Embroidery pattern dynamic cooperative switching control method and related device

Abstract

This invention relates to the field of embroidery machine control technology, specifically to a dynamic collaborative switching control method and related equipment for embroidery modes. The method includes: acquiring a mode switching command; real-time monitoring of the spindle angle position to determine if it is within a safe phase window; controlling the spindle to decelerate and lock; controlling the central axis to perform phase angle difference offset movement according to the target phase difference; updating the spindle electronic zero-point offset parameters to complete coordinate system reconstruction, and obtaining dynamic compensation coefficients from the speed-phase fine-tuning matrix according to the target embroidery speed for dynamic accuracy compensation of the central axis; and unlocking and resuming operation. This invention, through an electronic differential speed synthesis architecture, a safe time window monitoring mechanism, a dual-axis collaborative transition sequence, and dynamic compensation using a speed-phase fine-tuning matrix, achieves rapid, safe, and smooth switching between chain embroidery and towel embroidery modes, reducing the traditional manual downtime switching time of several minutes to automatic completion within seconds, significantly improving production efficiency and equipment automation.

Description

Technical Field

[0001] This invention relates to the field of embroidery machine control technology, and in particular to a dynamic collaborative switching control method and related equipment for embroidery modes. Background Technology

[0002] Regarding the control methods involved in the embroidery process, existing chain embroidery / terry embroidery hybrid machines rely on manual stopping and adjustment of the mechanical structure to change the needle-shuttle phase difference when switching embroidery modes (e.g., from chain embroidery to terry embroidery), which is inefficient and difficult to guarantee accuracy.

[0003] The disadvantages of existing technologies include: 1. Efficiency bottleneck: Frequent machine stoppages and manual adjustments severely disrupt the production process and rely on the experience of skilled workers; 2. Safety risks: If a forced switch is made at the wrong time (such as when the needle is inside the fabric or the machine is running at high speed), it is very easy to cause needle collision, thread breakage, or even damage to the precision differential mechanism; 3. Lack of precision: Static manual adjustment cannot meet the dynamic and precise requirements of phase angle under different embroidery speeds. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a dynamic collaborative switching control method and related equipment for embroidery modes, so as to solve one or more technical problems existing in the prior art and provide at least one beneficial option or create conditions.

[0005] On one hand, embodiments of the present invention provide a dynamic collaborative switching control method for embroidery modes, applied to the dynamic switching between chain stitch and towel stitch modes. The method includes the following steps: Obtain a mode switching instruction, which is used to instruct the embroidery machine to switch from the current embroidery mode to the target embroidery mode; In response to the mode switching command, the spindle angle position is monitored in real time to determine whether the spindle is within a preset safe phase window; When the spindle is within the safe phase window, control the spindle to decelerate to the switching allowable speed and lock it at the current phase position; Based on the target phase difference corresponding to the target embroidery pattern, calculate the target displacement required by the central axis, and control the central axis to perform a phase angle difference offset movement to the target phase position; Update the spindle electronic zero-point offset parameters to complete the coordinate system reconstruction, and obtain the dynamic compensation coefficient from the velocity-phase fine-tuning matrix according to the current target embroidery speed to perform dynamic accuracy compensation on the central axis; Release the spindle lock, restore to the target embroidery speed, and complete the mode switch.

[0006] Optionally, the real-time monitoring of the spindle angle position and the determination of whether the spindle is within a preset safe phase window include: The current angle value of the spindle is collected in real time by an encoder installed at the tail of the spindle motor; The current angle value of the spindle is compared with the preset safety phase window threshold, where the safety phase window is the 330°-30° range when the needle bar is near the top dead point; When the current angle value of the spindle falls into the safe phase window and remains stable for a preset time, it is determined that the switching safety conditions are met.

[0007] Optionally, controlling the spindle to decelerate to the switching allowable speed and lock it at the current phase position includes: The spindle servo driver is controlled by pulse width modulation, so that the spindle can smoothly decrease from the current operating speed to the switching allowable speed at a preset deceleration. Send a spindle lock command to the spindle driver to mechanically lock the spindle in the current safe phase position via an electromagnetic brake.

[0008] Optionally, the step of calculating the target displacement required by the central axis based on the target phase difference corresponding to the target embroidery pattern, and controlling the central axis to perform a phase angle difference offset movement to the target phase position, includes: Retrieve the target phase difference corresponding to the target embroidery pattern from the parameter database; The current actual angle of the center axis is read by the center axis encoder, and the target displacement required by the center axis is calculated based on the target phase difference and the current actual angle of the center axis. Send a motion command containing the target displacement, acceleration curve and target velocity to the central axis stepper motor driver to control the central axis to perform precise rotation according to the preset motion curve; The position signal fed back by the central shaft encoder is monitored in real time. When the deviation between the actual displacement and the commanded displacement is less than the preset accuracy threshold, the central shaft is determined to be in position.

[0009] Optionally, updating the spindle electronic zero-point offset parameters to complete the coordinate system reconstruction includes: Read the current zero-point offset parameters of the spindle electronic gearbox; Based on the new phase relationship and combined with the pre-stored mechanical transmission clearance compensation value, calculate the new zero-point offset parameters; The new zero-point offset parameters are written into the corresponding registers of the spindle drive module to complete the reconstruction of the software coordinate system.

[0010] Optionally, the step of obtaining dynamic compensation coefficients from the velocity-phase fine-tuning matrix based on the current target embroidery speed and performing dynamic accuracy compensation on the central axis includes: Query the currently set target embroidery speed and match the corresponding dynamic compensation coefficient from the pre-stored speed-phase fine-tuning matrix; Calculate the phase correction value based on the dynamic compensation coefficient, and write the phase correction value into the motion control register; The central axis is controlled to complete the fine-tuning movement corresponding to the phase correction value within a preset time.

[0011] Optionally, the method further includes: During the mode switching process, the operation status of each stage is monitored throughout, including the spindle deceleration status, safety window entry status, center axis positioning status, coordinate reconstruction status, and fine-tuning completion status. When any part malfunctions, the protection mechanism is triggered, including emergency stop of the relevant motion axis, issuance of alarm signal and recording of fault information.

[0012] On the other hand, embodiments of the present invention provide a dynamic collaborative switching control device for embroidery modes, comprising: The instruction acquisition module is used to acquire mode switching instructions, which are used to instruct the embroidery machine to switch from the current embroidery mode to the target embroidery mode; The safety monitoring module is used to respond to the mode switching command, monitor the spindle angle position in real time, and determine whether the spindle is within the preset safety phase window; The spindle control module is used to control the spindle to decelerate to the allowable speed and lock it at the current phase position when the spindle is within the safe phase window; The central axis control module is used to calculate the target displacement required by the central axis based on the target phase difference corresponding to the target embroidery pattern, and control the central axis to perform phase angle difference offset movement to the target phase position; The coordinate reconstruction module is used to update the spindle electronic zero-point offset parameters to complete the coordinate system reconstruction, and to obtain the dynamic compensation coefficient from the speed-phase fine-tuning matrix according to the current target embroidery speed, and to perform dynamic accuracy compensation on the central axis. The recovery module is used to unlock the spindle, restore the target embroidery speed, and complete the mode switch.

[0013] On the other hand, embodiments of the present invention provide a dynamic collaborative switching control system for embroidery modes, comprising: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor performs the method described above.

[0014] On the other hand, embodiments of the present invention provide a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to perform the above-described method.

[0015] The embodiments of the present invention have the following beneficial effects: This invention, by employing an electronic differential speed synthesis architecture with completely independent servo drives for the main spindle and center spindle, completely eliminates the error accumulation problem caused by traditional mechanical transmission chains, achieving millisecond-level rapid phase switching. Through a safety time window monitoring mechanism, the main spindle is forced to be positioned within a safe phase window before the switching action is executed, ensuring that the needle tip is completely detached from the fabric, fundamentally eliminating the risk of collisions during the switching process. The dual-axis collaborative atomized transition sequence decomposes the switching process into an ordered sequence of deceleration, locking, center spindle offset, coordinate reconstruction, and dynamic compensation, ensuring the smoothness and reliability of the switching action. The speed-phase fine-tuning matrix dynamic compensation mechanism automatically adjusts the phase compensation value according to different embroidery speeds, ensuring optimal loop forming quality across the entire speed range. This invention reduces the traditional manual downtime switching time of several minutes to seconds of automatic software completion, significantly improving production efficiency while greatly enhancing the automation level and process adaptability of the equipment, demonstrating promising application prospects. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the steps of a dynamic collaborative switching control method for embroidery modes provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the physical hierarchy working principle provided in the embodiment of the present invention; Figure 3 This is a state transition and logic control diagram provided in an embodiment of the present invention; Figure 4 This is a structural block diagram of an embroidery mode dynamic collaborative switching control device provided in an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] It should be noted that although the device diagram shows a modular division and the flowchart illustrates a logical order, in some cases, the steps shown or described may be performed in a different order than the modular division in the device or the order shown in the flowchart. The terms "first," "second," etc., used in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0021] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the invention.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0024] To address the aforementioned technical issues, this invention proposes a dynamic collaborative switching control method and related equipment for embroidery modes. By constructing an electronic differential synthesis architecture and a dynamic collaborative security protocol, it achieves rapid, safe, and smooth switching between chain embroidery and towel embroidery modes.

[0025] like Figure 1 As shown, Figure 1 This invention provides a dynamic collaborative switching control method for embroidery modes, applied to the dynamic switching between chain stitch and towel stitch modes. The method includes the following steps: S100, Obtain a mode switching instruction, the mode switching instruction being used to instruct the embroidery machine to switch from the current embroidery mode to the target embroidery mode; S200, in response to the mode switching command, monitors the spindle angle position in real time and determines whether the spindle is within a preset safe phase window; S300, when the spindle is within the safe phase window, control the spindle to decelerate to the switching allowable speed and lock it at the current phase position; S400, calculate the target displacement required by the central axis based on the target phase difference corresponding to the target embroidery pattern, and control the central axis to perform a phase angle difference offset movement to the target phase position; S500, update the spindle electronic zero-point offset parameters to complete the coordinate system reconstruction, and obtain the dynamic compensation coefficient from the speed-phase fine-tuning matrix according to the current target embroidery speed to perform dynamic accuracy compensation on the central axis; S600: Release spindle lock, restore to target embroidery speed, and complete mode switching.

[0026] This invention proposes a dynamic collaborative switching control method and related equipment for embroidery patterns. Based on a hardware foundation of independent drive of the main spindle and the central spindle, synthesized through a software differential algorithm, it upgrades simple angle switching to a complex dynamic collaborative safety protocol. First, the system adopts an electronic differential synthesis architecture, with the main spindle (Z-axis) and the central spindle (R-axis) completely independently servo-driven, eliminating the traditional mechanical transmission chain and achieving millisecond-level rapid phase switching. Second, the system establishes a safety time window monitoring mechanism. The software does not respond to switching commands in real time. Upon receiving a command, it first controls the main spindle to decelerate and position itself to a preset safety phase window (the needle bar is in the 330°-30° range near the top dead center, at which point the needle tip leaves the fabric), ensuring that the switching action has no risk of mechanical interference. Then, the system executes a dual-axis collaborative transition sequence. After confirming that the main spindle is within the safety window and stable, it locks the main spindle and precisely controls the central spindle stepper motor to execute a calculated phase angle difference offset movement, adjusting the shuttle to the new pattern reference position. Finally, the system completes dynamic coordinate reconstruction and fine-tuning. After the central axis is in place, it automatically updates the electronic zero-point offset parameters of the main axis, completes the software coordinate system reconstruction, and calls the pre-stored speed-phase fine-tuning matrix. It then adds a small dynamic compensation value based on the current target embroidery speed to ensure that the best thread quality can be obtained at different speeds.

[0027] The following is a detailed description of the dynamic collaborative switching control method for embroidery modes proposed in this invention, following the processing steps in engineering practice: In this embodiment, the system mainly consists of the following modules: a human-machine interaction module, used to receive user input of mode switching commands and related parameter settings; a spindle drive and monitoring module, including a spindle servo motor, a spindle encoder, and corresponding drive control circuits, responsible for the spindle's operation, speed control, and real-time angle feedback; a center axis drive and monitoring module, including a center axis stepper motor, a center axis encoder, and its drive control circuits, responsible for the precise position control and angle feedback of the center axis; a central control module, as the core of the system, typically employing a high-performance microprocessor or PLC, storing a parameter database, and running a safety time window monitoring algorithm, a dual-axis collaborative control algorithm, a dynamic coordinate reconstruction algorithm, and a dynamic accuracy compensation algorithm; and a power supply module, providing a stable operating voltage for the entire system.

[0028] In some embodiments, the real-time monitoring of the spindle angle position and the determination of whether the spindle is within a preset safe phase window include: S210 collects the current angle value of the spindle in real time through an encoder installed at the tail of the spindle motor; S220, compare the current angle value of the spindle with the preset safety phase window threshold, wherein the safety phase window is the 330°-30° range when the needle bar is near the top dead point; S230, when the current angle value of the spindle falls into the safe phase window and remains stable for a preset time, it is determined that the switching safety conditions are met.

[0029] refer to Figure 2 and Figure 3 The safety time window monitoring process is as follows: The central control module reads the current angle value of the spindle in real time through the spindle encoder. This is then continuously compared with pre-stored safety phase window thresholds (lower limit 330°, upper limit 30°) in the parameter database. The safety phase window is set based on the kinematic characteristics of the embroidery machine needle bar, ensuring that the needle tip has completely left the fabric within this range, providing interference-free space for subsequent mechanical actions. When the spindle falls within the safe range of [330°, 360°) ∪ [0°, 30°], the central control module determines that the spindle has entered the safe zone. To prevent misjudgments caused by mechanical vibration, the system requires the spindle angle to remain stable within the safe range for a preset time (e.g., 50ms) before confirming that the switching safety conditions are met.

[0030] In some embodiments, controlling the spindle to decelerate to the switching allowable speed and lock at the current phase position includes: S310 controls the spindle servo driver through pulse width modulation, so that the spindle can smoothly decrease from the current operating speed to the switching allowable speed at a preset deceleration. S320 sends a spindle lock command to the spindle driver, which mechanically locks the spindle to the current safe phase position via the electromagnetic brake.

[0031] Specifically, once the switching safety conditions are met, the central control module immediately triggers the spindle deceleration program. The central control module adjusts the drive signal of the spindle servo motor using a PID algorithm and controls the spindle servo driver using pulse width modulation (PWM) to make the spindle decelerate at a preset speed (e.g., 0.5 rad / s). 2 The spindle speed is smoothly reduced from the current operating speed (e.g., 800 rpm) to the allowable switching speed (e.g., 50 rpm). After the spindle speed stabilizes at this allowable speed, the central control module sends a spindle lock signal to the spindle drive module, which mechanically locks the spindle to the current safe phase position via an electromagnetic brake to prevent mechanical interference caused by accidental spindle rotation during the switching process.

[0032] In some embodiments, the step of calculating the target displacement required by the central axis based on the target phase difference corresponding to the target embroidery pattern, and controlling the central axis to perform a phase angle difference offset movement to the target phase position, includes: S410, retrieve the target phase difference corresponding to the target embroidery pattern from the parameter database; S420: Read the current actual angle of the center axis through the center axis encoder, and calculate the target displacement required by the center axis based on the target phase difference and the current actual angle of the center axis; S430, send a motion command containing the target displacement, acceleration curve and target velocity to the central axis stepper motor driver to control the central axis to perform precise rotation according to the preset motion curve; The S440 monitors the position signal fed back by the central shaft encoder in real time. When the deviation between the actual displacement and the commanded displacement is less than the preset accuracy threshold, it determines that the central shaft is in position.

[0033] The timing sequence of the dual-axis coordinated transition is as follows: After the main spindle is locked, the central control module retrieves the corresponding target phase difference from the parameter database according to the target mode (such as switching from chain stitch to towel stitch). (between chain stitch and towel stitch patterns) (Typical value is 90°). Simultaneously, the actual angle of the current center axis is read via the center axis encoder. The motion control algorithm within the central control module is based on... and Calculate the target displacement required for the central axis. Subsequently, the central control module sends a motion command to the central axis stepper motor controller, which includes the calculated target displacement. The system includes a preset acceleration curve (such as an S-shaped acceleration / deceleration curve to avoid motion shock) and a target speed. Under the control of the drive circuit, the central axis stepper motor rotates precisely according to the command. During the central axis movement, the central control module monitors its position feedback signal in real time through the central axis encoder and compares it with the commanded displacement. When the deviation between the actual displacement and the commanded displacement is less than the system-set accuracy threshold (such as 0.1°), the central axis is determined to be in position, and the central control module immediately sends a stop signal to the central axis stepper motor controller.

[0034] In some embodiments, updating the spindle electronic zero-point offset parameters to complete coordinate system reconstruction includes: S510, read the zero-point offset parameters of the current spindle electronic gearbox; S520, based on the new phase relationship and combined with the pre-stored mechanical transmission backlash compensation value, calculates the new zero-point offset parameters; S530, the new zero-point offset parameters are written into the corresponding register of the spindle drive module to complete the reconstruction of the software coordinate system.

[0035] The dynamic coordinate reconstruction and fine-tuning logic is as follows: After the central axis is in position, the system immediately executes the dynamic coordinate reconstruction step. First, the central control module reads the zero-point offset parameters of the current spindle electronic gearbox. Due to the phase adjustment of the central axis, the relative positional relationship between the main spindle and the central axis has changed, thus requiring an update to the electronic zero-point offset to adapt to the new mode. The central control module, based on the new phase relationship and in conjunction with the compensation values ​​pre-stored in the parameter database for compensating for mechanical transmission backlash, [follows this]. Calculate the new zero-point offset parameters The coordinates are then written into the corresponding register of the spindle drive module to complete the reconstruction of the software coordinate system and ensure the accuracy of the coordinate reference for subsequent embroidery actions.

[0036] In some embodiments, the step of obtaining dynamic compensation coefficients from the velocity-phase fine-tuning matrix based on the current target embroidery speed and performing dynamic accuracy compensation on the central axis includes: S540, query the currently set target embroidery speed, and match the corresponding dynamic compensation coefficient from the pre-stored speed-phase fine-tuning matrix; S550, calculate the phase correction value based on the dynamic compensation coefficient, and write the phase correction value into the motion control register; S560, control the central axis to complete the fine-tuning movement corresponding to the phase correction value within a preset time.

[0037] Specifically, after the coordinate reconstruction is completed, the central control module queries the currently set target embroidery speed v, and matches the corresponding dynamic compensation coefficient from the velocity-phase fine-tuning matrix in the parameter database based on this speed v. This speed-phase fine-tuning matrix is ​​based on a large amount of experimental data and reflects the amount of phase fine-tuning required to obtain the optimal loop quality at different embroidery speeds. The matrix contains dynamic compensation coefficients corresponding to different embroidery speeds v. The phase correction value is obtained through pre-shipment process testing and stored in the system parameter table. The central control module calculates the final phase correction value. and will The motion control register is written to achieve dynamic precision compensation, which addresses the impact of changes in mechanical dynamic characteristics at different speeds on phase accuracy. The central axis is controlled to complete the fine-tuning motion corresponding to the phase correction value within a preset time (e.g., 100ms), so that the final phase difference meets the dynamic response requirements of high-speed embroidery.

[0038] In some embodiments, the method further includes: During mode switching, the S610 monitors the operation status of each stage, including spindle deceleration, safety window entry, center axis positioning, coordinate reconstruction, and fine-tuning completion. S620 triggers a protection mechanism when any component malfunctions, including emergency stop of the relevant motion axis, issuance of an alarm signal, and recording of fault information.

[0039] Specifically, throughout the entire mode switching process, the system monitors the operational status of each key component. Relevant status information is displayed in real-time on the human-machine interface, including status flags for command reception, safety window waiting, spindle deceleration, dual-axis coordination, coordinate reconstruction, fine-tuning compensation, and operation recovery. If any abnormality occurs at any stage, such as the spindle failing to enter the safety window within the specified time, the central axis positioning exceeding tolerance, or a motor drive failure, the system will immediately trigger the corresponding protection mechanism, such as emergency stop of the relevant motion axis, issuance of an alarm signal (audio-visual alarm or display of fault code and cause on the interface), and recording of the fault information for operator troubleshooting and maintenance, ensuring the safety and reliability of the entire switching process.

[0040] After completing all the above steps, the system confirms successful mode switching, releases the spindle lock, and controls the spindle servo motor to return to the target embroidery speed. Simultaneously, the central axis moves according to the new phase relationship. Once the spindle speed reaches the target embroidery speed and the phase relationship between the spindle and the central axis stabilizes, the system outputs a "switching successful" signal, completing the entire switching process. The embroidery machine can then continue embroidery operations according to the new mode. The typical time taken for the entire switching process is controlled within 1.2 ± 0.2 seconds, ensuring that production efficiency is not significantly affected.

[0041] The system architecture of this invention includes: a human-machine interface module, a spindle drive and monitoring module, a spindle drive and monitoring module, a central control module, and a power supply module. The central control module is connected to the human-machine interface module, the spindle drive and monitoring module, and the spindle drive and monitoring module, respectively. The power supply module provides power to each module. The spindle drive and monitoring module includes a spindle servo motor and a spindle encoder, and the spindle drive and monitoring module includes a spindle stepper motor and a spindle encoder.

[0042] See Figure 4 This invention provides a dynamic collaborative switching control device for embroidery modes, comprising: The instruction acquisition module is used to acquire mode switching instructions, which are used to instruct the embroidery machine to switch from the current embroidery mode to the target embroidery mode; The safety monitoring module is used to respond to the mode switching command, monitor the spindle angle position in real time, and determine whether the spindle is within the preset safety phase window; The spindle control module is used to control the spindle to decelerate to the allowable speed and lock it at the current phase position when the spindle is within the safe phase window; The central axis control module is used to calculate the target displacement required by the central axis based on the target phase difference corresponding to the target embroidery pattern, and control the central axis to perform phase angle difference offset movement to the target phase position; The coordinate reconstruction module is used to update the spindle electronic zero-point offset parameters to complete the coordinate system reconstruction, and to obtain the dynamic compensation coefficient from the speed-phase fine-tuning matrix according to the current target embroidery speed, and to perform dynamic accuracy compensation on the central axis. The recovery module is used to unlock the spindle, restore the target embroidery speed, and complete the mode switch.

[0043] It is evident that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented in this device embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0044] This invention provides a dynamic collaborative switching control system for embroidery modes, comprising: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor performs the method described above.

[0045] It is evident that the content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0046] Furthermore, embodiments of the present invention also disclose a computer program product or computer program stored in a computer-readable storage medium. A processor of a computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, causing the computer device to perform the methods described above.

[0047] Similarly, the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0048] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0049] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0050] The terms "first," "second," "third," "fourth," etc. (if present) in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0051] It should be understood that in this invention, "at least one (item)" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0052] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0053] 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.

[0054] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0055] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0056] The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and spirit of the present invention should be within the scope of the claims of the present invention.

Claims

1. A method for dynamically coordinating and switching control of embroidery patterns, characterized in that, The method for dynamically switching between chain stitch and towel stitch patterns includes the following steps: Obtain a mode switching instruction, which is used to instruct the embroidery machine to switch from the current embroidery mode to the target embroidery mode; In response to the mode switching command, the spindle angle position is monitored in real time to determine whether the spindle is within a preset safe phase window; When the spindle is within the safe phase window, control the spindle to decelerate to the switching allowable speed and lock it at the current phase position; Based on the target phase difference corresponding to the target embroidery pattern, calculate the target displacement required by the central axis, and control the central axis to perform a phase angle difference offset movement to the target phase position; Update the spindle electronic zero-point offset parameters to complete the coordinate system reconstruction, and obtain the dynamic compensation coefficient from the velocity-phase fine-tuning matrix according to the current target embroidery speed to perform dynamic accuracy compensation on the central axis; Release the spindle lock, restore to the target embroidery speed, and complete the mode switch.

2. The method of claim 1, wherein, The real-time monitoring of the spindle angle position and the determination of whether the spindle is within a preset safe phase window include: The current angle value of the spindle is collected in real time by an encoder installed at the tail of the spindle motor; The current angle value of the spindle is compared with the preset safety phase window threshold. When the current angle value of the spindle falls into the safe phase window and remains stable for a preset time, it is determined that the switching safety conditions are met.

3. The method of claim 1, wherein, The control of the spindle to decelerate to the allowed speed and lock at the current phase position includes: The spindle servo driver is controlled by pulse width modulation, so that the spindle can smoothly decrease from the current operating speed to the switching allowable speed at a preset deceleration. Send a spindle lock command to the spindle driver to mechanically lock the spindle in the current safe phase position via an electromagnetic brake.

4. The method of claim 1, wherein, The step of calculating the target displacement required by the central axis based on the target phase difference corresponding to the target embroidery pattern, and controlling the central axis to perform a phase angle difference offset movement to the target phase position, includes: Retrieve the target phase difference corresponding to the target embroidery pattern from the parameter database; The current actual angle of the center axis is read by the center axis encoder, and the target displacement required by the center axis is calculated based on the target phase difference and the current actual angle of the center axis. Send a motion command containing the target displacement, acceleration curve and target velocity to the central axis stepper motor driver to control the central axis to perform precise rotation according to the preset motion curve; The position signal fed back by the central shaft encoder is monitored in real time. When the deviation between the actual displacement and the commanded displacement is less than the preset accuracy threshold, the central shaft is determined to be in position.

5. The method of claim 1, wherein, The process of updating the spindle electronic zero-point offset parameters to complete the coordinate system reconstruction includes: Read the current zero-point offset parameters of the spindle electronic gearbox; Based on the new phase relationship and combined with the pre-stored mechanical transmission clearance compensation value, calculate the new zero-point offset parameters; The new zero-point offset parameters are written into the corresponding registers of the spindle drive module to complete the reconstruction of the software coordinate system.

6. The method according to claim 1, characterized in that, The step of obtaining dynamic compensation coefficients from the velocity-phase fine-tuning matrix based on the current target embroidery speed and performing dynamic accuracy compensation on the central axis includes: Query the currently set target embroidery speed and match the corresponding dynamic compensation coefficient from the pre-stored speed-phase fine-tuning matrix; Calculate the phase correction value based on the dynamic compensation coefficient, and write the phase correction value into the motion control register; The central axis is controlled to complete the fine-tuning movement corresponding to the phase correction value within a preset time.

7. The method according to claim 1, characterized in that, The method further includes: During the mode switching process, the operation status of each stage is monitored throughout, including the spindle deceleration status, safety window entry status, center axis positioning status, coordinate reconstruction status, and fine-tuning completion status. When any part malfunctions, the protection mechanism is triggered, including emergency stop of the relevant motion axis, issuance of alarm signal and recording of fault information.

8. A dynamic collaborative switching control device for embroidery modes, characterized in that, include: The instruction acquisition module is used to acquire mode switching instructions, which are used to instruct the embroidery machine to switch from the current embroidery mode to the target embroidery mode; The safety monitoring module is used to respond to the mode switching command, monitor the spindle angle position in real time, and determine whether the spindle is within the preset safety phase window; The spindle control module is used to control the spindle to decelerate to the allowable speed and lock it at the current phase position when the spindle is within the safe phase window; The central axis control module is used to calculate the target displacement required by the central axis based on the target phase difference corresponding to the target embroidery pattern, and control the central axis to perform phase angle difference offset movement to the target phase position; The coordinate reconstruction module is used to update the spindle electronic zero-point offset parameters to complete the coordinate system reconstruction, and to obtain the dynamic compensation coefficient from the speed-phase fine-tuning matrix according to the current target embroidery speed, and to perform dynamic accuracy compensation on the central axis. The recovery module is used to unlock the spindle, restore the target embroidery speed, and complete the mode switch.

9. A dynamic collaborative switching control system for embroidery modes, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor performs the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a processor-executable program, characterized in that, The processor-executable program, when executed by the processor, is used to perform the method as described in any one of claims 1 to 7.

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