Sticker pipe cutting machine cooperative control method and device, electronic equipment and storage medium

Abstract

The invention provides a cooperative control method and device for a sticker pipe cutting machine, electronic equipment and a storage medium, and relates to the technical field of sticker pipe cutting machine control. The method comprises the steps that sticker material state information, slitting mechanism state information and pipe rotating mechanism state information are obtained, and abnormal information is recorded; acquiring event information according to the abnormal information; according to the analyzed event information, matching a corresponding cooperative processing strategy from a preset exception processing strategy library; according to the selected cooperative processing strategy, a cooperative motion control instruction for the paper pasting mechanism, the slitting mechanism and the pipe rotating mechanism is generated; and the motion state of the mechanism is adjusted by issuing the cooperative motion control instruction to the motion controller of the corresponding mechanism. The method solves the problems that a large number of defective products are generated and the shutdown time is unnecessary due to the fact that a traditional control mode of global shutdown or simple linkage is adopted, the abnormity is processed more effectively, and the defective products and the shutdown time are reduced to the maximum extent.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sticker cutting machine control, in particular to a sticker cutting machine cooperative control method and device, electronic equipment and storage medium. BACKGROUND

[0002] In modern automated production lines, in order to improve production efficiency, it is often necessary to integrate multiple processing functions in a single workstation. For the processing of a single pipe with a certain length, a common requirement is to attach a label or decorative sticker to its surface and cut it into short pipes of a predetermined length. To maximize production efficiency, the two processes of sticker attachment and cutting are usually designed to overlap in time within the same workstation area.

[0003] In this process overlap mode, the sticker mechanism peels off a piece of sticker material of a predetermined length from the sticker roll and attaches it to the surface of the rotating pipe. As the pipe rotates, the sticker gradually covers the circumference of the pipe. At the same time, the cutting mechanism has already prepared or started to perform the cutting action at the specified axial position of the pipe before the sticker material has been completely attached. This close time overlap and spatial proximity requires extremely precise spatio-temporal coordination control of the rotation speed of the pipe, the supply speed of the sticker material, the precise attachment position of the sticker, and the motion trajectory and timing of the cutting tool. Any slight deviation or abnormality in any of these steps can quickly affect the entire processing process, leading to product quality problems.

[0004] In actual high-speed production processes, there are many abnormal situations that can cause process interruption or produce defective products. First, the sticker material itself may have inherent quality defects, such as uneven thickness or strength, uneven edges, roll joint, or pre-existing small tears. In addition, during the process of high-speed peeling of the sticker material from the roll, passing through the guide mechanism, and attaching, due to fluctuations in the unwinding tension, friction, or transient speed changes, the sticker material may tear or break unexpectedly. When the sticker material tears or breaks, the sticker mechanism will not be able to attach the complete sticker segment to the pipe surface as planned, which may result in partial or complete sticker missing on the pipe, or a serious shift in the starting or ending position of the sticker. If the cutting mechanism still performs cutting according to the predetermined timing or position at this time, it will cut at the wrong axial position of the pipe, or cut in the area without sticker coverage, resulting in the segment of the pipe becoming a defective product that does not meet the quality requirements and needs to be scrapped, causing loss of material and production cost.

[0005] To avoid this loss, the sticker material's condition must be monitored in real time during the application and slitting operations. When detecting an abnormality such as tearing or breaking in the sticker material, traditional automated production line control systems typically adopt a simplistic response: immediately stopping the entire line. While this global shutdown strategy can prevent the abnormality from escalating, it significantly disrupts the production process and reduces overall production efficiency, especially when abnormalities occur frequently. To handle abnormalities while maintaining the high efficiency brought by process overlap, a smarter and more sophisticated job scheduling method is required. This method, when detecting an abnormality in the sticker material, goes beyond a simple global shutdown and requires a rapid response based on the type of abnormality, the precise time of occurrence, and the current rotational state of the tube, the feed state of the sticker mechanism, and the motion state of the slitting tool.

[0006] In addition to labeling material anomalies, the slitting mechanism itself can also experience anomalies, directly impacting product quality and subsequent production processes. When labeling and slitting overlap at the same station, these two processing steps are highly coupled and interdependent. Anomalies in one process can quickly trigger a chain reaction, impacting the other.

[0007] Therefore, traditional independent control or simple coordinated control methods are difficult to effectively address. Existing job scheduling methods often lack the ability to integrate multi-source sensor information in real time. They also struggle to quickly calculate and issue coordinated motion control instructions based on dynamically changing abnormal conditions and equipment status within a very short timescale. This results in a slow system response when an anomaly occurs, often requiring inefficient full-line shutdowns or ineffective intervention, resulting in a large number of defective products. Summary of the Invention

[0008] The purpose of the present invention is to provide a collaborative control method, device, electronic device and storage medium for a sticker tube cutting machine to solve the problem of a large number of defective products and unnecessary downtime caused by the traditional control method of adopting global shutdown or simple linkage. Without completely interrupting the process, the abnormality can be responded to quickly, thereby handling the abnormality more effectively and minimizing the defective products and downtime.

[0009] In a first aspect, the present invention provides a collaborative control method for a labeling and pipe cutting machine, which is applied to a labeling and pipe cutting machine with integrated labeling and cutting functions. The labeling and pipe cutting machine is used as a separate workstation to simultaneously cut the pipe into multiple small sections while labeling the pipe. The collaborative control method of the sticker tube cutting machine includes the following steps: Real-time acquisition of sticker material status information, slitting mechanism status information, and tube rotation mechanism status information to determine whether an abnormal event has occurred, and record abnormal information when an abnormal event occurs; According to the abnormal information, obtain event information including abnormal type, occurrence time, sticker mechanism status, slitting mechanism status and tube rotation mechanism status; According to the parsed event information, the corresponding collaborative processing strategy is matched from the preset exception processing strategy library; the exception processing strategy library stores collaborative processing strategies for different exception types, different occurrence time points, and different organization status combinations; Generate collaborative motion control instructions for the sticker mechanism, slitting mechanism, and tube rotation mechanism based on the selected collaborative processing strategy; The motion state of the mechanism is adjusted by sending collaborative motion control instructions to the sticker mechanism motion controller, the slitting mechanism motion controller and the tube rotation mechanism motion controller.

[0010] The collaborative control method for a sticker pipe cutting machine provided by the present invention, in a high-speed production mode where sticker application and slitting processes are overlapped at the same workstation on the pipe, when sticker material abnormalities (such as tearing or breaking) or slitting mechanism abnormalities (such as tool status or motion trajectory deviation) occur, based on real-time perception of the abnormality type, occurrence time, and current status of each actuator (sticker, slitting, pipe), realizes dynamic collaborative scheduling of sticker supply, pipe rotation, and slitting tool movement to minimize defective products and downtime.

[0011] In a second aspect, the present invention provides a collaborative control device for a labeling and pipe cutting machine, which is applied to a labeling and pipe cutting machine with integrated labeling and cutting functions. The labeling and pipe cutting machine is used as a separate workstation to simultaneously cut the pipe into multiple small sections while labeling the pipe. The collaborative control device of the sticker tube cutting machine includes: The recording module is used to obtain the sticker material status information, the slitting mechanism status information and the tube rotation mechanism status information in real time to determine whether an abnormal event has occurred and record the abnormal information when an abnormal event occurs; An acquisition module is used to acquire event information including the abnormality type, occurrence time, sticker mechanism status, slitting mechanism status, and tube rotation mechanism status based on the abnormality information; The matching module is used to match the corresponding collaborative processing strategy from the preset exception processing strategy library based on the parsed event information; the exception processing strategy library stores collaborative processing strategies for different exception types, different occurrence time points, and different organization status combinations; A generation module is used to generate collaborative motion control instructions for the sticker mechanism, slitting mechanism, and tube rotation mechanism according to the selected collaborative processing strategy; The control module is used to adjust the motion state of the mechanism by sending collaborative motion control instructions to the sticker mechanism motion controller, the slitting mechanism motion controller and the tube rotation mechanism motion controller.

[0012] In a third aspect, the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the collaborative control method of the sticker tube cutting machine provided in the first aspect are executed.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, runs the steps of the collaborative control method of the sticker tube cutting machine provided in the first aspect above.

[0014] From the above, it can be seen that the collaborative control method of the sticker pipe cutting machine provided by the present invention realizes the rapid and accurate perception of anomalies in the overlapping sticker and slitting processes of the same workstation process of the pipe by constructing an event-driven collaborative scheduling method. Based on the abnormal event information and the real-time status of each actuator, the method can select the optimal collaborative processing strategy from the preset or dynamically generated strategy library, and issue control instructions in real time to dynamically adjust the sticker supply, pipe rotation and slitting tool movement. Compared with the traditional global shutdown or simple linkage method, the present invention can perform refined and non-global responses according to abnormal situations, significantly improve the efficiency of exception handling, minimize the generation of defective products, and reduce unnecessary downtime, thereby greatly improving the overall stability and production efficiency of the automated production line.

[0015] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the embodiments of the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of a collaborative control method for a sticker tube cutting machine provided in an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the sticker tube cutting machine in an embodiment of the present invention when preparing for processing.

[0018] Figure 3 This is a structural diagram of the sticker tube cutting machine in an embodiment of the present invention during processing.

[0019] Figure 4 A structural schematic diagram of a collaborative control device for a sticker tube cutting machine provided in an embodiment of the present invention.

[0020] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0021] Description of labels: 1. Raw material input device; 2. Pipe to be processed; 3. Sticker mechanism; 4. Positioning rotation axis; 5. Slitting mechanism; 51. Cutting machine; 6. Conveyor belt; 7. Sticker; 100. Recording module; 200. Acquisition module; 300. Matching module; 400. Generation module; 500. Control module; 600. Push module; 13. Electronic device; 1301. Processor; 1302. Memory; 1303. Communication bus. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0023] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0024] In modern automated production lines, improving production efficiency often requires integrating multiple processing functions within a single workstation. A common requirement for processing a single length of tubing is to apply labels or decorative stickers to the surface and then cut the tubing into short tubes of predetermined lengths. To maximize production efficiency, the labeling and cutting processes are often designed to overlap within the same workstation.

[0025] Specifically, in this overlapping process mode, the sticker mechanism peels off a predetermined length of sticker from the sticker roll and applies it to the surface of the rotating tube. As the tube rotates, the sticker gradually covers the circumference of the tube. Simultaneously, the slitting mechanism, such as a high-speed flying shear or other suitable cutting device, prepares or begins cutting at a specified axial position on the tube before the sticker material is fully applied. This tight temporal overlap and spatial proximity require extremely precise spatiotemporal coordination of the tube's rotational speed, the sticker material feed rate, the precise sticker application position, and the trajectory and timing of the slitting tool. Even the slightest deviation or anomaly in any link can quickly affect the entire process, leading to product quality issues.

[0026] However, in actual high-speed production processes, there are a variety of abnormal situations that may lead to process interruptions or defective products. First, the sticker material itself may have inherent quality defects, such as uneven material thickness or strength, jagged edges, roll joints, or pre-existing small tears. In addition, during the process of high-speed peeling of the sticker material from the roll, passing through the guide mechanism, and being attached, the sticker material may unexpectedly tear or break due to fluctuations in unwinding tension, friction, or instantaneous speed changes. When the sticker material is torn or broken, the sticker attachment mechanism will not be able to attach the complete sticker segment to the tube surface as planned, which may result in the loss of part or all of the sticker on the tube, or a serious offset in the starting or ending position of the sticker.

[0027] If the slitting mechanism still cuts according to the predetermined timing or position at this time, it will cut at the wrong axial position of the tube, or cut in an area not covered by the sticker, causing the section of tube to become a defective product that does not meet quality requirements and needs to be scrapped, resulting in loss of material and production costs. To avoid this loss, it is necessary to monitor the status of the sticker material in real time during the sticker and slitting operations. Existing monitoring methods may include sensors installed on the sticker path, such as photoelectric sensors, vision systems, or tension sensors, to detect whether the sticker material is continuous, whether the tension is within the normal range, whether there are tears, edge alignment, etc.

[0028] When detecting an abnormality such as a tear or break in sticker material, traditional automated production line control systems typically adopt a simplistic, brute-force response: immediately halting the entire line. While this global shutdown strategy can prevent the abnormality from escalating, it significantly disrupts the production process and reduces overall efficiency, especially when abnormalities occur frequently. To handle abnormalities while maintaining the efficiency achieved by process overlap, a more intelligent and sophisticated job scheduling approach is required. This approach, when detecting an abnormality in sticker material, must go beyond a simple global shutdown. Instead, it must respond quickly based on the type of abnormality (e.g., a minor tear or a complete break), the precise timing of the abnormality (e.g., early, middle, or late in the sticker application process), and the current state of the tube's rotation, the sticker mechanism's feed state, and the slitting tool's motion. For example, if the abnormality occurs early in the sticker application process, the scheduling approach might instruct the sticker mechanism to immediately stop feeding and notify the slitting mechanism to cancel the scheduled slitting operation for the current tube. If the anomaly occurs when the sticker application is nearly complete and some stickers have already been applied, the scheduling method may instruct the slitting mechanism to adjust the cutting position, such as intelligently moving the cutting point outside the sticker anomaly area, or specially marking the tube for subsequent manual inspection or rework, while suspending the supply of stickers to subsequent tubes until the anomaly is eliminated.

[0029] In addition to sticker material anomalies, the slitting mechanism itself may also experience anomalies. For example, slitting tools gradually wear out during use and may chip, resulting in incomplete cuts, poor cross-section quality, or unstable cutting positions. The slitting tool's drive system or motion control system may also malfunction, affecting its predetermined motion trajectory and timing accuracy. These slitting anomalies also directly impact product quality and subsequent production processes. Real-time monitoring of the slitting tool status and cutting process is necessary, using sensors such as cutting force sensors, motor current sensors, and high-speed cameras (for monitoring the cut section or tool trajectory). When a slitting anomaly is detected, an intelligent scheduling method needs to receive this information and dynamically adjust the coordinated operation of the sticker and slitting process based on the anomaly type (e.g., tool wear or trajectory deviation) and the precise time of the anomaly. For example, detecting an abnormally increased cutting force may indicate tool wear. The scheduling method can schedule a production line pause after the current pipe is processed to inspect or replace the tool. Furthermore, it may fine-tune the slitting parameters for the current pipe to maximize cutting quality. If a serious deviation in the tool motion trajectory is detected during the cutting process, the scheduling method may immediately stop the current slitting action and send a pause supply instruction to the sticker mechanism, marking the current tube as defective, and may trigger an alarm or shutdown process for troubleshooting.

[0030] In scenarios where the labeling and slitting processes overlap at the same pipe workstation, the actions of these two processing links are highly coupled and interdependent. Anomalies in one link can quickly trigger a chain reaction, affecting another link. Therefore, traditional independent control or simple linkage control cannot effectively address this issue. Existing job scheduling methods often lack the ability to integrate multi-source sensor information in real time. They also struggle to quickly calculate and issue coordinated motion control instructions based on dynamically changing abnormal conditions and equipment status within a very short timescale. This results in a slow system response when an anomaly occurs, often requiring inefficient shutdowns of the entire line or ineffective intervention, resulting in a large number of defective products.

[0031] Therefore, how to establish a robust and responsive abnormality perception, diagnosis and collaborative scheduling mechanism in a high-speed, process-overlapping production mode to ensure that when uncertainty or abnormalities occur in some systems, the entire processing process can quickly adapt and minimize defective product rates and downtime, thereby maintaining and improving the overall efficiency and stability of the production line, is an important technical challenge currently facing the field of automated pipe processing.

[0032] In this regard, please refer to the attached Figure 1 The present invention provides a collaborative control method for a labeling and pipe cutting machine, which is applied to a labeling and cutting machine with integrated labeling and cutting functions. The labeling and cutting machine is used as a separate workstation to cut the pipe into multiple small sections while labeling the pipe. The collaborative control method of the sticker tube cutting machine includes the following steps: Real-time acquisition of sticker material status information, slitting mechanism status information, and tube rotation mechanism status information to determine whether an abnormal event has occurred, and recording the abnormal information when an abnormal event occurs; wherein, the sticker material status information, slitting mechanism status information, and tube rotation mechanism status information are acquired to generate an abnormal event containing the abnormality type, occurrence timestamp, and mechanism status information; the mechanism status information includes the status code and status value of the sticker mechanism, slitting mechanism, and tube rotation mechanism; By parsing the abnormal events in the abnormal information, the event information including the abnormal type, occurrence time, sticker mechanism status, slitting mechanism status and tube rotation mechanism status is obtained; According to the parsed event information, the corresponding collaborative processing strategy is matched from the preset exception processing strategy library; the exception processing strategy library stores collaborative processing strategies for different exception types, different occurrence time points, and different organization status combinations; Generate collaborative motion control instructions for the sticker mechanism, slitting mechanism, and tube rotation mechanism based on the selected collaborative processing strategy; The motion state of the mechanism is adjusted by sending collaborative motion control instructions to the sticker mechanism motion controller, the slitting mechanism motion controller and the tube rotation mechanism motion controller.

[0033] For details, please refer to the attached Figure 2 and attached Figure 3 , sticker tube cutting machine includes: A raw material input device 1 is used to load the pipe material 2 to be processed; The sticker mechanism 3 can move back and forth in the left and right directions. When the sticker mechanism 3 moves toward the processing position, the pipe 2 to be processed is fed into the processing position from the raw material input device 1 by the sticker mechanism 3. The processing position includes a pipe rotating mechanism provided with a positioning rotating shaft 4, a slitting mechanism 5 and a conveyor belt 6. The pipe 2 to be processed is inserted into the positioning rotating shaft 4, and the positioning rotating shaft 4 then drives the pipe 2 to be processed to rotate by rotation. The slitting mechanism 5 is provided with a plurality of adjustable cutting machines 51 set at intervals. The conveyor belt 6 is used to transfer the sticker 7 to be pasted. It is fed left and right to a designated position. The sticker 7 is then fed forward and backward at the designated position and pressed against a portion of the circumference of the pipe 2 to be processed. As the pipe 2 rotates, the sticker 7 gradually covers the circumference of the pipe 2. Simultaneously with the sticker 7, the slitting mechanism 5 controls the cutting machine 51 to cut the portion of the pipe 2 to be processed where the sticker 7 has been applied. As the pipe 2 rotates, the pipe 2 is gradually divided. The slitting of the pipe 2 is completed simultaneously with the completion of the sticker 7 application. After processing is complete, the sticker mechanism 3 moves away from the processing position, so that the multiple finished segments obtained by slitting are no longer mounted on the positioning rotary shaft 4. The multiple finished segments are eventually fed out of the processing position and collected.

[0034] Acquiring information on the status of the sticker material, slitting mechanism, and tube rotation mechanism involves using sensors or other detection methods to detect in real time the physical properties of the sticker material (e.g., tension, position, and integrity), the operating status of the slitting mechanism (e.g., tool status and motion accuracy), and the motion of the tube (e.g., rotation angle and speed). This can be achieved using various industrial sensors, visual inspection systems, and encoders, such as tension sensors, displacement sensors, visual sensors, force sensors, encoders, vibration sensors, rotary encoders, and accelerometers. This primarily captures real-time operational data from key links in the production process, providing foundational information for anomaly detection. Generating anomaly events, including anomaly type, occurrence timestamp, and mechanism status information, involves analyzing and assessing the collected status information. When an anomaly is detected, it is packaged into a data packet according to a predefined format, containing the specific anomaly type, the time of occurrence, and detailed operational status data for each relevant mechanism at the time. This can be achieved using data processing modules and event encapsulation modules, primarily used to convert dispersed real-time status data into standardized, traceable anomaly signals for subsequent unified processing. The exception handling strategy library is a pre-established database or rule set that stores optimal response plans or action sequences for different exception scenarios (defined by a combination of exception type, occurrence time, and mechanism status). This library can be implemented using a database system or rule engine, primarily used to store and manage pre-set processing logic for complex exception situations, avoiding ad hoc decision-making. Matching a corresponding collaborative processing strategy involves searching the exception handling strategy library for the most consistent or appropriate response plan for the current exception scenario based on received exception event information. This can be implemented using a matching algorithm or query module, primarily used to quickly locate the preset optimal response plan based on the real-time exception scenario. Generating collaborative motion control instructions for the applicator, slitter, and tube rotating mechanisms involves calculating and generating control signals or instruction sequences that guide the coordinated actions of the applicator, slitter, and tube rotating mechanisms based on the matched collaborative processing strategy. This can be implemented using a motion planning module or instruction generation module, primarily used to convert abstract processing strategies into executable, coordinated motion control commands for each mechanism. Sending it to the motion controller and adjusting the motion state of the mechanism means sending the generated collaborative motion control instructions to the motion controllers corresponding to each mechanism through the communication interface. The controller executes the instructions to change or adjust the operating status (such as speed, position, start and stop) of the sticker mechanism, slitting mechanism and pipe rotation mechanism. It can be implemented using a communication module and a motion controller. It is mainly used to transmit control instructions to the actuator to achieve real-time intervention and adjustment of the production process.

[0035] The operating principle of this invention is to establish an event-driven closed-loop control method. During the normal tube labeling and slitting overlapping process, each actuator (the labeling mechanism, the slitting mechanism, and the tube rotating mechanism) operates at high speed according to a preset coordinated motion curve. Simultaneously, various sensors deployed at key locations continuously monitor the state of the labeling material, the slitting mechanism, and the precise position and speed of the tube. When any sensor detects an abnormality that deviates from its normal state (for example, the photoelectric sensor array detects a discontinuity in the labeling material, or the cutting force sensor detects an abnormal load), a standardized abnormality event containing detailed information about the abnormality (type, time, location, and related equipment status) is immediately generated and sent to the event bus. By monitoring the event bus in real time, the abnormality event is received and parsed. Based on the event information, the optimal coordinated handling strategy for the current situation (type of abnormality, time of occurrence, and current status of each mechanism) is retrieved or calculated from the abnormality handling strategy library. This strategy defines the coordinated actions that each actuator should take after the abnormality occurs (for example, stopping feeding for the labeling mechanism, canceling cutting for the slitting mechanism, stopping or adjusting tube rotation, etc.). Corresponding dynamic control instructions are then generated and delivered in real time to the motion controllers of each actuator via the industrial communication network. Upon receiving the instructions, each actuator controller immediately adjusts its motion state, enabling a rapid and coordinated response to abnormal situations, avoiding simple downtime or defective products, and maximizing the continuity and efficiency of the production process.

[0036] The core innovation of this application lies in combining the acquisition of multi-source real-time status information with the generation of structured abnormal events, and based on event information including the time of occurrence and the detailed status of each mechanism, intelligently matching collaborative processing strategies from a preset strategy library for different scenario combinations, thereby generating and issuing collaborative motion control instructions for multiple mechanisms, achieving rapid and refined response to abnormal situations in the process overlapping mode of the sticker tube cutting machine with integrated labeling and slitting functions, avoiding simple global shutdowns, and improving the efficiency of abnormal handling and the robustness of the production process.

[0037] Specifically, the method first uses various sensors to acquire real-time operating status information from the sticker material, slitting mechanism, and tube rotating mechanism. When an anomaly is detected, the system encapsulates this information, including the anomaly type, precise time of occurrence, and the status codes and values ​​of each mechanism at the time, into a standardized anomaly event. After the system monitors and receives this anomaly event, it analyzes it to extract key event information. The system then uses this detailed event information to search a pre-set anomaly handling strategy library for the most appropriate coordinated handling strategy for the current scenario. The strategies stored in the strategy library are predefined based on different anomaly types, the timing of occurrence, and the current status of each mechanism, ensuring a targeted response plan. Once the handling strategy is determined, the system generates coordinated motion control instructions for the sticker material, slitting mechanism, and tube rotating mechanism based on the strategy. These instructions take into account the coordination between the various mechanisms and aim to adjust their motion states to address the anomaly. Finally, the generated collaborative motion control instructions are sent to the motion controllers corresponding to each mechanism, which execute the instructions to achieve dynamic adjustment of the motion states of the sticker mechanism, slitting mechanism and tube rotation mechanism, such as pausing, slowing down, changing position or canceling the current action, to minimize the impact of abnormalities on production.

[0038] As a preferred embodiment, the solution of this application is implemented as follows: An independent exception handling module can be provided within the control system of the labeling and tube cutting machine. This module receives sensor data and status feedback from the labeling mechanism, slitting mechanism, and tube rotation mechanism via an industrial bus or dedicated interface. For example, it can receive data such as label tension, slitting tool cutting force, and tube rotation angle. The exception handling module runs a status monitoring program that continuously analyzes the received data. When data is detected to exceed a preset range or exhibit a specific pattern, the program determines an exception and immediately generates an exception event data packet. This data packet contains an exception code (indicating the exception type), a system timestamp, and detailed status words and values ​​obtained from each mechanism controller. Exception events are sent to the policy matching unit via an internal message queue. The policy matching unit maintains an exception handling policy table indexed by a combination of exception type, timestamp range (e.g., early, mid, or late in the labeling process), and mechanism status. Based on the received exception event information, the policy matching unit searches the policy table to find the corresponding collaborative handling policy. For example, if a sticker is detected to have broken mid-labeling and the slitting tool is nearing the end of the tube, the strategy might instruct the sticker mechanism to immediately stop feeding, the slitting mechanism to cancel the current slitting action, and rotate the tube to a specific position for subsequent processing. The strategy matching unit converts the selected strategy into a series of motion control instructions for the sticker mechanism, slitting mechanism, and tube rotation mechanism, such as speed instructions, position instructions, and start and stop instructions. These instructions are packaged and sent to the motion controller of each mechanism via real-time Ethernet or other industrial communication protocols. The motion controller receives and executes the instructions, thereby achieving coordinated motion adjustment of each mechanism.

[0039] Through the above scheme, the present application can perceive the operating status of the sticker tube cutting machine in the integrated labeling and slitting process overlapping mode in real time. When an abnormality occurs, it can quickly and accurately identify the abnormal situation, and based on the preset collaborative processing strategy for different scenarios, generate and execute refined multi-mechanism collaborative motion control instructions, thereby realizing dynamic and intelligent response to abnormal situations, effectively avoiding production interruptions and efficiency losses caused by traditional simple shutdown strategies, significantly reducing the defective rate, and improving the stability and production efficiency of the sticker tube cutting machine in high-speed production mode.

[0040] In some embodiments, the steps of acquiring the sticker material status information, the slitting mechanism status information, and the tube rotating mechanism status information in real time to determine whether an abnormal event has occurred, and recording the abnormal information when an abnormal event occurs include: Using a tension sensor, a displacement sensor, and a visual sensor, the tension value, edge position deviation, and surface defect image of the sticker material are collected in real time. If the tension value exceeds a first preset range, the edge position deviation exceeds a first preset threshold, or a surface defect is detected, it is determined that there is an abnormality in the sticker material and recorded as abnormal information; Using force sensors, encoders, and vibration sensors, the cutting force, rotational speed, and vibration frequency of the slitting tool are monitored in real time. If the cutting force exceeds a second preset range, the rotational speed is lower than a set value, or the vibration frequency exceeds a second preset threshold, it is determined that there is an abnormality in the slitting mechanism and recorded as abnormal information; Using a rotary encoder and an acceleration sensor, the pipe's rotation angle, angular velocity, and axial acceleration are acquired in real time. If the rotation angle deviates from the target angle by more than a third preset threshold, the angular velocity fluctuation exceeds a third preset range, or the axial acceleration exceeds a safe range, the pipe movement is determined to be abnormal and recorded as abnormal information. After logging the exception, perform the following steps: The collected exception information is encapsulated according to a predefined event format to generate an exception event, and the exception event is pushed using the message queue middleware; the message queue middleware is configured with a data verification mechanism to verify the accuracy of the timestamp in the exception event. If the deviation between the timestamp and the current system time exceeds the fourth preset threshold, the data of each sensor and / or encoder is re-acquired and a new exception event is generated.

[0041] Message queue middleware refers to a software architecture pattern or platform used to enable asynchronous communication between applications in a distributed system. It can be implemented using technologies such as Kafka, RabbitMQ, or ActiveMQ. Its introduction aims to decouple the generation and consumption of exception events, improving the system's concurrent processing capabilities and reliability. A data validation mechanism refers to a logical module or function used in the data processing process to verify whether data complies with specific rules or requirements. This mechanism can be implemented using a validation module built into the message queue consumer or within the message queue itself. Its introduction aims to ensure the validity and timeliness of received exception event data. Timestamp accuracy refers to the degree of proximity between the occurrence time recorded in an exception event and the current system time. Its introduction aims to assess the timeliness of an exception event and determine its continued reference value. The fourth preset threshold refers to a pre-set upper limit on the time difference, which defines the maximum acceptable deviation between the timestamp of an exception event and the current system time. Its introduction aims to provide a standard for determining whether an exception event is outdated. Re-acquiring data from each sensor and / or encoder and generating a new abnormal event means that when the timestamp of the abnormal event is detected to be inaccurate, the system triggers the repeated execution of the data collection and event generation process. Its introduction purpose is to ensure that subsequent processing uses the latest and most accurate abnormal status information.

[0042] This solution integrates multiple sensors to comprehensively sense the state of the sticker material, slitting mechanism, and tube movement. Once an anomaly is detected, the scattered anomaly information is immediately structured and packaged into a unified exception event format. These exception events are then sent to the message queue middleware. As an asynchronous communication layer, the message queue middleware effectively isolates the generators and consumers of exception events. Even if downstream processing systems are temporarily busy or unavailable, exception events can be reliably stored and transmitted, preventing event loss. Crucially, before an exception event is consumed by downstream systems, the message queue middleware or its supporting mechanisms perform data validation, focusing on the timestamp recorded in the exception event. By comparing the event timestamp with the current system time and against a preset time deviation threshold, it can be determined whether the exception event has become stale or no longer reflects the current state due to delays in the collection, packaging, or transmission process. If the timestamp deviation is too large, indicating that the event is insufficiently timely, the system will deem the event invalid and trigger a feedback or control process, instructing the data collection layer to reacquire the latest sensor data and generate a new exception event based on the new data. This new, accurately timestamped exception event then reenters the message queue process. This cyclical verification and retransmission mechanism ensures that only the latest, most relevant exception information is received and processed by the downstream exception handling strategy matching and collaborative control modules. This mechanism effectively overcomes the inherent uncertainty and delays in multi-source data acquisition and transmission, ensuring the real-time and accuracy of exception events. This enables the collaborative control strategies developed based on these events to quickly and accurately respond to actual abnormal conditions, avoiding erroneous decisions based on outdated information and significantly improving the response speed and control accuracy of the entire sticker tube cutting machine collaborative control system.

[0043] In one specific embodiment, the sticker material's status information can be obtained by using a tension sensor (e.g., a strain gauge tension sensor) installed on the sticker path to obtain tension values, a displacement sensor (e.g., a laser displacement sensor or an ultrasonic displacement sensor) to monitor the lateral deviation of the sticker edge relative to the predetermined path, and a visual sensor (e.g., an industrial camera coupled with an image processing algorithm) to detect surface defects such as tears, wrinkles, or stains on the sticker. The slitting mechanism's status information can be obtained by measuring the cutting force using a force sensor (e.g., a piezoelectric force sensor) installed on the tool, monitoring the tool spindle's rotation speed using an encoder (e.g., a rotary encoder), and detecting abnormal tool or spindle vibration frequencies using a vibration sensor (e.g., an accelerometer). Tube motion status information can be obtained by using a rotary encoder installed on the tube clamping or rotating mechanism to obtain the rotation angle and angular velocity, and an acceleration sensor (e.g., a triaxial accelerometer) to detect abnormal axial or radial acceleration of the tube. When any sensor data exceeds a preset normal range or threshold, the corresponding exception information (e.g., "sticker tension too high," "abnormal tool speed," or "exceeding pipe axial vibration limit"), along with the system timestamp of the occurrence and the current status codes and values ​​of each mechanism, is encapsulated into a unified data packet format, such as a JSON object. This JSON object is then sent to a message queue (e.g., a Kafka cluster deployed on a server). On the consumer side of the message queue, a data validation service module receives the exception event. This service module first reads the timestamp field in the event and compares it with the current server system time. If the time difference exceeds a preset fourth threshold (e.g., 50 milliseconds), the event is marked invalid and a re-sampling signal is sent to the data collection layer. Upon receiving the signal, the data collection layer immediately re-sampling the current data from all relevant sensors, generating a new exception event and sending it to the message queue again. If the timestamp verification passes, the event is further processed, such as being sent to the exception handling strategy matching module.

[0044] Through the above technical solution, the present application can effectively solve the problem of inaccurate abnormal event information caused by multi-source sensor data collection and transmission delays. By adding a data verification mechanism at the message queue middleware level, especially strictly checking the accuracy of the timestamp, and introducing a data re-collection and event retransmission mechanism, it is ensured that the abnormal events received by the downstream abnormality handling system are the latest and valid. This enables the system to quickly match the most appropriate collaborative processing strategy based on accurate real-time status information, generate accurate collaborative motion control instructions, and thus respond to abnormalities in the movement of sticker materials, slitting mechanisms or pipes in a timely and effective manner, minimize the generation of defective products and production interruption time, and improve the stability and production efficiency of the sticker pipe cutting machine under high-speed operation.

[0045] In some embodiments, the data verification mechanism includes: The timestamp check submodule verifies the accuracy of the timestamp in the abnormal event. If the deviation between the timestamp and the current system time exceeds a fourth preset threshold, the timestamp is determined to be abnormal, and a timestamp abnormality report is generated and sent to the data integrity check submodule; After the data integrity check submodule receives the timestamp exception report, it controls each sensor to re-collect data and regenerate the exception event; if no timestamp exception report is received, it performs data integrity check on the status code and status value of each mechanism in the exception event. If there is data missing or data format error, it determines that the data integrity is abnormal, generates a data integrity exception report, and sends it to the data consistency check submodule; After the data consistency check submodule receives the data integrity exception report, it controls each sensor to re-collect data and regenerate the exception event. If no data integrity exception report is received, the state code and state value of each mechanism in the exception event are checked for data consistency. If, at the same time, the state code indicates that the corresponding mechanism is in a normal state, but the corresponding state value exceeds the specified range, the data consistency is determined to be abnormal, and a data consistency exception report is generated and sent to the timestamp check submodule. After the timestamp check submodule receives the data consistency exception report, it controls each sensor to re-collect data and regenerate the exception event; if no data consistency exception report is received, it confirms that the exception event is packaged and pushes the packaged exception event.

[0046] The timestamp check submodule refers to the functional unit responsible for checking whether the time information of the abnormal event record is synchronized with the actual system time. The data integrity check submodule refers to the functional unit responsible for checking whether the mechanism status information in the abnormal event is complete and conforms to the predetermined format. The data consistency check submodule refers to the functional unit responsible for checking whether there is a logical contradiction between the mechanism status code and the status value in the abnormal event. The timestamp check submodule, the data integrity check submodule and the data consistency check submodule can all be implemented using software modules, hardware circuits or a combination of the two. The fourth preset threshold refers to the upper limit of the time deviation used to determine whether the timestamp is abnormal, which can be implemented using a value stored in the configuration parameters. The status code refers to an identifier used to represent the current operating status of the mechanism, which can be implemented using an enumeration value, an integer code or a character string. The status value refers to quantitative data related to the mechanism status code, which can be implemented using a floating point number, an integer or a Boolean value.

[0047] This solution comprehensively ensures the reliability of abnormal events by building a multi-level data verification mechanism with feedback. Specifically, the data verification mechanism first verifies the abnormal event's timestamp using the timestamp verification submodule to ensure the accuracy of the event's occurrence time. If the timestamp deviates from the current system time by more than a preset threshold, the timestamp is considered abnormal and a timestamp anomaly report is generated. This report is sent to the data integrity verification submodule, indicating that subsequent verification steps require special handling. When the data integrity verification submodule receives a timestamp anomaly report, it indicates that the underlying time information of the abnormal event is unreliable. At this point, it directly controls each sensor to recollect data and regenerate the abnormal event, correcting the error at the source. If no timestamp anomaly report is received, the timestamp is normal. The mechanism status information (status code and status value) in the abnormal event is then subjected to data integrity verification to check for missing data or format errors. This ensures that the mechanism status information contained in the abnormal event is complete and parsable. If an integrity anomaly is present, a data integrity anomaly is determined, and a data integrity anomaly report is generated and sent to the data consistency verification submodule. When the data consistency check submodule receives a data integrity exception report, it indicates an integrity issue with the mechanism status information associated with the abnormal event. Similarly, each sensor is controlled to reacquire data and regenerate the abnormal event to ensure data integrity. If no data integrity exception report is received, the data integrity is normal, and a data consistency check is performed on the mechanism status information. This check level examines the logical relationship between the status code and the status value. For example, when the status code indicates a normal state, the corresponding status value is determined to be within a specified range. This can detect situations where the data is complete but logically inconsistent, improving data reliability. If a consistency exception is present, a data consistency exception is determined, a data consistency exception report is generated, and the report is sent back to the timestamp check submodule. When the timestamp check submodule receives a data consistency exception report, it indicates a logical inconsistency with the mechanism status information associated with the abnormal event. It then controls each sensor to reacquire data and regenerate the abnormal event, forming a verification cycle until the generated abnormal event passes all verification steps. Only when the timestamp check submodule does it confirm that the abnormal event has passed all verification steps and is reliable. At this point, the abnormal event is packaged and forwarded. This layer-by-layer progressive mechanism, which triggers re-collection and cyclic verification when an exception occurs, ensures that only high-quality and reliable exception events are used for subsequent exception handling strategy matching and collaborative control instruction generation, thereby improving the accuracy and robustness of the entire collaborative control method.

[0048] In some embodiments, the step of generating coordinated motion control instructions for the sticker mechanism, the slitting mechanism, and the tube rotation mechanism according to the selected coordinated processing strategy includes: Determine the target motion parameters of the sticker mechanism, slitting mechanism, and tube rotation mechanism based on the selected collaborative processing strategy; the target motion parameters include sticker feed speed, slitting tool speed, tube rotation angle, and acceleration; Based on the target motion parameters, a motion planning algorithm is used to calculate the target trajectory points of each mechanism on the time axis. The target trajectory points include position, velocity, and acceleration information. The motion planning algorithm considers the dynamic performance constraints and motion coordination of each mechanism, and there are constraint relationships between the motion parameters of each mechanism. The target trajectory points are converted into control instructions that can be recognized by the sticker mechanism motion controller, the slitting mechanism motion controller, and the pipe rotation mechanism motion controller. The control instructions include position instructions, speed instructions, and torque instructions. According to the response time of each mechanism, the control instructions of each mechanism are synchronously optimized so that the control instructions of each mechanism are accompanied by time information, and the optimized control instructions are obtained to reduce instruction conflicts and offset the impact of response delays. The optimized control instructions are used in subsequent steps through the industrial communication bus and are sent to the corresponding motion controller in the order of time information to realize coordinated motion control of each mechanism.

[0049] Motion planning algorithm refers to a method of calculating the motion path or trajectory of a robot or automated equipment from the current state to the target state, which can be implemented by interpolation-based methods (such as polynomial interpolation, spline interpolation), optimization-based methods or search-based methods. Dynamic performance constraints refer to physical limitations that mechanisms may encounter during motion, such as maximum speed, maximum acceleration, maximum jerk, maximum torque or force, etc., which can be incorporated into the motion planning algorithm as boundary conditions or constraints. Motion coordination refers to the predetermined coordination relationship in time and space between multiple mechanisms when performing collaborative tasks, which can be incorporated into the motion planning algorithm as the coupling relationship or synchronization requirement of the motion parameters between mechanisms. Constraint relationship refers to the mutual dependence or restriction condition between the motion parameters of different mechanisms, such as the proportional relationship between the speed of the tape feeding and the angular velocity of the pipe rotation, the corresponding relationship between the axial position of the slitting cutter and the length of the pipe, etc., which can be used as input or internal logic of the motion planning algorithm. Synchronization optimization refers to adjusting or arranging the sending timing or instruction content of the control instruction according to the response characteristics of each mechanism to ensure that the actual action of each mechanism reaches the expected state at the predetermined time point or time period, which can be implemented by using timestamp-based instruction scheduling, prediction control-based instruction compensation or feedback correction-based instruction adjustment. Time information refers to the timestamp or time interval data attached to the control instruction, which is used to indicate the effective time, execution time or duration of the instruction, which can be transmitted as part of the control instruction through the communication bus. Industrial communication bus refers to a network used to connect industrial automation devices (such as controllers, sensors, actuators) for data exchange, which can be implemented by using EtherCAT, Profinet, CANopen, etc.

[0050] This application's solution details how to generate control instructions that achieve precise coordinated motion for the applicator, slitting, and tube rotating mechanisms based on a selected exception handling strategy. This solution first determines the target motion states that the applicator, slitting, and tube rotating mechanisms need to achieve when responding to specific exceptions, based on the selected coordinated handling strategy. These target motion states are quantified using target motion parameters, such as the applicator feed speed, slitting tool speed, tube rotation angle, and acceleration. Determining these target parameters forms the basis for the subsequent generation of specific motion instructions, ensuring that the generated instructions guide each mechanism to the desired state as determined by the strategy. Next, a motion planning algorithm is used to calculate the detailed trajectory points of each mechanism throughout the entire motion process based on the determined target motion parameters. These trajectory points include not only the final position but also the velocity and acceleration information of the intermediate steps, forming a complete motion curve on a timeline. The unique feature of the motion planning algorithm is that it comprehensively considers the dynamic performance constraints of each mechanism and the motion coordination requirements between them. By embedding constraints between the motion parameters of each mechanism within the algorithm, the generated trajectory is ensured to be feasible and smooth. It also ensures precise temporal and spatial coordination of the three highly interrelated actions of labeling, slitting, and rotating the tube, avoiding collisions, interference, or timing errors. Especially when rapid motion adjustments are required to address anomalies, the planned trajectory guides each mechanism to transition quickly and harmoniously to a new state. Finally, the target trajectory points calculated by the motion planning algorithm are converted into control instructions that can be directly executed by the motion controllers of each mechanism. These instructions typically include position, velocity, and torque commands. To further improve control accuracy and coordination, the solution also synchronously optimizes the generated control instructions based on the response time of each mechanism. This optimization equips each mechanism's control instructions with precise timing information, indicating when the instruction should be executed or when a certain state should be reached. These optimized control instructions with timing information effectively reduce conflicts that may arise during instruction transmission across the industrial communication bus and processing within the motion controllers. They also offset response delays caused by the unique characteristics of different mechanisms or communication delays. Optimized control instructions are issued in the order of their accompanying time information, ensuring that each mechanism's actions strictly follow the planned sequence. This enables precise coordinated motion control of the sticker, slitting, and tube rotation mechanisms in response to anomalies, minimizing defective products and maintaining a smooth production process. By combining this instruction generation method with a step that matches collaborative processing strategies to abnormal events, the system can quickly select an appropriate response strategy when an anomaly is detected, and immediately generate and issue precisely coordinated motion instructions to guide each mechanism's smooth and rapid transition from its current state to the new target state. This effectively avoids motion deviations caused by differences in mechanism responses and instruction delays, thereby maintaining high processing accuracy and production efficiency even when anomalies occur.

[0051] In a specific embodiment, suppose that during the tube sticker process, it is detected that the sticker material is about to break. At this time, a coordinated processing strategy is decided to be executed: the sticker mechanism immediately stops feeding, the slitting mechanism cancels cutting the current tube, and the tube rotation mechanism slows down. Three control instructions will be generated: Instruction A: The sticker mechanism stops feeding, time stamp T1.

[0052] Instruction B: The slitting mechanism cancels cutting, timestamp T1+Δt1.

[0053] Instruction C: The pipe rotation mechanism decelerates, time stamp T1+Δt2.

[0054] Where T1 is the time point when the anomaly occurs, and Δt1 and Δt2 are the relative time delays calculated according to the strategy.

[0055] If these instructions are issued out of order (for example, instruction C arrives and is executed before instruction A), the tube may begin to slow down before the sticker mechanism stops, resulting in uneven sticker application or incorrect positioning.

[0056] The method of this embodiment can ensure that instructions A, B, and C are sent in the order of T1, T1+Δt1, and T1+Δt2. For example, a message queue can be used to sort instructions by timestamp and put them into the queue, and the sending program can retrieve and send them in order; or the timestamp can be explicitly included in the instruction, and the receiving party's motion controller can sort or determine whether it is executed on time based on the timestamp. In this way, the sticker mechanism stops at time T1, the slitting mechanism cancels cutting at time T1+Δt1, and the pipe rotation mechanism slows down at time T1+Δt2. The actions of each mechanism are strictly executed in accordance with the coordination strategy of the scheduling core, avoiding secondary problems caused by disordered instruction timing and improving the effectiveness of exception handling.

[0057] Please refer to Figure 4 , Figure 4 In some embodiments of the present invention, a collaborative control device for a labeling and pipe cutting machine is provided. The device is applied to a labeling and pipe cutting machine that integrates labeling and cutting functions. The labeling and pipe cutting machine is used as a separate workstation to simultaneously cut the pipe into multiple small segments while labeling the pipe. The collaborative control device for the labeling and pipe cutting machine is integrated into a back-end control device in the form of a computer program and includes: The recording module 100 is used to obtain the sticker material status information, the slitting mechanism status information and the tube rotation mechanism status information in real time to determine whether an abnormal event has occurred and record the abnormal information when an abnormal event occurs; The acquisition module 200 is used to acquire event information including the abnormality type, occurrence time, sticker mechanism status, slitting mechanism status, and tube rotation mechanism status based on the abnormality information; Matching module 300 is used to match the corresponding collaborative processing strategy from the preset exception processing strategy library based on the parsed event information; the exception processing strategy library stores collaborative processing strategies for different exception types, different occurrence time points, and different organization status combinations; A generation module 400 is used to generate coordinated motion control instructions for the sticker mechanism, the slitting mechanism, and the tube rotation mechanism according to the selected coordinated processing strategy; The control module 500 is used to adjust the motion state of the mechanism by sending a coordinated motion control instruction to the sticker mechanism motion controller, the slitting mechanism motion controller and the tube rotation mechanism motion controller.

[0058] In some embodiments, a push module 600 is further included, and the push module 600 is configured to perform the following steps after recording the abnormal information: The collected exception information is encapsulated according to a predefined event format to generate an exception event, and the exception event is pushed using the message queue middleware; the message queue middleware is configured with a data verification mechanism to verify the accuracy of the timestamp in the exception event. If the deviation between the timestamp and the current system time exceeds the fourth preset threshold, the data of each sensor and / or encoder is re-acquired and a new exception event is generated.

[0059] Please refer to Figure 5 , Figure 5This is a structural diagram of an electronic device provided by an embodiment of the present invention. The present invention provides an electronic device 13, including: a processor 1301 and a memory 1302. The processor 1301 and the memory 1302 are interconnected and communicate with each other via a communication bus 1303 and / or other forms of connection mechanisms (not shown). The memory 1302 stores computer-readable instructions executable by the processor 1301. When the electronic device is running, the processor 1301 executes the computer-readable instructions to execute the sticker tube cutting machine collaborative control method in any optional implementation of the above embodiment to achieve the following functions: real-time acquisition of sticker material status information, slitting mechanism status information and tube rotation mechanism status information to determine whether An abnormal event occurs, and when an abnormal event occurs, the abnormal information is recorded; based on the abnormal information, event information including the abnormal type, occurrence time, sticker mechanism status, slitting mechanism status and tube rotation mechanism status is obtained; based on the parsed event information, the corresponding collaborative processing strategy is matched from the preset abnormal processing strategy library; the abnormal processing strategy library stores collaborative processing strategies for different abnormal types, different occurrence time points, and different mechanism status combinations; based on the selected collaborative processing strategy, collaborative motion control instructions are generated for the sticker mechanism, slitting mechanism, and tube rotation mechanism; the mechanism motion state is adjusted by sending the collaborative motion control instructions to the sticker mechanism motion controller, slitting mechanism motion controller, and tube rotation mechanism motion controller.

[0060] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the collaborative control method of the sticker tube cutting machine in any optional implementation of the above-mentioned embodiment is executed to achieve the following functions: real-time acquisition of sticker material status information, slitting mechanism status information and tube rotation mechanism status information to determine whether an abnormal event occurs, and recording abnormal information when an abnormal event occurs; based on the abnormal information, event information including the abnormal type, occurrence time, sticker mechanism status, slitting mechanism status and tube rotation mechanism status is acquired; based on the parsed event information, the corresponding collaborative processing strategy is matched from a preset abnormal processing strategy library; the abnormal processing strategy library stores collaborative processing strategies for different abnormal types, different occurrence time points and different mechanism status combinations; based on the selected collaborative processing strategy, collaborative motion control instructions are generated for the sticker mechanism, slitting mechanism and tube rotation mechanism; the mechanism motion state is adjusted by issuing the collaborative motion control instructions to the sticker mechanism motion controller, the slitting mechanism motion controller and the tube rotation mechanism motion controller.

[0061] Among them, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0062] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, the indirect coupling or communication connection of the device or unit may be electrical, mechanical or other forms.

[0063] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0064] Furthermore, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0065] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0066] The foregoing description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A collaborative control method for a sticker tube cutting machine, applied to a sticker tube cutting machine with integrated labeling and slitting functions, characterized in that: The label pipe cutting machine is used as a separate station to cut the pipe into multiple small sections while labeling the pipe; The collaborative control method of the sticker tube cutting machine includes the following steps: Real-time acquisition of sticker material status information, slitting mechanism status information, and tube rotation mechanism status information to determine whether an abnormal event has occurred, and record abnormal information when an abnormal event occurs; According to the abnormal information, obtain event information including abnormal type, occurrence time, sticker mechanism status, slitting mechanism status and tube rotation mechanism status; According to the parsed event information, the corresponding collaborative processing strategy is matched from the preset exception processing strategy library; the exception processing strategy library stores collaborative processing strategies for different exception types, different occurrence time points, and different organization status combinations; Generate collaborative motion control instructions for the sticker mechanism, slitting mechanism, and tube rotation mechanism based on the selected collaborative processing strategy; The motion state of the mechanism is adjusted by sending collaborative motion control instructions to the sticker mechanism motion controller, the slitting mechanism motion controller and the tube rotation mechanism motion controller.

2. The collaborative control method of the sticker tube cutting machine according to claim 1, characterized in that: The steps of obtaining the sticker material status information, the slitting mechanism status information, and the tube rotating mechanism status information in real time to determine whether an abnormal event has occurred and recording the abnormal information when an abnormal event occurs include: Using tension sensors, displacement sensors and visual sensors, the tension value, edge position deviation and surface defect image of the sticker material are collected in real time. If the tension value exceeds the first preset range, the edge position deviation exceeds the first preset threshold or a surface defect is detected, it is determined that there is an abnormality in the sticker material and recorded as abnormal information.

3. The collaborative control method of the sticker tube cutting machine according to claim 1, characterized in that: The steps of obtaining the sticker material status information, the slitting mechanism status information, and the tube rotating mechanism status information in real time to determine whether an abnormal event has occurred and recording the abnormal information when an abnormal event occurs include: Use force sensors, encoders and vibration sensors to monitor the cutting force, rotation speed and vibration frequency of the slitting tool in real time. If the cutting force exceeds the second preset range, the rotation speed is lower than the set value or the vibration frequency exceeds the second preset threshold, it is determined that there is an abnormality in the slitting mechanism and recorded as abnormal information.

4. The collaborative control method of the sticker tube cutting machine according to claim 1, characterized in that: The steps of obtaining the sticker material status information, the slitting mechanism status information, and the tube rotating mechanism status information in real time to determine whether an abnormal event has occurred and recording the abnormal information when an abnormal event occurs include: Using a rotary encoder and an acceleration sensor, the rotation angle, angular velocity and axial acceleration of the pipe are obtained in real time. If the deviation between the rotation angle and the target angle exceeds a third preset threshold, the angular velocity fluctuation exceeds a third preset range, or the axial acceleration exceeds a safe range, it is determined that there is an abnormality in the pipe movement and the abnormal information is recorded.

5. The collaborative control method for a sticker tube cutting machine according to any one of claims 2 to 4, characterized in that: It also includes performing the following steps after recording the exception information: The collected exception information is encapsulated according to a predefined event format to generate an exception event, and the exception event is pushed using the message queue middleware; the message queue middleware is configured with a data verification mechanism to verify the accuracy of the timestamp in the exception event. If the deviation between the timestamp and the current system time exceeds the fourth preset threshold, the data of each sensor and / or encoder is re-acquired and a new exception event is generated.

6. The collaborative control method of the sticker tube cutting machine according to claim 5, characterized in that: The data verification mechanism includes: The timestamp check submodule verifies the accuracy of the timestamp in the abnormal event. If the deviation between the timestamp and the current system time exceeds a fourth preset threshold, the timestamp is determined to be abnormal, and a timestamp abnormality report is generated and sent to the data integrity check submodule; After the data integrity check submodule receives the timestamp exception report, it controls each sensor and / or encoder to re-collect data and regenerate the exception event; if no timestamp exception report is received, it performs data integrity check on the status code and status value of each mechanism in the exception event. If there is data missing or data format error, it determines that the data integrity is abnormal, generates a data integrity exception report, and sends it to the data consistency check submodule; After the data consistency check submodule receives the data integrity exception report, it controls each sensor and / or encoder to re-collect data and regenerate the exception event; if no data integrity exception report is received, it performs data consistency check on the status code and status value of each mechanism in the exception event. If at the same time, the status code indicates that the corresponding mechanism is in a normal state, but the corresponding status value exceeds the specified range, it is determined that the data consistency is abnormal, and a data consistency exception report is generated and sent to the timestamp check submodule; After the timestamp check submodule receives the data consistency exception report, it controls each sensor and / or encoder to re-collect data and regenerate the exception event; if no data consistency exception report is received, it confirms that the exception event is packaged and pushes the packaged exception event.

7. The collaborative control method of the sticker tube cutting machine according to claim 1, characterized in that: According to the selected collaborative processing strategy, the steps of generating collaborative motion control instructions for the sticker mechanism, the slitting mechanism, and the tube rotation mechanism include: Determine the target motion parameters of the sticker mechanism, slitting mechanism, and tube rotation mechanism based on the selected collaborative processing strategy; the target motion parameters include sticker feed speed, slitting tool speed, tube rotation angle, and acceleration; According to the target motion parameters, the motion planning algorithm is used to calculate the target trajectory points of each mechanism on the time axis. The target trajectory points include position, velocity and acceleration information; The target trajectory points are converted into control instructions that can be recognized by the sticker mechanism motion controller, the slitting mechanism motion controller, and the pipe rotation mechanism motion controller. The control instructions include position instructions, speed instructions, and torque instructions. According to the response time of each mechanism, the control instructions of each mechanism are synchronously optimized so that the control instructions of each mechanism are accompanied by time information, and the optimized control instructions are obtained; the optimized control instructions are used in subsequent steps through the industrial communication bus and are sent to the corresponding motion controller in the order of time information to realize the coordinated motion control of each mechanism.

8. A collaborative control device for a sticker tube cutting machine, applied to a sticker tube cutting machine with integrated labeling and cutting functions, characterized in that: The label pipe cutting machine is used as a separate station to cut the pipe into multiple small sections while labeling the pipe; The collaborative control device of the sticker tube cutting machine includes: The recording module is used to obtain the sticker material status information, the slitting mechanism status information and the tube rotation mechanism status information in real time to determine whether an abnormal event has occurred and record the abnormal information when an abnormal event occurs; An acquisition module is used to acquire event information including the abnormality type, occurrence time, sticker mechanism status, slitting mechanism status, and tube rotation mechanism status based on the abnormality information; The matching module is used to match the corresponding collaborative processing strategy from the preset exception processing strategy library based on the parsed event information; the exception processing strategy library stores collaborative processing strategies for different exception types, different occurrence time points, and different organization status combinations; A generation module is used to generate collaborative motion control instructions for the sticker mechanism, slitting mechanism, and tube rotation mechanism according to the selected collaborative processing strategy; The control module is used to adjust the motion state of the mechanism by sending collaborative motion control instructions to the sticker mechanism motion controller, the slitting mechanism motion controller and the tube rotation mechanism motion controller.

9. An electronic device, characterized in that: It includes a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the collaborative control method of the sticker tube cutting machine as described in any one of claims 1 to 7 are executed.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of the collaborative control method of the sticker tube cutting machine as described in any one of claims 1 to 7 are executed.

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