Knee leaning device control method, system and device of sewing machine and medium

Abstract

The invention provides a knee leaning device control method of a sewing machine. The knee leaning device control method comprises the steps that rotation sampling data and the current knee leaning height of a knee leaning device are obtained; calculating a difference value between the rotation sampling data and the historical rotation sampling data; calculating an instruction height corresponding to the rotation sampling data according to the rotation sampling data; if the height difference between the instruction height and the current knee leaning height is larger than the preset debugging coefficient height difference, the corresponding actual stepping motor position is calculated according to the instruction height, and a stepping motor of the knee leaning device is controlled to operate based on the actual stepping motor position. The position of the stepping presser foot is controlled in a mapping mode through the rotation sampling data of the knee leaning device, the motion linearity of the stepping motor is improved, stable operation of the stepping motor is guaranteed, and therefore the sewing effect and the sewing efficiency can be improved. The invention further provides a knee leaning device control system of the sewing machine, a computer readable storage medium and an electric control knee leaning device applied to the sewing machine, which have the above beneficial effects.

Description

Technical Field

[0001] The present application relates to the field of sewing machine control, and in particular to a control method, system, device and medium for a knee rest device of a sewing machine. Background Art

[0002] At present, the main method used to control the presser foot lifter on sewing machines is to lift and lower the presser foot by foot pedal. However, in some processes, when the sewing thread is too thick, the presser foot needs to be lifted. Using the foot pedal to control the presser foot lifter will affect the sewing efficiency. The process requires the addition of a knee support device to control the presser foot. Currently, the knee support device is mainly mechanical or electronically controlled, but the linear experience is poor, which is not conducive to sewing. Summary of the invention

[0003] The purpose of the present application is to provide a control method and system for a knee rest device of a sewing machine, a computer-readable storage medium and an electrically controlled knee rest device applied to a sewing machine, which can optimize the linear experience of the knee rest device in the sewing machine.

[0004] In order to solve the above technical problems, the present application provides a control method for a knee rest device of a sewing machine, and the specific technical solution includes:

[0005] Obtaining rotation sampling data of the knee rest device and the current knee rest height;

[0006] Calculating the command height corresponding to the rotation sampling data according to the rotation sampling data;

[0007] If the height difference between the command height and the current knee rest height is greater than the preset debugging coefficient height difference, the corresponding actual stepper motor position is calculated according to the command height, and the stepper motor operation of the knee rest device is controlled based on the actual stepper motor position.

[0008] Optionally, the rotation sampling data is obtained in the following manner:

[0009] Set the sampling frequency;

[0010] The rotation sampling data of the knee support device is periodically acquired at the sampling frequency.

[0011] Optionally, obtaining the rotation sampling data of the knee support device includes:

[0012] The rotation angle of the knee rest device is monitored using a Hall sensor;

[0013] The conversion relationship is called to convert the rotation angle into a Hall analog value; the conversion relationship is the conversion relationship between the rotation angle of the knee rest device and the corresponding voltage value.

[0014] Optionally, before calculating the command height corresponding to the rotation sampling data according to the rotation sampling data, the method further includes:

[0015] Calling a filter calculation formula according to the historical rotation sampling data to filter the rotation sampling data;

[0016] The filtering calculation formula is:

[0017] KneePressAdc = K1*KneePressAdcOld / (1-K2);

[0018] KneePressAdcOld is the historical rotation sampling data at the last sampling, KneePressAdc is the rotation sampling data at the current sampling, and K1 and K2 are the first filter proportional coefficient and the second filter proportional coefficient, respectively.

[0019] Optionally, also include:

[0020] Obtain or set the preset adjustment coefficient height difference; wherein, the smaller the preset adjustment coefficient height difference is, the stronger the linearity of the stepper motor operation of the knee support device is.

[0021] Optionally, the calculating the corresponding actual stepper motor position according to the command height includes:

[0022] Determining motor parameters of the stepper motor;

[0023] The GetPressTheta function is used to calculate the number of pulses required to meet the command height according to the command height and the motor parameters, and the actual stepper motor position is determined based on the number of pulses.

[0024] Optionally, calculating the instruction height corresponding to the rotation sampling data according to the rotation sampling data includes:

[0025] Substituting the initial voltage sampling value and the difference into the height calculation formula, and outputting the command height corresponding to the rotation sampling data;

[0026] The height calculation formula is:

[0027] KneePressHeight= (AD_STAR-KneePressAdc) / AdHeight;

[0028] Among them, KneePressHeight is the command height, AD_STAR is the initial voltage sampling value, and AdHeight is the height difference.

[0029] The present application also provides a control system for a knee rest device of a sewing machine, comprising:

[0030] A data acquisition module, used to acquire the rotation sampling data of the knee rest device and the current knee rest height;

[0031] An instruction height calculation module, used for calculating the instruction height corresponding to the rotation sampling data according to the rotation sampling data;

[0032] A control module is used to calculate the corresponding actual stepper motor position according to the command height if the height difference between the command height and the current knee rest height is greater than the preset debugging coefficient height difference, and control the operation of the stepper motor of the knee rest device based on the actual stepper motor position.

[0033] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method for controlling the knee rest device of a sewing machine as described above are implemented.

[0034] The present application also provides an electrically controlled knee rest device for a sewing machine, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the sewing machine knee rest device control method as described above are implemented.

[0035] The present application provides a method for controlling a knee rest device of a sewing machine, comprising: obtaining rotation sampling data and a current knee rest height of the knee rest device; calculating a difference between the rotation sampling data and historical rotation sampling data; calculating a command height corresponding to the rotation sampling data according to the rotation sampling data; if the height difference between the command height and the current knee rest height is greater than a preset debugging coefficient height difference, calculating a corresponding actual stepper motor position according to the command height, and controlling the operation of the stepper motor of the knee rest device based on the actual stepper motor position.

[0036] The present application obtains the rotation sampling data of the knee rest device and compares it with the historical rotation sampling data, converts the rotation of the knee rest device into an analog quantity for calculation, and controls the stepper motor accordingly by determining the relationship between the height difference between the command height and the current knee rest height and the height difference of the preset debugging coefficient. The stepper motor can be used to control the presser foot lifter without adding complex components. The position of the stepper presser foot lifter is controlled by mapping the rotation sampling data of the knee rest device, thereby improving the motion linearity of the stepper motor, ensuring the stable operation of the stepper motor, and thus helping to improve the sewing effect and efficiency.

[0037] The present application also provides a knee rest device control system for a sewing machine, a computer-readable storage medium and an electrically controlled knee rest device for a sewing machine, which have the above-mentioned beneficial effects and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0039] Figure 1 A flowchart of a method for controlling a knee rest device of a sewing machine provided in an embodiment of the present application;

[0040] Figure 2 A flowchart of another method for controlling a knee rest device of a sewing machine provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of the control system structure of a knee rest device of a sewing machine provided in an embodiment of the present application;

[0042] Figure 4 This is a structural diagram of an electrically controlled knee rest device for a sewing machine provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] The object information involved in this application, including but not limited to the object device information, object personal information, etc., and data, including but not limited to data used for analysis, stored data, displayed data, etc., are all information and data authorized by the object or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the laws, regulations and standards of relevant countries and regions.

[0045] See also Figure 1 , Figure 1 A flowchart of a method for controlling a knee rest device of a sewing machine provided in an embodiment of the present application, the method comprising:

[0046] S101: Obtaining rotation sampling data of the knee rest device and the current knee rest height;

[0047] S102: Calculating the difference between the rotation sampling data and the historical rotation sampling data;

[0048] S103: Calculating the command height corresponding to the rotation sampling data according to the rotation sampling data;

[0049] S104: If the height difference between the command height and the current knee rest height is greater than the preset debugging coefficient height difference, the corresponding actual stepper motor position is calculated according to the command height, and the stepper motor operation of the knee rest device is controlled based on the actual stepper motor position.

[0050] The knee rest device of a sewing machine is a mechanical or electronic device used to control the lifting of the presser foot. It usually includes a knee rest plate, a joystick, a rotating shaft, and a rotating crank fixed on the rotating shaft. The presser foot is lifted by pressing the artificial knee against the knee rest plate to move the joystick.

[0051] When the operator pushes the kneerest plate with his knee, the kneerest plate drives the rotating block to rotate around the fixed axis through the connecting rod, and then drives the inductive sensor or the sensed part to rotate together to control the action of the presser foot lifting drive source, thereby lifting the presser foot.

[0052] The rotation sampling data obtained in step S101 mainly refers to the rotation angle data of the knee rest device. In the practical application of this embodiment, since the sewing machine is in a continuous working state, the corresponding knee rest device is also in a continuous working state, and this embodiment can be executed periodically to determine the stable operation of the stepper motor.

[0053] In a feasible implementation, the sampling frequency can be set in advance, so as to periodically obtain the rotation sampling data of the knee support device at the sampling frequency, so as to repeatedly apply this embodiment to ensure that the knee support device maintains smooth operation during all sewing operations. The sampling frequency is not limited here, for example, it can be set to 1ms / time.

[0054] When obtaining rotation sampling data, the rotation angle of the knee rest device can be monitored by a Hall sensor, and then the rotation angle can be converted into a Hall analog quantity by calling a conversion relationship, which is a conversion relationship between the rotation angle of the knee rest device and the corresponding voltage value.

[0055] In a feasible implementation manner, before executing step S102 to calculate the instruction height corresponding to the rotation sampling data based on the rotation sampling data, the rotation sampling data can be filtered by calling a filtering calculation formula based on historical rotation sampling data to reduce noise and delay in the sampling process of the rotation sampling data, thereby improving response speed and stability.

[0056] The filtering calculation formula is:

[0057] KneePressAdc = K1*KneePressAdcOld / (1-K2);

[0058] Among them, KneePressAdcOld is the historical rotation sampling data at the last sampling, KneePressAdc is the rotation sampling data at the current sampling, K1 and K2 are the first filter proportional coefficient and the second filter proportional coefficient respectively. K1 and K2 are not specifically limited here, and K1 and K2 determine the weights of the rotation sampling data and the historical rotation sampling data. When K1 is larger, more attention will be paid to the rotation sampling data; when K2 is larger, more attention will be paid to the historical rotation sampling data. By adjusting these two coefficients, the rotation sampling data can be smoothed, thereby reducing the impact of noise and delay.

[0059] After calculating the command height, it is necessary to judge the height of the current knee rest height and the command height. In the actual application of the sewing machine, due to the large jitter of the knee rest analog value, the real-time assignment of the stepping position is prone to problems such as stepping jitter and abnormal noise. For this reason, when the current knee rest height and the command height are greater than the preset debugging coefficient height difference, that is, PressHeightOld- PressHeight >K, PressHeightOld is the current knee rest height, and KneePressHeight is the command height, the corresponding actual stepping motor position can be calculated according to the command height.

[0060] Here, there is no limitation on how to determine the preset adjustment height difference, and the preset adjustment coefficient height difference can be obtained or set. The smaller the preset adjustment coefficient height difference is, the stronger the linearity of the stepper motor operation of the knee support device is.

[0061] In a feasible implementation manner, the actual stepper motor position can be calculated in the following manner:

[0062] The first step is to determine the motor parameters of the stepper motor;

[0063] The second step is to use the GetPressTheta function to calculate the number of pulses required to meet the command height according to the command height and the motor parameters, and determine the actual stepper motor position based on the number of pulses.

[0064] A stepper motor is an open-loop control element that converts an electrical pulse signal into an angular displacement or a linear displacement. In the case of non-overload, the speed and stop position of the stepper motor depend only on the frequency and number of pulses of the pulse signal, and are not affected by load changes. When the stepper driver receives a pulse signal, it drives the stepper motor to rotate a fixed angle in the set direction, which is called the "step angle".

[0065] Therefore, the motor parameters of the stepper motor can be determined first, which are mainly used to determine the step angle of the stepper motor. The step angle of the stepper motor refers to the angle that the motor rotates each time it receives a pulse signal. This angle is determined by the design of the stepper motor, usually 0.9°, 1.8°, etc.

[0066] After that, the required number of pulses can be calculated based on the command height and the step angle of the stepper motor. For example, if the command height is 100mm and the step angle of the stepper motor is 1.8°, then the number of pulses required is 100mm divided by the linear displacement per revolution of the stepper motor (i.e. the pitch of the stepper motor), multiplied by 360°, and finally divided by the step angle. The function of the GetPressTheta function is to convert the command height into the angle that the stepper motor needs to rotate, i.e. the actual stepper motor position.

[0067] When writing the GetPressTheta function, first read the pulse value of the register, and then convert the instruction height into the corresponding number of pulses based on the above calculation results.

[0068] In a feasible implementation manner, when calculating the command height corresponding to the rotation sampling data according to the rotation sampling data, the initial voltage sampling value and the difference value may be substituted into the height calculation formula to output the command height corresponding to the rotation sampling data;

[0069] The height calculation formula is:

[0070] KneePressHeight= (AD_STAR-KneePressAdc) / AdHeight;

[0071] Among them, KneePressHeight is the command height, AD_STAR is the initial voltage sampling value, and AdHeight is the height difference, that is, the height difference between the command height and the current knee height.

[0072] In addition, if the height difference between the command height and the current knee rest height is not greater than the preset debugging coefficient height difference, that is, the height range is small, if control adjustment is performed at this time, it is easy to cause problems such as stepping jitter. Therefore, the position adjustment control of the stepper motor can be suspended.

[0073] The embodiment of the present application obtains the rotation sampling data of the knee rest device and compares it with the historical rotation sampling data, converts the rotation of the knee rest device into an analog quantity for calculation, and controls the stepper motor accordingly by determining the relationship between the height difference between the command height and the current knee rest height and the height difference of the preset debugging coefficient. The stepper motor can be used to control the presser foot lifter without adding complex components. The position of the stepper presser foot lifter is controlled by mapping the rotation sampling data of the knee rest device, thereby improving the motion linearity of the stepper motor, ensuring the stable operation of the stepper motor, and thus helping to improve the sewing effect and sewing efficiency.

[0074] See also Figure 2 , Figure 2 This is a flow chart of another method for controlling a knee rest device of a sewing machine provided in an embodiment of the present application. Figure 2 Taking a sampling frequency of 1 ms as an example, the specific application process of the knee rest device control method of a sewing machine provided in the present application is disclosed.

[0075] Step 1: Determine whether the current moment meets the sampling frequency of 1ms; if so, proceed to step 2; if not, proceed to step 3;

[0076] The second step is to collect rotation sampling data using the knee-supported Hall sensor;

[0077] Step 3: discard the sampled data and return to step 1;

[0078] Step 4: filter the rotation sampling data:

[0079] KneePressAdc = K1*KneePressAdcOld / (1-K2);

[0080] Step 5: Calculate the command height of the stepper motor:

[0081] KneePressHeight= (AD_STAR-KneePressAdc) / AdHeight;

[0082] Step 6: Determine whether the height difference between the command height and the current knee height is greater than the preset adjustment coefficient height difference, that is, PressHeightOld-KneePressHeight>K? If yes, proceed to the first step; if not, proceed to the eighth step;

[0083] Step 7. Call the GetPressTheta function to convert the command height KneePressHeight into the actual stepper motor position;

[0084] Step 8: Determine whether the sewing operation is completed; if so, end the process; otherwise, return to the first step.

[0085] This embodiment uses algorithm control to optimize the stepper motor of the knee rest, so that the linearity of the presser foot lifting controlled by the knee rest is better, and the jitter of the stepper motor is reduced, thereby ensuring the stable operation of the stepper motor.

[0086] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a control system for a knee rest device of a sewing machine provided in an embodiment of the present application. The present application also provides a control system for a knee rest device of a sewing machine, including:

[0087] A data acquisition module, used to acquire the rotation sampling data of the knee rest device and the current knee rest height;

[0088] An instruction height calculation module, used for calculating the instruction height corresponding to the rotation sampling data according to the rotation sampling data;

[0089] A control module is used to calculate the corresponding actual stepper motor position according to the command height if the height difference between the command height and the current knee rest height is greater than the preset debugging coefficient height difference, and control the operation of the stepper motor of the knee rest device based on the actual stepper motor position.

[0090] Based on the above embodiment, as a preferred embodiment, the data acquisition module includes:

[0091] The periodic acquisition unit is used to set a sampling frequency; and periodically acquire the rotation sampling data of the knee support device at the sampling frequency.

[0092] Based on the above embodiment, as a preferred embodiment, the data acquisition module includes:

[0093] The rotation sampling data acquisition unit is used to monitor the rotation angle of the knee rest device using a Hall sensor; the conversion formula is called to convert the rotation angle into a Hall analog value; the conversion formula is the conversion relationship between the rotation angle of the knee rest device and the corresponding voltage value.

[0094] Based on the above embodiments, as a preferred embodiment, it also includes:

[0095] A filtering processing module, used for calling a filtering calculation formula according to historical rotation sampling data to perform filtering processing on the rotation sampling data;

[0096] The filtering calculation formula is:

[0097] KneePressAdc = K1*KneePressAdcOld / (1-K2);

[0098] KneePressAdcOld is the historical rotation sampling data at the last sampling, KneePressAdc is the rotation sampling data at the current sampling, and K1 and K2 are the first filter proportional coefficient and the second filter proportional coefficient, respectively.

[0099] Based on the above embodiments, as a preferred embodiment, it also includes:

[0100] The height difference configuration module is used to obtain or set the preset adjustment coefficient height difference; wherein, the smaller the preset adjustment coefficient height difference is, the stronger the linearity of the stepper motor operation of the knee support device is.

[0101] Based on the above embodiments, as a preferred embodiment, the control module includes:

[0102] A motor position calculation unit, used to determine the motor parameters of the stepper motor;

[0103] The GetPressTheta function is used to calculate the number of pulses required to meet the command height according to the command height and the motor parameters, and the actual stepper motor position is determined based on the number of pulses.

[0104] Based on the above embodiments, as a preferred embodiment, the control module includes:

[0105] An instruction height calculation unit, used for substituting the initial voltage sampling value and the difference into a height calculation formula, and outputting an instruction height corresponding to the rotation sampling data;

[0106] The height calculation formula is:

[0107] KneePressHeight= (AD_STAR-KneePressAdc) / AdHeight;

[0108] Among them, KneePressHeight is the command height, AD_STAR is the initial voltage sampling value, and AdHeight is the height difference.

[0109] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0110] The present application also provides an electrically controlled knee rest device for a sewing machine, see Figure 4, a structural diagram of an electric-controlled knee-rest device for a sewing machine provided in an embodiment of the present application, such as Figure 4 As shown, a processor 1410 and a memory 1420 may be included.

[0111] Among them, the processor 1410 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1410 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1410 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1410 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1410 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0112] The memory 1420 may include one or more computer-readable storage media, which may be non-transitory. The memory 1420 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 1420 is at least used to store the following computer program 1421, wherein, after the computer program is loaded and executed by the processor 1410, it can implement the relevant steps in the knee support device control method of the sewing machine disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 1420 may also include an operating system 1422 and data 1423, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 1422 may include Windows, Linux, Android, etc.

[0113] In some embodiments, the electrically controlled knee rest device for a sewing machine may further include a display screen 1430 , an input / output interface 1440 , a communication interface 1450 , a sensor 1460 , a power supply 1470 , and a communication bus 1480 .

[0114] certainly, Figure 4The structure of the electric-controlled knee-rest device applied to the sewing machine shown in the figure does not constitute a limitation on the electric-controlled knee-rest device applied to the sewing machine in the embodiment of the present application. In actual application, the electric-controlled knee-rest device applied to the sewing machine may include Figure 4 More or fewer components than shown, or combinations of certain components.

[0115] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system provided in the embodiment, since it corresponds to the method provided in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0116] Specific examples are used herein to illustrate the principles and implementation methods of the present application, and the description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the present application.

[0117] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A method for controlling a knee rest device of a sewing machine, characterized in that: include: Obtaining rotation sampling data of the knee rest device and the current knee rest height; Calculating the command height corresponding to the rotation sampling data according to the rotation sampling data; If the height difference between the command height and the current knee rest height is greater than the preset debugging coefficient height difference, the corresponding actual stepper motor position is calculated according to the command height, and the stepper motor operation of the knee rest device is controlled based on the actual stepper motor position.

2. The knee support device control method according to claim 1, characterized in that: The method for obtaining the rotation sampling data is: Set the sampling frequency; The rotation sampling data of the knee support device is periodically acquired at the sampling frequency.

3. The knee support device control method according to claim 2, characterized in that: Obtaining the rotation sampling data of the knee support device includes: The rotation angle of the knee rest device is monitored using a Hall sensor; The conversion relationship is called to convert the rotation angle into a Hall analog value; the conversion relationship is the conversion relationship between the rotation angle of the knee rest device and the corresponding voltage value.

4. The knee support device control method according to claim 2, characterized in that: Before calculating the instruction height corresponding to the rotation sampling data according to the rotation sampling data, the method further includes: Calling a filter calculation formula according to the historical rotation sampling data to filter the rotation sampling data; The filtering calculation formula is: KneePressAdc = K1*KneePressAdcOld / (1-K2); KneePressAdcOld is the historical rotation sampling data at the last sampling, KneePressAdc is the rotation sampling data at the current sampling, and K1 and K2 are the first filter proportional coefficient and the second filter proportional coefficient, respectively.

5. The knee support device control method according to claim 1, characterized in that: Also includes: Obtain or set the preset adjustment coefficient height difference; wherein, the smaller the preset adjustment coefficient height difference is, the stronger the linearity of the stepper motor operation of the knee support device is.

6. The knee support device control method according to claim 1, characterized in that: The step of calculating the actual stepper motor position corresponding to the command height includes: Determining motor parameters of the stepper motor; The GetPressTheta function is used to calculate the number of pulses required to meet the command height according to the command height and the motor parameters, and the actual stepper motor position is determined based on the number of pulses.

7. The knee support device control method according to claim 4, characterized in that: Calculating the instruction height corresponding to the rotation sampling data according to the rotation sampling data comprises: Substituting the initial voltage sampling value and the difference into the height calculation formula, and outputting the command height corresponding to the rotation sampling data; The height calculation formula is: KneePressHeight= (AD_STAR-KneePressAdc) / AdHeight; Among them, KneePressHeight is the command height, AD_STAR is the initial voltage sampling value, and AdHeight is the height difference.

8. A control system for a knee rest device of a sewing machine, characterized in that: include: A data acquisition module, used to acquire the rotation sampling data of the knee rest device and the current knee rest height; An instruction height calculation module, used for calculating the instruction height corresponding to the rotation sampling data according to the rotation sampling data; A control module is used to calculate the corresponding actual stepper motor position according to the command height if the height difference between the command height and the current knee rest height is greater than the preset debugging coefficient height difference, and control the operation of the stepper motor of the knee rest device based on the actual stepper motor position.

9. An electrically controlled knee rest device for a sewing machine, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which implements the steps of the method according to any one of claims 1 to 7 when executed.

Images