CN116235961B - Control system and method of automatic peeling flaker - Google Patents

Control system and method of automatic peeling flaker Download PDF

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Publication number
CN116235961B
CN116235961B CN202310518354.4A CN202310518354A CN116235961B CN 116235961 B CN116235961 B CN 116235961B CN 202310518354 A CN202310518354 A CN 202310518354A CN 116235961 B CN116235961 B CN 116235961B
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picture
blade
peeling
contour
feature point
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CN116235961A (en
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王波
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Nanjing Kangshan Pharmaceutical Equipment Co ltd
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Nanjing Kangshan Pharmaceutical Equipment Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N7/00—Peeling vegetables or fruit
    • G06T5/80—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a control system and a control method of an automatic peeling and flaking machine, relates to the field of general control or regulation systems, and solves the problems that the existing peeling processing field is fixed in method, more waste is caused, and self-adaptive control is difficult to carry out on peeling processes of materials with different shapes and sizes. The system realizes the efficient collection of the material contour data through a picture correction strategy and a contour extraction strategy, and converts the material contour data into effective reference data required by a control system; through constructing embryo quantization indexes, effective evaluation of the reserved pulp volume after peeling is realized, and effective prediction of pulp reserved effects under different cutting modes is realized; according to the contour diagram and the length of the blade of the peeling machine, the characteristic point with the most pulp remained after peeling is found, and the inclination angle of the blade and the suspension distance of the blade are calculated according to the characteristic point, so that the peeling machine is controlled, and the self-adaptive peeling of materials is realized.

Description

Control system and method of automatic peeling flaker
Technical Field
The invention relates to the field of general control or regulation systems, in particular to a control system and a control method of an automatic peeling flaker.
Background
The peel is removed as an irreplaceable core link for the finish processing of some Chinese medicinal materials and agricultural products, and the performance of the peel directly influences the development of the Chinese medicinal materials and agricultural product processing industry. The existing peeling flaker mainly adopts a mechanical automation mode, and the peeling flaker has the common problems of large processing loss and difficulty in adapting to the processing of materials with different sizes. The lag of the existing automatic cutting technology of the outer skin restricts the development of the processing industry of traditional Chinese medicinal materials and agricultural products, so that an automatic flaker with stronger adaptability and lower processing loss rate and a control system thereof are required to be researched.
As disclosed in chinese patent publication No. CN110384244a, a potato peeling machine and peeling control system, comprising: the peeling machine comprises a peeling barrel body and a rotating disc coaxially arranged with the peeling barrel body, wherein the peeling barrel body comprises an upper barrel body and a lower barrel body which are stacked up and down, a primary peeling assembly is arranged on the inner wall of the lower barrel body, a secondary peeling assembly is arranged on the inner wall of the upper barrel body, a jacking mechanism is arranged at the bottom of the rotating disc and used for driving the rotating disc to switch back and forth between the bottom position of the lower barrel body and the top position of the lower barrel body. The whole peeling process can realize the secondary peeling effect only by switching the rotating disc back and forth between the bottom position of the lower layer cylinder and the top position of the lower layer cylinder, the problem of equipment clamping stagnation is avoided, the whole peeling machine of potatoes runs smoothly, the working efficiency of potato peeling operation is greatly improved, the structure is relatively simple, and the equipment cost is reduced. The control method for achieving different peeling effects by switching different positions has the problems of inflexibility and difficulty in self-adapting to materials in different shapes.
For example, chinese patent publication No. CN115530387a provides a yam peeling apparatus for yam wine preparation capable of peeling yams of different sizes, comprising a chassis, a protective housing, a supporting plate frame, a peeling machine, a placing plate frame, a first telescopic rod, etc.; the top of the underframe is connected with a supporting plate frame, a protective shell is connected on the supporting plate frame, peeling machines are respectively arranged on the left side and the right side of the supporting plate frame, a placing plate frame is connected between the two guiding plate frames in a sliding mode, and two first telescopic rods are connected between the upper sides of the two peeling machines. According to the invention, by starting the electric push rod and the peeling machine by people, the peeling machine moves inwards under the drive of the telescopic rod of the electric push rod, and when the top block is contacted with the Chinese yam, the peeling machine is contacted with the Chinese yam, so that the effect of peeling the Chinese yam with different sizes is realized. The method realizes the peeling effect of the Chinese yam with different sizes in a feedback mode, has good effect when processing columnar materials, but is difficult to realize self-adaptive control when facing the materials with large shape change.
In summary, the following problems exist in the peeling field:
1. the processing difficulty of materials with different shapes and sizes is high, the self-adaptive processing control of the materials is difficult, the prior art is realized in a feedback mode, and the peeling control problem of the materials with small shape change can be only solved;
2. The peeling processing effect is evaluated by lacking an evaluation mechanism, so that the peeling processing process is lack of standardization, and the waste of materials is caused;
3. due to the design problem of software and hardware of the peeling machine, the peeling mode is fixed, and the possibility of adopting different cutting modes to achieve better effect is lost.
Based on the above, the present invention provides a control system and method for an automatic peeling and flaking machine to solve the above problems.
Disclosure of Invention
The invention aims to provide a control system and a control method of an automatic peeling and flaking machine, which are used for solving the problems that in the prior peeling technology, the method is fixed, more waste is caused, and the self-adaptive control of peeling processes of materials with different shapes and sizes is difficult to adapt.
In order to achieve the above purpose, the invention provides a control system of an automatic peeling and flaking machine, which comprises a picture acquisition module, a picture correction module, a contour extraction module, a parameter extraction module, a time sequence controller, a blade angle controller and a blade cantilever controller: wherein, the liquid crystal display device comprises a liquid crystal display device,
the picture acquisition module is used for carrying out image acquisition on a sample to be peeled, generating an acquisition picture and transmitting the acquisition picture to the picture correction module;
The image correction module is used for storing the deflection angle, the deflection angle increment and the deflection degree standard value, generating corrected images through an image correction strategy according to the acquired images transmitted by the image acquisition module, and transmitting the corrected images to the profile extraction module;
the profile extraction module is used for generating a profile graph according to the corrected picture transmitted by the picture correction module through a profile extraction strategy and transmitting the profile graph to the parameter extraction module;
the parameter extraction module is used for generating a control parameter matrix according to the contour map transmitted by the contour extraction module through a parameter extraction strategy, and comprises the following steps: the blade inclination angle and the blade suspension distance, and transmitting the control parameter matrix to the time sequence controller;
a timing controller: the parameter extraction module is used for generating a strategy according to the time sequence control signal and generating a blade inclination angle control signal and a blade suspension distance control signal according to the control parameter matrix transmitted by the parameter extraction module, transmitting the blade inclination angle control signal to the blade angle controller and transmitting the blade suspension distance control signal to the blade cantilever controller;
blade angle controller: the blade inclination angle control device is used for controlling the inclination angle of the blade according to the blade inclination angle control signal transmitted by the time sequence controller;
Blade cantilever controller: the blade suspension distance control signal is used for controlling the suspension distance of the blade according to the blade suspension distance control signal transmitted by the time sequence controller; the output end of the picture acquisition module is connected with the picture correction module, the output end of the picture correction module is connected with the contour extraction module, the output end of the contour extraction module is connected with the parameter extraction module, the output end of the parameter extraction module is connected with the time sequence controller, and the output end of the time sequence controller is respectively connected with the blade angle controller and the blade cantilever controller.
The invention further improves that the picture correction module comprises a picture correction strategy, and the picture correction strategy comprises the following specific steps:
s201: the picture correction module sets a deflection angleAnd deflection angle increment->Deflection standard value->The distance of the horizontal central axis of the picture from the lower edge was measured and recorded as +.>；
S202: the picture correction module deflects the picture anticlockwise by an angleObtaining a deflected picture;
s203: the picture correction module divides the deflected picture intoA section for measuring the distance between the material contour of each section in the horizontal direction and the upper edge of the picture, and the distance is marked as +. >The distance of the material profile of each section in the horizontal direction from the lower edge of the picture was measured and designated +.>；
S204: according to the deflection degree valueThe calculation formula is used for calculating the deflection degree value of the deflected picture, and the specific formula is as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,for the deflection degree value +.>Dividing the picture into a plurality of segments for the picture correction module, < >>1 to->Any one of->Is->Distance between material outline in section picture and upper edge of picture,/->Is->Distance between material outline in section picture and lower edge of picture,/->The distance from the horizontal central axis of the picture to the lower edge;
s205: judging whether the deflected deflection degree value is smaller than the deflection degree standard valueIf it is smaller than the standard value of deflection +.>S206 is performed, otherwise the deflection angle is calculated>S202 is performed, deflection angle +>The specific calculation formula is as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,for the current execution times>For the deflection angle to be performed next, +.>For the deflection angle performed this time, +.>The deflection angle increment is a preset value;
s206: and finishing picture correction.
The invention further improves that the picture correction module comprises a contour extraction strategy, and the contour extraction strategy comprises the following specific steps:
S301: the contour extraction module extracts all pixel points of the corrected module and displays the pixel points as pixel valuesForm, wherein->Indicating red chromaticity->Representing green chromaticity, ++>Representing blue chromaticity;
s302: calculating the color difference sum of each pixel point and the nearby pointThe calculation formula is as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,expressed as color difference sum->，/>，/>Red chromaticity, green chromaticity, blue chromaticity, and +.>Is any integer from 1 to 8, and respectively represents the serial numbers of the pixel points corresponding to 8 directions of upper left, upper right, upper left, right, lower left, lower right and lower right, and the +.>The expression number is->Red chromaticity of pixel point of->The expression number is->Green of pixel points of (2)Color tone, color intensity>The expression number is->Blue chromaticity of the pixel points of (c).
S303: and finding out the horizontal chromatic aberration and the maximum pixel point along the horizontal direction and reserving the pixel point to obtain a contour map.
A further improvement of the present invention is that the parameter extraction module includes: the device comprises a data extraction unit, a characteristic point extraction unit and a control parameter matrix generation unit: wherein, the liquid crystal display device comprises a liquid crystal display device,
a data extraction unit: the method is used for storing the basic extraction length, generating profile data according to the profile image transmitted by the picture profile extraction unit through a data extraction strategy, wherein the profile data comprises the following steps: the method comprises the steps of (1) material length, material segmentation number and profile vector, and transmitting profile data to a feature point extraction unit and a control parameter matrix generation unit;
Feature point extraction unit: the method is used for storing the maximum blade length and the minimum blade length, generating the optimal feature point coordinates through a feature point generation strategy according to the contour data transmitted by the data extraction unit, and comprises the following steps: the length of the real object corresponding to the abscissa of the optimal characteristic point and the height of the real object corresponding to the ordinate of the optimal characteristic point are transmitted to the control parameter matrix generating unit;
control parameter matrix generation unit: the control parameter matrix is generated by a control parameter matrix generation strategy according to the characteristic point matrix transmitted by the characteristic point extraction unit, and is transmitted to the time sequence controller.
The invention further improves that the parameter extraction module comprises a parameter extraction strategy, and the parameter extraction strategy comprises the following specific steps:
s401: the data extraction unit generates contour data according to the contour map transmitted by the picture contour extraction unit through a data extraction strategy, wherein the contour data comprises: the method comprises the steps of (1) material length, material segmentation number and profile vector, and transmitting profile data to a feature point extraction unit and a control parameter matrix generation unit;
s402: the feature point extraction unit generates optimal feature point coordinates according to the contour data transmitted by the data extraction unit through a feature point generation strategy, and transmits the optimal feature point coordinates to the control parameter matrix generation unit;
S403: the control parameter matrix generating unit generates a control parameter matrix according to the optimal feature point coordinates transmitted by the feature point extracting unit and the profile data transmitted by the data extracting unit through a control parameter matrix generating strategy, and transmits the control parameter matrix to the time sequence controller.
The invention further improves that the data extraction unit comprises a data extraction strategy, and the data extraction strategy comprises the following specific steps:
s401a: the data extraction unit measures the length of the material in the profile to obtain the length of the material；
S401b: the data extraction unit is used for extracting data according to the length of the materialCalculating the number of material segments +.>The calculation formula is as follows: />Wherein->The basic extraction length is a fixed value;
s401c: evenly dividing the material in the profile into sections along the vertical directionA segment;
s401d: generating a contour vector according to materials in the contour map, wherein the generation formula is as follows:wherein, the method comprises the steps of, wherein,，/>indicate->In the section profile, the average distance between the upper edge of the material and the central axis of the material is calculated by measuring the data extraction unit>The number of the segments is the number of the material segments.
The invention further improves that the characteristic point extraction unit comprises a characteristic point generation strategy, and the characteristic point generation strategy comprises the following specific steps:
S402a: calculating the perimeter of the contour according to the contour data, wherein the calculation formula is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,expressed as contour perimeter +.>For the number of material segments, < > of>Is 2 to->Is an integer>Expressed as contour vector +.>Middle->Variable(s)>The basic extraction length is a constant value.
S402b: generating a secondary embryo quantitative indexSetting the initial value of the secondary embryo quantization index as +.>Calculating the number of peeled segments according to the contour circumference>Meaning how many segments in total are peeled, the calculation formula is:number of final peeled sections->Meaning how many sections can be peeled at most, the calculation formula is:wherein->Expressed as number of peeled segments @, @>Expressed as the number of final peeled segments->For the perimeter of the profile,for peeling knife length, is a fixed value, +.>For the shortest effective peeling length, is a fixed value, < >>Calculating a symbol for rounding;
s402c: setting the length of a real object corresponding to the abscissa of the characteristic pointHeight of the object corresponding to the ordinate +.>The conditional formula of (2) is the length of the object corresponding to the abscissa of the feature point +.>Height of object corresponding to ordinate of feature pointThe conditions that need to be met are as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,indicate->The height of the object corresponding to the ordinate of the feature point,/- >Expressed as contour vector +.>Middle->Variable(s)>Indicate->Features ofLength of the object corresponding to the dot abscissa, +.>For peeling, add>Represents 1 to->Any one integer, +.>For basic extraction length, is a constant value, +.>Calculating a symbol for rounding;
s402d: setting quantitative index of peeling embryoThe calculation formula of (2) is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,for peeling, add>Represents 2 to->Any one integer, +.>Indicate->Length of the object corresponding to the abscissa of each characteristic point, < >>Indicate->The height of the object corresponding to the ordinate of the feature point,/->Is a differential operator symbol.
S402e: according to the length of the real object corresponding to the abscissa of the characteristic pointOrdinate->Conditional formula of (2) peeling embryo quantization index +.>Calculating the length of the object corresponding to the abscissa satisfying the characteristic point ++>Ordinate->Is added with the quantitative index of the peeling embryo body>Reaching the maximum final feature point vector, comprising: length of object corresponding to first-order final feature point abscissa>Height of object corresponding to ordinate of first-order final feature point +.>The peeling embryo quantization index of the first-order final feature point vector is +.>；
S402f: peeling embryo quantitative index of first-stage final characteristic point vector And a secondary peeling embryo quantification index +.>Compare if->Then->Length of object corresponding to the abscissa of the secondary final feature point +.>Height of object corresponding to ordinate of secondary final feature point +.>Otherwise, executing S402g;
s402g: number of peeled segmentsAdding one, judging the number of peeled sections +.>Whether or not it is greater than the number of final peeled sections->If the number of peeled sections is->Is greater than the number of final peeled sections->S402h is executed, otherwise S402c is executed;
s402h: the length of the object corresponding to the abscissa of the secondary final pointHeight of object corresponding to ordinate of secondary final feature point +.>As the optimal feature point coordinates->、/>In the optimal feature point coordinates->、/>In the case of (2), the peeling embryo has the largest quantitative index and the pulp is the largest.
The invention is further improved in that the genetic algorithm comprises the following specific steps:
s402d01: the feature point extraction unit generates the iteration numberIteration number->The feature point extraction unit extracts the feature point according to the length of the object corresponding to the abscissa of the feature point>Height of the object corresponding to the ordinate +.>Generating a genetic variable +.>、/>Wherein jy is the subscript of the heritage variable,/->Is the genetic variable sequence number of 1 to +. >Between which are locatedArbitrary integer>Generating the total number of genetic variables, setting for an administrator, and enabling the generated genetic variables to be +.>、/>The following formula is satisfied:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,；
wherein, the liquid crystal display device comprises a liquid crystal display device,indicate->No. 4 of the genetic variable>The heights of the objects corresponding to the ordinate of each characteristic point,expressed as contour vector +.>Middle->Variable(s)>Indicate->No. 4 of the genetic variable>Length of the object corresponding to the abscissa of each characteristic point, < >>For peeling, add>Represents 1 to->Any one integer, +.>For basic extraction length, is a constant value, +.>Calculating a symbol for rounding;
s402d02: calculating the quantitative index of the peeling embryo body of each genetic variableThe calculation formula is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,indicate->Quantitative index of skinned embryo body of individual genetic variables, < >>For peeling, add>Represents 2 to->Any one integer, +.>Indicate->No. 4 of the genetic variable>The length of the object corresponding to the abscissa of each characteristic point,indicate->No. 4 of the genetic variable>The height of the object corresponding to the ordinate of the feature point,/->Is a differential operator symbol.
S402d03: calculating the optimal peeling embryo quantification index of all genetic variablesCalculating optimal genetic variables、/>Wherein the optimal genetic variable is corresponding to an evaluation value of +. >The calculation formula is as follows:
；
s402d04: the iteration times are to be calculatedAdding 1, calculating the next generation genetic variable, wherein the calculation formula is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,indicate->The number of iterations of the genetic variable is +.>The length of the real object corresponding to the abscissa,indicate->The number of iterations of the genetic variable is +.>The length of the object corresponding to the abscissa of time, < >>1 to->An arbitrary integer between>Generating the total number of genetic variables, < >>The length of the real object corresponding to the abscissa of the optimal genetic variable;
s402d05: for the number of iterationsJudging, judging->Whether greater than 5000, if->If the number is greater than 5000, executing S402d06, otherwise repeating the step S402d02;
s402d06: ending the calculation, andas the length of the object corresponding to the abscissa of the final feature point, will +.>And the height of the object corresponding to the ordinate of the final characteristic point.
The invention further improves that the control parameter matrix generating unit comprises a control parameter matrix generating strategy, and the control parameter matrix generating strategy comprises the following specific steps:
s403a: the parameter extraction module is used for extracting the coordinates of the optimal characteristic points、/>Cantilever suspension height->Contour data transmitted by the data extraction unit, a control parameter matrix is calculated >The calculation formula is as follows:
s403b: the calculation formula of the parameters of the rows of the control parameter matrix about the blade inclination angle:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,for peeling, add>Is 2 to->Is an integer>Indicate->The height of the object corresponding to the ordinate of the optimal feature point,/->Indicate->The lengths of the real objects corresponding to the abscissa of the optimal characteristic points;
s403c: the calculation formula of the parameters of the rows of the control parameter matrix with respect to the blade suspension distance:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,for peeling, add>Is 2 to->Is an integer>Indicate->And the height of the object corresponding to the ordinate of each optimal characteristic point.
The invention also provides a control method of the automatic peeling and flaking machine, which is realized based on the control system of the automatic peeling and flaking machine, and the control method comprises the following specific steps:
s1: the picture acquisition module acquires images of samples to be peeled, generates an acquisition picture, and transmits the acquisition picture to the picture correction module;
s2: the picture correction module generates a corrected picture according to the collected picture transmitted by the picture collection module and a picture correction strategy, and transmits the corrected picture to the contour extraction module;
s3: the contour extraction module generates a contour map according to the corrected picture transmitted by the picture correction module through a contour extraction strategy, and transmits the contour map to the parameter extraction module;
S4: the parameter extraction module generates a control parameter matrix according to the profile diagram transmitted by the profile extraction module and through a parameter extraction strategy, and the control parameter matrix comprises the following components: the blade inclination angle, the blade suspension distance and the propulsion distance, and transmitting the control parameter matrix to the time sequence controller;
s5: the time sequence controller generates a strategy according to the control parameter matrix transmitted by the parameter extraction module and the time sequence control signal, generates a blade inclination angle control signal, a blade suspension distance control signal and a propulsion distance control signal, transmits the blade inclination angle control signal to the blade angle controller, transmits the blade suspension distance control signal to the blade cantilever controller and transmits the propulsion distance control signal to the propulsion controller;
s6a: the blade angle controller controls the inclination angle of the blade according to the blade inclination angle control signal transmitted by the time sequence controller;
s6b: and the blade cantilever controller controls the suspension distance of the blade according to the blade suspension distance control signal transmitted by the time sequence controller.
The invention further improves that the time sequence controller comprises a time sequence control signal generation strategy, and the time sequence control signal generation strategy comprises the following specific steps:
S501: the time schedule controller is based on the control parameter matrixCalculating a control signal matrix +.>The calculation formula is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,expressed as control signal matrix +.>Line->Column value, +.>1 or 2, & gt>1 to->Any one of>The number of the peeling sections is the number;
s502: the timing controller generates control timingControl timing->；
S503a: the time schedule controller controls the time scheduleWill->As a blade inclination angle control signal and transmits the blade inclination angle control signal to the blade angle controlA manufacturing device;
s503b: the time schedule controller controls the time scheduleWill->As a blade suspension distance control signal, and transmitting the blade suspension distance control signal to a blade cantilever controller;
s504: the timing controller will control the timingAdding one, and judging the control time sequence +.>Whether or not it is greater than the number of peeling sections->If the control timing is->Is greater than the number of peeling sections->Ending the operation, otherwise executing S503a, S503b
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, through a picture correction strategy and a contour extraction strategy, acquisition of material contour data is realized, and the material contour data is converted into effective reference data required by a control system; through constructing embryo quantization indexes, effective evaluation of the reserved pulp volume after peeling is realized, and effective prediction of pulp reserved effects under different cutting modes is realized; according to the contour diagram and the length of the blade of the peeling machine, the characteristic point with the most pulp remained after peeling is found, the inclination angle of the blade and the suspension distance of the blade are calculated according to the characteristic point, and the peeling machine is controlled, so that the self-adaptive peeling of the materials based on the shapes of the materials is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a flow chart of a control method of an automatic peeling and flaking machine of the present invention.
FIG. 2 is a schematic diagram of the architecture of a control system of an automatic peeling and flaking machine in accordance with the present invention.
FIG. 3 is a profile diagram generated by a profile extraction strategy according to an embodiment of the present invention.
Fig. 4 is a characteristic point graph of an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1 and 2, the control method of an automatic peeling and flaking machine according to an embodiment of the present invention includes the following specific steps:
S1: the picture acquisition module acquires images of samples to be peeled, generates an acquisition picture, and transmits the acquisition picture to the picture correction module;
s2: the picture correction module generates a corrected picture according to the collected picture transmitted by the picture collection module through a picture correction strategy, and transmits the corrected picture to the contour extraction module, wherein the correction strategy comprises the following specific steps:
s201: setting a deflection angleAnd deflection angle increment->Deflection standard value->The height of the horizontal center line of the picture was measured and recorded as +.>；
S202: the picture correction module deflects the picture anticlockwise by an angleObtaining a deflected picture;
s203: dividing deflected pictures intoA section for measuring the upper and lower white-keeping distances of each section in the horizontal direction, respectively designated +.>，/>；
S204: according to a deflection degree value calculation formula, calculating a deflection degree value of the deflected picture, wherein the specific formula is as follows:
；
s205: judging whether the deflected deflection degree value is smaller than the deflection degree standard valueIf it is smaller than the standard value of deflection +.>S206 is performed, otherwise the deflection angle is calculated>S202 is performed, deflection angle +>Specific calculationThe formula is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device, For the current execution times>For the deflection angle to be performed next, +.>For the deflection angle performed this time, +.>The deflection angle increment is a preset value;
s206: finishing picture correction;
s3: the contour extraction module generates a contour map according to the corrected picture transmitted by the picture correction module through a contour extraction strategy, and transmits the contour map to the parameter extraction module, as shown in fig. 3;
s4: the parameter extraction module generates a control parameter matrix according to the profile diagram transmitted by the profile extraction module and through a parameter extraction strategy, and the control parameter matrix comprises the following components: blade inclination angle, blade suspension distance, propulsion distance to transmit control parameter matrix to time schedule controller, parameter extraction strategy includes following concrete steps:
s401a: the data extraction unit measures the length of the material in the profile to obtain the length of the materialIn this embodiment the material length +.>；
S401b: the data extraction unit is used for extracting data according to the length of the materialCalculating the number of material segments +.>The calculation formula is as follows:wherein (1)>The basic extraction length is a fixed value;
in the embodiment, the basic extraction length is 0.1, and the number of the calculated material segments is 200;
s401c: evenly dividing the material in the profile into sections along the vertical direction A segment;
s401d: generating a contour vector according to materials in the contour map, wherein the generation formula is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,indicate->In the section profile, the average distance between the material and the central axis of the material is calculated by measuring the data extraction unit>Dividing the materials into a plurality of segments;
the extracted contour vectors in this embodiment are shown in table 1 below:
TABLE 1 extracted contour vector
S402a: calculating the perimeter of the contour according to the contour data, wherein the calculation formula is as follows:
；
in this example, l0=0.1, m=200, k is shown in the above table, and the calculated circumference is:
；
s402b: generating a secondary embryo quantitative indexSetting the initial value of the secondary embryo quantization index as +.>Calculating the number of peeled segments according to the contour circumference>Number of final peeled sections->Meaning that the total number of sections is peeled and the maximum number of sections is peeled,/i>、/>The calculation formula of (2) is as follows: />；
；
Wherein, the liquid crystal display device comprises a liquid crystal display device,expressed as number of peeled segments @, @>Expressed as the number of final peeled segments，/>Is the contour circumference +.>For peeling knife length, is a fixed value, +.>For the shortest effective peeling length, is a fixed value, < >>Calculating a symbol for rounding;
in the present embodiment of the present invention,，/>the calculation can be obtained:
；
；
s402c: setting the length of a real object corresponding to the abscissa of the characteristic pointHeight of the object corresponding to the ordinate +. >The conditional formula of (2) is the length of the object corresponding to the abscissa of the feature point +.>Height of object corresponding to ordinate of feature pointThe conditions that need to be met are as follows:
wherein->；
Wherein, the liquid crystal display device comprises a liquid crystal display device,indicate->The height of the object corresponding to the ordinate of the feature point,/->Expressed as contour vector +.>Middle->Variable(s)>Indicate->Length of the object corresponding to the abscissa of each characteristic point, < >>For peeling, add>Represents 1 to->Any one integer, +.>For basic extraction length, is a constant value, +.>Calculating a symbol for rounding;
s402d: setting quantitative index of peeling embryoThe calculation formula of (2) is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,for peeling, add>Represents 2 to->Any one integer, +.>Indicate->Length of the object corresponding to the abscissa of each characteristic point, < >>Indicate->The height of the object corresponding to the ordinate of the feature point,/->Is a differential operator symbol.
S402e: according to the length of the real object corresponding to the abscissa of the characteristic pointOrdinate->Conditional formula of (2) peeling embryo quantization index +.>Calculating the length of the object corresponding to the abscissa satisfying the characteristic point ++>Ordinate->Is added with the quantitative index of the peeling embryo body>Reaching the maximum final feature point vector, comprising: length of object corresponding to first-order final feature point abscissa >Height of object corresponding to ordinate of first-order final feature point +.>The peeling embryo quantization index of the first-order final feature point vector is +.>；
S402f: peeling embryo quantitative index of first-stage final characteristic point vectorAnd a secondary peeling embryo quantification index +.>Compare if->Then->Length of object corresponding to the abscissa of the secondary final feature point +.>Height of object corresponding to ordinate of secondary final feature point +.>Otherwise, executing S402g;
s402g: number of peeled segmentsAdding one, judging the number of peeled sections +.>Whether or not it is greater than the number of final peeled sections->If the number of peeled sections is->Is greater than the number of final peeled sections->S402h is executed, otherwise S402c is executed;
s402h: the length of the object corresponding to the abscissa of the secondary final pointHeight of object corresponding to ordinate of secondary final feature point +.>As the optimal feature point coordinates->、/>In the optimal feature point coordinates->、/>In the case of (2), the peeling embryo has the largest quantitative index and the pulp is the largest.
The embodiment has different peeling section numbersLength of object corresponding to first-order final feature point abscissa +.>Height of object corresponding to ordinate of first-order final feature point +.>Corresponding first-order final characteristic point quantization index +.>As shown in table 2 below:
Table 2 first level final feature point quantization index
The optimum feature point coordinates obtained from the above table data are feature point coordinates when the number of peeled segments is 9, as shown in the following table 3:
TABLE 3 optimal feature point coordinates are feature point coordinates when the number of peeled segments is 9
The characteristic point graph is shown in fig. 4.
S403a: the parameter extraction module is used for extracting the final feature point coordinates、/>Cantilever suspension height->Contour data transmitted by the data extraction unit, a control parameter matrix is calculated>The calculation formula is as follows:
s403b: the calculation formula of the rows of the control parameter matrix about the blade inclination angle:
；
the data calculated by the above formula in this example are shown in table 4 below:
table 4 calculation results of rows with respect to blade inclination angle in control parameter matrix
S403c: the calculation formula of the rows of the control parameter matrix about the blade suspension distance:
wherein->；
The data calculated by the above formula in this embodiment is as follows:
table 5 calculation of rows in the control parameter matrix for blade suspension distance
S5: the time sequence controller generates a blade inclination angle control signal, a blade suspension distance control signal and a propulsion distance control signal according to a control parameter matrix transmitted by the parameter extraction module and a time sequence control signal generation strategy, and transmits the blade inclination angle control signal to the blade angle controller, the blade suspension distance control signal to the blade cantilever controller and the propulsion distance control signal to the propulsion controller, and the time sequence control signal generation strategy comprises the following specific steps:
S501: the time schedule controller is based on the control parameter matrixCalculating a control signal matrix +.>The calculation formula is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,expressed as control signal matrix +.>Line->Column value, +.>1 or 2, & gt>1 to->Any one of>The number of the peeling sections is the number;
s502: the timing controller generates control timingControl timing->；
S503a: the time schedule controller controls the time scheduleWill->As blade angle controlThe signal and the blade inclination angle control signal are transmitted to the blade angle controller;
s503b: the time schedule controller controls the time scheduleWill->As a blade suspension distance control signal, and transmitting the blade suspension distance control signal to a blade cantilever controller;
s504: the timing controller will control the timingAdding one, and judging the control time sequence +.>Whether or not it is greater than the number of peeling sections->If the control timing is->Is greater than the number of peeling sections->Ending the operation, otherwise executing S503a, S503b;
s6a: the blade angle controller controls the inclination angle of the blade according to the blade inclination angle control signal transmitted by the time sequence controller;
s6b: the blade cantilever controller controls the suspension distance of the blade according to the blade suspension distance control signal transmitted by the time sequence controller; the output end of the picture acquisition module is connected with the picture correction module, the output end of the picture correction module is connected with the contour extraction module, the output end of the contour extraction module is connected with the parameter extraction module, the output end of the parameter extraction module is connected with the time sequence controller, and the output end of the time sequence controller is respectively connected with the blade angle controller and the blade cantilever controller.

Claims (10)

1. A control system for an automatic peeling and flaking machine, comprising: the device comprises a picture acquisition module, a picture correction module, a contour extraction module, a parameter extraction module, a time sequence controller, a blade angle controller and a blade cantilever controller: wherein, the liquid crystal display device comprises a liquid crystal display device,
the picture acquisition module is used for carrying out image acquisition on a sample to be peeled, generating an acquisition picture and transmitting the acquisition picture to the picture correction module;
the image correction module is used for storing the deflection angle, the deflection angle increment and the deflection degree standard value, generating corrected images through an image correction strategy according to the acquired images transmitted by the image acquisition module, and transmitting the corrected images to the profile extraction module;
the profile extraction module is used for generating a profile graph according to the corrected picture transmitted by the picture correction module through a profile extraction strategy and transmitting the profile graph to the parameter extraction module;
the parameter extraction module is used for generating a control parameter matrix according to the contour map transmitted by the contour extraction module through a parameter extraction strategy, and comprises the following steps: the blade inclination angle and the blade suspension distance, and transmitting the control parameter matrix to the time sequence controller;
a timing controller: the parameter extraction module is used for generating a strategy according to the time sequence control signal and generating a blade inclination angle control signal and a blade suspension distance control signal according to the control parameter matrix transmitted by the parameter extraction module, transmitting the blade inclination angle control signal to the blade angle controller and transmitting the blade suspension distance control signal to the blade cantilever controller;
Blade angle controller: the blade inclination angle control device is used for controlling the inclination angle of the blade according to the blade inclination angle control signal transmitted by the time sequence controller;
blade cantilever controller: the blade suspension distance control signal is used for controlling the suspension distance of the blade according to the blade suspension distance control signal transmitted by the time sequence controller; the output end of the picture acquisition module is connected with the picture correction module, the output end of the picture correction module is connected with the contour extraction module, the output end of the contour extraction module is connected with the parameter extraction module, the output end of the parameter extraction module is connected with the time sequence controller, and the output end of the time sequence controller is respectively connected with the blade angle controller and the blade cantilever controller.
2. A control system for an automatic peeling and flaking machine as in claim 1 wherein: the picture correction module comprises a picture correction strategy, and the picture correction strategy comprises the following specific steps:
s201: the picture correction module sets a deflection angleAnd deflection angle increment->Deflection standard value->The distance of the horizontal central axis of the picture from the lower edge was measured and recorded as +.>；
S202: the picture correction module deflects the picture anticlockwise by an angle Obtaining a deflected picture;
s203: the picture correction module divides the deflected picture intoA section for measuring the distance between the material contour of each section in the horizontal direction and the upper edge of the picture, and the distance is marked as +.>Measuring the distance between the contour of the material in each section in the horizontal direction and the edge below the picture, and recording as；
S204: according to the deflection degree valueThe calculation formula is used for calculating the deflection degree value of the deflected picture, and the specific formula is as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,for the deflection degree value +.>Dividing the picture into a plurality of segments for the picture correction module, < >>1 to->Any one of->Is->Distance between material outline in section picture and upper edge of picture,/->Is->Distance between material outline in section picture and lower edge of picture,/->Distance from the horizontal central axis of the picture to the lower edge；
S205: judging whether the deflected deflection degree value is smaller than the deflection degree standard valueIf it is smaller than the standard value of deflection degreeS206 is performed, otherwise the deflection angle is calculated>S202 is performed, deflection angle +>The specific calculation formula is as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,for the current execution times>For the deflection angle to be performed next, +.>For the angle of deflection to be performed this time,the deflection angle increment is a preset value;
S206: and finishing picture correction.
3. A control system for an automatic peeling and flaking machine as claimed in claim 2 wherein: the picture correction module comprises a contour extraction strategy, wherein the contour extraction strategy comprises the following specific steps:
s301: wheelThe contour extraction module extracts all pixel points of the corrected module and displays the pixel points as pixel valuesForm, wherein->Indicating red chromaticity->Representing green chromaticity, ++>Representing blue chromaticity;
s302: calculating the color difference sum of each pixel point and the nearby pointThe calculation formula is as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,expressed as color difference sum->，/>，/>Red chromaticity, green chromaticity, blue chromaticity, and +.>Is any integer from 1 to 8, and respectively indicates that the pixel point corresponds to 8 directions of upper left, upper right, upper left, right, lower left, lower rightSequence number of->The expression number is->Red chromaticity of pixel point of->The expression number is->Green chromaticity of pixel point of +.>The expression number is->Blue chromaticity of the pixel points of (a);
s303: and finding out the horizontal chromatic aberration and the maximum pixel point along the horizontal direction and reserving the pixel point to obtain a contour map.
4. A control system for an automatic peeling and flaking machine as claimed in claim 3 wherein: the parameter extraction module comprises: the device comprises a data extraction unit, a characteristic point extraction unit and a control parameter matrix generation unit: wherein, the liquid crystal display device comprises a liquid crystal display device,
A data extraction unit: the method is used for storing the basic extraction length, generating profile data according to the profile image transmitted by the picture profile extraction unit through a data extraction strategy, wherein the profile data comprises the following steps: the method comprises the steps of (1) material length, material segmentation number and profile vector, and transmitting profile data to a feature point extraction unit and a control parameter matrix generation unit;
feature point extraction unit: the method is used for storing the maximum blade length and the minimum blade length, generating the optimal feature point coordinates through a feature point generation strategy according to the contour data transmitted by the data extraction unit, and comprises the following steps: the length of the real object corresponding to the abscissa of the optimal characteristic point and the height of the real object corresponding to the ordinate of the optimal characteristic point are transmitted to the control parameter matrix generating unit;
control parameter matrix generation unit: the control parameter matrix is generated by a control parameter matrix generation strategy according to the characteristic point matrix transmitted by the characteristic point extraction unit, and is transmitted to the time sequence controller.
5. A control system for an automatic peeling and flaking machine as in claim 4 wherein: the parameter extraction module comprises a parameter extraction strategy, and the parameter extraction strategy comprises the following specific steps:
S401: the data extraction unit generates contour data according to the contour map transmitted by the picture contour extraction unit through a data extraction strategy, wherein the contour data comprises: the method comprises the steps of (1) material length, material segmentation number and profile vector, and transmitting profile data to a feature point extraction unit and a control parameter matrix generation unit;
s402: the feature point extraction unit generates optimal feature point coordinates according to the contour data transmitted by the data extraction unit through a feature point generation strategy, and transmits the optimal feature point coordinates to the control parameter matrix generation unit;
s403: the control parameter matrix generating unit generates a control parameter matrix according to the optimal feature point coordinates transmitted by the feature point extracting unit and the profile data transmitted by the data extracting unit through a control parameter matrix generating strategy, and transmits the control parameter matrix to the time sequence controller.
6. A control system for an automatic peeling and flaking machine as in claim 5 wherein: the data extraction unit comprises a data extraction strategy, and the data extraction strategy comprises the following specific steps:
s401a: the data extraction unit measures the length of the material in the profile to obtain the length of the material ；
S401b: data extraction sheetAccording to the length of the materialCalculating the number of material segments +.>The calculation formula is as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is the basic extraction length;
s401c: evenly dividing the material in the profile into sections along the vertical directionA segment;
s401d: generating a contour vector according to materials in the contour map, wherein the generation formula is as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,，/>indicate->In the section profile, the average distance between the upper edge of the material and the central axis of the material is calculated by measuring the data extraction unit>The number of the segments is the number of the material segments.
7. A control system for an automatic peeling and flaking machine as in claim 6 wherein: the feature point extraction unit comprises a feature point generation strategy, and the feature point generation strategy comprises the following specific steps:
s402a: calculating the perimeter of the contour according to the contour data, wherein the calculation formula is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,expressed as contour perimeter +.>For the number of material segments, < > of>Is 2 to->Is an integer>Expressed as contour vector +.>Middle->Variable(s)>Is the basic extraction length;
s402b: generating a secondary embryo quantitative indexSetting the initial value of the secondary embryo quantization index as +.>Calculating the number of peeled segments according to the contour circumference>Meaning how many segments in total are peeled, the calculation formula is: Number of final peeled sections->Meaning how many sections can be peeled at most, the calculation formula is:wherein->Expressed as number of peeled segments @, @>Expressed as the number of final peeled segments->For the perimeter of the profile,for peeling knife length->For the shortest effective peeling length, +.>Calculating a symbol for rounding;
s402c: setting the length of a real object corresponding to the abscissa of the characteristic pointHeight of the object corresponding to the ordinate +.>The conditional formula of (2) is the length of the object corresponding to the abscissa of the feature point +.>Height of the object corresponding to the ordinate of the feature point +.>The conditions to be satisfied are as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,，/>indicate->The height of the object corresponding to the ordinate of the feature point,/->Expressed as contour vector +.>Middle->Variable(s)>Indicate->Length of the object corresponding to the abscissa of each characteristic point, < >>For peeling, add>Represents 1 to->Any one integer, +.>For basic extraction length, & gt>Calculating a symbol for rounding;
s402d: setting quantitative index of peeling embryoThe calculation formula of (2) is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,for peeling, add>Represents 2 to->Any one integer, +.>Indicate->Length of the object corresponding to the abscissa of each characteristic point, < >>Indicate->The height of the object corresponding to the ordinate of the feature point,/- >Is a differential operator symbol;
s402e: according to the length of the real object corresponding to the abscissa of the characteristic pointOrdinate->Conditional formula of (2) peeling embryo quantization index +.>Calculating the length of the object corresponding to the abscissa satisfying the characteristic point ++>Ordinate->Is added with the quantitative index of the peeling embryo body>Reaching the maximum final feature point vector, comprising: length of object corresponding to first-order final feature point abscissa>Height of object corresponding to ordinate of first-order final feature point +.>The peeling embryo quantization index of the first-order final feature point vector is +.>；
S402f: peeling embryo quantitative index of first-stage final characteristic point vectorAnd a secondary peeling embryo quantification indexCompare if->Then->Length of object corresponding to the abscissa of the secondary final feature point +.>Height of object corresponding to ordinate of secondary final feature point +.>Otherwise, executing S402g;
s402g: number of peeled segmentsAdding one, judging the number of peeled sections +.>Whether or not it is greater than the number of final peeled sections->If the number of peeled segments isIs greater than the number of final peeled sections->Then execution S402h, otherwise executionS402c；
S402h: the length of the object corresponding to the abscissa of the secondary final pointHeight of object corresponding to ordinate of secondary final feature point +. >As the optimal feature point coordinates->、/>In the optimal feature point coordinates->、/>In the case of (2), the peeling embryo has the largest quantitative index and the pulp is the largest.
8. A control system for an automatic peeling and flaking machine as in claim 7 wherein: the control parameter matrix generation unit comprises a control parameter matrix generation strategy, and the control parameter matrix generation strategy comprises the following specific steps:
s403a: the parameter extraction module is used for extracting the coordinates of the optimal characteristic points、/>Cantilever suspension height->Contour data transmitted by the data extraction unit, a control parameter matrix is calculated>The calculation formula is as follows:
s403b: the calculation formula of the parameters of the rows of the control parameter matrix about the blade inclination angle:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,for peeling, add>Is 2 to->Is an integer>Indicate->The height of the object corresponding to the ordinate of the optimal feature point,/->Indicate->The lengths of the real objects corresponding to the abscissa of the optimal characteristic points;
s403c: the calculation formula of the parameters of the rows of the control parameter matrix with respect to the blade suspension distance:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,for peeling, add>Is 2 to->Is an integer>Indicate->And the height of the object corresponding to the ordinate of each optimal characteristic point.
9. A control method of an automatic peeling and flaking machine, which is realized based on the control system of the automatic peeling and flaking machine according to any one of claims 1 to 8, characterized in that: the control method comprises the following specific steps:
s1: the picture acquisition module acquires images of samples to be peeled, generates an acquisition picture, and transmits the acquisition picture to the picture correction module;
s2: the picture correction module generates a corrected picture according to the collected picture transmitted by the picture collection module and a picture correction strategy, and transmits the corrected picture to the contour extraction module;
s3: the contour extraction module generates a contour map according to the corrected picture transmitted by the picture correction module through a contour extraction strategy, and transmits the contour map to the parameter extraction module;
s4: the parameter extraction module generates a control parameter matrix according to the profile diagram transmitted by the profile extraction module and through a parameter extraction strategy, and the control parameter matrix comprises the following components: the blade inclination angle, the blade suspension distance and the propulsion distance, and transmitting the control parameter matrix to the time sequence controller;
s5: the time sequence controller generates a strategy according to the control parameter matrix transmitted by the parameter extraction module and the time sequence control signal, generates a blade inclination angle control signal, a blade suspension distance control signal and a propulsion distance control signal, transmits the blade inclination angle control signal to the blade angle controller, transmits the blade suspension distance control signal to the blade cantilever controller and transmits the propulsion distance control signal to the propulsion controller;
S6a: the blade angle controller controls the inclination angle of the blade according to the blade inclination angle control signal transmitted by the time sequence controller;
s6b: and the blade cantilever controller controls the suspension distance of the blade according to the blade suspension distance control signal transmitted by the time sequence controller.
10. A method of controlling an automatic peeling and flaking machine as claimed in claim 9 wherein: the time sequence controller comprises a time sequence control signal generation strategy, and the time sequence control signal generation strategy comprises the following specific steps:
s501: the time schedule controller is based on the control parameter matrixCalculating a control signal matrix +.>The calculation formula is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,expressed as control signal matrix +.>Line->Column value, +.>1 or 2, & gt>1 to->Any one of>The number of the peeling sections is the number;
s502: the timing controller generates control timingControl timing->；
S503a: the time schedule controller controls the time scheduleWill->As a blade inclination angle control signal, and transmitting the blade inclination angle control signal to a blade angle controller;
s503b: the time schedule controller controls the time scheduleWill->As a blade suspension distance control signal, and transmitting the blade suspension distance control signal to a blade cantilever controller;
S504: the timing controller will control the timingAdding one, and judging the control time sequence +.>Whether or not it is greater than the number of peeling sections->If the control timing is->Is greater than the number of peeling sections->The operation is ended, otherwise S503a, S503b are executed.
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