Knee rest control method, system, device, and media for a sewing machine

Abstract

The application provides a knee rest device control method 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 an instruction height corresponding to the rotation sampling data according to the rotation sampling data; if a height difference between the instruction height and the current knee rest height is greater than a preset debugging coefficient height difference, calculating a corresponding actual stepping motor position according to the instruction height, and controlling a stepping motor of the knee rest device to operate based on the actual stepping motor position. The application maps the rotation sampling data of the knee rest device to control the position of the stepping presser foot, improves the motion linearity of the stepping motor, ensures the stable operation of the stepping motor, and thus is beneficial to improving the sewing effect and the sewing efficiency. The application also provides a knee rest device control system of a sewing machine, a computer readable storage medium and an electric control knee rest device applied to a sewing machine, which have the above beneficial effects.

Description

Technical Field

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

[0002] Currently, the main method for controlling the presser foot in sewing machines is to use a foot pedal to raise and lower it. However, some processes require the presser foot to be raised when sewing thicker or thicker fabrics. Using a foot pedal to control the presser foot can affect sewing efficiency. Therefore, the process requires the addition of a knee rest device to control the presser foot. Currently, knee rest devices are mainly mechanical or electronic, but they have poor linearity and are not conducive to sewing. Summary of the Invention

[0003] The purpose of this application is to provide a method, system, computer-readable storage medium, and an electronically controlled knee rest device for a sewing machine that can optimize the linear feel of the knee rest device in the sewing machine.

[0004] To solve the above-mentioned technical problems, this application provides a method for controlling the knee rest device of a sewing machine, the specific technical solution of which includes:

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

[0006] Calculate the command height corresponding to the rotation sampling data based on the rotation sampling data;

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

[0008] Optionally, the rotation sampling data is acquired in the following way:

[0009] Set the sampling frequency;

[0010] Rotation sampling data of the knee rest device is periodically acquired at the sampling frequency.

[0011] Optionally, acquiring rotational sampling data of the knee rest device includes:

[0012] Using Hall effect sensors to monitor the rotation angle of the knee rest device;

[0013] The rotation angle is converted into a Hall effect analog quantity by calling the conversion formula; the conversion formula is the conversion relationship between the rotation angle of the knee support device and the corresponding voltage value.

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

[0015] The rotation sampling data is filtered using a filtering calculation formula based on historical rotation sampling data.

[0016] The filtering calculation formula is as follows:

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

[0018] Wherein, KneePressAdcOld is the historical rotation sampling data from the previous sampling, KneePressAdc is the rotation sampling data from the current sampling, and K1 and K2 are the first and second filter scaling factors, respectively.

[0019] Optional, also includes:

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

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

[0022] Determine the motor parameters of the stepper motor;

[0023] The GetPressTheta function is used to calculate the number of pulses required to satisfy the command height based on 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 command height corresponding to the rotation sampling data based on the rotation sampling data includes:

[0025] Substitute the initial voltage sample value and the difference into the height calculation formula to output the command height corresponding to the rotation sample data;

[0026] The formula for calculating the height is:

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

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

[0029] This application also provides a knee support control system for a sewing machine, including:

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

[0031] The instruction height calculation module is used to calculate the instruction height corresponding to the rotation sampling data based on the rotation sampling data.

[0032] The control module is used to calculate the corresponding actual stepper motor position based on the commanded height if the height difference between the commanded height and the current knee rest height is greater than a preset adjustment coefficient height difference, and to control the stepper motor of the knee rest device to run based on the actual stepper motor position.

[0033] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method for the knee rest device of a sewing machine as described above.

[0034] This application also provides an electronically controlled knee rest device for a sewing machine, including a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it implements the steps of the knee rest device control method for the sewing machine as described above.

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

[0036] This application acquires rotation sampling data of the knee rest device and compares it with historical rotation sampling data. The rotation of the knee rest device is converted into an analog quantity for calculation. 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 adjustment coefficient, the stepper motor is controlled accordingly. Stepper motor control of the presser foot can be applied without adding complex components. The position of the stepper presser foot is controlled by mapping the rotation sampling data of the knee rest device, which improves the linearity of the stepper motor's movement and ensures the stable operation of the stepper motor, thereby improving the sewing effect and sewing efficiency.

[0037] This application also provides a control 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 have the aforementioned beneficial effects, and will not be elaborated here. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0039] Figure 1 A flowchart illustrating a method for controlling a knee rest device of a sewing machine, provided as an embodiment of this application;

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

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

[0042] Figure 4 This is a structural diagram of an electronically controlled knee rest device for a sewing machine, provided in an embodiment of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

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

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

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

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

[0048] S103: Calculate the command height corresponding to the rotation sampling data based on the rotation sampling data;

[0049] S104: If the height difference between the commanded height and the current knee rest height is greater than the preset adjustment coefficient height difference, calculate the corresponding actual stepper motor position based on the commanded height, and control the stepper motor of the knee rest device to run 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 typically includes a knee rest plate, a control lever, a rotating shaft, and a rotating crank fixed on the rotating shaft. The presser foot is lifted by the artificial knee resting against the knee rest plate, which actuates the control lever.

[0051] When the operator pushes the knee rest plate with their knee, the knee rest plate drives the rotating block to rotate around the fixed axis through the connecting rod, which in turn drives the sensing sensor or the sensed component to rotate together, thereby controlling the action of the presser foot lifting drive source and thus lifting the presser foot.

[0052] The rotation sampling data obtained in step S101 mainly refers to the rotation angle data of the knee support device. In the practical application of this embodiment, since the sewing machine is in a continuous working state, the corresponding knee support 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 one feasible implementation, a sampling frequency can be preset to periodically acquire rotational sampling data of the knee rest device, thereby repeatedly applying this embodiment to ensure smooth operation of the knee rest device throughout all sewing operations. The sampling frequency is not limited here; for example, it can be set to 1 ms / time.

[0054] When acquiring rotation sampling data, a Hall sensor can be used to monitor the rotation angle of the knee rest device, and then a conversion formula can be used to convert the rotation angle into a Hall analog quantity. The conversion formula is the conversion relationship between the rotation angle of the knee rest device and the corresponding voltage value.

[0055] In one feasible implementation, 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 during the rotation sampling data sampling process, thereby improving response speed and stability.

[0056] The filter calculation formula is:

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

[0058] Wherein, KneePressAdcOld represents the historical rotation sampling data from the previous sampling, KneePressAdc represents the rotation sampling data from the current sampling, and K1 and K2 are the first and second filter scaling coefficients, respectively. K1 and K2 are not specifically limited here; they determine the weights of the rotation sampling data and the historical rotation sampling data. A larger K1 focuses more on the rotation sampling data; a larger K2 focuses more on the historical rotation sampling data. By adjusting these two coefficients, smoothing of the rotation sampling data can be achieved, thereby reducing the impact of noise and latency.

[0059] After calculating the commanded height, a comparison needs to be made between the current knee rest height and the commanded height. In practical sewing machine applications, the analog knee rest position can fluctuate significantly, making real-time stepper motor position assignment prone to issues like stepper motor jitter and abnormal noise. Therefore, the actual stepper motor position can only be calculated based on the commanded height when the difference between the current knee rest height and the commanded height is greater than a preset adjustment coefficient (i.e., PressHeightOld - PressHeight > K), where PressHeightOld is the current knee rest height and KneePressHeight is the commanded height.

[0060] There is no limitation on how the preset adjustment height difference is determined; the preset adjustment coefficient height difference can be obtained or set. The smaller the preset adjustment coefficient height difference, the stronger the linearity of the stepper motor operation of the knee rest device.

[0061] In one feasible implementation, the actual stepper motor position can be calculated as follows:

[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 based on the command height and the motor parameters, and then determine the actual stepper motor position based on the number of pulses.

[0064] A stepper motor is an open-loop control element that converts electrical pulse signals into angular or linear displacement. Under non-overload conditions, the speed and stopping position of a stepper motor depend only on the frequency and number of pulse signals, and are unaffected by load changes. When a stepper driver receives a pulse signal, it drives the stepper motor to rotate a fixed angle in a set direction, called the "step angle".

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

[0066] The required number of pulses can then be calculated based on the command height and the stepper motor's step angle. For example, if the command height is 100mm and the stepper motor's step angle is 1.8°, then the required number of pulses is 100mm divided by the linear displacement of the stepper motor per revolution (i.e., the stepper motor's pitch), multiplied by 360°, and finally divided by the step angle. The GetPressTheta function converts the command height into the angle 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 one feasible implementation, when calculating the command height corresponding to the rotation sampling data based on the rotation sampling data, the initial voltage sampling value and the difference can be substituted into the height calculation formula to output the command height corresponding to the rotation sampling data.

[0069] The formula for calculating height is:

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

[0071] Wherein, 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-back height.

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

[0073] This application embodiment acquires rotation sampling data of the knee rest device and compares it with historical rotation sampling data. The rotation of the knee rest device is converted into an analog quantity for calculation. 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 adjustment coefficient, the stepper motor is controlled accordingly. Stepper motor control of the presser foot can be applied without adding complex components. The position of the stepper presser foot is controlled by mapping the rotation sampling data of the knee rest device, which improves the linearity of the stepper motor's movement and ensures the stable operation of the stepper motor, thereby improving the sewing effect and sewing efficiency.

[0074] See Figure 2 , Figure 2 A flowchart illustrating another method for controlling a knee rest device of a sewing machine provided in an embodiment of this application. Figure 2 Taking a sampling frequency of 1ms as an example, the specific application process of the control method for the knee support device of the sewing machine provided in this application is disclosed.

[0075] Step 1: Determine if the current time meets the 1ms sampling frequency; if yes, proceed to Step 2; if no, proceed to Step 3.

[0076] The second step is to collect rotational sampling data using the knee-rest 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 if the height difference between the commanded height and the current knee rest height is greater than the preset adjustment coefficient height difference, i.e., PressHeightOld - KneePressHeight>K? If yes, proceed to step 1; if no, proceed to step 8.

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

[0084] Step 8: Determine if the sewing operation is finished; if so, end the process; otherwise, return to step 1.

[0085] This embodiment uses an algorithm to control and optimize the stepper motor of the knee rest, resulting in better linearity of the knee rest control for lifting the pressure foot, reducing stepper motor jitter, and thus ensuring stable operation of the stepper motor.

[0086] See Figure 3 , Figure 3 This application provides a schematic diagram of a control system for a knee rest device of a sewing machine, as shown in the embodiments of this application. This application also provides a control system for a knee rest device of a sewing machine, comprising:

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

[0088] The instruction height calculation module is used to calculate the instruction height corresponding to the rotation sampling data based on the rotation sampling data.

[0089] The control module is used to calculate the corresponding actual stepper motor position based on the commanded height if the height difference between the commanded height and the current knee rest height is greater than a preset adjustment coefficient height difference, and to control the stepper motor of the knee rest device to run based on the actual stepper motor position.

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

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

[0092] Based on the above embodiments, 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 support device using a Hall sensor; the rotation angle is converted into a Hall analog quantity by calling a conversion formula; the conversion formula is the conversion relationship between the rotation angle of the knee support device and the corresponding voltage value.

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

[0095] The filtering module is used to filter the rotation sampling data by calling the filtering calculation formula based on the historical rotation sampling data.

[0096] The filtering calculation formula is as follows:

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

[0098] Wherein, KneePressAdcOld is the historical rotation sampling data from the previous sampling, KneePressAdc is the rotation sampling data from the current sampling, and K1 and K2 are the first and second filter scaling factors, respectively.

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

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

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

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

[0103] The GetPressTheta function is used to calculate the number of pulses required to satisfy the command height based on 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] The command height calculation unit is used to substitute the initial voltage sampling value and the difference into the height calculation formula, and output the command height corresponding to the rotation sampling data.

[0106] The formula for calculating the height is:

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

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

[0109] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0110] This application also provides an electrically controlled knee rest device for use in a sewing machine, see [link to relevant documentation]. Figure 4This application provides a structural diagram of an electronically controlled knee rest device for a sewing machine, as shown in the embodiment. Figure 4 As shown, it may include a processor 1410 and a memory 1420.

[0111] The processor 1410 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 1410 may be implemented using at least one hardware form selected from 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, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 1410 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 1410 may also include an AI (Artificial Intelligence) processor, which is used to handle computational 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 high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 1420 is used to store at least the following computer program 1421, which, after being loaded and executed by the processor 1410, is capable of implementing the relevant steps in the control method for the knee rest device of the sewing machine disclosed in any of the foregoing 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. The operating system 1422 may include Windows, Linux, Android, etc.

[0113] In some embodiments, the electronically controlled knee rest device applied to 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 electrically controlled knee rest device for a sewing machine shown does not constitute a limitation on the electrically controlled knee rest device for a sewing machine in the embodiments of this application. In practical applications, the electrically controlled knee rest device for a sewing machine may include more than […]. Figure 4 More or fewer components as shown, or combinations of certain components.

[0115] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. As the system provided in the embodiments corresponds to the method provided in the embodiments, the description is relatively simple; relevant parts can be found in the method section.

[0116] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0117] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for controlling a knee rest device in a sewing machine, characterized in that, include: Acquire rotation sampling data of the knee rest device and the current knee rest height; The rotation sampling data is filtered using a filtering calculation formula based on historical rotation sampling data. The filtering calculation formula is: KneePressAdc = K1*KneePressAdcOld / (1-K2); where KneePressAdcOld is the historical rotation sampling data at the last sampling time, K1 and K2 are the first filtering ratio coefficient and the second filtering ratio coefficient, respectively; KneePressAdc is the rotation sampling data at the current sampling time; Calculate the command height corresponding to the rotation sampling data based on the rotation sampling data; If the height difference between the commanded height and the current knee rest height is greater than the preset adjustment coefficient height difference, the corresponding actual stepper motor position is calculated based on the commanded height, and the stepper motor of the knee rest device is controlled to run based on the actual stepper motor position. The method for acquiring the rotation sampling data is as follows: Set a sampling frequency; periodically acquire rotation sampling data of the knee rest device at the sampling frequency; The acquisition of rotation sampling data for the knee rest device includes: The rotation angle of the knee support device is monitored using a Hall sensor; the rotation angle is converted into a Hall analog quantity using a conversion formula; the conversion formula is the conversion relationship between the rotation angle of the knee support device and the corresponding voltage value. The calculation of the command height corresponding to the rotation sampling data based on the rotation sampling data includes: Substitute the initial voltage sample value and the height difference into the height calculation formula to output the command height corresponding to the rotation sample data; The formula for calculating the height is: KneePressHeight= (AD_STAR-KneePressAdc) / AdHeight; Where KneePressHeight is the command height, AD_STAR is the initial voltage sampling value, and AdHeight is the height difference.

2. 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, the stronger the linearity of the stepper motor operation of the knee support device.

3. The knee support device control method according to claim 1, characterized in that, The stepper motor position calculated based on the command height includes: Determine the motor parameters of the stepper motor; The GetPressTheta function is used to calculate the number of pulses required to satisfy the command height based on the command height and the motor parameters, and the actual stepper motor position is determined based on the number of pulses.

4. A knee rest device control system for a sewing machine, applied to the knee rest device control method of the sewing machine according to any one of claims 1-3, characterized in that, include: The data acquisition module is used to acquire rotation sampling data of the knee rest device and the current knee rest height; The instruction height calculation module is used to calculate the instruction height corresponding to the rotation sampling data based on the rotation sampling data. The control module is used to calculate the corresponding actual stepper motor position based on the commanded height if the height difference between the commanded height and the current knee rest height is greater than a preset adjustment coefficient height difference, and to control the stepper motor of the knee rest device to run based on the actual stepper motor position.

5. An electrically controlled knee rest device for use in a sewing machine, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the method as claimed in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the steps of the method as described in any one of claims 1 to 3.

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