A programmable surface micro-vibration die singulation method and apparatus

Abstract

This invention relates to a programmable surface micro-vibration method and apparatus for peeling fabric pieces, relating to the field of fabric piece peeling. The method includes: acquiring visual information and determining the anisotropy ratio of the fabric based on the visual information; generating a traveling wave direction optimization command based on the anisotropy ratio; determining, in response to the traveling wave direction optimization command, an estimated layer thickness, fabric weight, and fabric type of the fabric piece from the visual information; retrieving vibration parameters from a preset vibration strategy library based on the anisotropy ratio, thickness estimate, fabric weight, and fabric type, and generating a micro-vibration application command according to the vibration parameters; acquiring a peeling force in response to the micro-vibration application command, and determining an edge lifting amount based on the visual information; determining a vibration time based on the micro-vibration application command when the edge lifting amount is not greater than a preset lifting amount threshold and / or the peeling force is not less than a peeling force threshold; and generating a vibration amplification command when the vibration time is greater than a preset time threshold. This invention has the effect of real-time adjustment of the peeling strategy.

Description

Technical Field

[0001] This invention relates to the field of fabric strip peeling, and in particular to a programmable surface micro-vibration fabric strip peeling method and apparatus. Background Technology

[0002] Cut piece peeling technology refers to the technique of using specialized mechanical equipment to separate stacked multi-layered fabric cut pieces layer by layer according to production requirements, so as to facilitate the smooth progress of subsequent processes.

[0003] In the fast-response garment manufacturing process, after the fabric is cut, a large number of flexible cut pieces with irregular outlines are formed. These cut pieces need to be separated one by one from the cutting bed and transferred to the sewing station. Existing technology generally uses compressed air nozzles to blow away the top layer of cut pieces, or mechanical claws to insert from the corners of the cut pieces and roll them upwards to gradually peel off the top layer of cut pieces.

[0004] In the garment production process, different fabrics have different physical properties. When using compressed air or mechanical grippers, it is impossible to adjust the stripping strategy according to the fabric condition in real time, which leads to a decrease in the success rate of strip separation. Summary of the Invention

[0005] To adjust the peeling strategy in real time, this invention provides a programmable surface micro-vibration strip peeling method and apparatus.

[0006] In a first aspect, the present invention provides a programmable surface micro-vibration strip peeling method, which adopts the following technical solution: A programmable surface micro-vibration strip peeling method includes: Step 100: Collect visual information and determine the anisotropy ratio of the fabric based on the visual information; Step 101: Generate traveling wave direction optimization instructions based on the anisotropy ratio; Step 102: In response to the traveling wave direction optimization command, determine the estimated layer thickness, fabric weight, and fabric type of the cut piece from the visual information; Step 103: Based on the anisotropy ratio, thickness estimate, fabric weight, and fabric type, retrieve vibration parameters from the preset vibration strategy library, and generate micro-vibration application instructions according to the vibration parameters; Step 104: In response to the micro-vibration, the peeling force is acquired by applying the command, and the edge lifting amount is determined based on the visual information; Step 105: When the edge lifting amount is not greater than the preset lifting amount threshold and / or the peeling force is not less than the peeling force threshold, determine the vibration time based on the micro-vibration applied command; Step 106: When the vibration time is greater than a preset time threshold, a vibration amplification command is generated.

[0007] By adopting the above technical solution, the anisotropy ratio of the cut pieces is calculated based on the collected visual information, thereby determining whether the traveling wave direction needs to be adjusted. The vibration parameters during cut piece separation are determined in combination with the visual information, and then the cut pieces are separated. At the same time, the separation status of the cut pieces is monitored. When abnormal separation occurs, the vibration parameters are adjusted to improve the accuracy of the cut piece separation strategy.

[0008] Optionally, the method for determining the vibration parameters further includes: Step 200: Determine the reference force based on the peeling force; Step 201: Determine the descent ratio by combining the reference force and the peeling force; Step 202: When the decrease ratio is less than the preset decrease threshold, determine the optimal frequency based on the vibration parameters; Step 203: When the optimal frequency is empty, determine the amplified amplitude based on the vibration parameters; Step 204: When the amplified amplitude is greater than the preset amplitude threshold, a dual-segment vibration command is generated in response to the vibration parameters.

[0009] By adopting the above technical solution, if the thickness of the cut piece to be separated is relatively thick, it is difficult to separate the cut piece using standard vibration parameters. Therefore, the peeling force is collected and the optimal frequency or amplitude is determined based on the change of the peeling force, so that vibration is performed according to the latest vibration parameters. When the amplitude is amplified to a large extent, the cut piece cannot be separated by traveling wave. At this time, the dual-section segmented vibration is switched to improve the accuracy of the cut piece separation strategy.

[0010] Optionally, the method for determining the anisotropy ratio further includes: Step 205: Determine the surface grayscale based on the visual information; Step 206: Determine the fabric power spectrum according to the surface grayscale; Step 207: Determine the angular projection based on the power spectrum of the fabric, and determine the orientation angle based on the angular projection; Step 208: Determine the reference normalized power and orthogonal normalized power based on the stated direction angle; Step 209: Calculate the quotient of the reference normalized power and the orthogonal normalized power as the anisotropy ratio.

[0011] Optionally, the method for generating the traveling wave direction optimization command further includes: Step 210: When the anisotropy ratio falls within the preset adjustment range, the energy influence is determined by combining the angle projection and the direction angle; Step 211: Determine the gain angle based on the energy influence, and generate a traveling wave direction optimization command based on the gain angle; Step 212: When the anisotropy ratio is greater than the preset adjustment range, determine the maximum angle based on the direction angle; Step 213: Update the traveling wave direction optimization instruction based on the maximum angle.

[0012] By adopting the above technical solution, when the anisotropy ratio falls within the adjustment range, there is no significant traveling wave direction. At this time, a suitable gain angle is fitted according to the angle projection as the most suitable traveling wave direction. When the anisotropy ratio is large, the direction corresponding to the largest direction angle is taken as the traveling wave direction, thereby improving the accuracy of the piece separation strategy.

[0013] Optionally, it also includes a method for generating vibration adjustment commands, wherein the method for generating vibration adjustment commands includes: Step 300: Determine the peel force distribution map based on the peel force; Step 301: Determine the abnormal region based on the peeling force distribution map, and determine the abnormal vibration element based on the abnormal region; Step 302: Determine the direction of the traveling wave according to the vibration parameters; Step 303: Determine the reinforcing element by combining the traveling wave direction and the abnormal element, and determine the adjustment quantity according to the abnormal element and the reinforcing element; Step 304: Determine the traveling wave amplitude based on the vibration parameters, and determine the adjustment amplitude based on the traveling wave amplitude; Step 305: Determine the increase in amplitude based on the adjusted amplitude and the adjusted quantity; Step 306: Generate vibration adjustment instructions according to the stated increase in amplitude.

[0014] By adopting the above technical solution, the vibrating elements in the piezoelectric ceramic array may malfunction. At this time, the abnormal vibrating element is located according to the peeling force distribution map, and the vibrating elements that need to be enhanced and the amplitude that needs to be increased are determined in combination with the vibration parameters. This forms energy compensation along the traveling wave direction, so that the traveling wave maintains sufficient peeling kinetic energy when passing through the difficult separation area, thereby improving the accuracy of the cut piece separation strategy.

[0015] Optionally, the method for generating the vibration adjustment command further includes: Step 307: When the increased amplitude is greater than the preset amplitude threshold, determine the number of selections based on the enhanced element; Step 308: When the number of selections exceeds the preset number threshold, determine the excess value coefficient according to the increase in amplitude and the amplitude threshold; Step 309: Determine the selection quantity based on the excess coefficient, and determine the selected vibration element according to the selection quantity and the enhanced vibration element; Step 310: Determine the enhancement array by combining the selected oscillator and the enhancement oscillator; Step 311: Determine the distance weight based on the enhanced array and the anomalous oscillator; Step 312: Determine the array amplitude by combining the distance weight and the traveling wave amplitude, and update the vibration adjustment command according to the array amplitude.

[0016] By adopting the above technical solution, if multiple elements are damaged, the reinforcing elements may be selected repeatedly. When elements are selected repeatedly, the excess coefficient is determined based on the accumulated increase in amplitude, thereby determining the reinforcing array. Then, the array amplitude of each element in the reinforcing array is determined by combining the distance weight, thereby improving the accuracy of the piece separation strategy.

[0017] Optionally, the method for updating the micro-vibration application command further includes: Step 313: Determine the over-limit area based on the peel force distribution map; Step 314: Determine the area of ​​the region based on the exceeded region; Step 315: Determine the adjustment position based on the area of ​​the region; Step 316: Determine the partition boundary according to the adjusted position, and update the micro-vibration application command according to the partition boundary.

[0018] By adopting the above technical solution, there may be areas of tight adhesion in certain areas. In this case, it is necessary to separate the cut pieces by using zoned vibration. The area of ​​the tightly adhered area is determined according to the peel force distribution diagram, thereby determining the boundary line of the vibration zone. Then, zoned vibration is executed to separate the tightly adhered areas in the cut pieces, thereby improving the accuracy of the cut piece separation strategy.

[0019] Optionally, the method for determining the partition boundary further includes: Step 317: Determine the number of boundaries based on the partition boundaries; Step 318: When the number of boundaries is greater than a preset boundary threshold, determine the center coordinates based on the area of ​​the region; Step 319: Determine the target coordinates by combining the area of ​​the region and the center coordinates; Step 320: Update the partition boundaries according to the target coordinates.

[0020] By adopting the above technical solution, when there are too many adhesion areas, the complexity of vibration element control increases. At this time, the area and center coordinates of each adhesion area are weighted and calculated to determine the target coordinates. While ensuring the separation effect, the number of times the partition vibration is executed is reduced, and the reliability of the cut piece separation is increased.

[0021] Optionally, it also includes a method for generating edge vibration commands, the method for generating edge vibration commands including: Step 321: Determine the radius of curvature and interlayer distance of the corner of the cut piece based on the visual information; Step 322: Determine the geometric priority based on the radius of curvature, and determine the interlayer adhesion based on the interlayer distance and fabric type; Step 323: Determine edge priority based on the geometric priority and interlayer adhesion; Step 324: Determine the priority region based on the edge priority, and determine the angle normal vector based on the priority region; Step 325: Determine the impedance factor by combining the angle normal vector and the traveling wave direction; Step 326: Determine the optimal edge based on the hindering factor and edge priority, and generate an edge vibration command in response to the optimal edge and the traveling wave direction.

[0022] By adopting the above technical solution, when the area of ​​the cut piece is too large, the priority of each angle of the cut piece is determined according to the radius of curvature of the corner of the cut piece and the gap between each layer of cut pieces, and the optimal edge is determined in combination with the traveling wave direction, so that the cut pieces can be separated as quickly as possible, increasing the reliability of cut piece separation.

[0023] Secondly, the present invention provides a programmable surface micro-vibration cut piece peeling device, which adopts the following technical solution: A programmable surface micro-vibration cut piece peeling device, employing the above-mentioned programmable surface micro-vibration cut piece peeling method, includes: A piezoelectric ceramic array, placed at the end of a six-degree-of-freedom robot arm, is used to generate vibration waves; A flexible contact membrane is disposed on the lower surface of the piezoelectric ceramic array to transmit vibration waves; A micro-force sensing array, set within a piezoelectric ceramic array, is used to collect peeling force and contact force; An array of static elimination needles is placed around the piezoelectric ceramic array to eliminate static electricity; Waveform generation and phase control unit, used to identify resonant frequencies and adjust vibration parameters; The visual inspection module is used to collect and analyze visual information; Separate monitoring and quality assessment modules are used to detect fabric piece adhesion.

[0024] By adopting the above technical solution, the anisotropy ratio of the cut pieces is calculated based on the collected visual information, thereby determining whether the traveling wave direction needs to be adjusted. The vibration parameters during cut piece separation are determined in combination with the visual information, and then the cut pieces are separated. At the same time, the separation status of the cut pieces is monitored. When abnormal separation occurs, the vibration parameters are adjusted to improve the accuracy of the cut piece separation strategy.

[0025] In summary, the present invention has at least one of the following beneficial technical effects: The anisotropy ratio of the cut pieces is calculated based on the collected visual information to determine whether the traveling wave direction needs to be adjusted. The vibration parameters during cut piece separation are determined in combination with the visual information, and then the cut pieces are separated. At the same time, the separation status of the cut pieces is monitored. When abnormal separation occurs, the vibration parameters are adjusted to improve the accuracy of the cut piece separation strategy. If the cut pieces to be separated are thick, it is difficult to separate them using standard vibration parameters. Therefore, the peeling force is collected and the optimal frequency or amplitude is determined based on the change of the peeling force. Vibration is then performed according to the latest vibration parameters. When the amplitude is large, the cut pieces cannot be separated by traveling waves. In this case, dual-section segmented vibration is switched to improve the accuracy of the cut piece separation strategy. The elements in the piezoelectric ceramic array may malfunction. In this case, the abnormal elements are located according to the peel force distribution map, and the elements that need to be enhanced and the amplitude that needs to be increased are determined in combination with the vibration parameters. This forms energy compensation along the traveling wave direction, so that the traveling wave maintains sufficient peel kinetic energy when passing through the difficult separation area, thereby improving the accuracy of the cut piece separation strategy. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a programmable surface micro-vibration piece peeling device; Figure 2 This is a flowchart of a programmable surface micro-vibration strip peeling method; Figure 3 This is a flowchart illustrating how vibration adjustment commands are generated.

[0027] The parts referred to by the numbers in the above figures are as follows: 1. Piezoelectric ceramic array; 2. Micro-force sensing array; 3. Static elimination needle array. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0029] This invention discloses a programmable surface micro-vibration strip peeling method and apparatus.

[0030] Reference Figure 1 A programmable surface micro-vibration piece peeling device includes: A piezoelectric ceramic array 1 is placed at the end of a six-degree-of-freedom robot arm to generate vibration waves.

[0031] The piezoelectric ceramic array 1 is arranged in an 8-row, 12-column configuration, with a total of 96 elements and a total contact area of ​​78mm*78mm. The array is divided into two independent driving regions by row: the preset region of region A is rows 1 to 4 (36mm*78mm), and the preset region of region B is rows 5 to 8 (36mm*78mm). It supports rapid switching between differential vibration mode (180° phase difference between the two regions) and traveling wave mode (uniform phase sequence between the two regions), with a switching time of no more than 5ms. Each element in the array is numbered and can be controlled individually.

[0032] A flexible contact membrane is disposed on the lower surface of the piezoelectric ceramic array 1 to transmit vibration waves.

[0033] The silicone rubber matrix of the flexible contact film maintains its elastic properties within a temperature range of -20°C to 80°C. The internal stiffness of the carbon fiber mesh layer is not less than 1500 N / m, ensuring that the transverse propagation loss of vibration within the contact surface does not exceed 15%. The surface of the contact film is provided with a diamond-shaped microgroove array with a depth of 0.05 to 1 mm and a groove spacing of 0.5 mm, which is used to further reduce the normal adhesion force of the contact surface and accelerate the diffusion of negative ions into the inner layer of the cut sheet.

[0034] The micro-force sensor array 2, located within the piezoelectric ceramic array 1, is used to collect peeling force and contact force.

[0035] The micro-force sensing array 2 includes micro-force sensors, which are embedded between the piezoelectric ceramic array 1 every 4 columns. Each sensor has a range of 0 to 5 N and a resolution of 0.01 N, and is used to monitor the contact force distribution and peel force of the corresponding vibrating element in real time.

[0036] The static elimination needle array 3 is disposed around the piezoelectric ceramic array 1 and is used to eliminate static electricity.

[0037] The electrostatic elimination needle array 3 includes electrostatic elimination needles, which are installed around the lower surface of the end effector with a density of not less than 8 needles / 200mm. It generates a bipolar negative ion flow through a high-voltage DC power supply (positive and negative 7kV), and the coverage extends to 10mm from the outer edge of the flexible contact film.

[0038] Waveform generation and phase control unit, used to identify resonant frequencies and adjust vibration parameters.

[0039] The waveform generation and phase control unit includes an online resonant frequency scanner, an accelerometer, a memory, and a processing chip. When the piezoelectric ceramic array 1 is started for the first time, it queries the vibration parameters from the fabric parameter database and scans the range from 5 to 100 Hz in 1 Hz steps after the system is powered on. The mechanical resonant frequency between the piezoelectric array and the currently contacting fabric is identified through accelerometer feedback, and the resonant frequency is recorded in the vibration strategy library in the memory. The vibration strategy library includes a fabric parameter database and a vibration strategy knowledge base. The fabric parameter database stores the anisotropy ratio, thickness estimate, fabric weight, and fabric type of no less than 200 types of fabrics and their corresponding reference vibration parameters. The vibration strategy knowledge base stores the mapping relationship between fabric type and vibration parameters and supports online updates. The processing chip is used to generate traveling wave direction optimization instructions.

[0040] The visual inspection module is used to collect and analyze visual information.

[0041] The visual inspection module includes: a 3D structured light sensor (resolution 0.1mm, acquisition rate not less than 10 frames / s) for fabric outline reconstruction and layer thickness estimation, and a 2D line scan camera (resolution 0.02mm / pixel, number of pixels not less than 4096) for yarn direction detection. The two are unified to the end effector coordinate system through a calibration matrix. The yarn direction detection accuracy is ±1.5°, and the outline recognition error is not greater than 0.5mm.

[0042] Separate monitoring and quality assessment modules are used to detect fabric piece adhesion.

[0043] The separation monitoring and quality assessment module includes an ultrasonic ranging sensor. When the cut piece is lifted away from the stack by 0.5 to 10 mm, the ultrasonic ranging sensor (accuracy ±0.1 mm) embedded at the bottom of the end effector detects the current lifting thickness and compares it with the preset single-piece thickness. If the lifting thickness is greater than 1.8 times the single-piece thickness, it is determined that multiple pieces are stuck together.

[0044] When a programmable surface micro-vibration stripping device is started, a transformation matrix is ​​established between the device and the robot base coordinate system. The robot base coordinate system is pre-input by the operator.

[0045] Based on the same inventive concept, embodiments of the present invention provide a programmable surface micro-vibration strip peeling method, including: Reference Figure 2 A programmable surface micro-vibration strip peeling method, comprising: Step 100: Collect visual information and determine the anisotropy ratio of the fabric based on the visual information.

[0046] Visual information refers to the set of visual images of the cut piece, which is the set of data collected by the 3D structured light sensor and the 2D line scan camera respectively.

[0047] Step 101: Generate traveling wave direction optimization instructions based on the anisotropy ratio.

[0048] The traveling wave direction optimization instruction refers to the instruction to optimize the traveling wave direction of the piezoelectric ceramic array 1, which can be determined by referring to the method for generating the traveling wave direction optimization instruction in steps 205 to 213.

[0049] When the anisotropy ratio is greater than the optimization threshold, a traveling wave direction optimization command is generated. The optimization threshold is the critical value for determining whether the traveling wave direction needs to be adjusted. In this embodiment, the optimization threshold is 1.2. An anisotropy ratio not less than the optimization threshold means that the fiber arrangement or weaving structure of the current cut piece has obvious directionality, and the difference in directionality is sufficient to affect the propagation of vibration and the peeling effect.

[0050] Step 102: In response to the traveling wave direction optimization command, determine the estimated layer thickness, fabric weight, and fabric type of the cut piece from the visual information.

[0051] Layer thickness estimation refers to the thickness of a single layer of fabric piece estimated through visual information. Fabric weight refers to the mass per unit area of ​​the fabric piece, and fabric type refers to the fiber type of the fabric piece. The layer thickness estimation is based on a two-dimensional image. An edge detection algorithm is used to identify two adjacent interlayer lines and calculate their pixel distance. Then, through a calibration matrix, the pixel distance is mapped to the true height difference between the corresponding two points in three-dimensional space. This height difference is the local single-layer thickness. Finally, this measurement is repeated at multiple locations at the edge of the fabric piece stack, and the statistical average of the single-layer thickness is obtained as the layer thickness estimation value. The layer thickness estimation value is used as the new single-piece thickness. The fabric type can be identified by a deep learning classification model (such as a convolutional neural network) based on the fabric surface texture image in the visual information, thereby determining the fabric type. The fabric type includes the unit fiber density, and the product of the unit fiber density and the layer thickness estimation value can be used as the fabric weight.

[0052] Step 103: Based on the anisotropy ratio, thickness estimate, fabric weight, and fabric type, retrieve vibration parameters from the preset vibration strategy library, and generate micro-vibration application instructions according to the vibration parameters.

[0053] Vibration parameters refer to the set of parameters that control the traveling wave vibration of the piezoelectric ceramic array 1, including the optimal vibration frequency, optimal amplitude, and piezoelectric array partitioning configuration. Vibration parameters can be queried from the vibration strategy knowledge base.

[0054] The micro-vibration application command refers to the command that controls the piezoelectric ceramic array 1 to generate vibration waves according to the vibration parameters. The micro-vibration application command is timestamped.

[0055] Step 104: In response to the micro-vibration, a peeling force is acquired by applying a command, and the edge lifting amount is determined based on the visual information.

[0056] Peeling force refers to the resistance during the separation of cut pieces, which can be detected by the micro-force sensor array 2.

[0057] After the end effector descends to the surface of the cut piece, the micro-force sensor array 2 detects the contact force. When the contact force falls within a preset range, the vibration stage begins, and the electrostatic elimination needle array 3 is activated simultaneously. The static electricity of the fabric is neutralized by the release of negative ions. After the static electricity is released, the micro-vibration application command is executed. In this embodiment, the preset range is 0.1N to 0.2N.

[0058] Edge lift refers to the normal displacement of the edge of the cut piece relative to its initial position. The edge lift of the top-layer cut piece can be monitored by the visual detection module through edge detection. During the vibration peeling process, the sensor continuously collects three-dimensional point clouds at a frequency of 10Hz and continuously extracts the contour edge point set of the top-layer cut piece based on the real-time point cloud, that is, identifies the boundary of the highest layer of the Z-axis in the point cloud. For each point on the edge, the current Z-axis height is subtracted from the initial reference height corresponding to that point, and the difference is the normal displacement of that point, which is the local edge lift. The initial reference height is the Z-axis height of each point on the edge measured for the first time. The top-layer cut piece refers to the cut piece at the top of the cut piece stack. The top-layer cut piece is the point layer with the largest Z-axis (height) value in the point cloud obtained by the three-dimensional structured light sensor.

[0059] Step 105: When the edge lifting amount is not greater than a preset lifting amount threshold and / or the peeling force is not less than a peeling force threshold, the vibration time is determined based on the micro-vibration applied command.

[0060] The lifting threshold is the critical displacement value used to determine whether the edge of the cut piece has been lifted normally. In this embodiment, the lifting threshold is 0.5mm.

[0061] The peel force threshold is the critical force value for determining whether the cut pieces have separated. In this embodiment, the peel force threshold is 0.5N. When the edge lifting amount is not greater than the lifting amount threshold and the peel force is not less than the peel force threshold, it means that the vibration energy has not been effectively transmitted to the interlayer, and therefore the cut pieces separate abnormally.

[0062] Vibration time refers to the time since the micro-vibration application command was executed. The generation time of the command can be calculated by reading the timestamp of the micro-vibration application command.

[0063] Step 106: When the vibration time is greater than a preset time threshold, a vibration amplification command is generated.

[0064] The time threshold refers to the critical time for determining whether the vibration parameters need to be amplified. When the vibration time is greater than the time threshold, it means that the fabric separation is too slow. In this embodiment, the time threshold is 5 seconds. The vibration amplification instruction refers to the instruction to amplify the current vibration parameters, that is, to increase the optimal vibration frequency to a fixed frequency and the optimal amplitude to a fixed amplitude. In this embodiment, the fixed frequency is 5 Hz and the fixed amplitude is 1 mm.

[0065] The anisotropy ratio of the cut pieces is calculated based on the collected visual information to determine whether the traveling wave direction needs to be adjusted. The vibration parameters during cut piece separation are determined in combination with the visual information, and then the cut pieces are separated. At the same time, the separation status of the cut pieces is monitored. When abnormal separation occurs, the vibration parameters are adjusted to improve the accuracy of the cut piece separation strategy.

[0066] Methods for determining vibration parameters also include: Step 200: Determine the reference force based on the peeling force.

[0067] The reference force refers to the reference force value used to judge the percentage decrease in peel force. The peel force from 3 seconds ago can be retrieved as the original reference force.

[0068] Step 201: Determine the descent ratio by combining the reference force and the peeling force.

[0069] The reduction ratio refers to the degree of attenuation of the peeling force. It can be calculated as the difference between the reference force and the peeling force as the process force, and the reduction ratio can be calculated according to the formula: reduction ratio = process force / reference force.

[0070] Step 202: When the decrease ratio is less than the preset decrease threshold, determine the optimal frequency based on the vibration parameters.

[0071] The drop threshold refers to the critical proportion at which the peeling force is effectively reduced. In this embodiment, the drop threshold is 10%. When the drop ratio is less than the drop threshold, it means that the vibration energy has not effectively reached the interlayer adhesion interface, resulting in less attenuation of the peeling force. Therefore, the current vibration frequency cannot effectively separate the cut pieces.

[0072] The optimal frequency is the vibration frequency that maximizes the decrease ratio. The frequency is swept in a step of 2Hz within the range from the original optimal frequency minus 10Hz to the original optimal frequency plus 10Hz to reposition the optimal frequency and use the optimal frequency as the new resonant frequency.

[0073] Step 203: When the optimal frequency is empty, determine the amplified amplitude based on the vibration parameters.

[0074] When the optimal frequency is empty, it means that the frequency scan failed to find the target frequency. The reason why the vibration energy cannot be effectively transferred to the adhesion interface is not that the frequency is not aligned with the resonance peak, but that the current amplitude is too small, causing the vibration energy to attenuate during the transfer process, which is insufficient to destroy the interlayer adhesion.

[0075] Amplified amplitude refers to the vibration amplitude that maximizes the descent ratio. The product of the optimal amplitude and the preset amplification factor is used as the amplified amplitude. In this embodiment, the amplification factor is 1.2.

[0076] Step 204: When the amplified amplitude is greater than the preset amplitude threshold, a dual-segment vibration command is generated in response to the vibration parameters.

[0077] The amplitude threshold refers to the critical amplitude value for determining whether to switch the vibration mode. In this embodiment, the amplitude threshold is 0.35mm. When the amplified amplitude is greater than the amplitude threshold, it means that the amplified amplitude exceeds the normal operating range of the piezoelectric ceramic array 1. At this time, a dual-section segmented vibration strategy needs to be adopted, and peeling force is preferentially applied from the corner area of ​​the cut piece. Since the corner area of ​​the cut piece is itself a free boundary, there is no material constraint around it. When a prying force is applied here, the stress will be highly concentrated at the edge tip of the adhesion interface, thereby triggering the separation of the adhesion interface with a small amount of energy.

[0078] The dual-zone segmented vibration command refers to the command that divides the cut piece into two zones and applies different vibration parameters to each zone.

[0079] When the two zones vibrate in segments, and zones A and B operate with a 180° phase difference, the end effector contact surface no longer generates a uniform traveling wave, but instead forms an alternating bending deformation. When zone A is at the downward displacement peak, zone B is at the upward displacement peak, and a strong local bending occurs at the boundary between the two zones, forming a periodic prying action on the cut piece interface.

[0080] If the cut pieces to be separated are thick, it is difficult to separate them using standard vibration parameters. Therefore, the peeling force is collected and the optimal frequency or amplitude is determined based on the change of the peeling force, so that vibration is performed according to the latest vibration parameters. When the amplitude is amplified to a large extent, the cut pieces cannot be separated by traveling waves. At this time, dual-section segmented vibration is switched to improve the accuracy of the cut piece separation strategy.

[0081] Methods for determining the anisotropy ratio also include: Step 205: Determine the surface grayscale based on the visual information.

[0082] Surface grayscale refers to the grayscale value of each pixel in visual information. It can convert the data collected by a two-dimensional line scan camera into a grayscale image and extract the grayscale value of each pixel as the surface grayscale.

[0083] Step 206: Determine the fabric power spectrum according to the surface grayscale.

[0084] Fabric power spectrum refers to the energy distribution of fabric surface texture in the frequency domain. It can be obtained by performing a two-dimensional Fourier transform on the surface gray level and taking the square of the transformed amplitude as the fabric power spectrum, thereby converting the texture information in the spatial domain to the frequency domain.

[0085] Step 207: Determine the angle projection based on the power spectrum of the fabric, and determine the orientation angle based on the angle projection.

[0086] Angle projection refers to the energy integral value of the fabric power spectrum in different directions. The center of the fabric power spectrum can be taken as the origin, and the fabric power spectrum can be radially integrated according to a preset angle step size. The integral value corresponding to each angle is used as the angle projection. In this embodiment, the angle step size is 1°.

[0087] The direction angle refers to the angle value of the angle projection. The angle corresponding to the angle projection can be extracted as the direction angle. The direction corresponding to the direction angle is the primary direction, and the angle orthogonal to the primary direction is the secondary direction.

[0088] Step 208: Determine the reference normalized power and orthogonal normalized power based on the stated direction angle.

[0089] The reference normalized power refers to the normalized power value in the principal direction. It can be obtained by dividing the angle projection value corresponding to the principal direction by the sum of the angle projections.

[0090] Orthogonal normalized power refers to the normalized power value in the subdirection. It can be obtained by dividing the angle projection value corresponding to the subdirection by the sum of the angle projections.

[0091] Step 209: Calculate the quotient of the reference normalized power and the orthogonal normalized power as the anisotropy ratio.

[0092] Anisotropy ratio refers to the ratio of the differences in mechanical properties of a material in different directions. It is used to evaluate the anisotropic characteristics of a material. The quotient of the reference normalized power and the orthogonal normalized power can be used as the anisotropy ratio.

[0093] The method for generating the traveling wave direction optimization command further includes: Step 210: When the anisotropy ratio falls within the preset adjustment range, the energy influence is determined by combining the angle projection and the direction angle.

[0094] The adjustment range refers to the range that needs to be determined by fitting the direction angle. In this embodiment, the adjustment range is 1.2 to 1.5. When the anisotropy ratio falls into the adjustment range, it means that there is no unique principal direction at this time, and the gain angle needs to be fitted according to the energy distribution of the angle projection.

[0095] Energy influence refers to the projected energy value corresponding to each directional angle. The projected energy corresponding to each directional angle in the angle projection can be regarded as the energy influence.

[0096] Step 211: Determine the gain angle based on the energy influence, and generate a traveling wave direction optimization command based on the gain angle.

[0097] The gain angle refers to the adjusted traveling wave direction. All angles can be fitted to the direction based on the energy influence to finally determine the gain angle. The fitted gain angle is the energy center of gravity of all strong directions. When the traveling wave is sent along the adjusted direction angle, the energy will not be violently pulled between multiple strong directions. It retains an effective component in each strong direction, making the vibration energy distribution of the entire peeling surface more uniform. After the gain angle is determined, the processing chip in the waveform generator and phase control unit generates a traveling wave direction optimization command and uses the direction corresponding to the gain angle as the traveling wave direction. At the same time, the traveling wave direction is added to the vibration parameters.

[0098] The direction fitting method is as follows: the angle can be converted into a direction vector, and the energy integral value of the angle projection corresponding to the angle is used as the weight of the direction vector. Then, the direction vectors are weighted and summed according to the weight to determine the weighted resultant vector, and then the direction angle of the weighted resultant vector is calculated as the gain angle.

[0099] Step 212: When the anisotropy ratio is greater than the preset adjustment range, determine the maximum angle based on the direction angle.

[0100] When the anisotropy ratio is greater than the adjustment range, it indicates that the fabric's weaving structure has a strong directionality and there is a distinct strong direction.

[0101] The maximum angle refers to the direction of the traveling wave when the piezoelectric ceramic array 1 vibrates. The angle corresponding to the maximum value in the anisotropy ratio can be extracted as the maximum angle, and the maximum angle can be used as the direction of the traveling wave.

[0102] Step 213: Update the traveling wave direction optimization instruction based on the maximum angle.

[0103] When the anisotropy ratio falls within the adjustment range, there is no significant traveling wave direction. At this time, a suitable gain angle is fitted according to the angle projection as the most suitable traveling wave direction. When the anisotropy ratio is large, the direction corresponding to the largest direction angle is taken as the traveling wave direction, thereby improving the accuracy of the piece separation strategy.

[0104] Reference Figure 3 The methods for generating vibration adjustment commands include: Step 300: Determine the peel force distribution map based on the peel force.

[0105] The peel force distribution map refers to the spatial distribution map of the peel force on each element in the piezoelectric ceramic array 1. It can be obtained by mapping the peel force collected by the micro-force sensing array 2 onto a two-dimensional plane according to the spatial position of the element.

[0106] Step 301: Determine the abnormal region based on the peeling force distribution map, and determine the abnormal vibration element based on the abnormal region.

[0107] An abnormal region refers to a continuous area in the peel force distribution diagram where the peel force value remains unchanged. The peel force of each element can be compared with the normal peel force range, and the continuous area where the peel force value remains unchanged for a certain period of time is regarded as an abnormal region. In this embodiment, the duration is 3 seconds.

[0108] An abnormal element refers to an element contained within an abnormal region. The corresponding element number can be read from the abnormal region as the abnormal element.

[0109] Step 302: Determine the direction of the traveling wave according to the vibration parameters.

[0110] The direction of the traveling wave refers to the direction of the traveling wave propagation during the application of a micro-vibration command, which can be read from the vibration parameters.

[0111] Step 303: Determine the reinforcing element by combining the traveling wave direction and the abnormal element, and determine the adjustment quantity according to the abnormal element and the reinforcing element.

[0112] An enhanced element is a normal element located around an abnormal element along the vertical direction of the traveling wave that needs to have its amplitude enhanced. An enhanced element can be a normal element adjacent to the abnormal element in the vertical direction of the traveling wave, and the number of the enhanced element can be read at the same time.

[0113] The adjustment quantity refers to the total number of vibration elements that need amplitude adjustment, and the number of reinforcing vibration elements can be used as the adjustment quantity.

[0114] Step 304: Determine the traveling wave amplitude based on the vibration parameters, and determine the adjustment amplitude based on the traveling wave amplitude.

[0115] The traveling wave amplitude refers to the amplitude value of the piezoelectric ceramic array 1 controlled by the micro-vibration application command. The optimal amplitude can be read from the vibration parameters as the traveling wave amplitude.

[0116] Adjusting the amplitude refers to the amplitude value that all enhanced elements need to increase. The smaller the traveling wave amplitude, the weaker the vibration intensity, and the smaller the amplitude compensation value required. The adjustment amplitude corresponding to the traveling wave amplitude can be found in the adjustment amplitude correspondence table. The adjustment amplitude correspondence table is a table that records different traveling wave amplitudes and their corresponding adjustment amplitudes.

[0117] The establishment of the amplitude correspondence table adopts a combination of theoretical simulation and experimental calibration: First, the energy attenuation under different traveling wave amplitudes is simulated through multiphysics simulation. A nonlinear inverse relationship is initially fitted, in which the larger the amplitude, the smaller the compensation required, as an initial reference. Then, the actual device is used to conduct experiments on standard fabrics by artificially creating element failures and gradually adjusting the compensation value for precise calibration. The safe compensation amount that can restore the peel force to the normal level is recorded, and a hard amplitude upper limit is set to protect the equipment. Finally, the calibration data is made into a lookup table that supports online updates. In subsequent actual peeling, the compensation value is dynamically fine-tuned according to the peeling effect, thereby ensuring that the table has adaptability and long-term reliability for different fabrics. In this embodiment, the amplitude correspondence table, selection quantity correspondence table, geometric priority correspondence table, interlayer adhesion correspondence table, edge priority correspondence table, and final priority correspondence table can all be established according to the above-mentioned compensation mapping self-calibration method based on simulation and driven by experiment.

[0118] Step 305: Determine the increase in amplitude based on the adjusted amplitude and the adjusted quantity.

[0119] Increasing amplitude refers to the increase in amplitude value required for a single oscillator. The fewer the adjustment quantities, the more the energy compensation for abnormal oscillators can be provided by a few oscillators. In this case, the energy compensation required for each oscillator increases, and the amplitude required for a single oscillator increases. The increase in amplitude corresponding to the adjustment quantity can be found in the increase amplitude correspondence table. The increase amplitude correspondence table is a data table that records different adjustment quantities and their corresponding increase amplitudes. In this embodiment, the adjustment quantity is 1 or 2.

[0120] Step 306: Generate vibration adjustment instructions according to the stated increase in amplitude.

[0121] The vibration adjustment command is a command to adjust the amplitude of the enhanced vibrator. It can control the enhanced vibrator to vibrate according to the adjusted amplitude, which is the sum of the increased amplitude and the optimal amplitude.

[0122] The elements in the piezoelectric ceramic array 1 may malfunction. In this case, the abnormal elements are located according to the peeling force distribution map, and the elements that need to be enhanced and the amplitude that needs to be increased are determined in combination with the vibration parameters. This forms energy compensation along the traveling wave direction, so that the traveling wave maintains sufficient peeling kinetic energy when passing through the difficult separation area, thereby improving the accuracy of the cut piece separation strategy.

[0123] The methods for generating vibration adjustment commands also include Step 307: When the increased amplitude is greater than the preset amplitude threshold, the number of selections is determined based on the enhanced element.

[0124] When the amplitude increases beyond the amplitude threshold, it means that the amplitude compensation required by a single element is too large, exceeding the element's working range.

[0125] The selection count refers to the number of times the vibration element corresponding to the increased amplitude is selected. It can be calculated from the historical vibration adjustment instructions, which counts the cumulative number of times the current enhanced vibration element has been selected as the enhanced vibration element in this stripping process. The cumulative number is used as the selection count. The historical vibration adjustment instructions refer to all vibration adjustment instructions that have been generated and executed in this stripping process.

[0126] Step 308: When the number of selections is greater than the preset number threshold, the excess value coefficient is determined according to the increase in amplitude and amplitude threshold.

[0127] The number of selections threshold refers to the threshold number of times a vibrating element is selected. When the number of selections is greater than the number of selections threshold, it means that the amplitude of the vibrating element is too large because it has been selected as an enhanced vibrating element multiple times. In this embodiment, the number of selections threshold is 1.

[0128] The excess value factor refers to the amplitude multiple that needs to be allocated. The excess value factor can be the quotient of the increase in amplitude and the amplitude threshold, and the result should be rounded up to the nearest integer.

[0129] Step 309: Determine the selection quantity based on the excess coefficient, and determine the selected vibration element according to the selection quantity and the enhanced vibration element.

[0130] The selection quantity refers to the number of additional vibration elements that need to be allocated. The larger the excess coefficient, the larger the amplitude that needs to be compensated, and the larger the selection quantity. The selection quantity corresponding to the excess coefficient can be found in the selection quantity correspondence table. The selection quantity correspondence table is a table that records different excess coefficients and their corresponding selection quantities.

[0131] Selecting vibration elements refers to the additional vibration elements that need to be allocated. It can be done by taking the strengthening vibration element as the center and selecting a number of vibration elements that are closest to the strengthening vibration element at the center in sequence as selected vibration elements. This allows the newly added vibration elements to effectively assist in the transmission of vibration energy, and at the same time, the number of the selected vibration elements is read.

[0132] Step 310: Determine the enhancement array by combining the selected oscillator and the enhancement oscillator.

[0133] An enhancement array refers to a set of piezoelectric ceramic elements consisting of enhancement elements and selected elements, used to compensate for abnormal elements. Each element in the array needs to have its amplitude adjusted to achieve joint compensation for vibration in abnormal areas.

[0134] Step 311: Determine the distance weight based on the enhanced array and the anomalous oscillator.

[0135] Distance weight refers to the normalized numerical coefficient of each element in the enhancement array, which is used to quantify the contribution ratio of the element to the vibration compensation of the abnormal area. The Euclidean distance between each element in the enhancement array and the position of the abnormal element is calculated, and then the distance weight of each element is determined by the inverse distance weighting method.

[0136] Step 312: Determine the array amplitude by combining the distance weight and the traveling wave amplitude, and update the vibration adjustment command according to the array amplitude.

[0137] Array amplitude refers to the amplitude of each element in the enhancement array. It can be calculated as the weighted root mean square of the amplitude based on the distance weight and the traveling wave amplitude. Specifically, the array amplitude is calculated as the square root of the sum of the square of the traveling wave amplitude and the product of the distance weight and the quotient of the sum of the distance weights.

[0138] If multiple elements are damaged, the reinforcing elements may be selected repeatedly. When elements are selected repeatedly, the excess coefficient is determined based on the accumulated increase in amplitude, thereby determining the reinforcing array. Then, the array amplitude of each element in the reinforcing array is determined by combining the distance weight, thereby improving the accuracy of the piece separation strategy.

[0139] The method for updating the micro-vibration application command also includes: Step 313: Determine the over-limit area based on the peel force distribution map.

[0140] The over-limit area refers to a continuous area in the peel force distribution diagram where the peel force is continuously higher than the preset over-limit threshold. In this embodiment, the over-limit threshold is 0.1N. The appearance of an over-limit area indicates that the peel force is too high. At this time, the vibration energy cannot effectively destroy the interface, so abnormal adhesion occurs in a local area of ​​the cut piece.

[0141] Step 314: Determine the area of ​​the region based on the over-limit region.

[0142] The area of ​​the region refers to the area of ​​the over-limit area on the cutting piece plane. The area corresponding to the over-limit area can be read as the area of ​​the region.

[0143] Step 315: Determine the adjustment position based on the area of ​​the region.

[0144] Adjusting the position refers to the coordinates of the area to be divided. When the area of ​​the region is less than 30% of the area of ​​the cut piece, the area of ​​the abnormally adhered region is relatively small. The abnormal region can be separated first by adjusting the dividing line. Therefore, the adjustment position is the center coordinate of the over-limit region. Using dual-zone differential prying, when the area of ​​the region is not less than 30% of the area of ​​the cut piece, it is completely included in a vibration zone. The strong bending stress generated at the dividing line by dual-zone differential can be used to pry from the edge of the adhesion zone. At this time, the lever arm is the longest and can generate the largest peeling torque. Therefore, the peeling effect is better than dispersing the vibration energy inside a large area of ​​adhesion. At this time, the adjustment position is the outer edge of the over-limit region. The area of ​​the cut piece refers to the area of ​​the cut piece to be separated. The outline point cloud of the top layer cut piece can be projected onto the two-dimensional plane where the cut piece is located. Then, the area of ​​the plane enclosed by the outline edge point set is calculated and the plane area is used as the area of ​​the cut piece.

[0145] Step 316: Determine the partition boundary according to the adjusted position, and update the micro-vibration application command according to the partition boundary.

[0146] The partition line refers to the dividing line that divides the vibration area of ​​the cut piece into different vibration parameter areas. The position can be adjusted to the center, and a line parallel to the original dividing line can be drawn as the partition line, which can then be used as the new partition line between area A and area B.

[0147] There may be areas where the pieces are tightly adhered. In this case, it is necessary to separate the pieces by using zoned vibration. The area of ​​the tightly adhered area is determined according to the peel force distribution diagram, and the boundary line of the vibration zone is determined. Then, the zoned vibration is executed to separate the tightly adhered areas in the pieces, thereby improving the accuracy of the piece separation strategy.

[0148] Methods for determining partition boundaries also include: Step 317: Determine the number of boundaries based on the partition boundaries.

[0149] The number of boundaries refers to the total number of currently determined partition boundaries. The number of partition boundaries can be counted as the boundary quantity.

[0150] Step 318: When the number of boundaries is greater than the preset boundary threshold, determine the center coordinates based on the area of ​​the region.

[0151] The boundary threshold refers to the number of critical boundaries used to determine whether partitions need to be merged. In this embodiment, the boundary threshold is 1.

[0152] The center coordinates refer to the set of geometric center coordinates of each over-limit region.

[0153] Step 319: Determine the target coordinates by combining the area of ​​the region and the center coordinates.

[0154] When the number of boundaries exceeds the boundary threshold, it indicates the presence of multiple adhesion regions. In this case, it is necessary to scientifically merge the multiple scattered vibration zones that need to be handled separately into an optimal zone. Therefore, weighted calculation is required to find a vibration center that can solve the adhesion problem to the greatest extent. The larger the area of ​​the adhesion region, the greater its contribution to the target coordinates, thereby achieving a weighted balance of the influence of multiple regions based on area.

[0155] The target coordinates refer to the center coordinates of the boundary line of the newly merged partition. The quotient of the coordinate weighting and the area weighting can be used as the target coordinates. Coordinate weighting refers to the weighting result of each center coordinate with the area as the weight. The product of each center coordinate and the corresponding area can be used as the coordinate weighting. Area weighting refers to the sum of the areas of each area. The area weighting can be obtained by accumulating the area areas. The new partition boundary line is determined by referring to the partition boundary line determination method in step 316. The calculated target coordinates are the area weighted average position of all over-limit areas in the row direction, which is their comprehensive center of gravity. Moving the boundary line to this position can make the large-area sticky areas closer to the boundary line, thereby obtaining a stronger levering effect in the dual-zone differential mode. At the same time, it can also appropriately take into account small areas and achieve the best balance of the influence of multiple sticky areas.

[0156] Step 320: Update the partition boundaries according to the target coordinates.

[0157] When there are too many adhesion areas, the complexity of vibration element control increases. At this time, the area and center coordinates of each adhesion area are weighted and calculated to determine the target coordinates. While ensuring the separation effect, the number of times the partition vibration is executed is reduced, which increases the reliability of the piece separation.

[0158] It also includes a method for generating edge vibration commands, the method comprising: Step 321: Determine the radius of curvature and interlayer distance of the corner of the cut piece based on the visual information.

[0159] The corners of the cut pieces refer to the four corner areas of the top layer of the cut pieces stack. The three-dimensional point cloud data of the corners of the cut pieces can be obtained by the three-dimensional structured light sensor in the vision inspection module. In this embodiment, the area within 15mm inward from the corner point will be taken as the corner area.

[0160] The radius of curvature refers to the degree of curvature of the edge contour of the corner of the cut piece in a plane. The edge point set of the corner of the cut piece can be fitted with an arc, and the radius of the fitted arc can be used as the radius of curvature of the corner. The smaller the radius of curvature, the sharper the corner and the more significant the stress concentration effect.

[0161] Interlayer distance refers to the distance deviation between two adjacent layers of cut pieces at their corners. It can be achieved by collecting point clouds of cut piece corners using a 3D structured light sensor, calculating the distance difference between a single corner point of the upper layer and all corner points of the lower layer, and taking the minimum value of the distance difference as the interlayer distance.

[0162] Step 322: Determine the geometric priority based on the radius of curvature, and determine the interlayer adhesion based on the interlayer distance and fabric type.

[0163] Geometric priority refers to a quantitative index that indicates the geometric shape of each corner of a cut piece is conducive to the concentration of vibration energy for peeling. It is used to measure the degree of geometric advantage of the corner as the starting point of peeling. The smaller the radius of curvature, the sharper the corner of the cut piece, the stronger the stress concentration effect generated by the vibration wave at that point, and the easier it is to induce interlayer separation. Therefore, the geometric priority is higher. The geometric priority corresponding to the radius of curvature can be found in the geometric priority correspondence table. The geometric priority correspondence table is a table that records different radii of curvature and their corresponding geometric priorities.

[0164] Interlayer adhesion refers to the quantitative value of the interlayer bonding strength in the corner area of ​​a cut piece. It is used to measure the ease with which the interlayers separate in that corner area. The larger the interlayer distance, the looser the interlayer bonding and the weaker the interlayer adhesion. The fiber surface characteristics and weaving structure of different fabric types will affect the interlayer adhesion force. The interlayer adhesion corresponding to the interlayer distance and fabric type can be found in the interlayer adhesion correspondence table. The interlayer adhesion correspondence table is a table that records the correspondence between different interlayer distances and fabric types and their corresponding interlayer adhesion.

[0165] Step 323: Determine edge priority by combining the geometric priority and interlayer adhesion.

[0166] Edge priority refers to the comprehensive priority value of each edge area of ​​the cut piece as the starting area for peeling. It is used to guide the selection of the optimal peeling starting position. The higher the geometric priority and the smaller the interlayer adhesion, the higher the edge priority of the area, and the more suitable it is as the starting area for vibration peeling. The edge priority corresponding to geometric priority and interlayer adhesion can be found in the edge priority correspondence table. The edge priority correspondence table is a table that records the correspondence between different geometric priorities and interlayer adhesion and their corresponding edge priorities.

[0167] Step 324: Determine the priority region based on the edge priority, and determine the angle normal vector based on the priority region.

[0168] The priority area refers to the corner area of ​​the cut piece with the highest edge priority value. It is used to determine the optimal starting position for vibration peeling. The piezoelectric ceramic array 1 can be placed in the four corner areas of the cut piece, and the area covered by the piezoelectric ceramic array 1 is the priority area.

[0169] The angular normal vector refers to the direction vector pointing from the edge of the priority area into the fabric piece. It represents the theoretical direction of the vibration traveling wave incident from that edge, so that the vibration energy propagates into the fabric piece along the normal direction, thereby maximizing the interlayer stress transfer efficiency. A three-dimensional point cloud on the contour line of the free edge of the priority area can be collected by a three-dimensional structured light sensor, and the three-dimensional point cloud is projected onto a two-dimensional plane. Then, the tangential vector of the contour is calculated by fitting the edge line or the difference between the first and last points. The tangential vector is rotated by 90° to obtain two opposite candidate normal values. Finally, the dot product of the candidate vector and the vector pointing from the edge point to the geometric center of the fabric piece is calculated, and the vector with a positive dot product is selected as the final angular normal vector pointing into the fabric piece.

[0170] Step 325: Determine the impediment factor by combining the angle normal vector and the traveling wave direction.

[0171] The hindering factor refers to the degree of matching between the current traveling wave direction and the angle normal vector of the priority area. It is used to quantify the hindering effect of the priority area on the stripping of the fabric piece. The difference between the angle normal vector and the corresponding angle of the traveling wave direction can be used as the angle difference, and the quotient of the angle difference and 90° can be used as the hindering factor.

[0172] Step 326: Determine the optimal edge based on the hindering factor and edge priority, and generate an edge vibration command in response to the optimal edge and the traveling wave direction.

[0173] The optimal edge refers to the best stripping starting edge determined by combining edge priority and obstacle factor under the current traveling wave direction constraint. The larger the edge priority and obstacle factor, the higher the final priority. The final priority corresponding to the obstacle factor and edge priority can be found from the final priority correspondence table. The final priority correspondence table is a table that records different obstacle factors and edge priorities and their corresponding final priorities. The priority region corresponding to the largest final priority is selected as the optimal edge. The processing chip in the waveform generation and phase control unit generates the edge vibration command, which controls the piezoelectric ceramic array 1 to vibrate in the traveling wave direction at the optimal edge.

[0174] When the area of ​​the cut piece is too large, the priority of each corner of the cut piece is determined according to the radius of curvature of the corner of the cut piece and the gap between each layer of cut pieces, and the optimal edge is determined in combination with the traveling wave direction, so that the cut pieces can be separated quickly at the corners, increasing the reliability of cut piece separation.

[0175] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0176] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A programmable surface micro-vibration strip peeling method, characterized in that, include: Step 100: Collect visual information and determine the anisotropy ratio of the fabric based on the visual information; Step 101: Generate traveling wave direction optimization instructions based on the anisotropy ratio; Step 102: In response to the traveling wave direction optimization command, determine the estimated layer thickness, fabric weight, and fabric type of the cut piece from the visual information; Step 103: Based on the anisotropy ratio, thickness estimate, fabric weight, and fabric type, retrieve vibration parameters from the preset vibration strategy library, and generate micro-vibration application instructions according to the vibration parameters; Step 104: In response to the micro-vibration, the peeling force is acquired by applying the command, and the edge lifting amount is determined based on the visual information; Step 105: When the edge lifting amount is not greater than the preset lifting amount threshold and / or the peeling force is not less than the peeling force threshold, determine the vibration time based on the micro-vibration applied command; Step 106: When the vibration time is greater than a preset time threshold, a vibration amplification command is generated; The method for determining the anisotropy ratio includes: Step 205: Determine the surface grayscale based on the visual information; Step 206: Determine the fabric power spectrum according to the surface grayscale; Step 207: Determine the angular projection based on the power spectrum of the fabric, and determine the orientation angle based on the angular projection; Step 208: Determine the reference normalized power and orthogonal normalized power based on the stated direction angle; Step 209: Calculate the quotient of the reference normalized power and the orthogonal normalized power as the anisotropy ratio; The method for generating the traveling wave direction optimization command includes: Step 210: When the anisotropy ratio falls within the preset adjustment range, the energy influence is determined by combining the angle projection and the direction angle; Step 211: Determine the gain angle based on the energy influence, and generate a traveling wave direction optimization command based on the gain angle; Step 212: When the anisotropy ratio is greater than the preset adjustment range, determine the maximum angle based on the direction angle; Step 213: Update the traveling wave direction optimization instruction based on the maximum angle.

2. The programmable surface micro-vibration strip peeling method according to claim 1, characterized in that, The method for determining the vibration parameters also includes: Step 200: Determine the reference force based on the peeling force; Step 201: Determine the descent ratio by combining the reference force and the peeling force; Step 202: When the decrease ratio is less than the preset decrease threshold, determine the optimal frequency based on the vibration parameters; Step 203: When the optimal frequency is empty, determine the amplified amplitude based on the vibration parameters; Step 204: When the amplified amplitude is greater than the preset amplitude threshold, a dual-segment vibration command is generated in response to the vibration parameters.

3. The programmable surface micro-vibration strip peeling method according to claim 1, characterized in that, It also includes a method for generating vibration adjustment commands, wherein the method for generating vibration adjustment commands includes: Step 300: Determine the peel force distribution map based on the peel force; Step 301: Determine the abnormal region based on the peeling force distribution map, and determine the abnormal vibration element based on the abnormal region; Step 302: Determine the direction of the traveling wave according to the vibration parameters; Step 303: Determine the reinforcing element by combining the traveling wave direction and the abnormal element, and determine the adjustment quantity according to the abnormal element and the reinforcing element; Step 304: Determine the traveling wave amplitude based on the vibration parameters, and determine the adjustment amplitude based on the traveling wave amplitude; Step 305: Determine the increase in amplitude based on the adjusted amplitude and the adjusted quantity; Step 306: Generate vibration adjustment instructions according to the stated increase in amplitude.

4. The programmable surface micro-vibration strip peeling method according to claim 3, characterized in that, The method for generating the vibration adjustment command also includes: Step 307: When the increased amplitude is greater than the preset amplitude threshold, determine the number of selections based on the enhanced element; Step 308: When the number of selections exceeds the preset number threshold, determine the excess value coefficient according to the increase in amplitude and the amplitude threshold; Step 309: Determine the selection quantity based on the excess coefficient, and determine the selected vibration element according to the selection quantity and the enhanced vibration element; Step 310: Determine the enhancement array by combining the selected oscillator and the enhancement oscillator; Step 311: Determine the distance weight based on the enhanced array and the anomalous oscillator; Step 312: Determine the array amplitude by combining the distance weight and the traveling wave amplitude, and update the vibration adjustment command according to the array amplitude.

5. The programmable surface micro-vibration strip peeling method according to claim 3, characterized in that, The method also includes updating the micro-vibration application command, specifically including: Step 313: Determine the over-limit area based on the peel force distribution map; Step 314: Determine the area of ​​the region based on the exceeded region; Step 315: Determine the adjustment position based on the area of ​​the region; Step 316: Determine the partition boundary according to the adjustment position, and update the micro-vibration application command according to the partition boundary.

6. The programmable surface micro-vibration strip peeling method according to claim 5, characterized in that, The method for determining the partition boundary includes: Step 317: Determine the number of boundaries based on the partition boundaries; Step 318: When the number of boundaries is greater than a preset boundary threshold, determine the center coordinates based on the area of ​​the region; Step 319: Determine the target coordinates by combining the area of ​​the region and the center coordinates; Step 320: Update the partition boundaries according to the target coordinates.

7. The programmable surface micro-vibration strip peeling method according to claim 6, characterized in that, It also includes a method for generating edge vibration commands, the method comprising: Step 321: Determine the radius of curvature and interlayer distance of the corner of the cut piece based on the visual information; Step 322: Determine the geometric priority based on the radius of curvature, and determine the interlayer adhesion based on the interlayer distance and fabric type; Step 323: Determine edge priority based on the geometric priority and interlayer adhesion; Step 324: Determine the priority region based on the edge priority, and determine the angle normal vector based on the priority region; Step 325: Determine the impedance factor by combining the angle normal vector and the traveling wave direction; Step 326: Determine the optimal edge based on the hindering factor, and generate an edge vibration command in response to the optimal edge and the traveling wave direction.

8. A programmable surface micro-vibration piece peeling device, employing a programmable surface micro-vibration piece peeling method as described in any one of claims 1 to 7, comprising: A piezoelectric ceramic array (1) is placed at the end of a six-degree-of-freedom robot arm to generate vibration waves; A flexible contact membrane is disposed on the lower surface of the piezoelectric ceramic array (1) to transmit vibration waves; A micro-force sensing array (2) is set in a piezoelectric ceramic array (1) to collect peeling force and contact force; An electrostatic eliminator needle array (3) is disposed around the piezoelectric ceramic array (1) to eliminate static electricity; Waveform generation and phase control unit, used to identify resonant frequencies and adjust vibration parameters; The visual inspection module is used to collect and analyze visual information; Separate monitoring and quality assessment modules are used to detect fabric piece adhesion.

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