caused by high-concurrency material loading requests in advance at the logical layer.

[0034] Preferably, the system control module further includes a pose feedback unit and a differential speed calibration unit; the pose feedback unit is used to analyze the torque deviation value of the drive execution ends on both sides of the material conveying module in real time; when the logic node is defined as an absorbing state coupling cluster, the differential speed calibration unit adjusts the running speed difference between the two power output ends to generate an asymmetric drive quantity to correct the pose deviation of the bearing unit during the dynamic pitch reduction process.

[0035] Preferably, the system control module performs flexible handover compensation within the absorbing state coupled cluster, and the flexible handover compensation follows a velocity compensation algorithm: Where Δv is the real-time drive compensation difference between the first drive logic segment and the second drive logic segment; k is the preset dynamic coupling coefficient; and These are the original set speeds of the first and second drive logic segments, respectively; σ is the preset attenuation factor characterizing the physical properties of the bearing unit and the characteristics of the drive medium; and t is the duration of the micro-clock signal during the transient contact state.

[0036] Preferably, the system control module further includes a logic displacement prediction unit; the logic displacement prediction unit predicts the occlusion timing of the carrying unit based on the virtual logic displacement within the absorbing state coupling cluster; when the deviation between the trigger time of the sensing signal generated by the sensing feedback module and the predicted occlusion timing generated by the logic displacement prediction unit exceeds a preset pulse threshold, the system control module resets the duty cycle of the current logic node and initiates a second integral correction of the driving linear velocity.

[0037] Preferably, the material conveying module further includes a dynamic buffer module located upstream of the first drive logic segment; the dynamic buffer module includes multiple sets of parallel arranged logic buffer compartments; the system control module dynamically adjusts the release frequency of the carrying units entering the material conveying module according to the flow throughput rate of the absorption-state coupling cluster, so that the logic buffer compartments in the dynamic buffer module are in a nonlinear compression state.

[0038] Preferably, the drive execution end of the material conveying module adopts a variable frequency closed-loop control mode, and its operating frequency is not less than 50Hz; the system control module extracts the slip characteristics of the bearing unit on the drive medium by analyzing the bus voltage fluctuation frequency of the drive execution end, and adjusts the gain parameters of the differential speed coordination command in real time according to the slip characteristics.

[0039] Preferably, the material handling logic unit is connected to an execution feedback module and a load feedback module; the system control module receives the reverse resistance data fed back by the load feedback module and establishes a mapping model of the reverse resistance and the cycle fluctuation of the material handling logic unit, thereby dynamically compensating for the kinetic energy intensity of the absorbing state coupled cluster.

[0040] Preferably, the system control module adopts a distributed topology; each drive logic segment corresponds to an autonomous control node; each autonomous control node exchanges displacement feedback and kinetic energy consistency parameters through a real-time bus, autonomously completing the construction and decoupling of the absorbing state coupling cluster within the local logic domain, and the response latency of a single autonomous control node is no higher than 10ms.

[0041] Example 1: In an unmanned yard control system that includes a display module film peeling and loading scenario, the film peeling force of the film peeling machine corresponding to the material handling logic unit changes nonlinearly due to fluctuations in ambient humidity, causing a 2-3 second drift in the execution cycle of the material handling logic unit. Under this condition, the perception feedback module acquires the displacement feedback amount representing the position of the first bearing unit in the first drive logic segment and the second bearing unit in the second drive logic segment. The system control module identifies the transient contact state of the first bearing unit or the second bearing unit crossing the logical boundary between the first and second drive logic segments based on the displacement feedback amount. When the transient contact state is identified, the system control module activates the topology reconstruction logic, defines the first control node corresponding to the first drive logic segment and the second control node corresponding to the second drive logic segment as an absorption-state coupling cluster in a common-mode control state, and issues differential speed coordination commands to the first and second drive logic segments based on the real-time cycle fluctuation characteristics of the material handling logic unit, so that the end drive linear velocity of the first drive logic segment and the beginning drive linear velocity of the second drive logic segment satisfy the kinetic energy continuity constraint within the absorption-state coupling cluster.

[0042] To address the physical connection deviation caused by the shortened queuing distance, the execution drive module obtains the real-time output current value of the power source of the first drive logic segment via the fieldbus. It then multiplies this real-time output current value by a preset transmission loss coefficient to obtain a torque reference threshold. The execution drive module then sends a mode switching command to the second drive logic segment, switching its power source from speed closed-loop control mode to torque following control mode. The output torque of the power source in the second drive logic segment is limited by the torque reference threshold until the material pallet detaches from the first drive logic segment. By reusing the rigid structure of the material pallet itself, a follow-up connection between the upstream and downstream rollers is established transiently across the cross-zone, offsetting the frictional shear force generated by the bearing unit crossing the logic boundary. This corrects the shortened displacement deviation between the first and second bearing units, suppressing the conflict between the discreteness of the drive section and the continuity of material movement. The system no longer experiences shutdown errors due to instantaneous fluctuations in the film-tearing machine, achieving dynamic adjustment of the physical storage location's logical attributes and improving the instantaneous acceptance capacity of the storage yard without altering the length of the physical guide rails.

[0043] Example 2: In a material conveying test platform with five discrete power sections, the test sample group adopted a display module film-tearing and feeding system as claimed in this invention. The sampling frequency of the power source of the material conveying module was set to 100Hz, and the displacement feedback resolution of the sensing feedback module was set to 0.01mm. To simulate the industrial environment, Gaussian white noise with a signal-to-noise ratio of 20dB was superimposed on the input signal of the sensing feedback module, and a 50Hz power frequency interference signal was introduced. Under the baseline operating conditions, the set cycle time of the material handling logic unit was 8.0s, and the material tray... The initial spacing is 600mm, and the running speed v is 0.5m / s, where v is the running speed. When the load torque of the film-tearing simulation end is adjusted to produce a nonlinear delay of 2.4s in the processing cycle, in the control group without topology reconstruction logic, since the motor speeds of the first drive logic segment and the second drive logic segment maintain a fixed ratio, the second carrying unit lingers at the entrance of the material processing logic unit, and the first carrying unit behind it continues to advance at a speed of 0.5m / s, causing the physical spacing between the two pallets to instantly shrink from 600mm to 12mm, triggering the system's anti-collision emergency stop signal.

[0044] During the operation of the prototype of this invention, when the logic reconstruction module in the system control module detects that the cycle offset parameter reaches a preset threshold of 0.5s, it automatically reconstructs the first drive logic segment and the second drive logic segment into an absorbing state coupled cluster. Experimental data shows that the system control module feeds back the logic offset of the material tray to the drive frequency adjustment loop in real time by calculating the real-time displacement feedback. During the 15.6ms window period when the tray crosses the physical boundary, the power source of the second drive logic segment switches from speed control mode to torque following mode, and its torque reference threshold is set as the product of the current output current of the first drive logic segment and the transmission loss coefficient of 0.95. Measurement results show that during the 120s test period in which the cycle offset exists, the tray spacing of the prototype of this invention is stably maintained in the range of 85.3mm to 92.1mm without physical interference. At the same time, in order to examine the rationality of the parameter boundary, the dynamic coupling coefficient is adjusted through gradient test. The value of is taken to examine the influence of parameter boundaries on the adjustment response, where k is a preset dynamic coupling coefficient, dimensionless. When k is in the range of 0.8 to 1.5, the system absorbs cycle time fluctuations. When k increases to above 2.2, the experiment observes that the power source generates high-frequency oscillations during the instant of cross-zone switching, causing the motor temperature to rise by 8.4℃ within 10 minutes, verifying that exceeding the limit will introduce energy loss and hardware heat load. After processing the delayed working condition, the system control module restores the standard conveying spacing according to the clock signal issued by the node lease unit. The output frequency of the material processing logic unit recovers to the set value within 5.2 seconds after the fluctuation ends, confirming the physical effectiveness of the topology reconstruction logic in suppressing cycle time drift interference and absorbing shear force between discrete power segments.

[0045] The attenuation factor of the speed compensation algorithm is determined through step response testing of the bearing unit under load conditions. When the material conveying module is unloaded, the system control module sends a speed step command to the second drive logic segment. The sensing feedback module records the speed response curve and extracts the response time τ when the speed reaches 63.2% of the target value. The initial value of σ is set to 1 / τ. Under the maximum peeling force load of the simulated film tearing machine, the correction gain of σ is increased in steps of 0.05 until the measured value of speed overshoot under transient contact state is less than 2%. The correlation between the compensation difference and physical impedance is established. The speed reduction slope correction of the frequency conversion control command is completed by the damping coordination unit by calculating the product of virtual position offset and motion inertia. The dynamic feature recognition unit extracts the phase current I of the drive execution end and converts it into a motion inertia mapping value M reflecting the momentum of the bearing unit by combining the preset torque constant and transmission reduction ratio. The damping coordination unit subtracts the actual displacement of the sensing feedback module from the predicted displacement of the logic displacement prediction unit to obtain the virtual position offset Δd. According to γ=M⋅Δd, the viscosity coefficient of the logic node is calculated. γ, where γ is the viscosity coefficient, M is the inertia mapping value, and I is the phase current. The viscosity coefficient γ is used as the input variable of the frequency converter deceleration gain to generate logic damping that is proportional to the approach speed of the bearing unit, which offsets the braking drift caused by the mechanical clearance at the drive execution end. The slip characteristics are extracted by using the frequency fluctuation of the bus voltage at the drive execution end. The system control module collects the DC bus voltage signal at a sampling frequency of 2kHz and performs a fast Fourier transform to identify the amplitude of the low-frequency component in the frequency range of 1Hz to 10Hz. During the system calibration stage, a linear regression model of the amplitude of the low-frequency component and the slip rate S is established by measuring the difference between the actual linear velocity of the pallet and the theoretical linear velocity of the roller under different surface friction coefficients. S is the dimensionless slip rate. The system control module adjusts the differential speed coordination command gain parameter in real time according to the slip rate S extracted in real time during operation to compensate for the power transmission loss caused by changes in environmental humidity or wear of the guide rail surface, so that the kinetic energy intensity of the absorption state coupling cluster meets the conveying accuracy requirements of the high-density stockpile under variable beat conditions.

[0046] Example 3: In an unmanned storage yard system including a display module film-removing and loading scenario, physical wear and tear on the material pallet during its cyclic operation causes a cumulative idle distance deviation of 0.15mm to 0.25mm in the physical positioning points of each bearing unit within the first drive logic segment. This induces a misalignment between the logic node array established by the mapping module and the physical warehouse coordinates, resulting in a physical offset in the system control module's real-time position judgment of the material pallet. To address the cumulative idle distance deviation, the system control module initiates a parameter calibration procedure. The execution drive module controls the first drive logic segment to run at a baseline speed of 0.1m / s under no-load conditions, and the pose feedback unit records the no-load output current value of the drive execution end. The calibration tray of preset mass is placed on the first bearing unit and the process is repeated, recording the load output current value. The mapping module is based on the formula Calculate the transmission loss coefficient η, where η is the transmission loss coefficient. This represents the load output current value. This is the no-load output current value.

[0047] After determining the transmission loss coefficient η, the logic reconstruction module initiates the node weight allocation procedure. Based on the real-time displacement feedback output by the sensing feedback module, it determines the spatial index i of the logic node and extracts the displacement deviation Δd between adjacent nodes in the logic node array, where i is the spatial index and Δd is the displacement deviation. When the displacement deviation Δd is between 0mm and 5mm, the logic reconstruction module assigns the attribute weights to the logic node corresponding to spatial index i. The linear mapping takes values ​​from 0.8 to 1.0, where, For attribute weights, the execution driver module will assign attribute weights. The correction gain, converted to the inverter output frequency, is used to offset the dynamic lag caused by mechanical clearance during the transient contact phase when the material pallet crosses the boundary of the drive logic segment. This limit the slip displacement at the junction of the two zones to within 0.05mm, thus resolving the positioning drift interference caused by physical wear.

[0048] Example 4: In an unmanned yard system that handles concurrent material loading requests from multiple nodes, the node leasing unit in the system control module allocates resource usage rights to material requests for the same logical node. The logic reconfiguration module calculates the cycle time consumption characteristic τ based on the sum of the average processing time and real-time deviation of the material processing logic unit, and establishes the reciprocal of this characteristic as the benchmark reference value for the system control frequency. Here, τ is the cycle time consumption characteristic. When the node leasing unit identifies 3 or more material loading requests pointing to the same logical node, it retrieves the priority weight of the corresponding logical node. And based on the calculation formula Determine the lease duration of the current material request. ,in, For the duration of the lease, For spatial indexing The priority weight of the logical node, where Δt is a preset time slice constant.

[0049] By quantifying and allocating lease durations, the system reduces the waiting latency caused by a single path contention from 1.2s to 0.3s when handling conflicting concurrent requests, thus mitigating the risk of material backlog due to logical conflicts. When a material pallet crosses from the first drive logic segment to the second drive logic segment, the perception feedback module uses an infrared ranging sensor to collect the distance value D between the front end of the material pallet and the physical boundary. This drives the control unit to initiate the boundary calibration program. During the initial system startup phase, the material pallet is controlled to cross the physical boundary at a speed of 0.05m / s. The pose feedback unit records the extreme point of the first derivative of the sensor output voltage jump curve and establishes the corresponding voltage amplitude as the trigger threshold for the transient contact state. ,in, To trigger the threshold, during operation, when the real-time voltage signal reaches... At that time, the drive control unit sends a command to switch to torque follow control mode and uses the real-time current of the first drive logic segment as the given value of the torque control loop. Through this calibration procedure, the system controls the delay of power mode switching to within 8ms under the condition of fluctuating dust concentration, thereby reducing the speed fluctuation of the material pallet when it moves between different physical sections.

[0050] Example 5: In an unmanned storage yard system involving multi-segment roller splicing, due to physical differences in the tension of the transmission chains and the efficiency of the motors in different drive sections, the actual linear velocity generated by the same frequency converter control command in the first drive logic segment and the second drive logic segment exhibits a discrete deviation of 2% to 5%. During the system initialization phase, the system control module executes a physical reference calibration program, and the execution drive module controls the first drive logic segment to operate under rated no-load conditions. The posture feedback unit obtains the corresponding no-load output current value. The material tray containing the display module is placed in the first drive logic segment and the system is driven to the physical junction between the first and second drive logic segments. The drive module then retrieves the load output current value of the power source under full-load equilibrium state in real time via the fieldbus. The mapping module is based on the calculation formula. Calculate the transmission loss coefficient η under the current operating conditions, where η is the transmission loss coefficient. This is the no-load output current value. The measured value of the full-load output current; the system control module controls the material tray to cross the physical boundary and records the speed fluctuation variance of the second drive logic segment after switching to torque follow mode. When the variance of velocity fluctuation When the value exceeds the preset stability threshold of 0.005, the differential calibration unit adjusts the value of the dynamic coupling coefficient k in steps of 0.05 until the velocity fluctuation variance within 5 consecutive sampling periods is reached. Converging within the stability threshold range, the established transmission loss coefficient η and dynamic coupling coefficient k are stored in the attribute table of the logic node array as a benchmark operator for calculating the drive compensation difference during operation, thus eliminating the cross-region drive torque inaccuracy caused by mechanical characteristic differences.

[0051] When handling high-concurrency material loading requests at the material handling logic unit inlet, the node lease unit in the system control module executes priority arbitration logic based on time-slice round-robin. The input vector of the arbitration logic includes the spatial index i of the current material request and the cycle time consumption feature τ obtained by the state evaluation module. When the conflict determination unit identifies that three sets of material loading requests are simultaneously pointing to the absorbing state node near the material handling logic unit, the node lease unit retrieves the spatial index. Corresponding priority weight And calculate the conflict evaluation value for each material request. Conflict evaluation value From the formula It is confirmed that, among them, This is the conflict evaluation value. Here, τ represents the priority weight, and τ is the cycle time consumption feature. Node lease units are determined according to conflict evaluation values. The material requests are sorted from highest to lowest order, and the resource usage right of the current logical node is allocated to the request with the highest ranking. At the same time, the lease duration of the current material request is calculated. When the real-time waiting time for the current material request reaches the lease duration; Furthermore, when the backend material processing logic unit reports that the execution cycle is still in a drifting state, the conflict determination unit reduces the priority weight of the current request and moves it to the end of the queue. At the same time, it switches the resource usage right to the second-ranked material request. The stockyard flow maintains a material turnover efficiency of more than 120 sets per hour under 95% load conditions, completing the adaptive adjustment of the feeding sequence under variable cycle conditions.

[0052] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit of this application and the scope of protection of this invention, and all of these forms are within the protection scope of this application.

Claims

1. A display module film-removing and feeding system, characterized in that, The system includes: The material conveying module includes a first drive logic segment, a second drive logic segment, and a material handling logic unit located at the end of the second drive logic segment, connected sequentially along the flow direction; a sensing feedback module is used to acquire in real time the displacement feedback amount characterizing the position of the first carrier unit in the first drive logic segment and the second carrier unit in the second drive logic segment; a system control module is connected to the material conveying module and the sensing feedback module respectively, and is used to identify the transient contact state of the first carrier unit or the second carrier unit crossing the logical boundary between the first drive logic segment and the second drive logic segment based on the displacement feedback amount; when the transient contact state is identified, the topology reconstruction logic is executed to define the first control node corresponding to the first drive logic segment and the second control node corresponding to the second drive logic segment as an absorbing state coupling cluster in a common mode control state; Based on the real-time cycle fluctuation characteristics of the material handling logic unit, differential speed coordination instructions are issued to the first drive logic segment and the second drive logic segment, so that the end drive linear velocity of the first drive logic segment and the beginning drive linear velocity of the second drive logic segment satisfy the kinetic energy continuity constraint within the absorption state coupling cluster, so as to offset the frictional shear force generated by the first or second bearing unit crossing the logic boundary and correct the reduction displacement deviation between the first bearing unit and the second bearing unit.

2. The display module film-removing and feeding system according to claim 1, characterized in that, The system control module also includes a dynamic characteristic recognition unit and a damping coordination unit. The dynamic characteristic recognition unit is used to extract the electrical characteristic parameters of the drive actuator in the material conveying module in real time and convert them into a mapping value reflecting the motion inertia of the bearing unit. The damping coordination unit dynamically calculates the viscosity coefficient of the logic node based on the mapping value of the virtual position offset of the displacement feedback and the motion inertia, so as to correct the deceleration slope in the frequency conversion control command, and provides logical damping when the distance between the first bearing unit and the second bearing unit is compressed to a preset threshold, thereby eliminating the braking drift phenomenon caused by the braking deviation of the drive actuator.

3. The display module film-peeling and feeding system according to claim 1, characterized in that, The system control module also includes a node lease unit and a conflict determination unit. The node lease unit introduces a resource usage right allocation protocol based on micro-clock frequency during the topology reconstruction process. The conflict determination unit performs priority arbitration on multiple material requests competing for the same logical node based on the cycle consumption characteristic, allocates a logical waiting clock for requests that have not obtained a lease, and triggers micro-oscillations in the physical layer, thereby eliminating the risk of path contention and deadlock caused by high-concurrency material loading requests in advance at the logical layer.

4. The display module film-peeling and feeding system according to claim 1, characterized in that, The system control module also includes a pose feedback unit and a differential speed calibration unit. The pose feedback unit is used to analyze the torque deviation value of the drive execution ends on both sides of the material conveying module in real time. When the logic node is defined as an absorbing state coupling cluster, the differential speed calibration unit adjusts the running speed difference between the two power output ends to generate an asymmetric drive quantity to correct the pose deviation of the bearing unit during the dynamic pitch reduction process.

5. The display module film-peeling and feeding system according to claim 1, characterized in that, The system control module performs flexible handover compensation within the absorbing-state coupled cluster. The flexible handover compensation follows a velocity compensation algorithm. Where Δv is the real-time drive compensation difference between the first drive logic segment and the second drive logic segment; k is the preset dynamic coupling coefficient; and These are the original set speeds of the first and second drive logic segments, respectively; σ is the preset attenuation factor characterizing the physical properties of the bearing unit and the characteristics of the drive medium; and t is the duration of the micro-clock signal during the transient contact state.

6. The display module film-peeling and feeding system according to claim 1, characterized in that, The system control module also includes a logic displacement prediction unit; the logic displacement prediction unit predicts the occlusion timing of the carrying unit based on the virtual logic displacement within the absorbing state coupling cluster; when the deviation between the trigger time of the sensing signal generated by the sensing feedback module and the predicted occlusion timing generated by the logic displacement prediction unit exceeds a preset pulse threshold, the system control module resets the duty cycle of the current logic node and initiates the second integral correction of the driving linear velocity.

7. The display module film-removing and feeding system according to claim 1, characterized in that, The material conveying module also includes a dynamic buffer module located upstream of the first drive logic segment; the dynamic buffer module includes multiple sets of parallel arranged logical buffer compartments; the system control module dynamically adjusts the release frequency of the carrying units entering the material conveying module according to the flow throughput rate of the absorption-state coupling cluster, so that the logical buffer compartments in the dynamic buffer module are in a nonlinear compression state.

8. The display module film-peeling and feeding system according to claim 1, characterized in that, The drive actuator of the material conveying module adopts a variable frequency closed-loop control mode, and its operating frequency is not lower than 50Hz. The system control module extracts the slip characteristics of the carrying unit on the drive medium by analyzing the bus voltage fluctuation frequency of the drive actuator, and adjusts the gain parameters of the differential speed coordination command in real time according to the slip characteristics.

9. A display module film-peeling and feeding system according to claim 1, characterized in that, The material handling logic unit is connected to the execution feedback module and the load feedback module; the system control module receives the reverse resistance data fed back by the load feedback module and establishes a mapping model of the reverse resistance and the cycle fluctuation of the material handling logic unit.

10. A display module film-peeling and feeding system according to claim 1, characterized in that, The system control module adopts a distributed topology; each drive logic segment corresponds to an autonomous control node; each autonomous control node exchanges displacement feedback and kinetic energy consistency parameters through a real-time bus, and autonomously completes the construction and decoupling of the absorbing state coupling cluster within the local logic domain.

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