Intelligent control method for automatic wrapping process of automobile seat back plate skin

Abstract

The application discloses an intelligent control method for an automatic covering process of a back plate skin of an automobile seat, relates to the technical field of automatic covering control of automobile seat interior parts, and determines a corner region to be finally covered by an edge through a control system, acquires adjacent edge pre-pressing records and adhesive open time information, and performs pressure reduction detection before finally covering the edge to obtain corner rebound change information; whether the release path of the corner skin is limited is judged according to the adjacent edge pre-pressing records, whether the release capacity of the skin is limited by temporary adhesion of the adhesive layer is judged according to the adhesive open time information, and residual deformation risk is judged in combination with the rebound change. The method can avoid misjudging low rebound caused by pseudo-leveling under pressure as stable covering completion, and restricts the final edge covering release.

Description

Technical Field

[0001] This invention relates to the field of automated wrapping control technology for automotive seat interior parts, and more specifically, to an intelligent control method for the automated wrapping process of automotive seat back panel leather. Background Technology

[0002] The outer surface of car seat back panels typically needs to be covered with leather. After the leather is attached to the main area of ​​the back panel, it needs to be folded over and secured along the edges of the back panel. When performing this process, the automatic wrapping equipment generally first attaches the leather to the outer surface of the back panel, then advances it along a preset path to each edge area. The pressing mechanism pre-presses and maintains pressure on the edges of the leather, and the edge-wrapping execution mechanism completes the folding and edge wrapping.

[0003] At straight edges, the release direction of excess leather material is relatively unidirectional. Once the pressing mechanism is in place, the pressure reaches the set range, and the holding time is over, the surface condition of the leather edge can usually directly reflect the wrapping status of that area. The equipment can determine whether the area can continue into the subsequent edge-wrapping process by combining factors such as surface flatness and minimal springback. For edge areas with ample space for excess material release, this control method can generally meet basic wrapping requirements.

[0004] The existing technology has the following shortcomings: On the one hand, the corner area of ​​the seat back panel is located at the intersection of adjacent edges, unlike a single straight edge. When the adjacent area has been pre-compressed or edge-wrapped, the path for the corner material to continue releasing excess material towards the adjacent edge may be blocked or locked. At this time, even if the corner surface is flattened, it does not necessarily mean that the excess material has been fully unfolded and released. As a result, the equipment may easily mistake the temporary flatness under pressure as a stable wrapping completion. The difficulty lies in the fact that the positioning of the mechanism, the attainment of the pressure target, or the end of the pressure holding can only reflect the execution status, not whether the excess material in the corner has been fully released.

[0005] On the other hand, the adhesive layer in the corner area may still be in the initial adhesion stage during the open time. Even if the leather has not yet been stably attached, it may exhibit low rebound or temporary flatness due to the temporary adhesion of the adhesive layer. At this time, low rebound may come from stable attachment or from the pressure pseudo-flatness caused by the combined effect of adjacent edge restriction and initial adhesion of the adhesive layer. The consequence is that the corner area may be prematurely released into the final edge binding. The difficulty lies in the fact that conventional rebound threshold judgment is difficult to distinguish between stable low rebound and suppressed low rebound.

[0006] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide an intelligent control method for the automatic wrapping process of automotive seat back panel leather, so as to solve the problems mentioned in the background art. Summary of the Invention

[0007] To achieve the above objectives, the present invention provides the following technical solution: Intelligent control methods for the automated leather upholstery process of automotive seat back panels include: S101, obtain the covering control information of the car seat back panel, determine the corner area to be finally covered, and obtain the pre-pressure record of the adjacent edge and the adhesive open time information corresponding to the corner area. S102, Before performing the final edge binding in the corner area, perform a pressure reduction detection action on the corner area and obtain corner springback change information after the pressure reduction detection action; S103, combine corner springback change information, adjacent edge pre-compression record and adhesive open time information to determine whether there is residual deformation risk in the corner area; wherein, when the corner springback change information exceeds the springback limit, it is determined that there is residual deformation risk in the corner area; when the corner springback change information does not exceed the springback limit, it is determined whether the low springback state is a suppressed low springback state based on the adjacent edge pre-compression record and adhesive open time information. S104: When there is no risk of residual deformation in the corner area, generate the final corner wrapping instruction; when there is a risk of residual deformation in the corner area, postpone the final corner wrapping and generate the corner adjustment instruction.

[0008] In a preferred embodiment, determining the corner area to be finally edged includes: Based on the edge contour, edging path, and corner or arc transition position of the car seat back panel, determine the intersection area of ​​the two edging paths and define the intersection area as the corner area; The two edge-covered regions that are adjacent to the corner region along the two edge-covering paths are defined as the two adjacent edges of the corner region.

[0009] In a preferred embodiment, the adjacent edge pre-compression record includes the pre-compression completion time, pre-compression sequence, pre-compression force, pre-compression holding time, pre-compression range, pre-compression end position, and press-fit holding state of the two adjacent edges adjacent to the corner region, respectively.

[0010] In a preferred embodiment, determining whether the corner leather release path is restricted by the adjacent edge based on the adjacent edge pre-compression record includes: Based on the final edge-binding direction of the corner area and the distribution of the remaining leather material in the corner area, determine the predetermined release direction of the remaining leather material in the corner area; When both adjacent sides of the corner area have been pre-compressed, if the pre-compressing range of both adjacent sides extends to the adjacent boundary of the corner area, or if the distance between the pre-compressing end position of both adjacent sides and the corner area is less than the adjacent side limit distance threshold, it is determined that the two adjacent sides have the positional conditions to restrict the release path of the corner leather. When two adjacent sides have the positional conditions to restrict the release path of the corner leather, and the adjacent side pressing parts corresponding to the two adjacent sides are both in the pressed state during the decompression detection action, and the pre-pressure of the two adjacent sides reaches the adjacent side limiting pressure threshold, it is determined that the release path of the corner leather is restricted by the adjacent sides. Alternatively, when two adjacent sides have the positional conditions to restrict the release path of the corner leather, and the adjacent side pressing parts corresponding to the two adjacent sides are both in a pressed state during the decompression detection action, and the pre-press holding time of the two adjacent sides reaches the adjacent side restriction time threshold, it is determined that the release path of the corner leather is restricted by the adjacent sides.

[0011] In a preferred embodiment, the adhesive open time information includes a start time, a judgment time, and an open duration; the start time is the time when the adhesive spraying is completed or the adhesive layer activation is completed for the corner area, the judgment time is the time when the decompression detection action begins, and the open duration is the time interval between the start time and the judgment time. The determination of whether the release capability of the corner leather is limited by the temporary adhesion of the adhesive layer is based on the adhesive open time information, including: when the open time falls within the temporary adhesion judgment time window of the adhesive layer, it is determined that the release capability of the corner leather is limited by the temporary adhesion of the adhesive layer, and the temporary adhesion judgment time window of the adhesive layer includes the initial adhesion holding time period of the adhesive layer; when the open time does not fall within the temporary adhesion judgment time window of the adhesive layer, it is determined that the release capability of the corner leather is not limited by the temporary adhesion of the adhesive layer.

[0012] In a preferred embodiment, the pressure reduction detection action performed on the corner area includes: before the final edge binding is performed on the corner area, controlling the corner pressing component to switch from a working pressing state to a detection pressing state to reduce the pressing force acting on the corner area and maintain a preset detection time; or, before the final edge binding is performed on the corner area, causing the corner pressing component to retract a preset detection stroke in a direction away from the car seat back panel and maintaining a preset detection time; wherein, the pressure reduction detection action is not used to complete the final edge binding of the corner area; when the two adjacent edges adjacent to the corner area are in a pre-pressure holding state, the adjacent edge pressing components corresponding to the two adjacent edges maintain the current pre-pressure state during the pressure reduction detection action.

[0013] In a preferred embodiment, obtaining corner rebound change information after decompression detection includes: obtaining the corner edge retraction amount, corner surface height change amount, or marker point displacement amount before and after decompression detection by a displacement detection unit, a pressure detection unit, or a vision detection unit, and determining the corner rebound change information based on the corner edge retraction amount, corner surface height change amount, or marker point displacement amount.

[0014] In a preferred embodiment, determining whether a low rebound state is a suppressed low rebound state based on adjacent edge pre-compression records and adhesive open time information includes: when the corner leather release path is restricted by adjacent edges and the corner leather release capacity is restricted by temporary adhesive layer adhesion, the low rebound state is determined to be a suppressed low rebound state, a rebound suppression mark is generated, and the corner area is determined to have residual deformation risk based on the rebound suppression mark; when the corner leather release path is not restricted by adjacent edges, or the corner leather release capacity is not restricted by temporary adhesive layer adhesion, the low rebound state is determined not to be a suppressed low rebound state, and the corner area is determined to meet the final edge-wrapping allowable conditions; when the corner rebound change information exceeds the rebound upper limit, the corner area is determined to have residual deformation risk based on the corner rebound change information.

[0015] In a preferred embodiment, the corner adjustment command includes one or more of the following: corner flattening command, adjacent edge decompression command, corner re-pre-compression command, delayed final edge binding command, final edge binding pressure adjustment command, final edge binding speed adjustment command, and manual review prompt; wherein, the adjacent edge decompression command is used to reduce the pre-pressure of one or two adjacent edges adjacent to the corner area to remove the restriction on the corner leather release path by the corresponding adjacent edge; the delayed final edge binding command is used to wait for the corresponding adhesive layer in the corner area to detach from the adhesive layer temporary adhesion judgment time window; the corner flattening command is used to rearrange the remaining leather in the corner area; the corner re-pre-compression command is used to re-establish the corner pre-compression state after adjusting the remaining leather; The final edge-binding pressure adjustment command and the final edge-binding speed adjustment command are used to adjust the execution pressure and execution speed during the subsequent final edge-binding of the corner area; the manual review prompt is used to prompt manual inspection of the leather condition in the corner area when the risk of residual deformation cannot be eliminated after automatic adjustment.

[0016] In a preferred embodiment, after the corner adjustment action corresponding to the corner adjustment command is completed, the pressure reduction detection action is performed on the corner area again, and the corner rebound change information is acquired again. When the acquired corner rebound change information does not exceed the rebound upper limit, and the corner leather release path is not restricted by the adjacent edge and the corner leather release capability is restricted by the temporary adhesion of the adhesive layer, the final corner binding command is generated. When the acquired corner rebound change information exceeds the rebound upper limit, the final corner binding of the corner area is suspended or the corner binding abnormal result is output. When the acquired corner rebound change information does not exceed the rebound upper limit, and the corner leather release path is still restricted by the adjacent edge and the corner leather release capability is still restricted by the temporary adhesion of the adhesive layer, the final corner binding of the corner area is suspended or the corner binding abnormal result is output.

[0017] The effects and advantages of the intelligent control method for the automatic upholstery process of automotive seat back panel leather in this invention: This invention provides an intelligent control method for the automated wrapping process of automotive seat back panel leather. By performing a pressure-reducing detection action before the final corner wrapping, and using corner rebound change information, adjacent edge pre-pressure records, and adhesive open time information together for risk assessment, low corner rebound is no longer directly used as a basis for releasing the process after stable wrapping is completed. This method can distinguish between low rebound caused by stable adhesion and pseudo-flatness caused by pressure due to adjacent edge restricted release paths and temporary adhesive layer adhesion, reducing the risk of corner areas being prematurely released into the final wrapping process due to temporary surface flatness. When residual deformation risk is established, this application postpones the final wrapping and generates a corner adjustment command, allowing the risk identification result to directly affect the wrapping execution control, thereby reducing the possibility of edge curling, wrinkles, shrinkage, local loosening, or surface instability after final wrapping. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the method flow of this application; Figure 2 This is an application scenario diagram for Example 1; Figure 3 This is the core decision logic diagram for Example 1; Figure 4 The control results and retest closed-loop diagram for Example 1 are shown below; Figure 5 This is an application scenario diagram for Example 2; Figure 6 This is an application scenario diagram for Example 3. Detailed Implementation

[0019] The implementation process of this application will be described below with reference to the accompanying drawings and specific embodiments. These embodiments are used to illustrate the technical solution of this application and do not limit the scope of protection of this application.

[0020] This invention provides an intelligent control method for the automatic wrapping process of automotive seat back panel leather, applicable to automatic wrapping scenarios where there is a risk of limited material release in the corner areas of the seat back panel before final edge wrapping. During the automatic wrapping process of automotive seat back panel leather, straight edge areas can typically complete pressing and edge wrapping according to a preset stroke. However, corner areas are located at the intersection of adjacent edges. Once the adjacent edges have been pre-pressed or wrapped, the path for the corner leather to continue releasing towards the adjacent edges is easily restricted.

[0021] Existing automatic wrapping control typically drives the pressing mechanism in a preset sequence and determines whether the corner area can proceed to final wrapping based on the mechanism's positioning, pressure reaching the set value, end of the holding time, or minimal corner rebound. This method is prone to misjudgment in the corner area because the flatness or low rebound of the corner surface under pressure or initial adhesion does not necessarily indicate that excess leather has been fully unfolded and released. It may simply mean that excess leather is temporarily pressed into the folded layer, or that the corner leather is temporarily held by the adhesive layer and has not been fully released. Therefore, the corner may form a pseudo-flat state under pressure before final wrapping. If the equipment only releases the final wrapping based on the completion of the action or the appearance of low rebound, it is easy to mistake this temporary flatness for stable corner wrapping. Once the final wrapping is performed, the release path of the excess corner material is further restricted. Subsequently, when the pressure on the adjacent edge is released, the state of the adhesive layer changes, or the internal stress of the leather is redistributed, the suppressed leather may push up the corner again, forming bulges, wrinkles, curling edges, or localized loosening.

[0022] Therefore, before performing the final hemming in the corner area, this invention performs a pressure reduction detection action on the corner area and obtains corner rebound change information. Simultaneously, it reads the pre-compression record of the adjacent edge and the corresponding adhesive open time information for the corner area. Based on the adjacent edge pre-compression record, it determines whether the corner leather release path is restricted by the adjacent edge; based on the adhesive open time information, it determines whether the corner leather release capacity is restricted by the temporary adhesion of the adhesive layer. When the corner rebound change does not exceed the rebound upper limit, but the release path and release capacity are simultaneously limited, low rebound is not used as a basis for releasing stable hemming. Instead, it is determined that there is a risk of residual deformation in the corner area, and the final hemming is temporarily suspended or a corner adjustment instruction is generated accordingly.

[0023] Based on the above-mentioned technical means, this application constructs an intelligent control method for the automatic wrapping process of automotive seat back panel leather, consisting of steps S101 to S104. (Refer to...) Figure 1 , Figure 1 This is a schematic diagram of the method flow of this application, which includes the following steps.

[0024] In step S101, the control system acquires the covering control information of the car seat back panel, determines the corner area to be finally covered, and acquires the adjacent edge pre-compression record and the adhesive open time information corresponding to the corner area. The adjacent edge pre-compression record is used to characterize the adjacent edge constraints that may affect the corner leather release path, and the adhesive open time information is used to characterize the temporary adhesion effect of the adhesive layer that may affect the corner leather release capability. Therefore, before performing the final corner covering, the control system incorporates the corner area itself, the adjacent edge pre-compression state, and the adhesive layer time state into the subsequent residual deformation risk assessment.

[0025] In step S102, before performing the final hemming in the corner area, the control system performs a pressure reduction detection action on the corner area and acquires corner springback change information after the pressure reduction detection action. The pressure reduction detection action is not used to complete the final corner hemming, but rather to reduce the local pressure constraint in the corner area before final hemming, allowing the release change of the corner leather after the constraint reduction to be detected. The corner springback change information is used to characterize the springback, retraction, displacement, or surface change of the corner area after the pressure reduction detection.

[0026] In step S103, the control system determines whether the corner material release path in the corner area is restricted by the adjacent edge based on the adjacent edge pre-compression record, whether the corner material release capacity in the corner area is restricted by the temporary adhesive layer based on the adhesive open time information, and whether there is a risk of residual deformation in the corner area in combination with the corner rebound change information. When the corner rebound change information exceeds the rebound upper limit, the control system determines that there is a risk of residual deformation in the corner area; when the corner rebound change information does not exceed the rebound upper limit, the control system does not directly use the low rebound state as a basis for stable attachment, but continues to determine whether the low rebound state is jointly suppressed by the adjacent edge pre-compression and the temporary adhesive layer. If the corner material release path is restricted by the adjacent edge and the corner material release capacity is restricted by the temporary adhesive layer, the control system determines that there is still a risk of residual deformation in the corner area; if the above-mentioned combination of restrictions is not formed, the corner area is determined to meet the final edge-wrapping allowable conditions.

[0027] In this application, the low rebound state refers to the state in which the corner rebound change information does not exceed the upper limit of rebound; this state only indicates that no obvious release change exceeding the upper limit of rebound was detected after decompression detection, and does not necessarily mean that the corner leather has completed stable release and stable adhesion.

[0028] In step S104, the control system generates corner edging control results based on whether there is residual deformation risk in the corner area; when the corner area meets the final edging allowable conditions, the control system generates a final corner edging instruction, causing the corner area to enter the final edging process; when there is residual deformation risk in the corner area, the control system suspends the final edging of the corner area and generates a corner adjustment instruction; the corner adjustment instruction is used to adjust the corner leather release state, adjacent edge pre-compression state, or adhesive layer waiting state before the final edging, so as to avoid directly curing the suppressed low rebound state into the final covering state.

[0029] Through the above steps, the control system does not solely rely on the rebound magnitude of the corner area after decompression detection to determine whether to perform final edge binding. Instead, it further determines, in the case of low rebound, whether the low rebound is jointly suppressed by adjacent edge pre-compression and temporary adhesive layer bonding. Therefore, it can identify residual deformation risks masked by low surface rebound before final edge binding and convert this risk assessment result into a control result of either delaying or allowing edge binding.

[0030] The automatic wrapping control process of the automotive seat back panel leather material of this application will be described below with reference to specific embodiments.

[0031] In Example 1, refer to Figure 2 , Figure 2 The following is an application scenario diagram of Embodiment 1, taking the final edge-wrapping pre-processing of the upper left arc-shaped corner of a car seat back panel under the state of pre-pressing on both adjacent sides as an example to illustrate the method of this application.

[0032] The main body of the car seat back panel B0 has been bonded, and the covering leather P0 covers the outer surface of B0. The current bonding process has progressed to the upper left arc-shaped corner C1, where the final edge binding has not yet been performed. The upper side edge E1 and the left side edge E2 adjacent to C1 have completed adjacent edge pre-compression and remained in a compressed state during the C1 probe. The adhesive layer in the area corresponding to C1 is still in the initial adhesion holding stage. Therefore, even if C1 exhibits a small rebound during the decompression probe, it may still be affected by the combined effects of adjacent edge pre-compression and initial adhesive layer adhesion.

[0033] The method in this embodiment is executed by the control system of an automatic automotive seat back panel covering device. The automatic covering device includes a positioning mechanism for positioning the automotive seat back panel B0, a pressing mechanism for pressing and sealing the covering leather material P0, an edge-sealing mechanism for performing corner edge sealing, and a detection unit for acquiring changes in the corner state. The detection unit may include at least one of a displacement detection unit, a pressure detection unit, or a vision detection unit.

[0034] Under the aforementioned process conditions, the control system, based on the coating control information, identifies the upper left arc-shaped corner C1 as the corner area to be finally coated, and reads the coating process control configuration Q0. The coating process control configuration Q0 records the springback upper limit, adjacent edge limitation judgment conditions, initial adhesive hold time, decompression detection action parameters, and corner adjustment action selection rules. The control system also establishes a corner risk control record K0, which records the current corner area C1, adjacent edges E1 and E2, adjacent edge pre-compression records, adhesive open time information, decompression detection results, residual deformation risk judgment results, and corner coating control results.

[0035] In one example, the upper limit of rebound recorded in Q0 is 0.8mm, the detection retraction stroke of the corner pressing part corresponding to C1 is 1.0mm, the pressure reduction detection holding time is 0.8s, and the initial adhesion holding time of the adhesive layer is 5s to 60s after the adhesive layer is activated. The above parameters are only used to illustrate the processing of this embodiment. In actual applications, they can be configured according to the leather thickness, adhesive type, curvature of the car seat back panel, ambient temperature, and wrapping rhythm.

[0036] Reference Figure 3 , Figure 3In the core judgment process after C1 completes the decompression detection in the first embodiment, the control system does not release the final edge wrapping based solely on the rebound size of C1 at this stage. Instead, it simultaneously reads the pre-pressure holding state and adhesive layer open time state around C1 to determine whether the low rebound of C1 is a true stability or a false stability due to the limitation of adjacent edges and the temporary adhesion limitation of the adhesive layer.

[0037] In this embodiment, C1 is located between the upper side E1 and the left side E2. After the control system retrieves the pre-compression record of the adjacent side corresponding to C1, it first confirms that E1 and E2 have completed pre-compression. Specifically, the pre-compression range of E1 has advanced to the upper adjacent boundary of C1, and the pre-compression range of E2 has advanced to the left adjacent boundary of C1. When C1 starts to perform the decompression detection action, the adjacent side pressing parts corresponding to E1 and E2 have not withdrawn and are still pressed in the adjacent side areas on both sides of C1. Therefore, the path of the leather at C1 to release towards the upper side and the left side is limited by the adjacent side pressing state.

[0038] The distribution of excess leather material at C1 can be determined by the leather material cutting boundary, the edge contour of the car seat back panel B0, the edge wrapping path, and the currently completed pre-pressing area in the wrapping control information; the control system determines the direction in which the excess leather material at C1 may expand or retract along the adjacent edge after the corner pressing constraint is reduced, and takes this direction as the predetermined release direction.

[0039] The control system determines the predetermined release direction of the remaining material at C1 based on the final edge direction of C1 and the distribution of the remaining material at C1. This predetermined release direction characterizes the direction in which the remaining material at C1 may expand or retract along adjacent edges after the corner pressing constraint is reduced. In this embodiment, the predetermined release direction of the remaining material at C1 is directed towards the adjacent areas of the upper side E1 and the left side E2, respectively. Since the pre-pressing end positions and pre-pressing ranges of E1 and E2 are located on adjacent sides of this predetermined release direction, and E1 and E2 remain pressed during the decompression detection, the remaining material at C1 is difficult to release freely along the upper side E1 direction and the left side E2 direction. Based on this, the control system determines that the corner material release path of C1 is restricted by the adjacent edges.

[0040] The control system simultaneously acquires the adhesive open time information corresponding to C1. This adhesive open time information includes the completion time of adhesive spraying in the area corresponding to C1, the completion time of adhesive layer activation, the start time of the pressure reduction detection action, and the initial adhesive hold time recorded in Q0. The control system uses the start time of the pressure reduction detection action as the judgment time and determines the starting time based on the process record of the adhesive layer corresponding to C1. If the process record contains an adhesive layer activation completion time, it uses that as the starting time; otherwise, it uses the completion time of adhesive spraying. The control system defines the time interval between the starting time and the judgment time as the open time of the adhesive layer corresponding to C1. When this open time falls within the initial adhesive hold time recorded in Q0, the control system determines that C1 is still in the initial adhesive hold stage when the pressure reduction detection action is performed. During this stage, a temporary adhesion has formed between the covering leather material P0 and the car seat back panel B0, but this temporary adhesion is insufficient to indicate that the corner leather material has completed stable release and final attachment.

[0041] Subsequently, before C1 performs its final edge binding, the control system performs a pressure reduction detection action on C1. This pressure reduction detection action is not used to complete the final edge binding of C1, but rather to reduce the local pressure constraint on C1 before the final edge binding, so that the release change of the covering material P0 at C1 after the constraint reduction can be detected. When performing the pressure reduction detection action, the control system only reduces the pressing force of the corner pressing parts corresponding to C1, or only causes the corner pressing parts corresponding to C1 to retract the preset detection stroke; the adjacent pressing parts corresponding to E1 and E2 remain in their original pre-compression state and are not simultaneously released during this pressure reduction detection action.

[0042] In this embodiment, the control system controls the corner pressing component corresponding to C1 to switch from the working pressing state to the probing pressing state, or controls the corner pressing component corresponding to C1 to retract the probing retraction stroke recorded in Q0. Simultaneously, the detection unit acquires the corner edge retraction amount, height change amount, or marker point displacement amount of C1 before and after the decompression probing action, and forms corner springback change information accordingly. The corner springback change information can be represented by one of the edge retraction amount, corner surface height change amount, or marker point displacement amount, or it can be determined comprehensively based on multiple detection results. When multiple detection results of corner edge retraction amount, corner surface height change amount, and marker point displacement amount are acquired simultaneously, the control system converts each detection result into a corner displacement change amount expressed in millimeters, and selects one of them as the corner springback change information according to the detection priority recorded in Q0; or, the maximum value among the multiple corner displacement changes is used as the corner springback change information.

[0043] The control system compares the corner rebound change information of C1 with the upper limit of rebound recorded in Q0. In this embodiment, the corner rebound change information of C1 after the decompression detection action does not exceed the upper limit of rebound. If only the conventional rebound detection logic is followed, C1 may be considered to meet the final edge wrapping condition. However, in this application, the control system does not directly take the low rebound state as the basis for C1 to be stably attached. Instead, it continues to combine the adjacent edge pre-pressure record and adhesive open time information to determine whether the low rebound state is reliable.

[0044] Specifically, the control system determines the pre-compression end position, pre-compression range, and pressing status of E1 and E2 based on the adjacent pre-compression records, and compares these with the predetermined release direction of the remaining material at C1. Since the pre-compression ranges of E1 and E2 are located on adjacent sides of the predetermined release direction of the remaining material at C1, and the corresponding adjacent pressing parts of E1 and E2 remain pressed during the decompression detection, the remaining material at C1 cannot be fully expanded along the E1 and E2 directions. Based on this, the control system confirms that the corner material release path at C1 is restricted by the adjacent sides.

[0045] The control system further determines whether the release capability of the corner leather at C1 is limited by the temporary adhesion of the adhesive layer based on the adhesive open time information. Since the open time of the adhesive layer corresponding to C1 falls within the initial adhesion holding time period recorded by Q0, there is temporary adhesion between the covering leather P0 and the car seat back panel B0. This temporary adhesion will inhibit the immediate rebound or retraction of the leather at C1 during the decompression detection period. Based on this, the control system confirms that the release capability of the corner leather at C1 is limited by the temporary adhesion of the adhesive layer.

[0046] If the corner rebound change information of C1 does not exceed the upper limit of rebound, the control system further confirms that the corner leather release path of C1 is restricted by the adjacent edge, and the corner leather release capability of C1 is limited by the temporary adhesion of the adhesive layer. At this time, the low rebound exhibited by C1 does not indicate that the corner leather has completed true release and stable adhesion, but may be due to the combined suppression caused by the pre-compression of the adjacent edges of E1 and E2 and the initial adhesion of the adhesive layer. The control system identifies this low rebound state as a suppressed low rebound state and generates a rebound suppression mark in the corner risk control record K0.

[0047] After generating the springback suppression mark, the control system determines that there is a risk of residual deformation at C1. This risk of residual deformation does not stem from the obvious springback that has already occurred after the decompression test, but rather from the unreliability of the low springback state itself: when the adjacent edge pressing parts corresponding to E1 and E2 are released, the adhesive layer state continues to change, or C1 is subjected to the final edge binding pressure, the temporarily restricted leather allowance at C1 may transform into wrinkles, curling edges, local bulges, or edge retraction.

[0048] Reference Figure 4 , Figure 4The control result and retest closed-loop diagram of Example 1 illustrates the control process where, when there is a risk of residual deformation in C1, the control system temporarily suspends the final hemming, generates a corner adjustment command, and re-executes the decompression detection after the adjustment is completed. If a risk of residual deformation still exists after reassessment, and the number of re-executions of decompression detection has not reached the upper limit of the retest count recorded in Q0, the control system continues to suspend the final hemming and performs corner adjustment again. If a risk of residual deformation still exists after the number of re-executions of decompression detection reaches the upper limit of the retest count, the control system outputs an abnormal corner hemming result.

[0049] Therefore, in step S104, the control system does not generate a final corner binding instruction for C1, but instead postpones the final binding of C1 and generates a corner adjustment instruction. The corner adjustment instruction may include at least one of the following: an adjacent edge decompression instruction, a delayed final binding instruction, a corner flattening instruction, a corner re-pre-compression instruction, or a manual review prompt. The adjacent edge decompression instruction is used to reduce the restriction of E1 or E2 on the release path of the C1 leather; the delayed final binding instruction is used to wait for the corresponding adhesive layer of C1 to detach from the initial adhesion holding stage; the corner flattening instruction is used to readjust the remaining leather material at C1; the corner re-pre-compression instruction is used to re-establish the corner pre-compression state after adjusting the remaining leather material; and the manual review prompt is used to prompt manual inspection of the C1 leather condition when the risk of residual deformation cannot be eliminated after automatic adjustment.

[0050] After the corner adjustment is completed, the control system re-executes the pressure reduction detection action and, based on the newly acquired corner springback change information, adjacent edge pre-compression records, and adhesive open time information, re-determines whether there is a risk of residual deformation in C1. If, after the re-determination, the corner springback change information of C1 does not exceed the springback upper limit, and the combined conditions of the corner leather release path being restricted by the adjacent edge and the corner leather release capacity being restricted by the temporary adhesion of the adhesive layer are no longer met, the control system determines that C1 meets the final edge-wrapping allowable conditions and generates a final corner edge-wrapping command, causing C1 to enter the final edge-wrapping process. If, after the re-determination, the corner springback change information of C1 exceeds the springback upper limit, or C1 still meets the above combined conditions, the control system continues to postpone the final edge-wrapping or generates an abnormal corner edge-wrapping result.

[0051] In this embodiment, the control system does not directly proceed with the final edge wrapping simply because C1 exhibits low rebound after the decompression test. Instead, it further determines whether the low rebound is suppressed by both adjacent edge pre-compression and the initial adhesion of the adhesive layer. When the above suppression conditions are met, the control system identifies the low rebound as a suppressed low rebound state and converts the risk assessment result into a temporary suspension of the final edge wrapping and corner adjustment control. This avoids directly solidifying the residual deformation risk hidden under the surface low rebound into the final wrapping state.

[0052] In Example 2, refer to Figure 5 , Figure 5 This is an application scenario diagram of Embodiment 2. Taking the final edge-wrapping pretreatment process of the lower right convex arc corner of a car seat back panel, which is prone to obvious rebound risk after the previous stretching and attachment, as an example, the method of this application will be explained.

[0053] The main body of the car seat back panel B0 has been fitted, and the covering material P0 covers the outer surface of B0. The current fitting process has progressed to the lower right convex arc-shaped corner C2, which has not yet undergone final edge binding. C2 is adjacent to the lower side edge E3 and the right side edge E4. Unlike the upper left arc-shaped corner C1 in Example 1, C2 is located at the transition position of the convex arc surface of B0, with a larger curvature. During the previous stretching and fitting process, the covering material P0 is prone to localized tension concentration along the outer edge of the corner. This tension concentration is used to explain the process reason for the risk of explicit springback at C2. The control system still uses the corner springback change information after decompression detection as the basis for judging the risk of residual deformation.

[0054] The method in this embodiment is also executed by the control system of the automatic automotive seat back panel covering equipment. The control system uses the covering process control configuration Q0 and corner risk control record K0; wherein, Q0 records the upper limit of rebound, pressure reduction detection action parameters and corner adjustment action selection rules, and K0 is used to record the current corner area C2, adjacent edges E3 and E4, adjacent edge pre-compression record, adhesive opening time information, pressure reduction detection results, residual deformation risk judgment results and corner edge covering control results.

[0055] Under the aforementioned process conditions, the control system, based on the wrapping control information, identifies the lower right convex arc-shaped corner C2 as the corner area to be finally wrapped, and acquires the adjacent edge pre-compression record and the corresponding adhesive open time information for C2. The adjacent edge pre-compression record records the pre-compression completion status, pre-compression range, and pressed part holding status of E3 and E4; the adhesive open time information records the adhesive spraying completion time, adhesive layer activation completion time, and decompression detection start time for the adhesive layer corresponding to C2. This information is written to K0 to record the process constraint status of C2 before final wrapping and serves as the basis for subsequent adjustment actions.

[0056] Subsequently, before C2 performs the final edge binding, the control system performs a pressure reduction detection action on C2. This pressure reduction detection action is used to reduce the local pressure constraint on C2 before the final edge binding, so that the release trend of the leather temporarily pressed by the pressing component at C2 can be detected. In this embodiment, the control system controls the pressing component at the corner of C2 to reduce the pressing force, or controls the pressing component at the corner of C2 to retract the detection retraction stroke recorded in Q0; the detection unit acquires the corner edge retraction amount, corner surface height change amount, or marker point displacement amount of C2 before and after the pressure reduction detection action, and forms corner springback change information of C2 accordingly.

[0057] Because C2 is a convex corner with a large curvature, the covering material P0 is stretched during the initial bonding process. After the corner pressing component reduces its constraint, the local tension release at this location is quite significant. In one example, the upper limit of springback recorded in Q0 is 0.8mm, and the edge retraction of C2 after decompression detection is 1.4mm; or, the corner springback change information formed by the comprehensive processing of the change in the corner surface height of C2 measured by the detection unit and the displacement of the marker point exceeds the upper limit of springback recorded in Q0. The above values ​​are only used to illustrate the processing procedure of this embodiment. In practical applications, the configuration can be adjusted according to the material thickness, backing plate curvature, adhesive type, and bonding cycle.

[0058] The control system reads the corner rebound change information after the C2 decompression detection and verifies it with the rebound upper limit configured in Q0. After the decompression action is completed, the leather at C2 does not remain in a small rebound state, but shows a release change exceeding the rebound upper limit. This change indicates that the remaining material at the corner of C2 still has an outward expansion or retraction trend after the partial pressure is released, and the corner tension has not been fully digested by the previous bonding and pre-compression process.

[0059] In this state, the risk of C2 is no longer whether the low rebound is reliable, but that the decompression detection has exposed the obvious rebound change; the control system records C2 as having residual deformation risk and suspends the final edge wrapping release of C2; the adjacent edge pre-compression record and adhesive open time information are still written to K0 simultaneously to retain the current adjacent edge compression state of C2, the adhesive layer open state, and the process basis for subsequent corner adjustment actions.

[0060] After determining that C2 has a residual deformation risk, the control system temporarily suspends the final edge binding of C2 and does not generate a final edge binding command for the corners of C2. The control system generates a corner adjustment command, which may include at least one of the following: a corner flattening command, a corner re-pre-pressing command, a final edge binding pressure adjustment command and / or a final edge binding speed adjustment command, and a manual review prompt. The corner flattening command is used to rearrange the excess material at C2, redistributing the tension at the convex arc corner; the corner re-pre-pressing command is used to re-press C2 after flattening; the final edge binding pressure adjustment command and / or the final edge binding speed adjustment command are used to avoid rapidly pressing the corner edge while the tension is not released; the manual review prompt is used to prompt manual inspection of the material condition of C2 if there is still obvious rebound after automatic adjustment.

[0061] After the corner adjustment is completed, the control system re-performs the pressure reduction detection action on C2 and re-acquires the corner springback change information of C2. If the re-acquired corner springback change information does not exceed the springback upper limit recorded in Q0, and the corner leather release path of C2 is not restricted by adjacent edges, or the corner leather release capability of C2 is not restricted by the temporary adhesion of the adhesive layer, then the control system determines that C2 meets the final edge-wrapping allowable conditions and generates a final corner edge-wrapping command, causing C2 to enter the final edge-wrapping process. If the re-acquired corner springback change information still exceeds the springback upper limit, or if the springback change information does not exceed the springback upper limit, but C2 still simultaneously satisfies the conditions of the corner leather release path being restricted by adjacent edges and the corner leather release capability being restricted by the temporary adhesion of the adhesive layer, then the control system continues to postpone the final edge-wrapping of C2, or generates an abnormal corner edge-wrapping result.

[0062] In this embodiment, before the final edge binding is performed on the right lower outward convex arc corner C2, the control system identifies the exposed obvious rebound risk through a pressure reduction detection action, and blocks C2 from directly entering the final edge binding when the rebound change exceeds the rebound limit. This can avoid directly binding the outward convex corner where the tension has not been released, and reduce the risk of edge shrinkage, local curling or bulging after the final edge binding.

[0063] In Example 3, refer to Figure 6 , Figure 6 This is an application scenario diagram of Embodiment 3, taking the final edge-wrapping process of a conventional rounded corner on the lower left of a car seat back panel before the rebound suppression condition is formed as an example to illustrate the method of this application.

[0064] The main body of the car seat back panel B0 has been fitted, and the covering material P0 covers the outer surface of B0. The current fitting process has progressed to the lower left rounded corner C3, which has not yet undergone final edge binding. C3 is adjacent to the lower side edge E5 and the left side edge E6. Unlike the upper left arc-shaped corner C1 in Embodiment 1, the curvature at the location of C3 is relatively gentle, and the covering material P0 has been initially flattened after the previous fitting. Unlike the lower right convex arc-shaped corner C2 in Embodiment 2, C3 did not show obvious tension release and retraction after the decompression test.

[0065] This embodiment continues to use the wrapping process control configuration Q0 and corner risk control record K0 from Embodiment 1. When the wrapping process progresses to the lower left rounded corner C3, the control system, based on the wrapping control information, designates C3 as the corner area to be finally wrapped and establishes a risk control entry for C3 in K0. This entry records the adjacent edge pre-compression record, adhesive open time information, pressure reduction detection results, and corner wrapping control results corresponding to C3.

[0066] C3 is adjacent to the lower side E5 and the left side E6. Although E5 and E6 have undergone adjacent edge pre-compression in the previous process, when C3 begins decompression detection, the adjacent edge pressing parts on both sides have already exited the holding position, and a continuous pressing boundary no longer forms around C3. In another processing state, even if E5 and E6 still retain pre-compression marks, their pre-compression range does not fall in the predetermined release direction of the remaining material at C3, and the material at C3 can still unfold along the adjacent edges.

[0067] Therefore, after reading the adjacent pre-compression record of C3, the control system writes the preceding pre-compression processes of E5 and E6 as historical process states into K0, but does not use them as limiting factors that block the release path of the C3 leather. The corner leather release path of C3 is recorded as not being restricted by the adjacent edge.

[0068] The control system also determines the open duration of the adhesive layer corresponding to C3 based on the adhesive open time information corresponding to C3. Specifically, the control system uses the completion time of adhesive spraying or the completion time of adhesive layer activation for C3 as the starting time and the start time of the decompression detection action as the judgment time to determine the open duration of the adhesive layer corresponding to C3. In this embodiment, the open duration does not fall within the temporary adhesion judgment time window of the adhesive layer recorded in Q0. Based on this, the control system determines that the corner leather release capability of C3 is not limited by the temporary adhesion of the adhesive layer.

[0069] Subsequently, the control system performs a pressure reduction detection action on C3 according to the pressure reduction detection action parameters recorded in Q0, and acquires the corner edge retraction amount, corner surface height change amount, or marker point displacement amount of C3, forming corner springback change information of C3. In one example, the upper limit of springback recorded in Q0 is 0.8mm, and the edge retraction amount of C3 after pressure reduction detection is 0.3mm, which does not exceed the upper limit of springback recorded in Q0. The above values ​​are only used to illustrate the processing procedure of this embodiment. In actual applications, the values ​​can be configured according to the leather thickness, backing plate curvature, adhesive type, and wrapping cycle.

[0070] After confirming that the corner rebound change information of C3 does not exceed the rebound upper limit, the control system continues to determine whether the low rebound state constitutes a suppressed low rebound state based on the adjacent edge pre-compression record and adhesive open time information. Since the corner leather release path of C3 is not restricted by the adjacent edge, and the corner leather release capacity of C3 is not restricted by the temporary adhesive layer, C3 does not simultaneously meet the combined conditions of the corner leather release path being restricted by the adjacent edge and the corner leather release capacity being restricted by the temporary adhesive layer. Therefore, the control system does not generate a rebound suppression flag.

[0071] If the corner springback change information of C3 does not exceed the springback upper limit and no springback suppression mark is generated, the control system determines that C3 meets the final edge-wrapping allowable conditions. Subsequently, the control system generates a final corner-wrapping command for C3, causing C3 to enter the final edge-wrapping process. The final corner-wrapping command may include at least one of the following: final edge-wrapping pressure, final edge-wrapping speed, final edge-wrapping holding time, and final edge-wrapping path. The control system writes the corner springback change information of C3, the adjacent edge limit judgment result, the temporary adhesion judgment result of the adhesive layer, the reason for not generating the springback suppression mark, and the final corner-wrapping command into K0.

[0072] In this embodiment, when C3 exhibits low springback, the control system continues to confirm whether this low springback is jointly suppressed by adjacent edge pre-compression and temporary adhesive layer adhesion. Since the springback suppression condition in this embodiment is not met, the control system uses the low springback state of C3 and the judgment result that the dual suppression condition has not been formed as the basis for the final edge-wrapping allowance condition to be met, and allows C3 to enter the final edge-wrapping process.

[0073] The above embodiments can be implemented in whole or in part through software, hardware, or a combination of both. Those skilled in the art will understand that the detection, judgment, recording, and control steps described in conjunction with the embodiments herein can be accomplished by a controller, an industrial computer, a programmable logic controller, a detection unit, a pressing actuator, and an edge-wrapping actuator working together.

[0074] The above description is merely a specific implementation method given in conjunction with the automatic wrapping process of automotive seat back panel leather in this application, and is not intended to limit the scope of protection of this application. For different automotive seat back panel structures, leather types, adhesive types, corner curvatures, edge wrapping sequences, and automatic wrapping equipment configurations, the specific implementation of corner area determination methods, adjacent edge pre-pressure records, adhesive open time information, pressure reduction detection actions, corner rebound change information, and corner adjustment instructions can be adapted according to the actual wrapping process; the upper limit of rebound, adjacent edge limit judgment conditions, adhesive temporary adhesion judgment time window, and pressure reduction detection parameters can also be configured according to leather thickness, back panel curvature, adhesive performance, ambient temperature, and production cycle.

[0075] As long as the relevant implementation still determines whether there is a risk of residual deformation in the corner area based on the pre-pressure record of adjacent sides, the adhesive opening time information, and the corner rebound change information after decompression detection before performing the final edge binding in the corner area, and controls whether to release the final edge binding in the corner area or postpone the final edge binding accordingly, all such actions should fall within the protection scope defined by the claims of this application. The protection scope of this application is determined by the claims.

Claims

1. An intelligent control method for the automatic wrapping process of leather back panels in automobile seats, characterized in that, include: S101, obtain the covering control information of the car seat back panel, determine the corner area to be finally covered, and obtain the pre-pressure record of the adjacent edge and the adhesive open time information corresponding to the corner area. S102, Before performing the final edge binding in the corner area, perform a pressure reduction detection action on the corner area and obtain corner springback change information after the pressure reduction detection action; S103, combine corner springback change information, adjacent edge pre-compression record and adhesive open time information to determine whether there is residual deformation risk in the corner area; wherein, when the corner springback change information exceeds the springback limit, it is determined that there is residual deformation risk in the corner area; when the corner springback change information does not exceed the springback limit, it is determined whether the low springback state is a suppressed low springback state based on the adjacent edge pre-compression record and adhesive open time information. S104: When there is no risk of residual deformation in the corner area, generate the final corner wrapping instruction; when there is a risk of residual deformation in the corner area, postpone the final corner wrapping and generate the corner adjustment instruction.

2. The intelligent control method for the automatic wrapping process of automotive seat back panel leather as described in claim 1, characterized in that, Identify the corner areas to be finalized with the binding, including: Based on the edge contour, edging path, and corner or arc transition position of the car seat back panel, determine the intersection area of ​​the two edging paths and define the intersection area as the corner area; The two edge-covered regions that are adjacent to the corner region along the two edge-covering paths are defined as the two adjacent edges of the corner region.

3. The intelligent control method for the automatic wrapping process of automotive seat back panel leather as described in claim 2, characterized in that, The adjacent edge preloading record includes the preloading completion time, preloading sequence, preloading force, preloading holding time, preloading range, preloading end position, and pressing part holding status of the two adjacent edges adjacent to the corner area.

4. The intelligent control method for the automatic wrapping process of automotive seat back panel leather as described in claim 3, characterized in that, Determine whether the release path of the corner leather is restricted by the adjacent edge based on the adjacent edge pre-compression record, including: Based on the final edge-binding direction of the corner area and the distribution of the remaining leather material in the corner area, determine the predetermined release direction of the remaining leather material in the corner area; When both adjacent sides of the corner area have been pre-compressed, if the pre-compressing range of both adjacent sides extends to the adjacent boundary of the corner area, or if the distance between the pre-compressing end position of both adjacent sides and the corner area is less than the adjacent side limit distance threshold, it is determined that the two adjacent sides have the positional conditions to restrict the release path of the corner leather. When two adjacent sides have the positional conditions to restrict the release path of the corner leather, and the adjacent side pressing parts corresponding to the two adjacent sides are both in the pressed state during the decompression detection action, and the pre-pressure of the two adjacent sides reaches the adjacent side limiting pressure threshold, it is determined that the release path of the corner leather is restricted by the adjacent sides. Alternatively, when two adjacent sides have the positional conditions to restrict the release path of the corner leather, and the adjacent side pressing parts corresponding to the two adjacent sides are both in a pressed state during the decompression detection action, and the pre-press holding time of the two adjacent sides reaches the adjacent side restriction time threshold, it is determined that the release path of the corner leather is restricted by the adjacent sides.

5. The intelligent control method for the automatic wrapping process of automotive seat back panel leather as described in claim 1, characterized in that, The adhesive opening time information includes the start time, the judgment time, and the duration of opening; The starting time is the time when the adhesive spraying or adhesive layer activation is completed in the corner area, the judgment time is the time when the decompression detection action begins, and the open duration is the time interval between the starting time and the judgment time. Determine whether the release capability of the corner leather is limited by the temporary adhesion of the adhesive layer based on the adhesive open time information, including: When the open duration falls within the temporary adhesion judgment time window of the adhesive layer, it is determined that the release capability of the corner leather is limited by the temporary adhesion of the adhesive layer. The temporary adhesion judgment time window of the adhesive layer includes the initial adhesion holding time of the adhesive layer. If the open duration does not fall within the temporary adhesion time window of the adhesive layer, it is determined that the release capability of the corner leather is not limited by the temporary adhesion of the adhesive layer.

6. The intelligent control method for the automatic wrapping process of automotive seat back panel leather as described in claim 2, characterized in that, Decompression detection actions are performed in the diagonal region, including: Before performing the final edge binding in the corner area, the corner pressing component is controlled to switch from the working pressing state to the probing pressing state to reduce the pressing force acting on the corner area and maintain the preset probing time; Alternatively, before performing the final edge binding in the corner area, the corner pressing part is retracted by a preset detection stroke in a direction away from the car seat back panel, and the preset detection time is maintained. The pressure reduction detection action is not used to complete the final edge wrapping of the corner area; when the two adjacent edges adjacent to the corner area are in the pre-pressure holding state, the adjacent edge pressing parts corresponding to the two adjacent edges maintain the current pre-pressure state during the pressure reduction detection action.

7. The intelligent control method for the automatic wrapping process of automotive seat back panel leather as described in claim 6, characterized in that, Acquire information on the corner rebound changes in the corner region after the decompression detection action, including: The corner edge retraction amount, corner surface height change amount, or marker point displacement amount are obtained before and after the decompression detection action through the displacement detection unit, pressure detection unit, or vision detection unit, and the corner rebound change information is determined based on the corner edge retraction amount, corner surface height change amount, or marker point displacement amount.

8. The intelligent control method for the automatic wrapping process of automotive seat back panel leather as described in claim 1, characterized in that, Based on the adjacent pre-compression record and adhesive open time information, determine whether the low rebound state is a suppressed low rebound state, including: When the release path of the corner leather is restricted by the adjacent edge, and the release capacity of the corner leather is restricted by the temporary adhesion of the adhesive layer, the low rebound state is determined to be a suppressed low rebound state, a rebound suppression mark is generated, and the risk of residual deformation in the corner area is determined based on the rebound suppression mark. When the release path of the corner leather is not restricted by the adjacent edge, or the release capacity of the corner leather is not restricted by the temporary adhesion of the adhesive layer, it is determined that the low rebound state is not a suppressed low rebound state, and the corner area meets the final edge binding allowable conditions. When the corner springback change information exceeds the springback limit, it is determined that there is a risk of residual deformation in the corner area based on the corner springback change information.

9. The intelligent control method for the automatic wrapping process of automotive seat back panel leather according to claim 2, characterized in that, Corner adjustment commands include one or more of the following: corner flattening command, adjacent edge pressure reduction command, corner re-pre-pressing command, delayed final edge binding command, final edge binding pressure adjustment command, final edge binding speed adjustment command, and manual review prompt; Among them, the adjacent edge decompression command is used to reduce the pre-pressure of one or two adjacent edges that are adjacent to the corner area, so as to release the restriction on the corner leather release path of the corresponding adjacent edge. The delayed final edge binding instruction is used to wait for the corner area to detach from the adhesive layer and determine the temporary adhesion time window. The Corner Flattening command is used to rearrange the excess leather in the corner area; The corner re-pre-compression command is used to re-establish the corner pre-compression state after adjusting the leather allowance; The final edge binding pressure adjustment command and the final edge binding speed adjustment command are used to adjust the execution pressure and execution speed during the subsequent final edge binding of the corner area; The manual review prompt is used to alert manual inspection of the leather condition in corner areas when the risk of residual deformation cannot be eliminated after automatic adjustment.

10. The intelligent control method for the automatic wrapping process of automotive seat back panel leather according to claim 9, characterized in that, After the corner adjustment action corresponding to the corner adjustment command is completed, the decompression detection action is performed again on the corner area, and the corner rebound change information is acquired again. When the reacquired corner rebound change information does not exceed the rebound limit, and the corner leather release path is not restricted by the adjacent edge and the corner leather release capacity is restricted by the temporary adhesion of the adhesive layer, the final corner edge wrapping instruction is generated. When the reacquired corner springback change information exceeds the springback limit, continue to postpone the final edge binding of the corner area or output the abnormal corner edge binding result; If the reacquired corner rebound change information does not exceed the rebound limit, and the corner leather release path is still restricted by the adjacent edge and the corner leather release capability is still restricted by the temporary adhesion of the adhesive layer, the final edge binding of the corner area will continue to be suspended or the abnormal corner edge binding result will be output.

Images