Collaborative control method and device for sticker cutting tube machine, electronic equipment and storage medium

Abstract

The application provides a sticker pipe cutting machine cooperative control method and device, electronic equipment and storage medium, and relates to the technical field of sticker pipe cutting machine control. The method comprises the following steps: obtaining sticker material state information, slitting mechanism state information and pipe material rotating mechanism state information, and recording abnormal information; obtaining event information according to the abnormal information; matching the corresponding cooperative processing strategy from the preset abnormal processing strategy library according to the analyzed event information; generating the cooperative motion control instruction for the sticker mechanism, the slitting mechanism and the pipe material rotating mechanism according to the selected cooperative processing strategy; and adjusting the mechanism motion state by issuing the cooperative motion control instruction to the motion controller of the corresponding mechanism. The method of the application solves the problem that the traditional control mode of global shutdown or simple linkage leads to a large number of defective products and unnecessary downtime, more effectively handles the abnormality, and maximally reduces the defective products and downtime.

Description

Technical Field

[0001] This invention relates to the field of sticker tube cutting machine control technology, and more specifically, to a collaborative control method, device, electronic device, and storage medium for a sticker tube cutting machine. Background Technology

[0002] In modern automated production lines, to improve production efficiency, it is often necessary to integrate multiple processing functions at a single workstation. For processing single tubes of a certain length, a common requirement is to affix labels or decorative stickers to their surface and then cut them into short tubes of predetermined lengths. To maximize production efficiency, the labeling and cutting processes are usually designed to overlap in time within the same workstation area.

[0003] In this overlapping process, the sticker applicator peels and applies a predetermined length of sticker from the sticker roll to the surface of the rotating tube. As the tube rotates, the sticker gradually covers its circumference. Simultaneously, the slitting mechanism prepares for or begins cutting at a designated axial position on the tube before the sticker material is fully applied. This tight temporal overlap and spatial proximity require extremely precise spatiotemporal coordination control of the tube's rotation speed, the sticker material supply rate, the precise sticker application position, and the movement trajectory and timing of the slitting cutter. Even a slight deviation or abnormality in any of these steps can quickly affect the entire processing, leading to product quality issues.

[0004] In actual high-speed production processes, several abnormal situations can lead to process interruptions or defective products. First, the sticker material itself may have inherent quality defects, such as uneven thickness or strength, uneven edges, roll joints, or pre-existing micro-tears. Furthermore, during the high-speed peeling of the sticker material from the roll, its passage through the guiding mechanism, and its application, fluctuations in unwinding tension, friction, or instantaneous speed changes can cause accidental tearing or breakage. When the sticker material tears or breaks, the sticker application mechanism cannot apply the complete sticker segment to the tube surface as planned, potentially resulting in partial or complete sticker loss or significant misalignment of the sticker's start or end position. If the slitting mechanism continues to cut according to the predetermined sequence or position, it will cut at the wrong axial position on the tube or in an area not covered by sticker, rendering that section of tube a defective product that does not meet quality requirements and requires scrapping, resulting in material and production cost losses.

[0005] To avoid such losses, the status of the sticker material needs to be monitored in real time during the sticker application and slitting processes. When abnormal conditions such as tearing or breaking of the sticker material are detected, traditional automated production line control systems typically employ a simple and crude approach: immediately stopping the entire production 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 gained from process overlap, a more intelligent and refined job scheduling method is needed. This method should not simply involve a global shutdown when an abnormality in the sticker material is detected; instead, it should respond quickly based on the type of abnormality, the precise time of occurrence of the abnormality, and the current rotation status of the tube, the feed status of the sticker mechanism, and the movement status of the slitting cutter.

[0006] Besides issues with the sticker material, malfunctions in the slitting mechanism itself can also directly impact product quality and subsequent production processes. In scenarios where sticker application and slitting processes overlap at the same workstation on pipes, these two processing steps are highly coupled and interdependent. An malfunction in one step can quickly trigger a chain reaction, affecting the other.

[0007] Therefore, traditional independent control or simple linkage control is insufficient to effectively address the situation. Existing job scheduling methods often lack the ability to fuse information from multiple sensors in real time, and are also unable to quickly calculate and issue coordinated motion control commands based on dynamically changing anomalies and equipment status within a very short timescale. This results in slow system response when anomalies occur, often leading to inefficient measures such as a complete shutdown, or an inability to effectively intervene, resulting in a large number of defective products. Summary of the Invention

[0008] The purpose of this invention is to provide a collaborative control method, device, electronic device, and storage medium for a sticker cutting machine, which solves the problem of generating a large number of defective products and unnecessary downtime caused by traditional control methods that use global shutdown or simple linkage. It can quickly respond to anomalies without completely interrupting the process, thereby handling anomalies more effectively and minimizing defective products and downtime.

[0009] In a first aspect, the present invention provides a collaborative control method for a sticker tube cutting machine, which is applied to a sticker tube cutting machine that integrates labeling and cutting functions. The sticker tube cutting machine is used as a separate station to cut the tube into multiple small segments while labeling the tube.

[0010] The collaborative control method for sticker cutting tube machines includes the following steps:

[0011] The system acquires real-time status information of sticker materials, cutting mechanism, and tube rotation mechanism to determine whether any abnormal events have occurred, and records the abnormal information when such events occur.

[0012] Based on the anomaly information, obtain event information including the anomaly type, occurrence time, sticker mechanism status, slitting mechanism status, and tube rotation mechanism status;

[0013] Based on the parsed event information, the corresponding collaborative processing strategy is matched from the preset exception handling strategy library; the exception handling strategy library stores collaborative processing strategies for different exception types, different occurrence times, and different combinations of organizational states.

[0014] Based on the selected collaborative processing strategy, generate collaborative motion control commands for the sticker-making mechanism, the cutting mechanism, and the tube rotation mechanism;

[0015] The motion state of the mechanisms is adjusted by sending coordinated motion control commands to the motion controllers of the sticker mechanism, the slitting mechanism, and the tube rotation mechanism.

[0016] The collaborative control method for a sticker cutting machine provided by this invention enables dynamic collaborative scheduling of sticker supply, pipe rotation, and cutting tool movement when sticker material abnormalities (such as tearing or breakage) or cutting mechanism abnormalities (such as tool status or movement trajectory deviation) occur in high-speed production mode where sticker and cutting processes overlap at the same workstation. This is based on real-time perception of the type of abnormality, the time of occurrence, and the current status of each actuator (sticker, cutter, and pipe). This minimizes defective products and downtime.

[0017] Secondly, the present invention provides a collaborative control device for a sticker tube cutting machine, which is applied to a sticker tube cutting machine that integrates labeling and cutting functions. The sticker tube cutting machine is used as a separate station to cut the tube into multiple small segments while labeling the tube.

[0018] The sticker cutting tube machine collaborative control device includes:

[0019] The recording module is used to acquire real-time status information of sticker materials, cutting mechanism, and tube rotation mechanism to determine whether an abnormal event has occurred, and to record the abnormal information when an abnormal event occurs.

[0020] The acquisition module is used to acquire event information, including the exception type, occurrence time, sticker mechanism status, slitting mechanism status, and tube rotation mechanism status, based on the exception information.

[0021] The matching module is used to match the corresponding collaborative processing strategy from the preset exception handling strategy library based on the parsed event information. The exception handling strategy library stores collaborative processing strategies for different exception types, different occurrence times, and different combinations of organizational states.

[0022] The generation module is used to generate coordinated motion control commands for the sticker mechanism, the cutting mechanism, and the tube rotation mechanism based on the selected coordinated processing strategy.

[0023] The control module is used to adjust the motion state of the mechanism by sending coordinated motion control commands to the motion controllers of the sticker mechanism, the slitting mechanism, and the tube rotation mechanism.

[0024] Thirdly, the present invention provides an electronic device including a processor and a memory, the memory storing computer-readable instructions, which, when executed by the processor, perform the steps of the sticker cutting machine collaborative control method provided in the first aspect above.

[0025] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the sticker cutting machine collaborative control method provided in the first aspect above.

[0026] As can be seen from the above, the collaborative control method for the sticker cutting machine provided by this invention, through the construction of an event-driven collaborative scheduling method, achieves rapid and accurate perception of abnormalities in the overlapping sticker application and slitting processes at the same workstation of the pipe. Based on abnormal event information and the real-time status of each actuator, this method can select the optimal collaborative processing strategy from a preset or dynamically generated strategy library and issue control commands in real time to dynamically adjust the sticker supply, pipe rotation, and the movement of the slitting tool. Compared with traditional global shutdown or simple linkage methods, this invention can provide refined, non-global responses based on abnormal situations, significantly improving the efficiency of abnormal handling, minimizing the generation of defective products, reducing unnecessary downtime, and thus greatly improving the overall stability and production efficiency of the automated production line.

[0027] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0028] Figure 1 This is a flowchart of a collaborative control method for a sticker cutting machine provided in an embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram of the structure of the sticker cutting machine in preparation for processing according to an embodiment of the present invention.

[0030] Figure 3 This is a schematic diagram of the sticker cutting machine in operation according to an embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram of a collaborative control device for a sticker cutting tube machine provided in an embodiment of the present invention.

[0032] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0033] Label Explanation:

[0034] 1. Raw material input device; 2. Pipe to be processed; 3. Stickering mechanism; 4. Positioning rotary shaft; 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. Pushing module; 13. Electronic equipment; 1301. Processor; 1302. Memory; 1303. Communication bus. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0036] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] In modern automated production lines, to improve production efficiency, it is often necessary to integrate multiple processing functions at a single workstation. For processing single tubes of a certain length, a common requirement is to affix labels or decorative stickers to their surface and then cut them into short tubes of predetermined lengths. To maximize production efficiency, the labeling and cutting processes are usually designed to overlap in time within the same workstation area.

[0038] Specifically, in this overlapping process, the sticker applicator peels and applies a predetermined length of sticker from the sticker roll to the surface of the rotating tube. As the tube rotates, the sticker gradually covers its circumference. Simultaneously, the slitting mechanism, such as a high-speed flying shear or other suitable cutting device, prepares for or begins cutting at a designated axial position on the tube before the sticker material is fully applied. This tight temporal overlap and spatial proximity require extremely precise spatiotemporal coordination control of the tube's rotation speed, the sticker material supply rate, the precise sticker application position, and the movement trajectory and timing of the slitting cutter. Even a slight deviation or abnormality in any of these steps can quickly affect the entire processing, leading to product quality issues.

[0039] However, in actual high-speed production processes, several abnormal situations can lead to process interruptions or defective products. First, the sticker material itself may have inherent quality defects, such as uneven thickness or strength, uneven edges, roll joints, or pre-existing micro-tears. Furthermore, during the high-speed peeling of the sticker material from the roll, its passage through the guiding mechanism, and its application, fluctuations in unwinding tension, friction, or instantaneous speed changes can cause accidental tearing or breakage. When the sticker material tears or breaks, the sticker application mechanism will be unable to apply the complete sticker segment to the tube surface as planned, potentially resulting in partial or complete sticker loss on the tube, or significant misalignment of the sticker's start or end position.

[0040] If the slitting mechanism continues to cut according to the predetermined sequence or position, it will cut at the wrong axial position of the pipe or in an area not covered by the sticker, causing that section of pipe to become a defective product that does not meet quality requirements and needs to be scrapped, resulting in material and production cost losses. To avoid such losses, the status of the sticker material needs to be monitored in real time during the sticker application and slitting process. 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, or whether there are tears, edge alignment, etc.

[0041] When abnormal conditions such as tearing or breaking of sticker material are detected, traditional automated production line control systems typically employ a simplistic and brutal approach: immediately halting the entire production 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 derived from process overlap, a smarter and more refined job scheduling method is needed. This method should not merely shut down the entire line when an abnormality in the sticker material is detected. Instead, it should respond quickly based on the type of abnormality (e.g., a minor tear or a complete break), the precise time of occurrence (e.g., early, middle, or late in the sticker application process), and the current rotational state of the tube, the feeding state of the sticker mechanism, and the movement of the slitting cutter. For example, if the abnormality occurs early in the sticker application process, the scheduling method might instruct the sticker mechanism to immediately stop supplying material and notify the slitting mechanism to cancel the scheduled slitting operation on the current tube. If the anomaly occurs when the sticker application process is nearing completion and some stickers have already been applied, the scheduling method may instruct the cutting mechanism to adjust the cutting position, for example, by intelligently moving the cutting point outside the sticker anomaly area, or by specially marking the tube for subsequent manual inspection or rework, while suspending the sticker supply for subsequent tubes until the anomaly is resolved.

[0042] Besides abnormal sticker materials, the slitting mechanism itself may also malfunction. For example, slitting blades may wear down gradually during use, potentially leading to chipping, incomplete cutting, poor cut surface quality, or unstable cutting positions. The drive or motion control system of the slitting blades may also fail, affecting their predetermined motion trajectory and timing accuracy. These slitting anomalies directly impact product quality and subsequent production processes. Sensors, such as cutting force sensors, motor current sensors, and high-speed cameras (for monitoring the cut surface or blade trajectory), are needed to monitor the status of the slitting blades or the cutting process in real time. When a slitting anomaly is detected, the intelligent scheduling method needs to receive this information and dynamically adjust the coordinated actions of sticker application and slitting based on the type of anomaly (e.g., blade wear or trajectory deviation) and the precise time of the anomaly. For example, if an abnormally increased cutting force is detected, it may indicate blade wear. The scheduling method can then pause the production line after the current pipe is processed for blade inspection or replacement, and may fine-tune the slitting parameters of the current pipe to ensure cutting quality as much as possible. If a serious deviation in the tool movement trajectory is detected during the cutting process, the scheduling method may immediately stop the current slitting action, send a pause supply instruction to the labeling mechanism, mark the current tube as a defective product, and may trigger an alarm or shutdown process for troubleshooting.

[0043] In scenarios where the labeling and slitting processes overlap at the same workstation on pipes, the actions of these two processing steps are highly coupled and interdependent. An anomaly in one step can quickly trigger a chain reaction, affecting the other. Therefore, traditional independent control or simple linkage control is insufficient to effectively address this issue. Existing job scheduling methods often lack the ability to fuse information from multiple sensor sources in real time and struggle to quickly calculate and issue coordinated motion control commands based on dynamically changing anomalies and equipment status within a very short timescale. This results in a slow system response when anomalies occur, often leading to inefficient measures such as a complete line shutdown, or an inability to effectively intervene, resulting in a large number of defective products.

[0044] Therefore, how to establish a robust and responsive anomaly detection, diagnosis, and collaborative scheduling mechanism in a high-speed, overlapping production mode, so as to ensure that the entire processing can quickly adapt and minimize defect rates and downtime when uncertainties or anomalies occur in some systems, 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.

[0045] For reference, see the appendix. Figure 1 This invention provides a collaborative control method for a sticker tube cutting machine, which is applied to a sticker tube cutting machine that integrates labeling and cutting functions. The sticker tube cutting machine is used as a separate station to cut the tube into multiple small segments while labeling the tube.

[0046] The collaborative control method for sticker cutting tube machines includes the following steps:

[0047] The system acquires real-time status information of the sticker material, the cutting mechanism, and the tube rotation mechanism to determine if any abnormal events have occurred, and records the abnormal information when such events occur. Specifically, it acquires the status information of the sticker material, the cutting mechanism, and the tube rotation mechanism, and generates an abnormal event that includes the abnormality type, the occurrence timestamp, and the mechanism status information. The mechanism status information includes the status codes and status values ​​of the sticker mechanism, the cutting mechanism, and the tube rotation mechanism.

[0048] By parsing the abnormal events in the abnormal information, we can obtain event information including the abnormal type, occurrence time, sticker mechanism status, cutting mechanism status, and pipe rotation mechanism status.

[0049] Based on the parsed event information, the corresponding collaborative processing strategy is matched from the preset exception handling strategy library; the exception handling strategy library stores collaborative processing strategies for different exception types, different occurrence times, and different combinations of organizational states.

[0050] Based on the selected collaborative processing strategy, generate collaborative motion control commands for the sticker-making mechanism, the cutting mechanism, and the tube rotation mechanism;

[0051] The motion state of the mechanisms is adjusted by sending coordinated motion control commands to the motion controllers of the sticker mechanism, the slitting mechanism, and the tube rotation mechanism.

[0052] For details, please refer to the appendix. Figure 2 and attached Figure 3 The sticker tube cutter includes:

[0053] Raw material input device 1 is used to load the pipe material 2 to be processed;

[0054] The sticker mechanism 3 is capable of reciprocating in the left-right direction. When the sticker mechanism 3 moves toward the processing position, the tube 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 tube rotation mechanism with a positioning rotating shaft 4, a cutting mechanism 5, and a conveyor belt 6. The tube 2 to be processed is fitted into the positioning rotating shaft 4, and the positioning rotating shaft 4 drives the tube 2 to rotate by rotating. The cutting mechanism 5 is equipped with multiple adjustable cutters 51 spaced apart. The conveyor belt 6 is used to place the sticker 7 to be pasted. The sticker 7 is fed into the designated position in the left-right direction. Then, the sticker-applying mechanism 3 feeds the sticker 7 into the designated position in the front-back direction and presses it onto 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. While the sticker 7 is being applied, the cutting mechanism 5 controls the cutting machine 51 to cut the portion of the pipe 2 with the sticker 7 already applied. As the pipe 2 rotates, it is gradually divided. The cutting of the pipe 2 is completed simultaneously with the application of the sticker 7. After processing is completed, the sticker-applying mechanism 3 moves away from the processing position, so that the multiple finished segments obtained by cutting are no longer fitted onto the positioning rotating shaft 4. The multiple finished segments are finally sent out of the processing position and collected.

[0055] Acquiring information on the status of sticker materials, slitting mechanisms, and tube rotation mechanisms refers to using sensors or other detection methods to perceive in real time the physical properties of the sticker material (such as tension, position, and integrity), the operating status of the slitting mechanism (such as tool status and motion accuracy), and the motion status of the tube (such as rotation angle and speed). This can be achieved using various industrial sensors, vision inspection systems, encoders, etc., such as tension sensors, displacement sensors, vision sensors, force sensors, encoders, vibration sensors, rotary encoders, and accelerometers. It is mainly used to acquire real-time operational data of key stages in the production process, providing basic information for anomaly detection. Generating anomaly events containing anomaly type, occurrence timestamp, and mechanism status information involves analyzing and judging the collected status information. When an anomaly is detected, it is encapsulated into a data packet according to a predefined format, containing the specific category of the anomaly, the time of occurrence, and detailed operational status data of the relevant mechanisms at that time. This can be achieved using data processing modules and event encapsulation modules. It is mainly used to transform scattered real-time status data into standardized, traceable anomaly signals for easier subsequent unified processing. An exception handling strategy library refers to a pre-established database or rule set that stores the optimal response plan or action sequence for different exception scenarios (defined by a combination of exception type, occurrence time, and mechanism state). It can be implemented using a database system or rule engine, and its main purpose is to store and manage preset processing logic for complex exceptions, avoiding ad-hoc decisions. Matching the corresponding collaborative processing strategy refers to searching the exception handling strategy library for the most suitable or appropriate processing plan based on the received exception event information. This can be implemented using matching algorithms and query modules, and its main purpose is to quickly locate the preset optimal processing plan based on real-time exception scenarios. Generating collaborative motion control commands for the sticker mechanism, slitting mechanism, and pipe rotation mechanism refers to calculating and generating control signals or command sequences that guide the coordinated actions of these mechanisms based on the matched collaborative processing strategy. This can be implemented using motion planning modules and command generation modules, and its main purpose is to transform abstract processing strategies into executable, coordinated motion control commands for each mechanism. Sending control commands to motion controllers to adjust the motion state of the mechanisms refers to sending the generated coordinated motion control commands to the corresponding motion controllers of each mechanism through the communication interface. The controllers then execute the commands to change or adjust the operating state (such as speed, position, start and stop) of the sticker mechanism, slitting mechanism, and tube rotation mechanism. This can be achieved using communication modules and motion controllers. The main purpose is to transmit control commands to the actuators to achieve real-time intervention and adjustment of the production process.

[0056] The working principle of this invention is to establish an event-driven closed-loop control method. During normal pipe labeling and slitting / overlapping processing, each actuator (labeling mechanism, slitting mechanism, pipe rotation mechanism) operates at high speed according to a preset cooperative motion curve. Simultaneously, various sensors deployed at key locations continuously monitor the labeling material status, the slitting mechanism status, and the precise position and speed of the pipe. When any sensor detects an anomaly that deviates from its normal state (e.g., a photoelectric sensor array detects discontinuity in the labeling material, or a cutting force sensor detects an abnormal load), a standardized anomaly event containing detailed anomaly information (type, time, location, and relevant equipment status) is immediately generated and sent to the event bus. The anomaly event is received and parsed by real-time monitoring of the event bus. Based on the event information, the most suitable cooperative processing strategy for the current situation (anomaly type, occurrence time, and current status of each mechanism) is searched or calculated from the anomaly handling strategy library. This strategy defines the cooperative actions that each actuator should take after an anomaly occurs (e.g., the labeling mechanism stops feeding, the slitting mechanism cancels cutting, the pipe stops rotating, or its position is adjusted). The system then generates corresponding dynamic control commands, which are transmitted in real time to the motion controllers of each actuator via the industrial communication network. Upon receiving the commands, the controllers of each actuator immediately adjust their motion state, thereby achieving a rapid and coordinated response to abnormal situations, avoiding simple shutdowns or the generation of defective products, and maximizing the continuity and efficiency of the production process.

[0057] 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. Based on event information including the occurrence time and detailed status of each mechanism, it intelligently matches collaborative processing strategies from a preset strategy library for different scenario combinations, thereby generating and issuing collaborative motion control commands for multiple mechanisms. This enables rapid and refined handling of abnormal situations in the overlapping process mode of the sticker 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.

[0058] Specifically, this method first acquires real-time operational status information of the sticker material, slitting mechanism, and tube rotating mechanism using various sensors. When an anomaly is detected, the system encapsulates this information, including the type of anomaly, the precise time of occurrence, and the status codes and values ​​of each mechanism at that time, into a standardized anomaly event. This anomaly event is listened to and received by the system, and then parsed to extract key event information. Subsequently, the system uses this detailed event information to search for the most suitable collaborative handling strategy in a pre-defined anomaly handling strategy library. The strategies stored in the strategy library are predefined based on different anomaly types, the timing of anomalies, and the current state combinations of each mechanism, ensuring the relevance of the response. Once a handling strategy is determined, the system generates collaborative motion control commands for the sticker mechanism, slitting mechanism, and tube rotating mechanism based on that strategy. These commands consider the coordination relationship between the mechanisms and aim to respond to anomalies by adjusting their motion states. Finally, the generated coordinated motion control commands are sent to the motion controllers corresponding to each mechanism, and the controllers execute the commands to achieve dynamic adjustment of the motion state of the sticker mechanism, the slitting mechanism and the tube rotation mechanism, such as pausing, decelerating, changing position or canceling the current action, so as to minimize the impact of abnormalities on production.

[0059] As a preferred embodiment, the solution of this application is implemented as follows: An independent anomaly handling module can be set up in the control system of the labeling tube cutting machine. This module receives sensor data and status feedback from the labeling mechanism, the cutting mechanism, and the tube rotation mechanism via an industrial bus or dedicated interface. For example, it can receive data such as label tension, cutting force of the cutting tool, and tube rotation angle. An anomaly handling module internally runs a status monitoring program that continuously analyzes the received data. When data exceeds a preset range or a specific pattern is detected, the program determines that an anomaly has occurred and immediately generates an anomaly event data packet. This data packet contains an anomaly code (indicating the anomaly type), a system timestamp, and detailed status words and values ​​obtained from the controllers of each mechanism. The anomaly event is sent to the strategy matching unit via an internal message queue. The strategy matching unit maintains an anomaly handling strategy table, which is indexed by anomaly type, timestamp range (e.g., early, middle, and late stages of the labeling process), and mechanism status combination. Based on the received anomaly event information, the strategy matching unit queries the strategy table to find the corresponding collaborative processing strategy. For example, if a sticker breakage is detected midway through labeling and the slitting cutter is nearing the end of the tube, the strategy might instruct the labeling mechanism to immediately stop feeding, the slitting mechanism to cancel its current slitting action, and the tube to rotate to a specific position for subsequent processing. The strategy matching unit translates the selected strategy into a series of motion control commands, such as speed commands, position commands, and start / stop commands, for the labeling mechanism, slitting mechanism, and tube rotation mechanism. These commands are packaged and sent to the motion controllers of each mechanism via real-time Ethernet or other industrial communication protocols. The motion controllers receive and execute the commands, thereby achieving coordinated adjustment of the movements of each mechanism.

[0060] Through the above solution, this application can perceive the operating status of the sticker tube cutter in the overlapping mode of integrated labeling and slitting processes in real time. When an abnormality occurs, it can quickly and accurately identify the abnormal situation, and generate and execute refined multi-mechanism collaborative motion control commands based on preset collaborative processing strategies for different situations. This enables dynamic and intelligent response to abnormal situations, effectively avoiding production interruptions and efficiency losses caused by traditional simple shutdown strategies, significantly reducing the defect rate, and improving the stability and production efficiency of the sticker tube cutter in high-speed production mode.

[0061] In some embodiments, the step of acquiring real-time status information of the sticker material, the cutting mechanism, and the tube rotation mechanism to determine whether an abnormal event has occurred, and recording the abnormal information when an abnormal event occurs, includes:

[0062] Using tension sensors, displacement sensors, and vision sensors, the tension value, edge position deviation, and surface defect images 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, the sticker material is determined to be abnormal and recorded as abnormal information.

[0063] 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 the second preset range, the rotational 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.

[0064] Using a rotary encoder and an accelerometer, the rotation angle, angular velocity and axial acceleration of the pipe are acquired in real time. If the deviation between the rotation angle and the target angle exceeds the third preset threshold, the angular velocity fluctuation exceeds the third preset range, or the axial acceleration exceeds the safe range, it is determined that there is an abnormality in the movement of the pipe and it is recorded as abnormal information.

[0065] After logging the exception information, perform the following steps:

[0066] The collected abnormal information is encapsulated according to a predefined event format to generate abnormal events, and the abnormal events are pushed using a message queue middleware. The message queue middleware is configured with a data verification mechanism to verify the accuracy of the timestamps in the abnormal events. If the timestamp deviates from the current system time by more than a fourth preset threshold, the data of each sensor and / or encoder is reacquired and a new abnormal event is generated.

[0067] Message queue middleware refers to a software architecture pattern or platform used to implement asynchronous communication between applications in a distributed system. It can be implemented using technologies such as Kafka, RabbitMQ, or ActiveMQ. Its purpose is to decouple the generation and consumption of abnormal events, improving the system's concurrency and reliability. Data validation mechanisms are logical modules or functions in the data processing flow used to verify whether data conforms to specific rules or requirements. They can be implemented using validation modules built into the message queue consumer or the message queue itself. Their purpose is to ensure the validity and timeliness of received abnormal event data. Timestamp accuracy refers to the proximity of the recorded occurrence time of an abnormal event to the current system time. Its purpose is to assess the timeliness of abnormal events and determine whether they still have reference value. A fourth preset threshold is a pre-defined upper limit for the time difference, used to define the maximum acceptable deviation between the abnormal event timestamp and the current system time. Its purpose is to provide a standard for judging whether an abnormal event is outdated. Reacquiring data from each sensor and / or encoder and generating new abnormal events refers to the repeated execution of the data acquisition and event generation process triggered by the system when an inaccurate timestamp of an abnormal event is detected. Its purpose is to ensure that subsequent processing uses the latest and most accurate abnormal status information.

[0068] This solution integrates multiple sensors to comprehensively perceive the sticker material, cutting mechanism, and pipe movement. Upon detecting an anomaly, it immediately structures and encapsulates the scattered anomaly information into a unified format of anomaly events. These anomaly events are then sent to a message queue middleware. As an asynchronous communication layer, the message queue middleware effectively isolates the generator and consumer of anomaly events. Even if the downstream processing system is temporarily busy or unavailable, anomaly events can be reliably stored and transmitted, preventing event loss. Crucially, before the anomaly event is consumed by the downstream system, the message queue middleware or its supporting mechanisms perform data verification, focusing on checking the timestamp recorded in the anomaly event. By comparing the event timestamp with the current system time and a preset time deviation threshold, it can be determined whether the anomaly event has become outdated or no longer reflects the current true state due to delays in acquisition, encapsulation, or transmission. If the timestamp deviation is too large, indicating insufficient timeliness, the system will determine the event as invalid and trigger a feedback or control process, instructing the data acquisition layer to reacquire the latest sensor data and generate a new anomaly event based on the new data. This new, timestamped anomaly event then re-enters the message queue process. This cyclical verification and retransmission mechanism ensures that only the latest and most relevant anomaly information is received and processed by the downstream anomaly handling strategy matching and collaborative control module. This mechanism effectively overcomes the inherent uncertainties and delays in multi-source data acquisition and transmission, guaranteeing the real-time performance and accuracy of anomaly events. This allows the collaborative control strategy based on these events to respond quickly and accurately to actual anomalies, avoiding erroneous decisions based on outdated information and significantly improving the response speed and control precision of the entire sticker cutting machine collaborative control system.

[0069] In one specific embodiment, the state information of the sticker material can be obtained by acquiring tension values ​​through tension sensors (e.g., strain gauge tension sensors) installed on the sticker path, monitoring the lateral deviation of the sticker edge relative to the predetermined path through displacement sensors (e.g., laser displacement sensors or ultrasonic displacement sensors), and detecting defects such as tears, wrinkles, or stains on the sticker surface through vision sensors (e.g., industrial cameras with image processing algorithms). The state information of the slitting mechanism can be obtained by measuring cutting forces through force sensors (e.g., piezoelectric force sensors) installed on the cutter, monitoring the spindle speed through encoders (e.g., rotary encoders), and detecting abnormal vibration frequencies of the cutter or spindle through vibration sensors (e.g., accelerometers). The tube motion state information can be obtained by acquiring rotation angle and angular velocity through rotary encoders installed on the tube clamping or rotating mechanism, and detecting abnormal axial or radial acceleration of the tube through accelerometers (e.g., triaxial accelerometers). When any sensor data exceeds a preset normal range or threshold, the corresponding anomaly information (e.g., "excessive sticker tension," "abnormal tool speed," "excessive pipe axial vibration") along with the system timestamp at the time of occurrence and the current status code and value of each mechanism are encapsulated into a unified format data packet, such as a JSON object. This JSON object is then sent to a message queue (e.g., a Kafka cluster deployed on a server). At the message queue's consumer end, a data verification service module receives the anomaly event. This module first reads the timestamp field in the event and compares it with the current system time of the server. If the time difference exceeds a preset fourth threshold (e.g., 50 milliseconds), the event is marked as invalid, and a resampling signal is sent to the data acquisition layer. Upon receiving the signal, the data acquisition layer immediately re-acquires the current data from all relevant sensors, generates a new anomaly event, and sends it again to the message queue. If the timestamp verification passes, the event will be further processed, such as being sent to the anomaly handling strategy matching module.

[0070] Through the above technical solution, this application effectively solves the problem of inaccurate abnormal event information caused by the data acquisition and transmission delays of multi-source sensors. By adding a data verification mechanism at the message queue middleware level, especially strictly checking the accuracy of timestamps, and introducing data resampling and event retransmission mechanisms, it ensures that the abnormal events received by the downstream abnormality handling system are up-to-date and valid. This enables the system to quickly match the most suitable collaborative processing strategy based on accurate real-time status information, generate precise collaborative motion control commands, and thus respond promptly and effectively to abnormalities occurring in the movement of sticker materials, cutting mechanisms, or tubes, minimizing the generation of defective products and production interruption time, and improving the stability and production efficiency of the sticker cutting machine under high-speed operation.

[0071] In some embodiments, the data verification mechanism includes:

[0072] The timestamp verification submodule verifies the accuracy of timestamps in abnormal events. If the timestamp deviates from the current system time by more than the fourth preset threshold, the timestamp is determined to be abnormal, and a timestamp abnormality report is generated and sent to the data integrity verification submodule.

[0073] After the data integrity verification submodule receives a timestamp anomaly report, it controls each sensor to re-collect data and regenerate the anomaly event; if no timestamp anomaly report is received, it performs data integrity verification on the status codes and status values ​​of each mechanism in the anomaly event. If there is missing data or incorrect data format, it determines that the data integrity is abnormal, generates a data integrity anomaly report, and sends it to the data consistency verification submodule.

[0074] After the data consistency verification submodule receives a data integrity anomaly report, it controls each sensor to re-collect data and regenerate the anomaly event; if no data integrity anomaly report is received, it performs data consistency verification on the status code and status value of each mechanism in the anomaly 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 determines that the data consistency is abnormal, generates a data consistency anomaly report, and sends it to the timestamp verification submodule.

[0075] After the timestamp verification submodule receives a data consistency error report, it controls each sensor to re-collect data and regenerate the error event; if no data consistency error report is received, it confirms that the error event has been encapsulated and pushes the encapsulated error event.

[0076] The timestamp verification submodule is a functional unit responsible for checking whether the time information recorded in abnormal events is synchronized with the actual system time. The data integrity verification submodule is a functional unit responsible for checking whether the organizational status information in abnormal events is complete and conforms to a predetermined format. The data consistency verification submodule is a functional unit responsible for checking whether there are logical contradictions between the organizational status code and status value in abnormal events. The timestamp verification submodule, data integrity verification submodule, and data consistency verification submodule can all be implemented using software modules, hardware circuits, or a combination of both. The fourth preset threshold is the upper limit of the time deviation used to determine whether a timestamp is abnormal; it can be implemented using a value stored in the configuration parameters. The status code is an identifier used to represent the current operating status of the organization; it can be implemented using enumerated values, integer codes, or strings. The status value is the quantitative data related to the organizational status code; it can be implemented using floating-point numbers, integers, or Boolean values.

[0077] This solution comprehensively ensures the reliability of abnormal events by constructing a multi-level, feedback-enabled data verification mechanism. Specifically, the data verification mechanism first verifies the timestamp of the abnormal event through a 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 determined to be abnormal, and a timestamp abnormality 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 abnormality report, it indicates that the underlying time information of the abnormal event is unreliable. At this point, it directly controls each sensor to re-collect data and regenerate the abnormal event, correcting the error at its source. If no timestamp abnormality report is received, it means the timestamp is normal. In this case, data integrity verification is performed on the mechanism status information (status code and status value) in the abnormal event to check for missing data or format errors. This ensures that the mechanism status information contained in the abnormal event is complete and resolvable. If an integrity abnormality exists, it is determined that the data is abnormal, a data integrity abnormality report is generated, and sent to the data consistency verification submodule. When the data consistency verification submodule receives a data integrity anomaly report, it indicates that the mechanism status information of the abnormal event has an integrity problem. It then controls each sensor to re-collect data and regenerate the abnormal event to ensure data integrity. If no data integrity anomaly report is received, it means the data integrity is normal, and a data consistency verification is performed on the mechanism status information. This verification level checks the logical relationship between the status code and the status value; for example, it determines whether the corresponding status value is within the specified range when the status code indicates a normal state. This can detect cases where the data is complete but logically inconsistent, improving data reliability. If a consistency anomaly exists, it is determined that the data is inconsistent, a data consistency anomaly report is generated, and sent back to the timestamp verification submodule. When the timestamp verification submodule receives a data consistency anomaly report, it indicates that the mechanism status information of the abnormal event has a logical inconsistency. It again controls each sensor to re-collect data and regenerate the abnormal event, forming a verification loop until the generated abnormal event passes all verification stages. Only when the timestamp verification submodule does not receive a data consistency anomaly report is the abnormal event confirmed to have passed all verifications and is reliable. At this point, the abnormal event is encapsulated and pushed out. This progressive, cyclical mechanism of triggering re-collection and verification upon anomaly ensures that only high-quality, reliable anomalies are used for subsequent anomaly handling strategy matching and collaborative control instruction generation, thereby improving the accuracy and robustness of the entire collaborative control method.

[0078] In some embodiments, the step of generating coordinated motion control commands for the sticker-applying mechanism, the slitting mechanism, and the tube-rotating mechanism, based on a selected coordinated processing strategy, includes:

[0079] Based on the selected collaborative processing strategy, the target motion parameters of the sticker mechanism, the slitting mechanism, and the tube rotation mechanism are determined; the target motion parameters include the sticker feed speed, the slitting tool speed, the tube rotation angle, and the acceleration.

[0080] 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.

[0081] The target trajectory points are converted into control commands that can be recognized by the motion controllers of the sticker-making mechanism, the cutting mechanism, and the tube-rotating mechanism. These control commands include position, speed, and torque commands. Based on the response time of each mechanism, the control commands of each mechanism are synchronized and optimized to include time information, resulting in optimized control commands that reduce command conflicts and offset the impact of response delays. The optimized control commands are then used in subsequent steps to send them to the corresponding motion controllers via the industrial communication bus in the order of time information, thereby achieving coordinated motion control of the various mechanisms.

[0082] Motion planning algorithms are methods for calculating the motion path or trajectory of a robot or automated equipment from its current state to a target state. These algorithms can be implemented using interpolation-based methods (such as polynomial interpolation and spline interpolation), optimization-based methods, or search-based methods. Dynamic performance constraints refer to the physical limitations imposed on a mechanism during motion, such as maximum speed, maximum acceleration, maximum jerk, maximum torque, or force. These can be reflected in motion planning algorithms as boundary conditions or limitations. Motion coordination refers to the predetermined temporal and spatial coordination between multiple mechanisms performing collaborative tasks. This can be reflected in motion planning algorithms as the coupling relationship or synchronization requirements of motion parameters between mechanisms. Constraints refer to the interdependence or limitations between the motion parameters of different mechanisms, such as the proportional relationship between the sticker feed speed and the tube rotation angular velocity, or the correspondence between the axial position of the slitting tool and the tube length. These can serve as inputs or internal logic for motion planning algorithms. Synchronization optimization refers to adjusting or arranging the timing or content of control commands based on the response characteristics of each mechanism to ensure that the actual actions of each mechanism reach the desired state within a predetermined time point or time period. This can be achieved through timestamp-based command scheduling, predictive control-based command compensation, or feedback-based command adjustment. Time information refers to the timestamp or time interval data attached to control commands, used to indicate the effective time, execution moment, or duration of the command. It can be transmitted as part of the control command via a communication bus. An industrial communication bus is a network used to connect industrial automation equipment (such as controllers, sensors, and actuators) for data exchange, and can be implemented using standards such as EtherCAT, Profinet, and CANopen.

[0083] This application details how to generate control commands that enable precise coordinated motion of the sticker-applying mechanism, the slitting mechanism, and the tube-rotating mechanism based on a selected anomaly handling strategy. The scheme first determines the target motion states that the sticker-applying mechanism, the slitting mechanism, and the tube-rotating mechanism need to achieve when dealing with specific anomalies, based on the selected coordinated handling strategy. These target motion states are quantified by target motion parameters, such as sticker feed speed, slitting tool speed, tube rotation angle, and acceleration. Determining these target parameters is the foundation for generating specific motion commands, ensuring that the generated commands can guide each mechanism to the state expected 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 during the intermediate process, forming a complete motion curve on the time axis. The unique feature of using the motion planning algorithm is that it can comprehensively consider the dynamic performance constraints of each mechanism as well as the motion coordination requirements between them. By embedding constraints between the motion parameters of each mechanism into the algorithm, the generated trajectory is ensured to be feasible and smooth. This guarantees precise temporal and spatial coordination of the three highly correlated actions: sticker application, slitting, and pipe rotation, avoiding collisions, interference, or timing discrepancies. Especially when rapid adjustments to motion are needed to cope with anomalies, the planned trajectory guides each mechanism to quickly and harmoniously transition to a new state. Finally, the target trajectory points calculated by the motion planning algorithm are converted into control commands that can be directly executed by the motion controllers of each mechanism. These commands typically include position, velocity, and torque commands. To further improve control accuracy and coordination, the scheme also synchronously optimizes the generated control commands based on the response time of each mechanism. This optimization imbues the control commands with precise timing information, indicating when the command should be executed or when a certain state should be reached. This time-informed optimized control command effectively reduces potential conflicts during command transmission via the industrial communication bus and processing in each motion controller, and offsets the impact of response delays caused by the characteristics of different mechanisms or communication latency. The optimized control commands are issued sequentially according to their accompanying time information, ensuring that the actions of each mechanism strictly follow the planned time sequence. This enables precise coordinated motion control of the labeling mechanism, slitting mechanism, and tube rotation mechanism in response to anomalies, minimizing defective products and maintaining smooth production flow. By combining this command generation method with the step of matching collaborative processing strategies based on anomaly events, the system can quickly select an appropriate response strategy when an anomaly is detected, and immediately generate and issue precise and coordinated motion commands. This guides each mechanism to smoothly and quickly transition from its current state to a new target state, effectively avoiding motion deviations caused by differences in mechanism response and command delays. Thus, it can maintain high processing accuracy and production efficiency even when anomalies occur.

[0084] In a specific embodiment, assuming that during the tube labeling process, it is detected that the labeling material is about to break, a coordinated processing strategy is executed: the labeling mechanism immediately stops feeding, the cutting mechanism cancels the cutting of the current tube, and the tube rotation mechanism decelerates. This will generate three control commands:

[0085] Instruction A: The sticker mechanism stops feeding, timestamp T1.

[0086] Instruction B: The slitting mechanism cancels the cutting, timestamp T1+Δt1.

[0087] Instruction C: Pipe rotation mechanism decelerates, timestamp T1+Δt2.

[0088] Where T1 is the time point when the anomaly occurred, and Δt1 and Δt2 are the relative time delays calculated according to the strategy.

[0089] If these instructions are issued out of order (for example, instruction C arrives and is executed before instruction A), the tube may begin to decelerate before the sticker mechanism stops, resulting in uneven sticker application or incorrect placement.

[0090] The method in this embodiment ensures 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 the instructions by timestamp and place them in the queue, allowing the sending program to retrieve and send them sequentially; alternatively, the instructions can explicitly include timestamps, allowing the receiver's motion controller to sort them or determine whether they should be executed on time based on the timestamps. In this way, the sticker-applying mechanism stops at time T1, the cutting mechanism cancels cutting at time T1+Δt1, and the pipe-rotating mechanism decelerates at time T1+Δt2. The actions of each mechanism are strictly executed according to the coordination strategy of the scheduling core, avoiding secondary problems caused by disordered instruction timing and improving the effectiveness of anomaly handling.

[0091] Please refer to Figure 4 , Figure 4 This invention provides a collaborative control device for a tube cutting machine, as described in some embodiments. The device is applied to a tube cutting machine that integrates labeling and slitting functions. The tube cutting machine, as a separate workstation, cuts the tube into multiple segments while simultaneously labeling it. This collaborative control device is integrated into a back-end control device in the form of a computer program, comprising:

[0092] The recording module 100 is used to acquire real-time status information of sticker material, cutting mechanism and tube rotation mechanism to determine whether an abnormal event has occurred, and to record the abnormal information when an abnormal event occurs.

[0093] The acquisition module 200 is used to acquire event information, including the exception type, occurrence time, sticker mechanism status, slitting mechanism status and tube rotation mechanism status, based on the exception information.

[0094] The matching module 300 is used to match the corresponding collaborative processing strategy from the preset exception handling strategy library based on the parsed event information; the exception handling strategy library stores collaborative processing strategies for different exception types, different occurrence times, and different combinations of organizational states.

[0095] The generation module 400 is used to generate coordinated motion control instructions for the sticker mechanism, the cutting mechanism, and the tube rotation mechanism according to the selected coordinated processing strategy.

[0096] The control module 500 is used to adjust the motion state of the mechanism by sending coordinated motion control commands to the motion controllers of the sticker mechanism, the slitting mechanism, and the tube rotation mechanism.

[0097] In some embodiments, a push module 600 is also included, which is used to perform the following steps after recording the abnormal information:

[0098] The collected abnormal information is encapsulated according to a predefined event format to generate abnormal events, and the abnormal events are pushed using a message queue middleware. The message queue middleware is configured with a data verification mechanism to verify the accuracy of the timestamps in the abnormal events. If the timestamp deviates from the current system time by more than a fourth preset threshold, the data of each sensor and / or encoder is reacquired and a new abnormal event is generated.

[0099] Please refer to Figure 5 , Figure 5This is a schematic diagram of the structure of an electronic device provided in 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 mechanism (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 cutting tube collaborative control method in any optional implementation of the above embodiments, thereby achieving the following functions: real-time acquisition of sticker material status information, cutting mechanism status information, and tube rotation mechanism status information, to determine whether... An abnormal event occurs, and the abnormal information is recorded at the time of the event. Based on the abnormal information, event information including the abnormal type, occurrence time, sticker mechanism status, slitting mechanism status, and pipe rotation mechanism status is obtained. Based on the parsed event information, a corresponding collaborative processing strategy is matched from a preset abnormality handling strategy library. The abnormality handling strategy library stores collaborative processing strategies for different abnormality types, different occurrence times, and different combinations of mechanism statuses. Based on the selected collaborative processing strategy, collaborative motion control instructions are generated for the sticker mechanism, slitting mechanism, and pipe rotation mechanism. The mechanism motion status is adjusted by sending the collaborative motion control instructions to the motion controllers of the sticker mechanism, slitting mechanism, and pipe rotation mechanism.

[0100] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it performs the sticker cutting machine collaborative control method in any optional implementation of the above embodiments 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 has occurred, and recording the abnormal information when an abnormal event occurs; based on the abnormal information, acquiring event information including the abnormality type, occurrence time, sticker mechanism status, slitting mechanism status, and tube rotation mechanism status; matching the corresponding collaborative processing strategy from a preset abnormality handling strategy library based on the parsed event information; the abnormality handling strategy library stores collaborative processing strategies for different abnormality types, different occurrence times, and different combinations of mechanism statuses; generating collaborative motion control instructions for the sticker mechanism, slitting mechanism, and tube rotation mechanism based on the selected collaborative processing strategy; and adjusting the mechanism motion state by sending the collaborative motion control instructions to the sticker mechanism motion controller, slitting mechanism motion controller, and tube rotation mechanism motion controller.

[0101] 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 Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0102] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0103] Furthermore, the units described as separate components may or may not be physically separate. 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 can be selected to achieve the purpose of this embodiment according to actual needs.

[0104] Furthermore, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0105] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0106] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should 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 integrating labeling and cutting functions, characterized in that, The labeling and pipe cutting machine is used as a separate station to cut pipes into multiple smaller segments while simultaneously labeling them; The collaborative control method for sticker cutting tube machines includes the following steps: The system acquires real-time status information of sticker materials, cutting mechanism, and tube rotation mechanism to determine whether any abnormal events have occurred, and records the abnormal information when such events occur. Based on the anomaly information, obtain event information including the anomaly type, occurrence time, sticker mechanism status, slitting mechanism status, and tube rotation mechanism status; Based on the parsed event information, the corresponding collaborative processing strategy is matched from the preset exception handling strategy library; the exception handling strategy library stores collaborative processing strategies for different exception types, different occurrence times, and different combinations of organizational states. Based on the selected collaborative processing strategy, collaborative motion control commands are generated for the sticker-applying mechanism, the cutting mechanism, and the tube rotation mechanism. Specific steps include: Based on the selected collaborative processing strategy, the target motion parameters of the sticker mechanism, the slitting mechanism, and the tube rotation mechanism are determined; the target motion parameters include the sticker feed speed, the slitting tool speed, the tube rotation angle, and the 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 target trajectory points are converted into control commands that can be recognized by the motion controllers of the sticker-making mechanism, the cutting mechanism, and the tube-rotating mechanism. These control commands include position, speed, and torque commands. Based on the response time of each mechanism, the control commands of each mechanism are synchronized and optimized to include time information, resulting in optimized control commands. The optimized control commands are then used in subsequent steps to send them to the corresponding motion controllers via the industrial communication bus in the order of time information, thereby achieving coordinated motion control of the various mechanisms. The motion state of the mechanisms is adjusted by sending coordinated motion control commands to the motion controllers of the sticker mechanism, the slitting mechanism, and the tube rotation mechanism.

2. The collaborative control method for a sticker cutting machine according to claim 1, characterized in that, The steps for acquiring real-time status information of sticker materials, cutting mechanisms, and tube rotation mechanisms to determine whether abnormal events have occurred, and recording abnormal information when such events occur, include: Using tension sensors, displacement sensors, and vision sensors, the tension value, edge position deviation, and surface defect images 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, the sticker material is determined to be abnormal and recorded as abnormal information.

3. The collaborative control method for a sticker cutting machine according to claim 1, characterized in that, The steps for acquiring real-time status information of sticker materials, cutting mechanisms, and tube rotation mechanisms to determine whether abnormal events have occurred, and recording abnormal information when such events occur, include: 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 the second preset range, the rotational 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 for a sticker cutting machine according to claim 1, characterized in that, The steps for acquiring real-time status information of sticker materials, cutting mechanisms, and tube rotation mechanisms to determine whether abnormal events have occurred, and recording abnormal information when such events occur, include: Using a rotary encoder and an accelerometer, the rotation angle, angular velocity, and axial acceleration of the pipe are acquired in real time. If the deviation between the rotation angle and the target angle exceeds the third preset threshold, the angular velocity fluctuation exceeds the third preset range, or the axial acceleration exceeds the safe range, it is determined that there is an abnormality in the movement of the pipe and it is recorded as abnormal information.

5. The collaborative control method for a sticker cutting tube machine according to any one of claims 2-4, characterized in that, This also includes performing the following steps after logging the exception information: The collected abnormal information is encapsulated according to a predefined event format to generate abnormal events, and the abnormal events are pushed using a message queue middleware. The message queue middleware is configured with a data verification mechanism to verify the accuracy of the timestamps in the abnormal events. If the timestamp deviates from the current system time by more than a fourth preset threshold, the data of each sensor and / or encoder is reacquired and a new abnormal event is generated.

6. The collaborative control method for a sticker cutting machine according to claim 5, characterized in that, Data verification mechanisms include: The timestamp verification submodule verifies the accuracy of timestamps in abnormal events. If the timestamp deviates from the current system time by more than the fourth preset threshold, the timestamp is determined to be abnormal, and a timestamp abnormality report is generated and sent to the data integrity verification submodule. After the data integrity verification submodule receives a timestamp anomaly report, it controls each sensor and / or encoder to re-acquire data and regenerate the anomaly event; if no timestamp anomaly report is received, it performs data integrity verification on the status code and status value of each mechanism in the anomaly event. If there is missing data or incorrect data format, it determines that the data integrity is abnormal, generates a data integrity anomaly report, and sends it to the data consistency verification submodule. After receiving a data integrity anomaly report, the data consistency verification submodule controls each sensor and / or encoder to re-acquire data and regenerate the anomaly event; if no data integrity anomaly report is received, the status code and status value of each mechanism in the anomaly event are checked for data consistency. 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, the data consistency is determined to be abnormal, and a data consistency anomaly report is generated and sent to the timestamp verification submodule. After the timestamp verification submodule receives a data consistency error report, it controls each sensor and / or encoder to re-acquire data and regenerate the error event; if no data consistency error report is received, it confirms that the error event has been encapsulated and pushes the encapsulated error event.

7. A sticker tube cutting machine collaborative control device employing the collaborative control method for a sticker tube cutting machine as described in any one of claims 1-6, applied to a sticker tube cutting machine integrating labeling and cutting functions, characterized in that, The labeling and pipe cutting machine is used as a separate station to cut pipes into multiple smaller segments while simultaneously labeling them; The sticker cutting tube machine collaborative control device includes: The recording module is used to acquire real-time status information of sticker materials, cutting mechanism, and tube rotation mechanism to determine whether an abnormal event has occurred, and to record the abnormal information when an abnormal event occurs. The acquisition module is used to acquire event information, including the exception type, occurrence time, sticker mechanism status, slitting mechanism status, and tube rotation mechanism status, based on the exception information. The matching module is used to match the corresponding collaborative processing strategy from the preset exception handling strategy library based on the parsed event information. The exception handling strategy library stores collaborative processing strategies for different exception types, different occurrence times, and different combinations of organizational states. The generation module is used to generate coordinated motion control commands for the sticker mechanism, the cutting mechanism, and the tube rotation mechanism based on the selected coordinated processing strategy. The control module is used to adjust the motion state of the mechanism by sending coordinated motion control commands to the motion controllers of the sticker mechanism, the slitting mechanism, and the tube rotation mechanism.

8. An electronic device, characterized in that, It includes a processor and a memory, the memory storing computer-readable instructions, which, when executed by the processor, perform the steps of the sticker cutting machine collaborative control method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the steps in the collaborative control method for the sticker cutting machine as described in any one of claims 1-6.

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