Feeding control method and system of sewing machine, electronic equipment and storage medium

Abstract

The invention discloses a feeding control method and system of a sewing machine, electronic equipment and a storage medium, and belongs to the technical field of sewing machine technologies. The feeding control method of the sewing machine is applied to a controller of the sewing machine, the sewing machine further comprises a main shaft, a machine needle, a stepping motor and a rolling wheel, the main shaft is used for driving the machine needle to sew cloth, and the stepping motor is used for driving the rolling wheel to convey the cloth. The feeding control method of the sewing machine comprises the steps that whether the machine needle is in a lifting state or not is judged; if yes, determining the current angular velocity of the main shaft, and generating motion planning information of a first time period, a second time period and a third time period according to the current angular velocity of the main shaft; and controlling the stepping motor to drive the roller to rotate according to the motion planning information of the first time period, the second time period and the third time period in sequence. The sewing machine can achieve feeding operation synchronous with the main shaft, and the sewing quality is improved.

Description

Technical Field

[0001] This application relates to the field of sewing machine technology, and in particular to a feeding control method, system, electronic device and storage medium for a sewing machine. Background Technology

[0002] A sewing machine uses a rotating spindle to drive the needle in a reciprocating motion, which, in conjunction with the fabric feeding operation, completes the sewing task. However, when the spindle rotates at a high speed, the fabric feeding may become asynchronous, leading to uneven stitching or fabric wrinkles, thus affecting the sewing quality.

[0003] Therefore, how to enable the sewing machine to achieve synchronous feeding operation with the main shaft and improve sewing quality is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a feeding control method, system, electronic device, and storage medium for a sewing machine, which enables the sewing machine to achieve feeding operation synchronized with the main shaft, thereby improving sewing quality.

[0005] To address the aforementioned technical problems, this application provides a feeding control method for a sewing machine, applied to a sewing machine controller. The sewing machine further includes a main shaft, a needle, a stepper motor, and rollers. The main shaft drives the needle to sew the fabric, and the stepper motor drives the rollers to feed the fabric. The feeding control method for the sewing machine includes:

[0006] Determine whether the needle is in a raised state;

[0007] If so, the current angular velocity of the spindle is determined, and motion planning information for a first time period, a second time period, and a third time period is generated based on the current angular velocity of the spindle. The end time of the first time period is the start time of the second time period, and the end time of the second time period is the start time of the third time period. The motion planning information describes the correspondence between the feeding speed and time. The feeding speeds of the first and second time periods are determined based on the current angular velocity of the spindle, and the feeding speed of the third time period is determined based on the feeding speed at the end time of the second time period. The feeding speed of the first time period is positively correlated with time, and the feeding speed of the third time period is negatively correlated with time.

[0008] The stepper motor is controlled to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period.

[0009] Optionally, the stepper motor includes a first stepper motor and a second stepper motor, the roller includes an upper roller and a lower roller, the upper roller and the lower roller are arranged opposite to each other to clamp the fabric, the first stepper motor is used to drive the upper roller, and the second stepper motor is used to drive the lower roller;

[0010] Accordingly, the motion planning information for the first time period, the second time period, and the third time period generated based on the current angular velocity of the main shaft includes:

[0011] Based on the current angular velocity of the main shaft and the size of the upper roller, motion planning information for the first stepper motor in the first time period, the second time period, and the third time period is generated;

[0012] Motion planning information for the second stepper motor in the first time period, the second time period, and the third time period is generated based on the current angular velocity of the spindle and the size of the lower roller.

[0013] The feeding speeds of the first stepper motor and the second stepper motor are equal during the second time period.

[0014] Optionally, motion planning information for a first time period, a second time period, and a third time period is generated based on the current angular velocity of the spindle, including:

[0015] The motion planning information for the second time period is generated based on the current angular velocity of the spindle; wherein, the feeding speed of the second time period is determined by a uniform speed formula, the uniform speed formula is Vstep=Vmain / Kp, where Vstep represents the feeding speed of the second time period, Vmain represents the current angular velocity of the spindle, and Kp represents the step feeding speed coefficient.

[0016] Motion planning information for the first time period is generated based on the current angular velocity of the spindle; wherein, the feeding speed for the first time period is determined by an acceleration formula, the acceleration formula being: Vacc represents the feeding speed in the first time period. Let represent the acceleration value, and t represent the duration from the start of the first time interval to the current time. , Indicates the duration of the first time period;

[0017] Based on the feeding speed at the end of the second time period Generate motion planning information for the third time period; wherein, the feeding speed for the third time period is determined by a deceleration formula, the deceleration formula being: Vt represents the feeding speed in the third time period. This represents the deceleration value, and s represents the distance between the current feeding position and the target feeding position. , This indicates the duration of the third time period.

[0018] Optionally, before generating the motion planning information for the second time period based on the current angular velocity of the main shaft, the method further includes:

[0019] The size of the roller is determined, and the step feeding speed coefficient is determined based on the size of the roller.

[0020] Optionally, controlling the stepper motor to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period includes:

[0021] The stepper motor is controlled to drive the roller to rotate according to the motion planning information of the first time period, and the driving duration is recorded;

[0022] If the driving duration is equal to the duration of the first time period Then, the stepper motor is controlled to drive the roller to rotate according to the motion planning information of the second time period;

[0023] The reference speed is calculated based on the distance between the current feeding position and the target feeding position. The reference speed The calculation formula is: ;

[0024] If the reference speed is equal to the current feeding speed, then the stepper motor is controlled to drive the roller to rotate according to the motion planning information of the third time period.

[0025] Optional, also includes:

[0026] The target feeding position is determined based on the current angular velocity of the spindle.

[0027] Optional, also includes:

[0028] The spindle speed is adjusted according to the change in the foot pedal opening of the sewing machine;

[0029] The current angular velocity of the spindle is detected according to a preset cycle in order to update the motion planning information for the first time period, the second time period, and the third time period.

[0030] This application also provides a feeding control system for a sewing machine, applied to the controller of a sewing machine. The sewing machine further includes a main shaft, a needle, a stepper motor, and rollers. The main shaft is used to drive the needle to sew the fabric, and the stepper motor is used to drive the rollers to feed the fabric. The feeding control system of the sewing machine includes:

[0031] The determination module is used to determine whether the needle is in a raised state;

[0032] The planning module is used to determine the current angular velocity of the spindle when the needle is in a raised state, and to generate motion planning information for a first time period, a second time period, and a third time period based on the current angular velocity of the spindle. The end time of the first time period is the start time of the second time period, and the end time of the second time period is the start time of the third time period. The motion planning information describes the correspondence between the feeding speed and time. The feeding speeds of the first and second time periods are determined based on the current angular velocity of the spindle, and the feeding speed of the third time period is determined based on the feeding speed at the end time of the second time period. The feeding speed of the first time period is positively correlated with time, and the feeding speed of the third time period is negatively correlated with time.

[0033] The control module is used to control the stepper motor to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period.

[0034] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the above-described feeding control method for a sewing machine.

[0035] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the above-described feeding control method for a sewing machine.

[0036] This application provides a feeding control method for a sewing machine. When the needle is in a raised state, this method generates motion planning information for a first time period, a second time period, and a third time period based on the current angular velocity of the spindle. In the first time period, the feeding speed increases with time; in the second time period, the feeding speed is determined based on the current angular velocity of the spindle; and in the third time period, the feeding speed decreases with time. The first, second, and third time periods are three sequentially connected time periods. This embodiment can control a stepper motor to drive the roller to rotate according to the motion planning information of the first, second, and third time periods in sequence, so as to dynamically adjust the feeding speed. Therefore, this application enables the sewing machine to achieve feeding operations synchronized with the spindle, improving sewing quality. This application also provides a feeding control system for a sewing machine, a storage medium, and an electronic device, which have the above-mentioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0037] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A flowchart illustrating a feeding control method for a sewing machine provided in an embodiment of this application;

[0039] Figure 2 This is a schematic diagram of motion planning for a stepper motor provided in an embodiment of this application;

[0040] Figure 3 This is a schematic diagram of motion planning for dual stepper motors during the spindle acceleration phase, provided as an embodiment of this application.

[0041] Figure 4 A schematic diagram of motion planning for dual stepper motors during the constant speed phase of the spindle, provided in an embodiment of this application;

[0042] Figure 5 This is a schematic diagram of motion planning for dual stepper motors during the spindle deceleration stage, provided as 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] Please see below. Figure 1 , Figure 1 This is a flowchart illustrating a feeding control method for a sewing machine provided in an embodiment of this application.

[0045] Specific steps may include:

[0046] S101: Determine whether the needle is in a raised state; if yes, proceed to S102; if no, end the process.

[0047] This embodiment can be applied to the controller of a sewing machine (such as a roller sewing machine). The sewing machine may further include a main shaft, a needle, a stepper motor, and rollers. The controller can be connected to the main shaft and the stepper motor respectively. The main shaft drives the needle to sew the fabric; that is, as the main shaft rotates, the needle reciprocates up and down, causing the needle to sew the fabric on the needle plate. The stepper motor drives the rollers to transport the fabric; that is, as the stepper motor rotates, the rollers also rotate, thereby moving the fabric on the needle plate to achieve fabric transport.

[0048] The state of the needle can include a raised state and a lowered state. In this embodiment, the state of the needle can be determined based on the rotation angle of the spindle. Alternatively, the state of the needle can be determined by acquiring an image of the work area and analyzing the image. The raised state of the needle refers to the state when the needle is above the needle plate, i.e., the state when the needle has not passed through the fabric.

[0049] If the needle is in the raised state, operations S102 and S103 can be executed; if the needle is not in the raised state (i.e., in the lowered state), the stepper motor can be stopped from rotating and the process can be terminated.

[0050] S102: Determine the current angular velocity of the spindle, and generate motion planning information for the first time period, the second time period, and the third time period based on the current angular velocity of the spindle;

[0051] This step determines the angular velocity of the spindle at the current moment, i.e., the current angular velocity. Based on the current angular velocity of the spindle, motion planning information for the first time period, the second time period, and the third time period can be generated.

[0052] The start time of the first time period can be the moment when the needle is first determined to be in the raised state. The end time of the first time period is the start time of the second time period, and the end time of the second time period is the start time of the third time period. The end time of the third time period can be the moment when the needle is first determined to be in the lowered state. The feeding speed is 0 at the start time of the first time period and the end time of the third time period.

[0053] The motion planning information is used to describe the correspondence between feeding speed and time; the motion planning information for the first time period describes the correspondence between feeding speed and time within the first time period, the motion planning information for the second time period describes the correspondence between feeding speed and time within the second time period, and the motion planning information for the third time period describes the correspondence between feeding speed and time within the third time period. The feeding speed mentioned above refers to the linear speed of the roller driven by the stepper motor. The feeding speed is related to the stepper motor, drilling speed, and roller dimensions.

[0054] The feeding speeds of the first and second time periods are determined based on the current angular velocity of the spindle, while the feeding speed of the third time period is determined based on the feeding speed at the end of the second time period. The feeding speed of the first time period is positively correlated with time, while the feeding speed of the third time period is negatively correlated with time. The feeding speed exhibits an increasing trend within both the first and third time periods. The feeding speed at the end of the first time period is equal to the feeding speed at the beginning of the second time period, and vice versa. The changes in the feeding speed within the second time period are consistent with the changes in the current angular velocity of the spindle within the same time period.

[0055] As a feasible implementation method, this embodiment can update the current angular velocity of the spindle according to a preset period, and then update the motion planning information of the unexecuted first time period, second time period and third time period based on the updated current angular velocity.

[0056] S103: Control the stepper motor to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period.

[0057] Specifically, the stepper motor is controlled to drive the roller to rotate first according to the motion planning information of the first time period, then according to the motion planning information of the second time period, and finally according to the motion planning information of the third time period. While controlling the stepper motor to drive the roller according to the motion planning information, if the current angular velocity of the spindle changes, the motion planning information is updated according to the new current angle, and the stepper motor is controlled to rotate according to the unexecuted motion planning information.

[0058] This embodiment provides a feeding control method for a sewing machine. When the needle is in the raised state, this method generates motion planning information for a first time period, a second time period, and a third time period based on the current angular velocity of the spindle. In the first time period, the feeding speed increases with time; in the second time period, the feeding speed is determined based on the current angular velocity of the spindle; and in the third time period, the feeding speed decreases with time. The first, second, and third time periods are sequentially connected in time sequence. This embodiment can control a stepper motor to drive the roller to rotate according to the motion planning information of the first, second, and third time periods in sequence, so as to dynamically adjust the feeding speed. Therefore, this embodiment enables the sewing machine to achieve feeding operations synchronized with the spindle, improving sewing quality.

[0059] As for Figure 1 In a further description of the corresponding embodiment, the stepper motor includes a first stepper motor and a second stepper motor, the roller includes an upper roller and a lower roller, the upper roller and the lower roller are arranged opposite to each other to clamp the fabric, the first stepper motor is used to drive the upper roller, and the second stepper motor is used to drive the lower roller.

[0060] Accordingly, the motion planning information for the first, second, and third time periods generated based on the current angular velocity of the spindle includes: generating motion planning information for the first stepper motor in the first, second, and third time periods based on the current angular velocity of the spindle and the size of the upper roller; and generating motion planning information for the second stepper motor in the first, second, and third time periods based on the current angular velocity of the spindle and the size of the lower roller. The feeding speeds of the first and second stepper motors are equal in the second time period. The feeding speed corresponding to the first stepper motor refers to the linear velocity of the first roller driven by the first stepper motor. The feeding speed corresponding to the second stepper motor refers to the linear velocity of the second roller driven by the second stepper motor.

[0061] As for Figure 1 A further description of the corresponding embodiment: the process of generating motion planning information for the first time period, the second time period, and the third time period based on the current angular velocity of the spindle includes:

[0062] The motion planning information for the second time period is generated based on the current angular velocity of the spindle. The feeding speed for the second time period is determined by a uniform speed formula: Vstep = Vmain / Kp, where Vstep represents the feeding speed for the second time period, Vmain represents the current angular velocity of the spindle, and Kp represents the stepper feeding speed coefficient. During the process of controlling the stepper motor to drive the rollers to rotate sequentially according to the motion planning information for the second time period, the feeding speed is Vmain / Kp. It can be seen that the change in the feeding speed for the second time period is consistent with the current angular velocity of the spindle. When the current angular velocity of the spindle remains constant within the second time period, the feeding speed is in a uniform state; when the current angular velocity of the spindle increases within the second time period, the feeding speed is in an accelerating state; and when the current angular velocity of the spindle decreases within the second time period, the feeding speed is in a decelerating state.

[0063] Motion planning information for the first time period is generated based on the current angular velocity of the spindle; wherein, the feeding speed for the first time period is determined by an acceleration formula, the acceleration formula being: Vacc represents the feeding speed in the first time period. Let represent the acceleration value, and t represent the duration from the start of the first time interval to the current time. , This indicates the duration of the first time period. During the process of controlling the stepper motor to drive the rollers to rotate sequentially according to the motion planning information of the first time period, the feeding speed is... In this embodiment, the duration of the first time period can be determined by using "the feeding speed at the end of the first time period is Vmain / Kp" as a constraint. .

[0064] Based on the feeding speed at the end of the second time period Generate motion planning information for the third time period; wherein, the feeding speed for the third time period is determined by a deceleration formula, the deceleration formula being: Vt represents the feeding speed in the third time period. This represents the deceleration value, and s represents the distance between the current feeding position and the target feeding position. , This indicates the duration of the third time period. During the process of controlling the stepper motor to drive the rollers to rotate sequentially according to the motion planning information of the third time period, the feeding speed is... In this embodiment, the moment when "Vt=Vstep" can be taken as the end time of the second time period, which is also the start time of the third time period. Alternatively, this embodiment can take the moment when "the distance between the current feeding position and the target feeding position is equal to 0" as the end time of the third time period.

[0065] Furthermore, before generating the motion planning information for the second time period based on the current angular velocity of the spindle, this embodiment can also determine the size of the rollers and determine the step feeding speed coefficient Kp based on the size of the rollers. Each roller can have its corresponding step feeding speed coefficient Kp.

[0066] Furthermore, the process of controlling the stepper motor to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period includes:

[0067] The stepper motor is controlled to drive the roller to rotate according to the motion planning information of the first time period, and the driving duration is recorded; if the driving duration is equal to the duration of the first time period... Then, the stepper motor is controlled to drive the roller to rotate according to the motion planning information of the second time period; a reference speed is calculated based on the distance between the current feeding position and the target feeding position. The reference speed The calculation formula is: If the reference speed is equal to the current feeding speed, then control the stepper motor to drive the roller to rotate according to the motion planning information of the third time period.

[0068] Furthermore, in this embodiment, the target feeding position can be determined based on the current angular velocity of the main shaft. The target feeding position refers to the position the fabric needs to reach when the fabric feeding stops. The angular velocity of the main shaft directly affects the sewing speed; therefore, the target feeding position needs to be dynamically adjusted according to the real-time angular velocity of the main shaft. By monitoring the angular velocity of the main shaft in real time and updating the target feeding position, the sewing machine can achieve feeding operations synchronized with the main shaft, ensuring smooth fabric feeding during the sewing process, thereby improving sewing quality.

[0069] As for Figure 1 In a further description of the corresponding embodiment, this embodiment can also adjust the spindle speed according to the change in the foot pedal opening of the sewing machine; and detect the current angular velocity of the spindle according to a preset cycle in order to update the motion planning information of the first time period, the second time period, and the third time period.

[0070] During the operation of a sewing machine, traditional methods typically require operators to judge for malfunctions based on abnormal sounds and vibrations during machine operation. However, these methods are insufficient for early warning of potential faults and rely on manual experience, lacking accuracy and timeliness. To address these issues, this embodiment offers improvements as follows: Multiple sensors are installed on the spindle and stepper motor to monitor operating data such as current, temperature, and vibration in real time. Data analysis algorithms are then used to analyze this data, enabling early identification of abnormal patterns and prediction of potential faults. The process of analyzing the operating data using data analysis algorithms is as follows: Key indicators (such as stepper motor current, motor efficiency, sewing tension, and machine temperature) are extracted from the operating data; trends in these key indicators are identified; and faults are detected based on these trends.

[0071] The process described in the above embodiments is illustrated below through examples in practical applications.

[0072] In traditional sewing machine feeding, mechanical feeding is commonly used. This method has disadvantages such as high precision requirements for the machinery, easy material wear, and low precision in feeding speed adjustment. In roller sewing machines with two needles, the fabric is fed by two rollers clamping it. To ensure consistent feed length per revolution of the main shaft and prevent needle breakage or dragging, feeding must only occur when the needle is on the needle plate, and the upper and lower rollers must feed synchronously. This requires the stepper motor to start and stop quickly when the needle is on the needle plate during high-speed rotation of the main shaft. This can easily lead to problems such as abnormal noise, overcurrent, and asynchronous feeding between the two stepper motors due to improper control.

[0073] To address the problems existing in the aforementioned related technologies, this embodiment provides a control scheme based on dual-stepper synchronous feeding. This scheme introduces two stepper motors to feed the material, and achieves the effect of synchronous feeding of the two stepper motors following the spindle by controlling the motion trajectory and speed of the stepper motors. This scheme consists of the following three parts: motion planning for stepper feeding (i.e., stepper motion path trajectory planning), synchronous feeding control of the two stepper motors and the spindle, and synchronous following control for three scenarios.

[0074] The motion planning process for stepper feeding is as follows:

[0075] To make the stepper motor move more smoothly, path planning is required. To make the motor move more stable, this control makes the motor follow an S-curve, that is, the acceleration is constant during the acceleration process and the deceleration is constant during the deceleration process. The motion trajectory is divided into three stages: 1. The acceleration stage with constant acceleration (i.e., the stage corresponding to the first time period); 2. The constant speed stage (i.e., the stage corresponding to the second time period); 3. The deceleration stage with constant deceleration (i.e., the stage corresponding to the third time period).

[0076] During the uniform speed phase, in order to ensure that the needle completes feeding before it is inserted into the fabric (the entire process of the needle on the needle plate), the step speed (i.e., feeding speed) of the uniform speed phase is Vstep = Vmain / Kp, where Vstep is the speed of the two-step uniform speed phase, Vmain is the current angular velocity of the spindle when it just enters the feeding phase, and Kp is the feeding speed coefficient.

[0077] During the acceleration phase, = Vstep / 5, step speed during acceleration phase After 5ms, it enters a constant speed, where Acceleration, t is the acceleration time, and Vold is the velocity at the moment before entering the acceleration phase (Vold can be 0).

[0078] During the deceleration phase, according to the formula relating displacement and velocity... ,in To decelerate, = Vstep / 5, where s is the distance between the current position (current feeding position) and the target position (target feeding position), Vo is the speed when reaching the target position, and Vt is the real-time speed during the deceleration phase. Assuming the expected speed to the target position is 0, then Vo = 0. Therefore, the real-time speed during the deceleration phase is... When the deceleration Vt equals the velocity Vstep calculated during the uniform velocity stage, we can directly jump to the deceleration stage.

[0079] From the above analysis, we can see that the variable for acceleration and deceleration is the uniform velocity Vstep. Once the principal shaft velocity is determined, acceleration, deceleration, and uniform velocity are also determined. Please refer to [link / reference needed]. Figure 2 , Figure 2 This is a schematic diagram of motion planning for a stepper motor provided in an embodiment of this application. The horizontal axis represents time, the vertical axis of the spindle angle curve A represents angle, the vertical axis of the feeding speed curve B represents speed, and the vertical axis of the spindle angular velocity (i.e., spindle speed) curve C represents angular velocity. Figure 2 The needle exits the fabric at an angle of 180° and enters the fabric at an angle of 40°.

[0080] The process of synchronous feeding control between two stepper motors and the main shaft is as follows:

[0081] The inconsistent diameters of the rollers controlled by the upper and lower motors will result in inconsistent speeds of the two stepper motors. Therefore, the constant speeds of the two stepper motors are Vstep1=Vmain / Kp1 and Vstep2=Vmain / Kp2, where Vstep1 and Vstep2 are the feeding speeds of the two stepper motors, and Kp1 and Kp2 are the feeding speed coefficients of the two stepper motors.

[0082] To ensure speed stability, Vmain is the current spindle speed when the feeding begins. This ensures that the speed follows the set speed throughout the entire movement, reducing noise caused by motor speed fluctuations and preventing control errors. However, during the spindle acceleration phase, the spindle speed increases, which can cause the stepper speed to lag and result in needle dragging. Therefore, during the acceleration phase, Vmain needs to be refreshed every 1ms and the path planning needs to be re-executed. As Vmain continuously increases during the spindle acceleration phase, the stepper only has acceleration and deceleration phases during path planning. This prevents the calculated speed command from fluctuating and causing motor speed fluctuations, thus avoiding noise and control anomalies.

[0083] The synchronous follow control process for the three scenarios is as follows:

[0084] During the spindle acceleration phase, the spindle's current angular velocity Vmain and path planning are refreshed every 1ms; there is no constant velocity phase during stepping. Please refer to [link / reference]. Figure 3 , Figure 3 This is a schematic diagram of motion planning for dual stepper motors during the spindle acceleration stage provided in an embodiment of this application. The horizontal axis represents time, the vertical axis of the feeding speed curve B1 corresponding to the first stepper motor, the feeding speed curve B2 corresponding to the second stepper motor, and the spindle angular velocity curve C represents speed, and the vertical axis of the spindle angle curve A represents angle.

[0085] During the uniform motion phase of the spindle, the current angular velocity Vmain of the spindle is fixed. See also... Figure 4 , Figure 4 This is a schematic diagram of motion planning for dual stepper motors during the constant speed phase of the spindle, provided in an embodiment of this application. The horizontal axis represents time, the vertical axis of the feeding speed curve B1 corresponding to the first stepper motor, the feeding speed curve B2 corresponding to the second stepper motor, and the spindle angular velocity curve C represents speed, and the vertical axis of the spindle angle curve A represents angle.

[0086] During the spindle deceleration phase, the spindle's current angular velocity Vmain is fixed because the spindle is decelerating, thus the stepping motion completes the fabric feeding before the needle enters the fabric. Please refer to [link / reference]. Figure 5 , Figure 5 This is a schematic diagram of motion planning for dual stepper motors during the spindle deceleration stage provided in an embodiment of this application. The horizontal axis represents time, the vertical axis of the feeding speed curve B1 corresponding to the first stepper motor, the feeding speed curve B2 corresponding to the second stepper motor, and the spindle angular velocity curve C represents speed, and the vertical axis of the spindle angle curve A represents angle.

[0087] This embodiment plans the stepping speed and motion trajectory path to achieve the effect of two steppers synchronously following the main shaft for feeding.

[0088] This embodiment, without adding any components, introduces software algorithms based on existing detection devices to plan the movement speed and path of the stepper motors, achieving the effect of two stepper motors synchronously following the spindle movement. This embodiment also allows for adjustment of the feeding speed by setting adjustable parameters.

[0089] This application provides a feeding control system for a sewing machine, applied to the controller of a sewing machine. The sewing machine further includes a main shaft, a needle, a stepper motor, and rollers. The main shaft drives the needle to sew the fabric, and the stepper motor drives the rollers to feed the fabric. The feeding control system for the sewing machine includes:

[0090] The determination module is used to determine whether the needle is in a raised state;

[0091] The planning module is used to determine the current angular velocity of the spindle when the needle is in a raised state, and to generate motion planning information for a first time period, a second time period, and a third time period based on the current angular velocity of the spindle. The end time of the first time period is the start time of the second time period, and the end time of the second time period is the start time of the third time period. The motion planning information describes the correspondence between the feeding speed and time. The feeding speeds of the first and second time periods are determined based on the current angular velocity of the spindle, and the feeding speed of the third time period is determined based on the feeding speed at the end time of the second time period. The feeding speed of the first time period is positively correlated with time, and the feeding speed of the third time period is negatively correlated with time.

[0092] The control module is used to control the stepper motor to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period.

[0093] This embodiment provides a feeding control method for a sewing machine. When the needle is in the raised state, this method generates motion planning information for a first time period, a second time period, and a third time period based on the current angular velocity of the spindle. In the first time period, the feeding speed increases with time; in the second time period, the feeding speed is determined based on the current angular velocity of the spindle; and in the third time period, the feeding speed decreases with time. The first, second, and third time periods are sequentially connected in time sequence. This embodiment can control a stepper motor to drive the roller to rotate according to the motion planning information of the first, second, and third time periods in sequence, so as to dynamically adjust the feeding speed. Therefore, this embodiment enables the sewing machine to achieve feeding operations synchronized with the spindle, improving sewing quality.

[0094] Furthermore, the stepper motor includes a first stepper motor and a second stepper motor, the roller includes an upper roller and a lower roller, the upper roller and the lower roller are arranged opposite to each other to clamp the fabric, the first stepper motor is used to drive the upper roller, and the second stepper motor is used to drive the lower roller;

[0095] Accordingly, the process by which the planning module generates motion planning information for the first, second, and third time periods based on the current angular velocity of the main shaft includes: generating motion planning information for the first stepper motor in the first, second, and third time periods based on the current angular velocity of the main shaft and the size of the upper roller; and generating motion planning information for the second stepper motor in the first, second, and third time periods based on the current angular velocity of the main shaft and the size of the lower roller. The feeding speeds of the first and second stepper motors are equal during the second time period.

[0096] Furthermore, the process by which the planning module generates motion planning information for the first, second, and third time periods based on the current angular velocity of the spindle includes: generating motion planning information for the second time period based on the current angular velocity of the spindle; wherein the feeding speed of the second time period is determined by a uniform speed formula, the uniform speed formula being Vstep=Vmain / Kp, where Vstep represents the feeding speed of the second time period, Vmain represents the current angular velocity of the spindle, and Kp represents the step feeding speed coefficient; generating motion planning information for the first time period based on the current angular velocity of the spindle; wherein the feeding speed of the first time period is determined by an acceleration formula, the acceleration formula being... Vacc represents the feeding speed in the first time period. Let represent the acceleration value, and t represent the duration from the start of the first time interval to the current time. , This indicates the duration of the first time period; the feeding speed is based on the end time of the second time period. Generate motion planning information for the third time period; wherein, the feeding speed for the third time period is determined by a deceleration formula, the deceleration formula being: Vt represents the feeding speed in the third time period. This represents the deceleration value, and s represents the distance between the current feeding position and the target feeding position. , This indicates the duration of the third time period.

[0097] Furthermore, it also includes:

[0098] The coefficient determination module is used to determine the size of the roller before generating motion planning information for the second time period based on the current angular velocity of the spindle, and to determine the step feeding speed coefficient based on the size of the roller.

[0099] Furthermore, the process by which the control module controls the stepper motor to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period includes: controlling the stepper motor to drive the roller to rotate according to the motion planning information of the first time period, and recording the driving duration; if the driving duration is equal to the duration of the first time period... Then, the stepper motor is controlled to drive the roller to rotate according to the motion planning information of the second time period; a reference speed is calculated based on the distance between the current feeding position and the target feeding position. The reference speed The calculation formula is: If the reference speed is equal to the current feeding speed, then control the stepper motor to drive the roller to rotate according to the motion planning information of the third time period.

[0100] Furthermore, it also includes:

[0101] The position determination module is used to determine the target feeding position based on the current angular velocity of the spindle.

[0102] Furthermore, it also includes:

[0103] The update module is used to adjust the spindle speed according to the change in the foot pedal opening of the sewing machine; it is also used to detect the current angular velocity of the spindle according to a preset cycle, so as to update the motion planning information of the first time period, the second time period and the third time period.

[0104] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and they will not be repeated here.

[0105] This application also provides a storage medium on which a computer program is stored, 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.

[0106] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0107] 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. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various 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.

[0108] 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 feeding control method for a sewing machine, characterized in that, A controller for a sewing machine, the sewing machine further comprising a main shaft, a needle, a stepper motor, and rollers, wherein the main shaft drives the needle to sew fabric, the stepper motor drives the rollers to feed fabric, and the feeding control method of the sewing machine includes: Determine whether the needle is in a raised state; If so, the current angular velocity of the spindle is determined, and motion planning information for a first time period, a second time period, and a third time period is generated based on the current angular velocity of the spindle. The end time of the first time period is the start time of the second time period, and the end time of the second time period is the start time of the third time period. The motion planning information describes the correspondence between the feeding speed and time. The feeding speeds of the first and second time periods are determined based on the current angular velocity of the spindle, and the feeding speed of the third time period is determined based on the feeding speed at the end time of the second time period. The feeding speed of the first time period is positively correlated with time, and the feeding speed of the third time period is negatively correlated with time. The stepper motor is controlled to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period.

2. The feeding control method for a sewing machine according to claim 1, characterized in that, The stepper motor includes a first stepper motor and a second stepper motor, and the roller includes an upper roller and a lower roller. The upper roller and the lower roller are arranged opposite to each other to clamp the fabric. The first stepper motor is used to drive the upper roller, and the second stepper motor is used to drive the lower roller. Accordingly, the motion planning information for the first time period, the second time period, and the third time period generated based on the current angular velocity of the main shaft includes: Based on the current angular velocity of the main shaft and the size of the upper roller, motion planning information for the first stepper motor in the first time period, the second time period, and the third time period is generated; Based on the current angular velocity of the spindle and the size of the lower roller, motion planning information for the second stepper motor is generated in the first time period, the second time period, and the third time period. The feeding speeds of the first stepper motor and the second stepper motor are equal during the second time period.

3. The feeding control method for a sewing machine according to claim 1, characterized in that, Based on the current angular velocity of the main shaft, motion planning information for the first time period, the second time period, and the third time period is generated, including: The motion planning information for the second time period is generated based on the current angular velocity of the spindle; wherein, the feeding speed of the second time period is determined by a uniform speed formula, the uniform speed formula is Vstep=Vmain / Kp, where Vstep represents the feeding speed of the second time period, Vmain represents the current angular velocity of the spindle, and Kp represents the step feeding speed coefficient. Motion planning information for the first time period is generated based on the current angular velocity of the spindle; wherein, the feeding speed for the first time period is determined by an acceleration formula, the acceleration formula being: Vacc represents the feeding speed in the first time period. Let represent the acceleration value, and t represent the duration from the start of the first time interval to the current time. , Indicates the duration of the first time period; Based on the feeding speed at the end of the second time period Generate motion planning information for the third time period; wherein, the feeding speed for the third time period is determined by a deceleration formula, the deceleration formula being... Vt represents the feeding speed in the third time period. This represents the deceleration value, and s represents the distance between the current feeding position and the target feeding position. , This indicates the duration of the third time period.

4. The feeding control method for a sewing machine according to claim 3, characterized in that, Before generating the motion planning information for the second time period based on the current angular velocity of the main shaft, the method further includes: The size of the roller is determined, and the step feeding speed coefficient is determined based on the size of the roller.

5. The feeding control method for a sewing machine according to claim 3, characterized in that, Controlling the stepper motor to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period includes: The stepper motor is controlled to drive the roller to rotate according to the motion planning information of the first time period, and the driving duration is recorded; If the driving duration is equal to the duration of the first time period Then, the stepper motor is controlled to drive the roller to rotate according to the motion planning information of the second time period; The reference speed is calculated based on the distance between the current feeding position and the target feeding position. The reference speed The calculation formula is: ; If the reference speed is equal to the current feeding speed, then the stepper motor is controlled to drive the roller to rotate according to the motion planning information of the third time period.

6. The feeding control method for a sewing machine according to claim 3, characterized in that, Also includes: The target feeding position is determined based on the current angular velocity of the spindle.

7. The feeding control method for a sewing machine according to claim 1, characterized in that, Also includes: The spindle speed is adjusted according to the change in the foot pedal opening of the sewing machine; The current angular velocity of the spindle is detected according to a preset cycle in order to update the motion planning information for the first time period, the second time period, and the third time period.

8. A feeding control system for a sewing machine, characterized in that, A controller for a sewing machine, the sewing machine further comprising a main shaft, a needle, a stepper motor, and rollers, the main shaft driving the needle to sew fabric, the stepper motor driving the rollers to feed fabric, and the feeding control system of the sewing machine comprising: The determination module is used to determine whether the needle is in a raised state; The planning module is used to determine the current angular velocity of the spindle when the needle is in a raised state, and to generate motion planning information for a first time period, a second time period, and a third time period based on the current angular velocity of the spindle. The end time of the first time period is the start time of the second time period, and the end time of the second time period is the start time of the third time period. The motion planning information describes the correspondence between the feeding speed and time. The feeding speeds of the first and second time periods are determined based on the current angular velocity of the spindle, and the feeding speed of the third time period is determined based on the feeding speed at the end time of the second time period. The feeding speed of the first time period is positively correlated with time, and the feeding speed of the third time period is negatively correlated with time. The control module is used to control the stepper motor to drive the roller to rotate sequentially according to the motion planning information of the first time period, the second time period, and the third time period.

9. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the feeding control method for the sewing machine as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the feeding control method for the sewing machine as described in any one of claims 1 to 7.

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