Fabric recovery apparatus and fabric recovery control method

Abstract

A fabric recovery apparatus and a fabric recovery control method. The fabric recovery apparatus comprises a first conveying mechanism (1), a first image acquisition mechanism (2), a warp stripping mechanism (3) and a weft separation mechanism (6). The first conveying mechanism (1) is configured to convey fabric (100) in a conveying direction X. The first image acquisition mechanism (2) is configured to acquire a first image of the fabric (100) on the first conveying mechanism (1). The warp stripping mechanism (3) is located downstream of the first conveying mechanism (1) in the conveying direction X, and is configured to receive the fabric (100) and strip the warp (110) in the fabric (100) on the basis of the first image. The weft separation mechanism (6) is also located downstream of the first conveying mechanism (1) in the conveying direction X, and is configured to separate the weft (120) in the fabric (100) after the warp stripping mechanism (3) strips the warp (110).

Description

Fabric recycling equipment and fabric recycling control method Technical Field

[0001] The present disclosure relates to the field of textile technology, and in particular to a fabric recycling device and a fabric recycling control method. Background Art

[0002] Woven fabrics are woven from warp and weft yarns. Recycling techniques typically use chemical and biological methods to dissolve the cotton in the fabric for recycling, or use mechanical equipment to recycle the entire piece of fabric, resulting in a mixed recycled material of warp and weft yarns. Warp yarns typically contain high-quality fibers or cotton, while weft yarns typically contain synthetic materials such as polyester, nylon, and spandex, as well as some low-quality cotton. If the entire piece of fabric is mechanically recycled, the warp and weft yarns cannot be separated, and thus the pure, high-quality fibers or cotton cannot be recovered, reducing the recycling value.

[0003] Summary of the Invention

[0004] The purpose of the present disclosure is to provide a fabric recycling device and a fabric recycling control method, which can separately recycle the warp yarn and weft yarn in the fabric, make full use of them, and improve the recycling value.

[0005] To achieve the above objectives, the present disclosure provides a fabric recycling device comprising a first conveying mechanism, a first image acquisition mechanism, a warp stripping mechanism, and a weft separating mechanism. The first conveying mechanism is configured to convey the fabric in a conveying direction; the first image acquisition mechanism is configured to capture a first image of the fabric on the first conveying mechanism; the warp stripping mechanism is located downstream of the first conveying mechanism in the conveying direction and is configured to receive the fabric and strip the warp yarns from the fabric based on the first image. The weft separating mechanism is located downstream of the first conveying mechanism in the conveying direction and is configured to separate the weft yarns from the fabric after the warp stripping mechanism has stripped the warp yarns.

[0006] According to some embodiments of the present disclosure, the fabric recovery equipment also includes: a second conveying mechanism, located between the first conveying mechanism and the stripping mechanism in the conveying direction, the second conveying mechanism including a plurality of second sub-conveyor mechanisms spaced apart along a first horizontal direction, for receiving the fabric and conveying the fabric to the warp yarn stripping mechanism; wherein the first horizontal direction is perpendicular to the conveying direction.

[0007] According to some embodiments of the present disclosure, the second sub-conveyor mechanism includes a pressure roller and a second conveyor belt, the pressure roller is located above one end of the second conveyor belt close to the first conveyor mechanism, and when the fabric is conveyed to the second conveyor mechanism, the fabric is clamped between the pressure roller and the second conveyor belt; the second conveyor mechanism also includes: a plurality of first cutters, at least part of the first cutters are arranged between the pressure rollers of adjacent second sub-conveyor mechanisms, and are used to cut the fabric when the fabric is clamped between the pressure roller and the second conveyor belt and is conveyed.

[0008] According to some embodiments of the present disclosure, the warp yarn stripping mechanism includes: a stripping platform for supporting the fabric; a rotating roller, arranged on the downstream side of the stripping platform in the conveying direction; a plurality of stripping knives, arranged on the rotating roller and capable of rotating with the rotating roller; the stripping knife includes a main body and a tip, the tip is arranged on the main body and protrudes along the periphery of the main body, and is used to strip the warp yarn of the fabric located on the stripping platform; a yarn clamp, located below the plurality of stripping knives, for grabbing the warp yarn stripped by the stripping knife and pulling the warp yarn out of the fabric.

[0009] According to some embodiments of the present disclosure, the fabric recovery device also includes a first recovery mechanism, located below the warp yarn stripping mechanism, the first recovery mechanism including: a first fan and a first recovery box, the first fan having a pipeline connected to the first recovery box, the first fan being used to suck the warp yarn clamped by the yarn clamp into the first recovery box.

[0010] According to some embodiments of the present disclosure, the weft yarn separation mechanism includes: a second cutter, movably arranged above the warp yarn stripping mechanism, for cutting off the remaining weft yarns with a preset length value in the fabric after the warp yarns are stripped off; a suction head, located on at least one side of the second cutter, for sucking the cut weft yarns.

[0011] According to some embodiments of the present disclosure, the fabric recovery equipment also includes a second recovery mechanism, which includes a second fan and a second recovery box. The second fan has a pipeline, which is respectively connected to the suction head and the second recovery box, and is used to suck the cut weft yarn into the second recovery box.

[0012] According to some embodiments of the present disclosure, the fabric recycling device further includes: a fabric detector, which is provided on a side of the warp stripping mechanism close to the first conveying mechanism, and is used to detect whether the fabric reaches a preset position.

[0013] According to some embodiments of the present disclosure, the fabric recycling equipment also includes: a third recycling mechanism, the third recycling mechanism includes a robotic arm and a third recycling box, when the fabric detector detects that the end of the fabric reaches the preset position, the warp stripping mechanism stops stripping the warp yarn, and the robotic arm is used to place the remaining fabric into the third recycling box.

[0014] According to some embodiments of the present disclosure, the third recycling mechanism further includes an air pressure pipeline, a suction cup is provided at the end of the robotic arm, and the air pressure pipeline is connected to the suction cup to provide negative pressure to the suction cup, thereby adsorbing the remaining fabric and placing it into the third recycling box; or, a clamp is provided at the end of the robotic arm, and the clamp is used to clamp the remaining fabric and place it into the third recycling box.

[0015] According to some embodiments of the present disclosure, the fabric recycling device further includes: a second image acquisition mechanism for acquiring a second image of the fabric on the second conveying mechanism.

[0016] According to some embodiments of the present disclosure, the fabric recycling equipment also includes: a controller, which is electrically connected to the first conveying mechanism, the first image acquisition mechanism, the warp stripping mechanism and the weft separation mechanism respectively; the controller is used to process the first image, obtain the structural information of the fabric and the density value of the warp yarn in the fabric, and determine according to the structural information that the pattern of the fabric conforms to the target pattern and the density value is less than a preset density threshold, control the first conveying mechanism to convey the fabric to the warp stripping mechanism, and control the warp stripping mechanism to strip the warp yarn of the fabric, and after the warp yarn is stripped, control the weft separation mechanism to separate the weft yarn in the fabric.

[0017] An embodiment of the present disclosure also provides a fabric recycling control method, which is applied to a fabric recycling device, wherein the fabric recycling device includes a first image acquisition mechanism and a first conveying mechanism, a warp stripping mechanism, and a weft separation mechanism arranged in sequence in a conveying direction; the method includes: acquiring a first image of the fabric on the first conveying mechanism acquired by the first image acquisition mechanism; processing the first image to acquire structural information of the fabric and a density value of the warp yarn in the fabric; determining, based on the structural information, that the pattern of the fabric conforms to a target pattern and that the density value of the warp yarn is less than a preset density threshold, generating a first control signal and a second control signal, and sending the first control signal to the first conveying mechanism to control the first conveying mechanism to convey the fabric to the warp stripping mechanism, and sending the second control signal to the warp stripping mechanism to control the warp stripping mechanism to strip the warp yarn of the fabric; generating a third control signal, and sending the third control signal to the weft separation mechanism to control the weft separation mechanism to separate the weft yarn in the fabric after the warp yarn is stripped.

[0018] According to some embodiments of the present disclosure, the method further includes: processing the first image to obtain a first angle value of the warp yarn in the fabric; if the first angle value is less than or equal to a preset angle threshold, generating the second control signal.

[0019] According to some embodiments of the present disclosure, the fabric recovery equipment also includes a second conveying mechanism, which is arranged between the first conveying mechanism and the warp yarn stripping mechanism in the conveying direction; the second conveying mechanism includes a plurality of second sub-conveying mechanisms spaced apart in a first horizontal direction, and the first horizontal direction is perpendicular to the conveying direction. The method also includes: if the first angle value is greater than the preset angle threshold, a fourth control signal is generated, and the fourth control signal is sent to the plurality of second sub-conveying mechanisms, so as to control the plurality of second sub-conveying mechanisms to have different conveying speeds when the fabric reaches the plurality of second sub-conveying mechanisms, so as to adjust the fabric so that the first angle value of the warp yarn is less than or equal to the preset angle threshold.

[0020] According to some embodiments of the present disclosure, the second conveying mechanism also includes a plurality of first cutters, and the first cutters are arranged between adjacent second sub-conveying mechanisms. The method also includes: if the first angle value of the warp yarn is less than or equal to the preset angle threshold, a fifth control signal is generated, and the fifth control signal is sent to the plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to convey the fabric at the same speed, so that the fabric is cut into multiple pieces when passing through the first cutter.

[0021] According to some embodiments of the present disclosure, the fabric recycling equipment further includes a second image acquisition mechanism, and the method further includes: acquiring a second image of the fabric located on the second conveying mechanism acquired by the second image acquisition mechanism; processing the second image to acquire a second angle value of the warp yarn of the fabric; if the second angle value is greater than the preset angle threshold, generating an alarm signal for controlling the fabric recycling equipment to alarm.

[0022] According to some embodiments of the present disclosure, the fabric recovery device also includes a first recovery mechanism located below the stripping mechanism, the first recovery mechanism includes a first fan and a first recovery box, the first fan has a pipeline connected to the first recovery box, the method also includes: generating a first recovery signal, and sending the first recovery signal to the first recovery mechanism to control the first fan to suck the stripped warp yarn into the first recovery box.

[0023] According to some embodiments of the present disclosure, the method also includes: obtaining the length value of the weft yarn of the fabric after stripping the warp yarn; if the length value is greater than or equal to a preset length value, generating a sixth control signal, and sending the sixth control signal to the first conveying mechanism, the second conveying mechanism and the warp yarn stripping mechanism to control the first conveying mechanism, the second conveying mechanism and the warp yarn stripping mechanism to stop running; generating the third control signal, and sending the third control signal to the weft yarn separating mechanism to control the weft yarn separating mechanism to separate the weft yarn with the length value.

[0024] According to some embodiments of the present disclosure, sending the sixth control signal to the first conveying mechanism and the second conveying mechanism to control the first conveying mechanism and the second conveying mechanism to stop running includes: sending the sixth control signal to the first conveying mechanism and the second conveying mechanism to control the first conveying mechanism and the second conveying mechanism to convey the fabric in a direction opposite to the conveying direction to a preset distance and then stop running.

[0025] According to some embodiments of the present disclosure, the fabric recovery device also includes a second recovery mechanism, the second recovery mechanism includes a second fan and a second recovery box, the second fan is respectively connected to the weft yarn separation mechanism and the second recovery box, and the method also includes: generating a second recovery signal and sending the second recovery signal to the second recovery mechanism to control the second fan to suck the weft yarn separated by the weft yarn separation mechanism into the second recovery box.

[0026] According to some embodiments of the present disclosure, the fabric recycling equipment also includes a fabric detector, which is provided on a side of the warp stripping mechanism close to the first conveying mechanism. The method also includes: if the first position information sent by the fabric detector that the head end of the fabric has reached a preset position is obtained, a speed adjustment signal is generated according to the first position information and the density value of the warp yarn, and the speed adjustment signal is sent to the first conveying mechanism, the second conveying mechanism and the warp stripping mechanism to control the conveying speeds of the first conveying mechanism and the second conveying mechanism to be within a first preset speed range and the stripping speed of the warp yarn by the warp stripping mechanism to be within a second preset speed range.

[0027] According to some embodiments of the present disclosure, the fabric recycling equipment also includes a third recycling mechanism, and the third recycling mechanism includes a robotic arm and a third recycling box. The method also includes: if the second position information sent by the fabric detector indicates that the end of the fabric has reached the preset position, a stop stripping signal is generated according to the second position information, and the stop stripping signal is sent to the warp stripping mechanism to control the warp stripping mechanism to stop stripping the warp yarn of the remaining fabric; a third recycling signal is generated, and the third recycling signal is sent to the third recycling mechanism to control the robotic arm to put the remaining fabric into the third recycling box.

[0028] It can be seen from the above technical solutions that the present disclosure has at least one of the following advantages and positive effects:

[0029] In the embodiment of the present disclosure, the first image acquisition mechanism can capture the first image of the fabric on the first conveying mechanism, the warp yarn stripping mechanism can strip the warp yarns in the fabric according to the first image, thereby being able to separately recover the warp yarns in the fabric, and the weft yarn separation mechanism can separate the remaining weft yarns in the fabric after the warp yarns are stripped, thereby being able to separately recover the weft yarns, so that the warp yarns and weft yarns in the recycled material are separated, thereby increasing the recycling value. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other features and advantages of the present disclosure will become more apparent by describing in detail example embodiments thereof with reference to the accompanying drawings.

[0031] FIG1 is a schematic perspective view of a fabric recycling device according to some exemplary embodiments of the present disclosure.

[0032] FIG2 is a schematic perspective structural diagram of a fabric recycling device from another perspective, showing some exemplary embodiments of the present disclosure.

[0033] FIG3 is a schematic diagram of a first conveying mechanism and a second conveying mechanism shown in some exemplary embodiments of the present disclosure.

[0034] FIG4 is a schematic perspective structural diagram of a fabric recycling device from another perspective, showing some exemplary embodiments of the present disclosure.

[0035] FIG5 is a schematic diagram of a partial structure of a fabric recycling device according to some exemplary embodiments of the present disclosure.

[0036] FIG6 is a schematic structural diagram of a stripping knife according to some exemplary embodiments of the present disclosure.

[0037] FIG7 is a schematic structural diagram of a stripping knife shown in some other exemplary embodiments of the present disclosure.

[0038] FIG. 8 is a schematic diagram showing a fabric in which warp yarns are peeled off according to some exemplary embodiments of the present disclosure.

[0039] FIG9 is a schematic diagram showing that warp yarns are peeled off when the first angle value is not zero according to some exemplary embodiments of the present disclosure.

[0040] FIG10 is a schematic diagram of a partial structure of a fabric recycling device according to some exemplary embodiments of the present disclosure.

[0041] FIG. 11 is a schematic diagram showing warp yarns being stripped and recovered according to some exemplary embodiments of the present disclosure.

[0042] FIG12 is a schematic perspective structural diagram of a fabric recycling device from another perspective, showing some exemplary embodiments of the present disclosure.

[0043] FIG13 is a schematic structural diagram of a robotic arm and an air pressure pipeline according to some exemplary embodiments of the present disclosure.

[0044] FIG14 is a schematic structural diagram of a robot arm mounting gripper according to some exemplary embodiments of the present disclosure.

[0045] FIG15 is a structural block diagram of a fabric recycling device according to some exemplary embodiments of the present disclosure.

[0046] FIG16 is a schematic perspective view of a complete fabric recycling device according to some exemplary embodiments of the present disclosure.

[0047] FIG. 17 is a flow chart of a fabric recycling control method according to some exemplary embodiments of the present disclosure.

[0048] FIG. 18 is a flow chart of a fabric recycling method according to some exemplary embodiments of the present disclosure. DETAILED DESCRIPTION

[0049] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed description will be omitted.

[0050] In the following description of various exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part of this disclosure and which illustrate, by way of example, various exemplary structures, systems, and steps that may implement various aspects of the present disclosure. It should be understood that other specific embodiments of components, structures, exemplary devices, systems, and steps may be used, and that structural and functional modifications may be made without departing from the scope of this disclosure. In addition, the technical terms "first," "second," and the like in the embodiments of the present disclosure are used only as labels and are not numerical limitations on their objects.

[0051] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0052] As shown in Figures 1 to 16, embodiments of the present disclosure provide a fabric recycling device. Figure 16 shows a schematic diagram of the complete fabric recycling device. To clearly illustrate the structure of each component, the housing and some structures are omitted in Figures 1, 2, 4-5, 10, and 12 to avoid obstruction of related components due to cluttered structures. Those skilled in the art will be able to implement the technical solutions of the present disclosure based on the drawings and the description.

[0053] As shown in Figures 1, 5, and 15, the fabric recycling apparatus of the present embodiment includes a first conveying mechanism 1, a first image acquisition mechanism 2, a warp stripping mechanism 3, and a weft separating mechanism 6. The first conveying mechanism 1 is configured to convey a fabric 100 in a conveying direction X. The first image acquisition mechanism 2 is configured to capture a first image of the fabric 100 on the first conveying mechanism 1. The warp stripping mechanism 3 is located downstream of the first conveying mechanism 1 in the conveying direction X and is configured to receive the fabric 100 and strip the warp yarns 110 from the fabric 100 based on the first image. The weft separating mechanism 6 is also located downstream of the first conveying mechanism 1 in the conveying direction X and is configured to separate the weft yarns 120 from the fabric 100 after the warp stripping mechanism 3 strips the warp yarns 110.

[0054] As shown in Figure 1 , the fabric recycling apparatus may include a frame 10. Frame 10 serves as the apparatus's framework, providing support and securing for various components. To clearly illustrate the various mechanisms, only a portion of frame 10 is shown in Figure 1 . As shown in Figure 1 , the first conveying mechanism 1, the first image acquisition mechanism 2, the warp stripping mechanism 3, and the weft separating mechanism 6 may all be mounted on frame 10. The first conveying mechanism 1 may include a first conveyor belt 101, which conveys the fabric 100 along a conveying direction X.

[0055] The first image acquisition mechanism 2, which may include an industrial camera, may be located above the first conveying mechanism 1 and photograph the fabric 100 on the first conveying mechanism 1 to obtain a first image. The pattern of the fabric 100 and the density of the warp yarns 110 in the fabric 100 may be determined based on the first image. If the pattern of the fabric 100 matches the target pattern and the density of the warp yarns 110 in the fabric 100 is less than a preset density threshold, the warp yarns 110 in the fabric 100 may be stripped.

[0056] In the disclosed embodiment, the first image acquisition mechanism 2 can send the first image to a processing system, which can include at least one of a controller 12, a cloud processor, and a server. The processing system processes the first image to obtain structural information of the fabric 100 and a density value of the warp yarns 110 in the fabric 100. Based on the structural information, the processing system determines that the pattern of the fabric 100 conforms to the target pattern and that the density value is less than a preset density threshold. The processing system then controls the first conveying mechanism 1 to convey the fabric 100 to the warp stripping mechanism 3, and controls the warp stripping mechanism 3 to strip the warp yarns 110 from the fabric 100.

[0057] The structural information may include a pattern of the fabric 100, which is used to show the grain of the warp yarns 110 and the weft yarns 120 (as shown in FIG8 ). The density of the warp yarns 110 may be understood as the number of warp yarns 110 per centimeter of the fabric 100 in a direction perpendicular to the extension of the warp yarns 110.

[0058] The fabric 100 apparatus of the present disclosure can strip the warp yarns 110 in the fabric 100 whose pattern conforms to a target pattern and whose density of the warp yarns 110 is less than a preset density threshold. The target pattern can include any of left twill, right twill, plain weave, broken twill, zigzag weave, and herringbone weave.

[0059] In some embodiments, the fabric recycling device may include the aforementioned controller 12 for local control. Alternatively, the fabric recycling device may not include the controller 12, and instead remotely control the fabric recycling device of the present disclosure via a cloud processor or server. Of course, the structure of the fabric 100 and the density of the warp yarns 110 may also be manually determined based on the first image, and this is not particularly limited here.

[0060] Therefore, in the fabric recycling device of the embodiment of the present disclosure, after the first image acquisition mechanism 2 captures the first image, the warp yarn stripping mechanism 3 can strip off the warp yarn 110 in the fabric 100 according to the first image, thereby being able to separately recover the warp yarn 110 in the fabric 100; the weft yarn separating mechanism 6 can separate the warp yarn in the fabric 100 after the warp yarn 110 is stripped, thereby separately recovering the weft yarn 120; therefore, the warp yarn 110 and the weft yarn 120 in the recycled material are separated, thereby increasing the recycling value.

[0061] It should be noted that the technical terms "above" and "below" appearing in the embodiments of this disclosure can represent the relative positional relationships of various components. As shown in Figure 1, if the fabric recovery device is placed on the ground, the direction perpendicular to the ground is defined as the vertical direction Z, and the direction from the ground to away from the ground is defined as bottom-to-top. Therefore, in the embodiments of this disclosure, as shown in Figure 1, the first conveying mechanism 1 is located below the first image acquisition mechanism 2. These technical terms are merely for the purpose of describing the relative positional relationships between various components and are not intended to be limiting.

[0062] In some embodiments, as shown in Figures 3 and 4, the fabric recycling apparatus may further include a second conveying mechanism 4, located between the first conveying mechanism 1 and the warp stripping mechanism 3 in the conveying direction X. The second conveying mechanism 4 includes a plurality of second sub-conveyor mechanisms spaced apart along a first horizontal direction Y, configured to receive the fabric 100 and convey the fabric 100 to the warp stripping mechanism 3. The first horizontal direction Y is perpendicular to the conveying direction X.

[0063] By setting up multiple second sub-conveying mechanisms spaced apart in the first horizontal direction Y, the conveying speed of each second sub-conveying mechanism can be adjusted individually. When the first angle value of the warp yarn 110 in the fabric 100 is greater than the preset angle threshold, the multiple second sub-conveying mechanisms can be adjusted to have different conveying speeds, thereby adjusting the fabric 100 so that the first angle value of the warp yarn 110 can be less than or equal to the preset angle threshold.

[0064] The angle between the extension direction of the warp yarn 110 and the first horizontal direction Y can be defined as a first angle value of the warp yarn 110. The first angle value can also be obtained from the first image of the fabric 100. When the first angle value is less than or equal to a preset angle threshold, the warp yarn stripping mechanism 3 can strip the warp yarn 110 more smoothly.

[0065] In some embodiments, the preset angle threshold may be 16°, 12°, 8°, or 7°, and those skilled in the art may set it according to actual conditions, and no special limitation is made here.

[0066] As shown in Figures 3 and 4, each second sub-conveyor mechanism includes a pressure roller 401 and a second conveyor belt 402. The pressure roller 401 is located above one end of the second conveyor belt 402 close to the first conveyor mechanism 1. When the fabric 100 is conveyed to the second conveyor mechanism 4, the fabric 100 is clamped between multiple pressure rollers 401 and multiple second conveyor belts 402.

[0067] The second conveying mechanism 4 further includes a plurality of first cutters 403 , at least part of which is disposed between the pressure rollers 401 of adjacent second sub-conveyor mechanisms, for cutting the fabric 100 when the fabric 100 is clamped between the pressure rollers 401 and the second conveyor belt 402 and conveyed.

[0068] As shown in FIG3 , the first cutter 403 is located a certain distance from the end of the second conveyor belt 402 that is closer to the first conveyor belt 101 in the conveying direction X. This allows the fabric 100 to be first clamped between the pressure roller 401 and the second conveyor belt 402 and continue to be conveyed when it is conveyed to the second conveying mechanism 4. The clamping of the pressure roller 401 and the second conveyor belt 402 keeps the fabric 100 in a tensioned state, allowing it to be cut by the first cutter 403. By cutting the fabric 100 into multiple pieces, the length of a single warp yarn 110 can be reduced, facilitating smooth peeling of the warp yarn 110.

[0069] In some embodiments, as shown in FIG3 , the second conveying mechanism 4 may further include a powered roller 404 extending along the first horizontal direction Y. The first cutter 403 may be a circular blade disposed on the powered roller 404 and rotated with the powered roller 404 to cut the fabric 100. In other embodiments, the powered roller 404 may not be provided, and the first cutter 403 may be fixed to the frame 10, with the blade of the first cutter 403 facing the fabric 100 to cut the fabric 100.

[0070] Furthermore, when the fabric 100 is being conveyed on the first conveying mechanism 1, if the first angle value of its warp yarn 110 is greater than a preset angle threshold, then when the fabric 100 is conveyed to the second conveying mechanism 4 and clamped between the pressure roller 401 and the second conveyor belt 402, before the fabric 100 reaches the first cutter 403, the conveying speed of each second sub-conveying mechanism can be controlled to adjust the fabric 100 so that the first angle value of the warp yarn 110 is less than or equal to the preset angle threshold. The conveying speed of each second sub-conveying mechanism is then adjusted to be the same, so that the fabric 100 is conveyed to the first cutter 403 for cutting. The multiple second sub-conveying mechanisms convey the cut fabric 100 to the warp yarn stripping mechanism 3 to strip the warp yarn 110.

[0071] In the disclosed embodiment, the first angle value is adjusted in real time at a certain time interval. For example, the default adjustment time interval may be 500-1000ms. In addition to the two extreme values ​​mentioned above, it may also be 600ms, 700ms, 800ms, or 900ms. Taking an adjustment time interval of 500ms as an example, after adjusting the first angle value, if it is detected that the first angle value is still greater than the preset angle threshold, the adjustment is continued after 500ms. During this time interval, the first angle value is analyzed to determine whether it is less than or equal to the preset angle threshold.

[0072] In some embodiments, the number of the second sub-conveyance mechanisms may be 2, 3, 4, 5, 6, 7, 8 or more, and those skilled in the art may set the number according to actual conditions.

[0073] As shown in Figure 5, the warp stripping mechanism 3 may include a stripping platform 301, a rotating roller 302, a plurality of stripping blades 303, and a yarn clamp 306. The stripping platform 301 extends along a first horizontal direction Y and is used to support the fabric 100. That is, when the fabric 100 is conveyed to the warp stripping mechanism 3, the fabric 100 is laid flat on the stripping platform 301. The rotating roller 302 is located downstream of the stripping platform 301 in the conveying direction X and extends along the first horizontal direction Y. The rotating roller 302 is capable of rotating at a certain speed. The plurality of stripping blades 303 are disposed on the rotating roller 302 and are capable of rotating with the rotating roller 302.

[0074] As shown in Figures 6 and 7, the stripping knife 303 has a main body 3031 and a plurality of tips 3032. The main body 3031 may be a circular or semicircular sheet structure, and the plurality of tips 3032 radially protrude along the periphery of the main body 3031. When stripping the warp yarn 110, the rotating roller 302 rotates, thereby driving the stripping knife 303 to rotate. After the fabric 100 is conveyed to the stripping platform 301, it continues to move along the conveying direction X. When it contacts the tip 3032 of the stripping knife 303, the tip 3032 rotates and hooks the warp yarn 110, stripping one side of the warp yarn 110 from the weft yarn 120 of the fabric 100 (as shown in Figure 8).

[0075] In some embodiments, the number of stripping blades 303 on the rotating roller 302 can be 2, 3, 4, 5, 6, 7, 8 or more, and those skilled in the art can set it according to actual conditions. The number of tips 3032 of each stripping blade 303 can be multiple, for example, 2, 3, 4, 5, 6, 7, 8 or more. The rotation speed of the rotating roller 302 can be set according to the conveying speed of the fabric 100, the density of the warp yarn 110 and the number of tips 3032 of the stripping blade 303, and is not specifically limited here. When stripping the warp yarn 110, each tip 3032 can strip one or more warp yarns 110 at a time, depending on the conveying speed of the fabric 100, the diameter and rotation speed of the rotating roller 302, the number of tips 3032, the density of the warp yarn 110, the strength of the fabric 100, etc.

[0076] In the disclosed embodiment, the first angle value of the warp yarn 110 in the fabric 100 needs to be less than or equal to the above-mentioned preset angle threshold value, so that the tip 3032 of the stripping knife 303 can smoothly strip the warp yarn 110 when rotating toward the fabric 100, and the second cutter 601 in the weft yarn separating mechanism 6 will not cut the fabric when cutting the weft yarn 120 of the fabric 100, thereby not affecting the warp yarn stripping. Preferably, as shown in Figure 8, the extension direction of the warp yarn 110 is parallel to the first horizontal direction Y (the extension direction of the rotating roller 302), that is, the first angle value is 0°, so that the tip 3032 can vertically strip the warp yarn 110, achieving the best stripping effect.

[0077] In some embodiments, a stripping knife 303 may be provided corresponding to each second sub-conveyance mechanism.

[0078] In some embodiments, at least two stripping knives 303 may be provided corresponding to each second sub-conveying mechanism, and at least two stripping knives 303 may be located at positions corresponding to both sides of the second sub-conveying mechanism in the first horizontal direction Y. As shown in FIG9 , when the warp yarn 110 of the fabric 100 is not parallel to the rotating roller 302, that is, when the first angle value of the warp yarn 110 is not zero when it is less than or equal to the preset angle threshold, the above-mentioned at least two stripping knives 303 are provided to completely peel off the warp yarn 110.

[0079] In some embodiments, a rotating roller 302 can be positioned on the frame 10 along the first horizontal direction Y, and multiple stripping blades 303 are positioned on the rotating roller 302 and follow the rotation. In this embodiment, after the fabric 100 is cut, the multiple second sub-conveyor mechanisms need to be adjusted to have the same speed to convey the cut fabric 100 to the stripping platform 301. Therefore, the first angle value needs to be adjusted before cutting.

[0080] In some embodiments, when the fabric is recycled, the front side of the fabric can be kept facing upward to facilitate the warp yarn stripping mechanism to strip the warp yarns.

[0081] As shown in Figures 10 and 11, the yarn gripper 306 is located below the plurality of stripping knives 303 and is used to grab the warp yarns 110 stripped by the stripping knives 303. As shown in Figure 11, the yarn gripper 306 may include a first pinch roller 3061 and a second pinch roller 3062 that rotate relative to each other. When the tip 3032 of the stripping knife 303 strips the warp yarns 110, the stripped warp yarns 110 move downward as the tip 3032 rotates and gradually detach from the tip 3032. Thereafter, the stripped warp yarns 110 fall onto the yarn gripper 501 under the action of gravity, and as the two pinch rollers rotate, the warp yarns are drawn out of the fabric and transported downward to further draw out the warp yarns 110 from the fabric 100.

[0082] The fabric recycling equipment of the disclosed embodiments can recycle woven fabrics with high tear and tensile strength. For example, heavyweight woven denim has relatively thick yarns and a dense structure. Mechanical recycling equipment used in related art cannot easily tear denim into yarns, and the high tearing force can damage the yarns, reducing the quality of the recovered yarns. The fabric recycling equipment of the disclosed embodiments can separate the warp yarns according to the weaving principle of the fabric, eliminating the need to use high tearing force to tear the warp and weft yarns. This allows for the separate recovery of warp and weft yarns while also avoiding yarn damage.

[0083] In addition, the warp yarn in the denim has been dyed. After recycling, the dyed warp yarn can be reused as the raw material of denim, realizing closed-loop recycling and reducing the dyeing process.

[0084] As shown in Figures 9 and 10, the warp yarn stripping mechanism 3 may further include a first conveyor roller 304 and a second conveyor roller 305 that can rotate relative to each other. The first conveyor roller 304 and the second conveyor roller 305 both extend along a first horizontal direction Y. The first conveyor roller 304 is located between the stripping platform 301 and the second conveyor belt 402 of the second sub-conveying mechanism, and the second conveyor roller 305 is located above the first conveyor roller 304. The first conveyor roller 304 and the second conveyor roller 305 are used to convey the fabric 100 conveyed by the second conveying mechanism 4 to the stripping platform 301. The first conveyor roller 304 and the second conveyor roller 305 can smoothly convey the fabric 100 to the stripping platform 301, and the fabric 100 is made smoother after being conveyed to the stripping platform 301, which facilitates the stripping of the warp yarns 110.

[0085] As shown in FIG. 1 , FIG. 10 and FIG. 11 , the fabric recovery device of the embodiment of the present disclosure further includes a first recovery mechanism 5 located below the warp stripping mechanism 3 . The first recovery mechanism 5 includes a first fan 501 and a first recovery box 502 .

[0086] The first fan 501 has a pipeline and is connected to the first recovery box 502 for sucking the warp yarn 110 clamped by the yarn gripper 501 into the first recovery box 502 to achieve separate recovery of the warp yarn 110.

[0087] As shown in FIG12 , the weft yarn separation mechanism 6 of the disclosed embodiment includes a second cutter 601 and a suction head 604. The second cutter 601 is movably disposed above the warp yarn stripping mechanism 3, specifically, above the stripping platform 301. After the warp yarn 110 is stripped, the second cutter 601 can move along the first horizontal direction Y to cut the remaining weft yarn 120 of a preset length in the fabric 100. There can be one suction head 604, located on one side of the second cutter 601 in the first horizontal direction Y. Alternatively, there can be two suction heads 604, as shown in FIG12 , located on both sides of the second cutter 601 in the first horizontal direction Y. The suction head 604 moves together with the second cutter 601, and the suction head 604 sucks away the cut weft yarn 120 for recycling. The second cutter 601 can reciprocate in the first horizontal direction Y to cut the weft yarn 120 multiple times, so that the weft yarn 120 is completely cut off and the weft yarn 120 can be recovered more completely.

[0088] As shown in FIG12 , the weft yarn separating mechanism 6 further includes a tank chain structure 602 and a servo guide rail 603. The servo guide rail 603 is provided on the frame 10 along the first horizontal direction Y. The second cutter 601 and the suction head 604 are slidably connected to the servo guide rail 603. In some embodiments, a slider is provided on the servo guide rail 603, which can move along the servo guide rail 603 in the first horizontal direction Y. The second cutter 601 and the suction head 604 are fixedly connected to the slider, so that the second cutter 601 and the suction head 604 can move along the first horizontal direction Y via the servo guide rail 603.

[0089] As shown in Figure 12, the weft yarn separation mechanism 6 also includes an air pipe 605. One end of the air pipe 605 is connected to the suction head 604 to provide negative pressure for the suction head 605, and the other end is connected to the tank chain structure 602. The tank chain structure 602 extends along the first horizontal direction Y and is used to maintain the movement of the air pipe 605 along the servo guide rail 603 and provide support. As the warp yarn 110 is gradually peeled off, the length of the weft yarn 120 will gradually increase. To prevent the weft yarn 120 from being too long and affecting the peeling of the warp yarn 110, the weft yarn 120 can be cut and recycled when the length of the exposed weft yarn 120 reaches a predetermined length.

[0090] In some embodiments, the preset length value can be 2 to 12 mm. For example, in addition to the two end values ​​mentioned above, the preset length value can also be 3 mm, 5 mm, 8 mm or 10 mm. Those skilled in the art can choose according to actual conditions, for example, according to the structure and density of the fabric 100, etc., and no special limitation is made here.

[0091] As shown in Figures 2 and 4, the fabric recovery equipment also includes a second recovery mechanism 7, which includes a second fan 701 and a second recovery box 702. The second fan 701 has a pipeline, which is respectively connected to the suction head 604 and the second recovery box 702. The second fan 701 is used to suck the cut weft yarn 120 into the second recovery box 702.

[0092] In some embodiments, the pipeline of the second fan 701 is connected to the air pipe 605 to provide negative pressure to the air pipe 605, thereby providing negative pressure to the suction head 604. The second fan 701 is connected to the second recovery box 702, and a filter is provided between the second fan 701 and the second recovery box 702 to recover the weft yarn 120 and prevent the weft yarn 120 from entering the second fan 701.

[0093] In some embodiments, as shown in FIG5 , since the stripping knife 303 is located on the downstream side of the stripping platform 301, each time the warp yarn 110 is stripped, the warp yarn 110 to be stripped is transported to the end of the stripping platform 301, and the exposed weft yarn 120 has already left the stripping platform 301. Therefore, when it is necessary to cut the weft yarn 120, the second conveying mechanism 4 needs to rotate in the opposite direction by a preset distance to cause the exposed weft yarn 120 to retract until the first warp yarn 110 to be stripped is retracted to behind the cutting line of the weft yarn 120 (i.e., to the side of the cutting line of the weft yarn 120 close to the second conveying mechanism 4). The shorter the distance from the cutting line, the better, so that the weft yarn 120 can be cut to the maximum length. The cutting line can be understood as the cutting line when the second cutter 601 cuts the weft yarn 120 along the first horizontal direction Y. In some embodiments, the preset distance may be 14 mm. The preset distance may be set according to equipment design parameters and is the distance between the weft cutting line and the warp stripping point. No specific limitation is imposed on its specific value.

[0094] In some embodiments, the fabric recovery device further includes a fabric detector 8, which is located on a side of the warp stripping mechanism 3 near the first conveying mechanism 1, for detecting whether the fabric 100 has reached a predetermined position. As shown in FIG5 , the fabric detector 8 can be located, for example, between the second conveying mechanism 4 and the warp stripping mechanism 3.

[0095] When the fabric detector 8 detects that the leading end of the fabric 100 has reached a predetermined position, the speeds of the first conveying mechanism 1, the second conveying mechanism 4, and the warp stripping mechanism 3 can be adjusted to smoothly strip the warp yarn 110. The speeds of the aforementioned mechanisms can be adjusted based on the conveying speed, the density of the warp yarn 110, the number of tips 3032 of the stripping blade 303, and other factors.

[0096] When the fabric detector 8 detects that the end of the fabric 100 reaches the preset position, it indicates that the fabric 100 is about to be recovered. The warp yarn 110 located at the end of the fabric 100 is usually not easy to separate, so the warp yarn stripping mechanism 3 can be stopped at this time.

[0097] The preset position may be a side of the warp stripping mechanism 3 close to the first conveying mechanism 1 . For example, the preset position may be located between the second conveying mechanism 4 and the warp stripping mechanism 3 .

[0098] As shown in Figure 2, the fabric recycling equipment of the embodiment of the present disclosure may also include a third recycling mechanism 9, which includes a robotic arm 901 and a third recycling box 902. When the fabric detector 8 detects that the end of the fabric 100 reaches a preset position, the warp yarn stripping mechanism 3 stops stripping the warp yarn 110, and the robotic arm 901 is used to place the remaining fabric 100 into the third recycling box 902.

[0099] As shown in Figure 2, the third recovery mechanism 9 can also include a first cylinder 906 and a second cylinder 907. The first cylinder 906 and the second cylinder 907 are respectively connected to the robotic arm 901. The first cylinder 906 is used to drive the robotic arm 901 to move back and forth in the conveying direction X, and the second cylinder 907 is used to drive the robotic arm 901 to move back and forth in the vertical direction Z.

[0100] When the fabric detector 8 detects that the end of the fabric 100 reaches the preset position, the rotating roller 302 and the stripping knife 303 of the warp stripping mechanism 3 can stop rotating, and the fabric 100 continues to be transported to the stripping platform 301. The first cylinder 906 and the second cylinder 907 drive the robotic arm 901 to move above the stripping platform 301, and recycle the remaining fabric 100 on the stripping platform 301 into the third recycling box 902.

[0101] As shown in Figures 13 and 14, the third recovery mechanism 9 also includes an air pressure pipeline 903. A suction cup 905 is provided at the end of the robotic arm 901. The air pressure pipeline 903 and the suction cup 905 are connected to provide negative pressure for the suction cup 905 to absorb the remaining fabric 100. When the robotic arm 901 moves above the third recovery box 902, the pressure in the air pressure pipeline 903 is released to place the fabric 100 into the third recovery box 902.

[0102] In some embodiments, as shown in Figure 14, a clamping jaw 904 may be provided at the end of the robotic arm 901, and the clamping jaw 904 is connected to the air pressure line 903. The clamping jaw 904 may be made of a flexible material, such as a silicone material. Negative pressure is provided by the air pressure line 903 to close the clamping jaw 904 to clamp the remaining fabric 100, and positive pressure is provided by the air pressure line 903 to open the clamping jaw 904 to place the fabric 100 into the third recycling box 902.

[0103] In some embodiments, a clamp 904 may be provided at the end of the robotic arm 901. The clamp 904 may be made of a rigid material and may be controlled by an electrical signal. When the remaining fabric 100 needs to be grabbed, the clamp 904 may be controlled to perform a clamping action to clamp the fabric 100. When the fabric 100 needs to be placed in the third recycling box 902, the clamp 904 may be controlled to open to allow the fabric 100 to fall, thereby being recycled into the third recycling box 902.

[0104] As shown in FIG. 2 , the fabric recycling device of the embodiment of the present disclosure may further include a second image acquisition mechanism 11 , which may be disposed above the second conveying mechanism 4 and configured to acquire a second image of the fabric 100 on the second conveying mechanism 4 .

[0105] There can be multiple second image acquisition mechanisms 11, the same number as the second sub-conveying mechanisms, which are correspondingly arranged above each second sub-conveying mechanism to respectively capture images of the fabric 100 located above each second sub-conveying mechanism.

[0106] The second image acquisition mechanism 11 may include an industrial camera to photograph the fabric 100 on the second conveying mechanism 4 to obtain a second image, and a second angle value of the warp yarn 110 in the fabric 100 may be obtained based on the second image. The second angle value has the same meaning as the first angle value.

[0107] When the second angle value is greater than the preset angle threshold, the recycling device can issue an alarm to prompt the staff to take action. For example, the warp stripping mechanism 3 can be stopped and the fabric 100 can be adjusted. After the second angle value is less than or equal to the preset angle threshold, the warp stripping mechanism 3 can be started to strip the warp yarn 110.

[0108] In some embodiments, the recovery device may further include an alarm to sound an alarm when the second angle value is greater than a preset angle threshold.

[0109] In other embodiments, the fabric recycling device may not include the first cutter 403, and the fabric 100 may not be cut after being conveyed to the second conveying mechanism 4, that is, the fabric 100 is still conveyed as a whole on multiple second sub-conveyor mechanisms. Then, when the second angle value is greater than the preset angle threshold, the multiple second sub-conveyor mechanisms can be controlled to have different conveying speeds, and the fabric 100 is adjusted so that the second angle value is less than or equal to the preset angle threshold. Then, the speeds of the multiple second sub-conveyor mechanisms are controlled to be the same, and the fabric 100 is continued to be conveyed. The stripping knife 303 is located on one side or both sides of the entire piece of fabric 100, and one or two stripping knives 303 are retained.

[0110] The fabric recycling device of the embodiment of the present disclosure may include the aforementioned controller 12. As shown in FIG15 , the controller 12 may be electrically connected to the first conveying mechanism 1, the second conveying mechanism 4, the first image acquisition mechanism 2, the second image acquisition mechanism 11, the warp stripping mechanism 3, and the weft separation mechanism 6, respectively, to achieve the transmission of electrical signals, image processing, and control of each mechanism. Of course, the fabric recycling device may also not include the controller 12, but instead communicate with the above-mentioned cloud processor or server to achieve information image processing and control of the above-mentioned mechanisms through the cloud processor or server. The specific control method will be described in detail in the following method embodiment and will not be repeated in the device embodiment.

[0111] It should be noted that the controller 12 can be a PLC (programmable logic controller), and can also be understood in a broad sense. For example, the controller 12 can include an industrial computer and a PLC, or a PLC and a computer. That is, as long as it can realize the above-mentioned image analysis, calculation and control of each mechanism, no special limitation is made here.

[0112] As shown in Figure 16, the fabric recycling device further includes a housing 13, which covers and protects the second conveying mechanism 4, the first image acquisition mechanism 2, the second image acquisition mechanism 11, and the warp stripping mechanism 3. The fabric recycling device further includes a display 14, located outside the housing, for displaying the image and structure of the fabric, facilitating human-machine interaction.

[0113] In summary, the fabric recycling device of the disclosed embodiment can strip the warp yarn 110 from the fabric 100 and separately recover the warp yarn 110 and weft yarn 120, thereby increasing the recycling value. Furthermore, the fabric recycling device of the disclosed embodiment can follow the weaving principle of the fabric to separate the warp and weft yarns, eliminating the need to use a large tearing force to tear the warp and weft yarns. This not only allows for separate recovery of the warp and weft yarns, but also avoids damaging the warp yarn fibers.

[0114] As shown in Figure 17, embodiments of the present disclosure also provide a fabric recycling control method, which is applied to a fabric recycling device, which can be any of the fabric recycling devices described in any of the above embodiments. The fabric recycling device includes a first image acquisition mechanism 2 and a first conveying mechanism 1, a warp stripping mechanism 3, and a weft separating mechanism 6, arranged in sequence along a conveying direction X. The control method includes the following steps S110 to S140.

[0115] S110 : Acquire a first image of the fabric 100 on the first conveying mechanism 1 captured by the first image capturing mechanism 2 .

[0116] The first image acquisition mechanism 2 may include, for example, an industrial camera. The first image acquisition mechanism 2 may be located above the first conveying mechanism 1 to take a picture of the fabric 100 on the first conveying mechanism 1 to obtain a first image.

[0117] S120 : Process the first image to obtain structural information of the fabric 100 and density values ​​of the warp yarns 110 in the fabric 100 .

[0118] Processing the first image may include adjusting exposure of the first image to obtain a clear first image, and then analyzing the first image to obtain structural information of the fabric 100 and density values ​​of the warp yarns 110 .

[0119] The structural information may include a pattern of the fabric 100, which is used to represent the weaving method of the warp yarns 110 and the weft yarns 120. The density of the warp yarns 110 may be understood as the number of warp yarns 110 per centimeter of the fabric 100.

[0120] S130: Determine based on the structural information that the pattern of the fabric 100 conforms to the target pattern, and the density value of the warp yarn 110 is less than the preset density threshold, generate a first control signal and a second control signal, and send the first control signal to the first conveying mechanism 1 to control the first conveying mechanism 1 to convey the fabric 100 to the warp yarn stripping mechanism 3, and send the second control signal to the warp yarn stripping mechanism 3 to control the warp yarn stripping mechanism 3 to strip the warp yarn 110 of the fabric 100.

[0121] The target pattern may include left twill, right twill, plain weave, broken twill, zigzag weave, and herringbone weave. The target pattern may be obtained based on a convolutional neural network (CNN) classification model. The fabric 100 having the target pattern is typically a woven fabric, and its warp yarn 110 can be stripped.

[0122] The preset density threshold can be 35 yarns / cm, that is, when the structural pattern of the fabric 100 conforms to the target pattern and the density of the warp yarns 110 is less than 35 yarns / cm, for example, the density of the warp yarns 110 can be 30 yarns / cm, 28 yarns / cm, 25 yarns / cm, 20 yarns / cm or 15 yarns / cm, the warp yarns 110 in the fabric 100 can be smoothly peeled off.

[0123] S140: Generate a third control signal and send the third control signal to the weft yarn separating mechanism 6, so as to control the weft yarn separating mechanism 6 to separate the weft yarn 120 in the fabric 100 after the warp yarn is peeled off.

[0124] In the embodiment of the present disclosure, by obtaining a first image of the fabric 100 on the first conveying mechanism 1, it is determined based on the first image that the structural information of the fabric 100 conforms to the target pattern and the density value of the warp yarn 110 is less than the preset density threshold, so that the first conveying mechanism 1 can be controlled to convey the fabric 100 to the warp yarn stripping mechanism 3, so that the warp yarn stripping mechanism 3 can strip off the warp yarn 110. After the warp yarn 110 is stripped off, the weft yarn separation mechanism 6 can be controlled to separate the weft yarn 120, thereby realizing the separate recycling of the warp yarn 110 and the weft yarn 120, thereby improving the recycling value.

[0125] As shown in FIG5 , in some embodiments, the warp stripping mechanism 3 may include a stripping knife 303 and a yarn clamp 306, and the stripping knife 303 may include multiple radially protruding tips 3032. Then, S130 may include: sending a second control signal to the stripping knife 303 and the yarn clamp 306 to control the tip 3032 of the stripping knife 303 to strip the warp yarn 110, and controlling the yarn clamp 306 to clamp the stripped warp yarn 110. In some implementations, the yarn clamp 306 includes a first pinch roller 3061 and a second pinch roller 3062 that can rotate relative to each other. When the stripped warp yarn 110 falls onto the yarn clamp 306, the warp yarn 110 is drawn out of the fabric 100 and transported downward as the first pinch roller 3061 and the second pinch roller 3062 rotate.

[0126] In some embodiments, the control method may further include: processing the first image to obtain a first angle value of the warp yarn 110 in the fabric 100. If the first angle value is less than or equal to a preset angle threshold, generating the second control signal.

[0127] Among them, the first angle value has the same meaning as the first angle value in the embodiment of the fabric recycling device, and will not be repeated here. It can be seen from the embodiment of the device that the direction in which the warp yarn 110 is stripped is the conveying direction X. In the optimal embodiment, the extension direction of the warp yarn 110 is perpendicular to the conveying direction X, which can achieve the best stripping effect. Therefore, in the optimal embodiment, the extension direction of the warp yarn 110 is parallel to the first horizontal direction Y, that is, the first angle value of the warp yarn 110 is zero. Of course, in other embodiments, the extension direction of the warp yarn 110 can also be at a certain angle to the first horizontal direction Y to reduce the severity of the stripping conditions. Therefore, when the first angle value is less than or equal to a preset angle threshold, the warp yarn stripping mechanism 3 can still achieve the stripping of the warp yarn 110.

[0128] In the above embodiment, the first angle value of the warp yarn 110 being less than the preset density threshold is used as one of the preconditions for generating the second control signal, so as to ensure that the stripping can be carried out more smoothly.

[0129] In some embodiments, as shown in Figures 3 and 4, the fabric recycling apparatus further includes a second conveying mechanism 4 disposed between the first conveying mechanism 1 and the warp yarn stripping mechanism 3 in the conveying direction X. The second conveying mechanism 4 includes a plurality of second sub-conveying mechanisms spaced apart in the first horizontal direction Y. The control method may further include: if the first angle value is greater than a preset angle threshold, generating a fourth control signal, and sending the fourth control signal to the plurality of second sub-conveying mechanisms, so that when the fabric 100 reaches the plurality of second sub-conveying mechanisms, the plurality of second sub-conveying mechanisms are controlled to have different conveying speeds, thereby adjusting the fabric 100 so that the first angle value of the warp yarn 110 is less than or equal to the preset angle threshold.

[0130] The second conveying mechanism 4 is located downstream of the first conveying mechanism 1 in the conveying direction X. When the first angle value of the warp yarn 110 is greater than the preset angle threshold, the warp yarn 110 cannot be peeled off smoothly. Therefore, it is necessary to adjust the first angle value of the warp yarn 110 by adjusting the fabric 100.

[0131] As shown in Figures 3 and 4, each second sub-mechanism includes a pressure roller 401 and a second conveyor belt 402. The pressure roller 401 is located above one end of the second conveyor belt 402 close to the first conveying mechanism 1. When the fabric 100 is conveyed to the second conveying mechanism 4, the fabric 100 is clamped between the pressure roller 401 and the second conveyor belt 402.

[0132] When the first angle value is greater than a preset angle threshold, the angle value that needs to be adjusted can be analyzed based on the current first angle value, and a fourth control signal can be sent to each second sub-conveyor mechanism to individually control the speed of the second conveyor belt 402 of each second sub-conveyor mechanism to achieve different rotational speeds. For example, the speed of the second conveyor belt 402 corresponding to the lagging fabric portion in the conveying direction X can be increased so that the first angle value can be adjusted to less than or equal to the preset angle threshold after passing through the pressing roller 401.

[0133] In order to more smoothly peel off the warp yarn 110, in some embodiments, the fabric 100 can be cut into multiple pieces. As shown in Figure 3, the second conveying mechanism 4 also includes a plurality of first cutters 403. The first cutters 403 are arranged between adjacent second sub-conveyor mechanisms. Specifically, as shown in Figure 3, at least part of the first cutters 403 can be located between adjacent pressure rollers 401, and the first cutters 403 are at a certain distance from the end of the second conveyor belt 402 close to the first conveyor mechanism 1 in the conveying direction X. When the fabric 100 is conveyed to the second conveying mechanism 4, the fabric 100 is first clamped between the pressure rollers 401 and the second conveyor belt 402 and continues to be conveyed. The clamping of the pressure rollers 401 and the second conveyor belt 402 puts the fabric 100 in a tensioned state, so that it can be cut by the first cutters 403.

[0134] The control method of the embodiment of the present disclosure also includes: if the first angle value of the warp yarn 110 is less than or equal to a preset angle threshold, a fifth control signal is generated, and the fifth control signal is sent to multiple second sub-conveying mechanisms to control the multiple second sub-conveying mechanisms to convey the fabric 100 at the same speed, so that the fabric 100 is cut into multiple pieces when passing through the first cutter 403.

[0135] That is, after the first angle value is adjusted to be less than or equal to the preset angle threshold, the speeds of the second sub-conveyor mechanisms are controlled to be the same, so that the multiple second sub-conveyor mechanisms convey the fabric 100 at the same speed. When the fabric 100 is conveyed to the first cutter 403, it is cut by the first cutter 403 to separate the fabric 100 into multiple pieces, and each piece is conveyed by a corresponding second sub-conveyor mechanism.

[0136] In some embodiments, as shown in FIG1 , the fabric recycling device further includes a second image acquisition mechanism 11 , and the control method may further include the following contents A1 to A3.

[0137] A1: Acquire a second image of the fabric 100 located on the second conveying mechanism 4 captured by the image capturing mechanism.

[0138] As shown in FIG1 , there may be multiple second image acquisition mechanisms 11, which may be the same number as the second sub-conveyor mechanisms, and are correspondingly disposed above each second sub-conveyor mechanism to respectively capture images of the fabric 100 located above each second sub-conveyor mechanism. The second image acquisition mechanism 11 may include an industrial camera.

[0139] A2: Process the second image to obtain a second angle value of the warp yarn 110 of the fabric 100.

[0140] Processing the second image may include adjusting exposure of the second image to obtain a clear second image, and then analyzing the second image to obtain a second angle value of the warp yarn 110 of the fabric 100 .

[0141] The second angle value has the same meaning as the first angle value, ie, the angle between the extension direction of the warp yarn 110 of the fabric 100 located in the second sub-conveying mechanism and the first horizontal direction Y.

[0142] A3: If the second angle value is greater than the preset angle threshold, an alarm signal is generated to control the fabric recycling device to alarm.

[0143] When the second angle value is greater than the preset angle threshold, it means that the warp yarn 110 of the fabric 100 cannot be peeled off smoothly. Since the fabric 100 has been cut, the second angle value cannot be adjusted by relying on the second sub-conveying mechanism. An alarm signal can be generated to control the fabric recovery equipment to alarm and remind the operator to adjust it or stop running.

[0144] In other embodiments, the fabric recovery device does not include the first cutter 403, and the fabric 100 may not be cut after being conveyed to the second conveying mechanism 4, that is, the fabric 100 is still conveyed as a whole on multiple second sub-conveyor mechanisms. Then, when the second angle value is greater than the preset angle threshold, the above-mentioned fourth control signal can be generated, and the fourth control signal can be sent to the multiple second sub-conveyor mechanisms to control the multiple second sub-conveyor mechanisms to have different conveying speeds, and the fabric 100 is adjusted so that the second angle value is less than or equal to the preset angle threshold, and then the above-mentioned fifth control signal is generated to control the speed of the multiple second sub-conveyor mechanisms to be the same, and continue to convey the fabric 100.

[0145] In some embodiments, the fabric recovery device further includes a first recovery mechanism 5 located below the warp yarn stripping mechanism 3. The first recovery mechanism 5 includes a first fan 501 and a first recovery box 502. The first fan 501 has a pipeline communicating with the first recovery box 502. The control method further includes generating a first recovery signal and sending the first recovery signal to the first recovery mechanism 5 to control the first fan 501 to suck the warp yarn 110 into the first recovery box 502.

[0146] In some embodiments, the control method further includes the following contents B1 to B3.

[0147] B1: Obtain the length value of the weft yarn 120 of the fabric 100 after the warp yarn 110 is peeled off.

[0148] B2: If the length value is greater than or equal to the preset length value, a sixth control signal is generated and sent to the first conveying mechanism 1, the second conveying mechanism 4 and the warp stripping mechanism 3 to control the first conveying mechanism 1, the second conveying mechanism 4 and the warp stripping mechanism 3 to stop running.

[0149] As the warp yarns 110 are gradually peeled off, the length of the exposed weft yarns 120 will gradually increase. In order to smoothly peel off the warp yarns 110 , the exposed weft yarns 120 may be cut off when the length reaches a preset value.

[0150] In some embodiments, B2 may further include: sending a sixth control signal to the first conveying mechanism 1 and the second conveying mechanism 4 to control the first conveying mechanism 1 and the second conveying mechanism 4 to convey the fabric 100 in a direction opposite to the conveying direction X to a preset distance and then stop running.

[0151] As shown in FIG5 , in the fabric recycling apparatus, since the stripping knife 303 is located downstream of the stripping platform 301, each time the warp yarn 110 is stripped, the warp yarn 110 to be stripped is conveyed to the end of the stripping platform 301, while the exposed weft yarn 120 has already left the stripping platform 301. Therefore, when it is necessary to cut the weft yarn 120, the second conveying mechanism 4 is required to rotate in the opposite direction by a predetermined distance, so that the exposed weft yarn 120 is retracted for severance on the stripping platform 301.

[0152] B3: Generate the third control signal and send the third control signal to the weft separating mechanism 6 to control the weft separating mechanism 6 to separate the weft yarn 120 having the above length value.

[0153] As shown in FIG12 , the weft yarn separating mechanism 6 includes a movable second cutter 601 and a suction head 604. The second cutter 601 can be positioned above the stripping platform 301. The suction head 604 is positioned on at least one side of the second cutter 601 in the first horizontal direction Y and moves with the second cutter 601. A third control signal is sent to the weft yarn separating mechanism 6 to control the second cutter 601 to cut the exposed weft yarn 120 and to control the suction head 604 to suck away the cut weft yarn 120.

[0154] In some embodiments, the fabric recovery device further includes a second recovery mechanism 7, which includes a second fan 701 and a second recovery box 702. The second fan 701 is connected to the weft yarn separating mechanism 6 and the second recovery box 702, respectively. The control method of the disclosed embodiment further includes: generating a second recovery signal and sending the second recovery signal to the second recovery mechanism 7 to control the second fan 701 to suck the weft yarn 120 separated by the weft yarn separating mechanism 6 into the second recovery box 702.

[0155] For example, when or after the weft yarn 120 is cut, a second recovery signal is sent to the second fan 701 to turn on the second fan 701. The end of the pipeline of the second fan 701 is connected to the suction head 604, and the suction head 604 can move with the second cutter 601. After the second fan 701 is turned on, the suction head 604 generates suction to suck the cut weft yarn 120 into the second recovery box 702. Therefore, the method of the embodiment of the present disclosure can recycle the stripped warp yarn 110 into the first recovery box 502 and the weft yarn 120 into the second recovery box 702, thereby realizing the separate recovery of the two. The recycled warp yarn 110 can be further recycled as regenerated yarn raw material because it contains high-quality fiber or cotton, and the recycled weft yarn 120 can be further recycled as low-quality recycled products because it contains spandex or nylon, etc., thereby making full use of the materials and increasing the recycling value.

[0156] In some embodiments, as shown in FIG5 , the fabric recycling device further includes a fabric detector 8 , which is disposed on a side of the warp stripping mechanism 3 close to the first conveying mechanism 1 , and is used to detect whether the fabric 100 reaches a preset position during conveyance.

[0157] The control method of the embodiment of the present disclosure also includes: if the first position information of the head end of the fabric 100 reaching the preset position sent by the fabric detector 8 is obtained, a speed adjustment signal is generated according to the first position information and the density value of the warp yarn 110, and the speed adjustment signal is sent to the first conveying mechanism 1, the second conveying mechanism 4 and the warp yarn stripping mechanism 3 to control the conveying speed of the first conveying mechanism 1 and the second conveying mechanism 4 to be within the first preset speed range and the stripping speed of the warp yarn 110 by the warp yarn stripping mechanism 3 to be within the second preset speed range.

[0158] That is, when the leading end of the fabric 100 is detected to have reached the preset position, it indicates that the warp yarns 110 of the fabric 100 are about to be stripped. Therefore, the stripping speeds of the first conveying mechanism 1, the second conveying mechanism 4, and the warp stripping mechanism 3 need to be adjusted to ensure smooth stripping of the warp yarns 110. The speeds of these mechanisms can be adjusted based on, for example, the density of the warp yarns 110, the diameter of the rotating rollers 302 in the warp stripping mechanism 3, the number of tips 3032 of the stripping blades 303, and so on. Therefore, the preset position can be on the side of the warp stripping mechanism 3 close to the first conveying mechanism 1. For example, the preset position can be located between the second conveying mechanism 4 and the warp stripping mechanism 3, i.e., the preset position is as close to the warp stripping mechanism 3 as possible.

[0159] In some embodiments, as shown in FIG2 , the fabric recovery device further includes a third recovery mechanism 9 , which includes a robotic arm 901 and a third recovery box 902 . The control method of the embodiment of the present disclosure further includes the following contents C1 to C2.

[0160] C1: If the second position information indicating that the end of the fabric 100 has reached the preset position is obtained from the fabric detector 8, a stop stripping signal is generated according to the second position information, and the stop stripping signal is sent to the warp stripping mechanism 3 to control the warp stripping mechanism 3 to stop stripping the remaining warp yarn 110 of the fabric 100.

[0161] When the fabric detector 8 detects that the end of the fabric 100 reaches the preset position, it means that the fabric 100 is about to be recycled. Usually, the warp yarn 110 located at the end of the fabric 100 is not easy to separate. A stop stripping signal can be generated according to the second position information to control the warp stripping mechanism 3 to stop stripping the warp yarn 110.

[0162] C2: Generate a third recycling signal, and send the third recycling signal to the third recycling mechanism 9 to control the robot arm 901 to put the remaining fabric 100 into the third recycling box 902.

[0163] After stopping the stripping of the warp yarn 110 , the remaining fabric 100 is transported to the stripping platform 301 , and the third recycling signal can control the robot arm 901 to move above the stripping platform 301 to recycle the remaining fabric 100 into the third recycling box 902 .

[0164] Therefore, the control method of the embodiment of the present disclosure can realize the recycling of the warp yarn 110, the weft yarn 120 and the remaining fabric 100 into the first recycling box 502, the second recycling box 702 and the third recycling box 902 respectively, avoiding the mixing of the three, facilitating the classification processing after recycling, improving the recycling value, and reducing labor intensity.

[0165] In one embodiment, in order to clearly illustrate the complete process of the fabric recycling apparatus recycling the fabric 100, FIG18 shows a method for the fabric recycling apparatus recycling the fabric, and the recycling method may include steps S1811 to S1830.

[0166] S1811: Place the fabric 100 on the first conveying mechanism 1.

[0167] S1812: The first image acquisition mechanism 2 acquires a first image of the fabric 100.

[0168] S1813 : Process the first image to obtain structural information of the fabric 100 and density values ​​of the warp yarns 110 .

[0169] S1814: Determine whether the pattern of the fabric 100 conforms to the target pattern based on the structural information, and whether the density value of the warp yarn 110 is less than a preset density threshold. If so, proceed to step S1815; if not, proceed to step S1830.

[0170] S1815: Start the first conveying mechanism 1 and the second conveying mechanism 4.

[0171] S1816: Process the first image to obtain a first angle value of the warp yarn 110.

[0172] S1817: Determine whether the first angle value is greater than a preset angle threshold. If so, proceed to step S1818; if not, proceed to step S1819.

[0173] S1818: When the fabric 100 reaches the second conveying mechanism 4, the plurality of second sub-conveying mechanisms are controlled to have different speeds to adjust the fabric 100 until the first angle value of the warp yarn 110 is less than or equal to a preset angle threshold.

[0174] S1819 : Control the plurality of second sub-conveying mechanisms to convey the fabric 100 at the same speed, so that the fabric 100 is cut into multiple pieces when passing through the first cutter 403 , and convey the fabric 100 to the warp stripping mechanism 3 .

[0175] S1820: The fabric detector 8 detects whether the head end of the fabric 100 reaches the preset position. If so, proceed to step S1821; if not, proceed to step S1819.

[0176] S1821: According to the density value of the warp yarn 110, the conveying speeds of the first conveying mechanism 1 and the second conveying mechanism 4 are controlled to be within a first preset speed range and the stripping speed of the warp yarn 110 by the warp yarn stripping mechanism 3 is controlled to be within a second preset speed range.

[0177] S1822: When the fabric 100 is conveyed to the warp stripping mechanism 3, the warp yarn 110 in the fabric 100 is stripped, and the yarn clamp 501 is controlled to clamp the stripped warp yarn 110, and the first fan 501 is controlled to suck the warp yarn 110 into the first recovery box 502.

[0178] S1823: The fabric detector 8 detects whether the end of the fabric 100 reaches the preset position. If so, proceed to step S1824; if not, proceed to step S1826.

[0179] S1824: Control the warp yarn stripping mechanism 3 to stop stripping the warp yarn 110.

[0180] S1825: The remaining fabric 100 is transported to the stripping platform 301, and the robot arm 901 is controlled to recycle the fabric 100 into the third recycling box 902, and then proceed to step S1830.

[0181] S1826: Obtain the length of the weft yarn 120 exposed after the warp yarn 110 is stripped.

[0182] S1827: Determine whether the length value is greater than or equal to the preset length value. If so, execute step S1828; if not, execute step S1822.

[0183] S1828: Control the first conveying mechanism 1 and the second conveying mechanism 4 to convey the fabric 100 in reverse to a preset distance and then stop running, control the warp stripping mechanism 3 to stop running, and control the weft separating mechanism 6 to cut off the exposed weft yarn 120.

[0184] S1829: Control and start the first conveying mechanism 1 and the second conveying mechanism 4 to continue conveying the fabric 100 to the warp stripping mechanism 3, and proceed to step S1822.

[0185] S1830: End recycling of the fabric.

[0186] To sum up, the fabric 100 control method of the embodiment of the present disclosure can control the fabric recycling equipment to strip off the warp yarn 110 and separate the weft yarn 120, thereby realizing the separate recycling of the warp yarn 110 and the weft yarn 120, thereby improving the recycling value, and at the same time realizing the separate recycling of the remaining fabric 100, thereby reducing labor intensity.

[0187] The embodiments of the present disclosure may also provide a computer device, including: a processor, an input / output interface, and a memory, wherein the processor obtains a computer program in the memory and executes each step of the method shown in any of the above embodiments.

[0188] The embodiment of the present disclosure also provides a computer-readable storage medium, which stores a computer program. The computer program is suitable for being loaded by the processor and executing the fabric recycling control method provided in each step of any of the above embodiments. For details, please refer to the implementation methods provided in each step of any of the above embodiments, which will not be repeated here. In addition, the description of the beneficial effects of adopting the same method will not be repeated. For technical details not disclosed in the computer-readable storage medium embodiment involved in the present disclosure, please refer to the description of the method embodiment of the present disclosure. As an example, the computer program can be deployed to be executed on one computer device, or on multiple computer devices located in one location, or on multiple computer devices distributed in multiple locations and interconnected through a communication network.

[0189] The computer-readable storage medium may be the computer network security server virtualization processing system provided by any of the aforementioned embodiments or the internal storage unit of the computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device. Furthermore, the computer-readable storage medium may also include both the internal storage unit of the computer device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0190] The present disclosure also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method provided in any of the optional embodiments described above.

[0191] It should be understood that the present disclosure is not limited in its application to the detailed structure and arrangement of the components set forth in this specification. The present disclosure is capable of other embodiments and can be implemented and carried out in a variety of ways. The aforementioned variations and modifications fall within the scope of the present disclosure. It should be understood that the present disclosure disclosed and defined in this specification extends to all alternative combinations of two or more individual features mentioned or evident in the text and / or the drawings. All of these different combinations constitute multiple alternative aspects of the present disclosure. The embodiments described in this specification illustrate the best known ways to implement the present disclosure and will enable those skilled in the art to utilize the present disclosure.

Claims

1. A fabric recycling device, comprising: A first conveying mechanism for conveying the fabric in a conveying direction; A first image acquisition mechanism for acquiring a first image of the fabric on the first conveying mechanism; A warp stripping mechanism located downstream of the first conveying mechanism in the conveying direction, for receiving the fabric and stripping the warp in the fabric according to the first image; A weft separating mechanism located downstream of the first conveying mechanism in the conveying direction, for separating the weft in the fabric after the warp stripping mechanism strips the warp.

2. The fabric recycling device according to claim 1, further comprising: A second conveying mechanism located between the first conveying mechanism and the stripping mechanism in the conveying direction. The second conveying mechanism includes a plurality of second sub-conveying mechanisms arranged at intervals along a first horizontal direction, for receiving the fabric and conveying the fabric to the warp stripping mechanism; Wherein, the first horizontal direction is perpendicular to the conveying direction.

3. The fabric recycling device according to claim 2, wherein, The second sub-conveying mechanism includes a pressure roller and a second conveyor belt. The pressure roller is located above one end of the second conveyor belt close to the first conveying mechanism. When the fabric is conveyed to the second conveying mechanism, the fabric is clamped between the pressure roller and the second conveyor belt; The second conveying mechanism further includes: a plurality of first cutting knives, at least a part of the first cutting knives is arranged between the pressure rollers of adjacent second sub-conveying mechanisms, for cutting the fabric when the fabric is clamped between the pressure roller and the second conveyor belt and being conveyed.

4. The fabric recycling device according to claim 1, wherein, The warp stripping mechanism includes: A stripping platform for supporting the fabric; A rotating roller arranged on the downstream side of the stripping platform in the conveying direction; A plurality of stripping knives arranged on the rotating roller and capable of rotating with the rotating roller; the stripping knife includes a main body part and a tip, the tip is arranged on the main body part and protrudes along the circumference of the main body part, for stripping the warp of the fabric located on the stripping platform; A yarn gripper located below the plurality of stripping knives, for grasping the warp stripped by the stripping knife and pulling the warp out of the fabric.

5. The fabric recycling device according to claim 4, further comprising a first recycling mechanism located below the warp stripping mechanism. The first recycling mechanism includes: A first blower and a first recycling box. The first blower has a pipeline communicated with the first recycling box. The first blower is used for sucking the warp clamped by the yarn gripper into the first recycling box.

6. The fabric recycling device according to claim 1, wherein, The weft separating mechanism includes: A second cutting knife movably arranged above the warp stripping mechanism, for cutting the remaining weft in the fabric with a preset length value after the warp is stripped; A suction head located on at least one side of the second cutting knife, for sucking the cut weft.

7. The fabric recycling device according to claim 6 further includes a second recycling mechanism, where the second recycling mechanism includes a second blower and a second recycling box. The second blower has pipelines that are respectively connected to the material suction head and the second recycling box, and is used to suck the cut weft yarns into the second recycling box.

8. The fabric recycling device according to claim 1 further includes: A fabric detector, which is arranged on one side of the warp yarn stripping mechanism close to the first conveying mechanism and is used to detect whether the fabric reaches a preset position.

9. The fabric recycling device according to claim 8 further includes: A third recycling mechanism, where the third recycling mechanism includes a robotic arm and a third recycling box. When the fabric detector detects that the end of the fabric reaches the preset position, the warp yarn stripping mechanism stops stripping the warp yarns, and the robotic arm is used to put the remaining fabric into the third recycling box.

10. The fabric recycling device according to claim 9, wherein, The third recycling mechanism further includes a pneumatic pipeline. A suction cup is provided at the end of the robotic arm, and the pneumatic pipeline is connected to the suction cup to provide negative pressure for the suction cup to adsorb and put the remaining fabric into the third recycling box; or, A gripper is provided at the end of the robotic arm, and the gripper is used to be able to grip the remaining fabric and put it into the third recycling box.

11. The fabric recycling device according to claim 2 further includes: A second image acquisition mechanism, which is used to acquire a second image of the fabric on the second conveying mechanism.

12. The fabric recycling device according to any one of claims 1 to 11 further includes: A controller, which is electrically connected to the first conveying mechanism, the first image acquisition mechanism, the warp yarn stripping mechanism, and the weft yarn separation mechanism respectively; The controller is used to process the first image, obtain the structural information of the fabric and the density value of the warp yarns in the fabric, and determine that the pattern of the fabric conforms to a target pattern according to the structural information, and the density value is less than a preset density threshold. Then, the controller controls the first conveying mechanism to convey the fabric to the warp yarn stripping mechanism, and controls the warp yarn stripping mechanism to strip the warp yarns of the fabric. After the warp yarns are stripped, the controller controls the weft yarn separation mechanism to separate the weft yarns in the fabric.

13. A fabric recycling control method, wherein, The method is applied to a fabric recycling device, where the fabric recycling device includes a first image acquisition mechanism, and a first conveying mechanism, a warp yarn stripping mechanism, and a weft yarn separation mechanism that are sequentially arranged in the conveying direction; the method includes: Obtaining a first image of the fabric on the first conveying mechanism acquired by the first image acquisition mechanism; Processing the first image to obtain the structural information of the fabric and the density value of the warp yarns in the fabric; Determine that the pattern of the fabric conforms to the target pattern according to the structure information, and the density value of the warp yarns is less than the preset density threshold, generate a first control signal and a second control signal, and send the first control signal to the first conveying mechanism to control the first conveying mechanism to convey the fabric to the warp yarn stripping mechanism, and send the second control signal to the warp yarn stripping mechanism to control the warp yarn stripping mechanism to strip the warp yarns of the fabric; Generate a third control signal and send the third control signal to the weft yarn separating mechanism to control the weft yarn separating mechanism to separate the weft yarns in the fabric after the warp yarns are stripped.

14. The method according to claim 13, further comprising: Process the first image to obtain a first angle value of the warp yarns in the fabric; If the first angle value is less than or equal to the preset angle threshold, generate the second control signal.

15. The method according to claim 14, wherein, The fabric recycling device further comprises a second conveying mechanism, which is arranged between the first conveying mechanism and the warp yarn stripping mechanism in the conveying direction; the second conveying mechanism comprises a plurality of second sub-conveying mechanisms arranged at intervals in a first horizontal direction, and the first horizontal direction is perpendicular to the conveying direction. The method further comprises: If the first angle value is greater than the preset angle threshold, generate a fourth control signal and send the fourth control signal to the plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to have different conveying speeds when the fabric reaches the plurality of second sub-conveying mechanisms, so as to adjust the fabric to make the first angle value of the warp yarns less than or equal to the preset angle threshold.

16. The method according to claim 15, wherein, The second conveying mechanism further comprises a plurality of first cutting knives, and the first cutting knives are arranged between adjacent second sub-conveying mechanisms. The method further comprises: If the first angle value of the warp yarns is less than or equal to the preset angle threshold, generate a fifth control signal and send the fifth control signal to the plurality of second sub-conveying mechanisms to control the plurality of second sub-conveying mechanisms to convey the fabric at the same speed, so that the fabric is cut into multiple pieces when passing through the first cutting knives.

17. The method according to claim 15, wherein, The fabric recycling device further comprises a second image acquisition mechanism. The method further comprises: Obtain a second image of the fabric located on the second conveying mechanism acquired by the second image acquisition mechanism; Process the second image to obtain a second angle value of the warp yarns of the fabric; If the second angle value is greater than the preset angle threshold, generate an alarm signal for controlling the fabric recycling device to alarm.

18. The method according to claim 13, wherein, The fabric recycling device further comprises a first recycling mechanism, which is located below the stripping mechanism. The first recycling mechanism comprises a first fan and a first recycling box. The first fan has a pipeline communicated with the first recycling box. The method further comprises: Generate a first recycling signal and send the first recycling signal to the first recycling mechanism to control the first fan to suck the stripped warp yarns into the first recycling box.

19. The method according to claim 15 further includes: obtaining a length value of a weft yarn of the fabric after stripping the warp yarns; if the length value is greater than or equal to a preset length value, generating a sixth control signal and sending the sixth control signal to the first conveying mechanism, the second conveying mechanism and the warp yarn stripping mechanism to control the first conveying mechanism, the second conveying mechanism and the warp yarn stripping mechanism to stop operating; generating the third control signal and sending the third control signal to the weft yarn separating mechanism to control the weft yarn separating mechanism to separate the weft yarn having the length value.

20. The method according to claim 19, wherein, Sending the sixth control signal to the first conveying mechanism and the second conveying mechanism to control the first conveying mechanism and the second conveying mechanism to stop operating includes: sending the sixth control signal to the first conveying mechanism and the second conveying mechanism to control the first conveying mechanism and the second conveying mechanism to convey the fabric in a direction opposite to the conveying direction to a preset distance and then stop operating.

21. The method according to claim 20, wherein, The fabric recycling device further includes a second recycling mechanism. The second recycling mechanism includes a second blower and a second recycling box. The second blower is respectively connected to the weft yarn separating mechanism and the second recycling box. The method further includes: generating a second recycling signal and sending the second recycling signal to the second recycling mechanism to control the second blower to suck the weft yarn separated by the weft yarn separating mechanism into the second recycling box.

22. The method according to claim 15, wherein, The fabric recycling device further includes a fabric detector provided on a side of the warp yarn stripping mechanism close to the first conveying mechanism. The method further includes: if first position information that the leading end of the fabric sent by the fabric detector reaches a preset position is obtained, then generating a speed adjustment signal according to the first position information and the density value of the warp yarns, and sending the speed adjustment signal to the first conveying mechanism, the second conveying mechanism and the warp yarn stripping mechanism to control the conveying speed of the first conveying mechanism and the second conveying mechanism to be within a first preset speed range and the stripping speed of the warp yarn stripping mechanism for the warp yarns to be within a second preset speed range.

23. The method according to claim 22, wherein, The fabric recycling device further includes a third recycling mechanism. The third recycling mechanism includes a robotic arm and a third recycling box. The method further includes: if second position information that the trailing end of the fabric sent by the fabric detector reaches the preset position is obtained, then generating a stop stripping signal according to the second position information and sending the stop stripping signal to the warp yarn stripping mechanism to control the warp yarn stripping mechanism to stop stripping the warp yarns of the remaining fabric; generating a third recycling signal and sending the third recycling signal to the third recycling mechanism to control the robotic arm to put the remaining fabric into the third recycling box.

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