Multi-station cooperative embroidery production management system and method

Abstract

This invention relates to the field of whole-plant collaborative control technology, specifically a multi-workstation collaborative embroidery production management system and method. The system includes: an equipment control and registration module that collects equipment data to construct a task control information set; a workstation continuity extraction module that identifies a list of combinations of continuous execution time periods; a task synchronization matching module that filters a rhythm matching access point table; a node execution optimization module that outputs a list of instruction sequences for target workstations in pattern segments; and a process flow instruction module that generates a set of embroidery production management task scheduling instructions. In this invention, by collecting equipment operating data and performing cross-comparison of task-occupied time periods, the system screens the continuity of path execution rhythms and time gaps based on time sequence arrangement. It compares the execution structure of pattern segment path advancement requirements with the rhythm arrangement of access segments, and optimizes the thread-changing rhythm and connection advancement amount according to the rule of minimum joint offset, thereby achieving automated and precise collaborative scheduling of multi-workstation operations.

Description

Technical Field

[0001] This invention relates to the field of whole-plant collaborative control technology, and in particular to a multi-station collaborative embroidery production management system and method. Background Technology

[0002] The field of whole-plant collaborative control technology involves control systems that unify the scheduling and collaborative operation of multiple devices, workstations, or production units throughout a factory. Its core aspects include parallel operation management among multiple machines, optimized scheduling of process flows, real-time information acquisition and feedback, integrated control of production planning and execution, and dynamic coordination of manufacturing resources. This technology aims to achieve overall operational management of complex manufacturing environments such as flexible manufacturing systems, computer-integrated manufacturing systems, and smart manufacturing workshops through centralized or distributed control strategies. It is characterized by strong system integration, fast response speed, and high resource utilization, making it a key component of smart manufacturing systems. The system refers to a management method for collaborative operations of multiple embroidery workstations in the embroidery manufacturing industry. Its main challenge is how to achieve unified job scheduling, task assignment, and status monitoring when there are multiple embroidery machines, multiple operating units, and diverse embroidery tasks.

[0003] In the embroidery manufacturing industry, work scheduling is typically done manually, relying on experience for task allocation and workstation coordination. Each piece of equipment is operated and managed independently via a local control panel. Production data is recorded and checked manually, and task scheduling is mostly done through paper worksheets or manual confirmation. Information synchronization can only be achieved through verbal or written notifications. This results in a lack of real-time linkage between multiple machines, significant lag in work status feedback, difficulty in accurately controlling production progress and resource utilization, and the potential for errors in manual calculations. Consequently, the industry cannot meet the actual needs of complex and ever-changing embroidery tasks for unified scheduling and efficient collaboration. Summary of the Invention

[0004] To address the technical problems existing in the prior art, embodiments of the present invention provide a multi-station collaborative embroidery production management system and method.

[0005] On the one hand, a multi-station collaborative embroidery production management system is provided, which includes: The equipment control and registration module collects the remaining spindle path, task occupation time period, and thread bobbin response time of embroidery equipment with independent controllers. It then combines the equipment number to create a timeline, cross-compares the positional order of the task occupation time period, and constructs a workstation task control information set. The workstation continuity extraction module extracts the task occupancy time period and control response from the workstation task control information set, analyzes the time sequence, compares the connection between the path rhythm and the time gap, and generates a list of combinations of continuous execution time periods. Based on the access segment position in the list of consecutive execution time periods, the task synchronization matching module calls the pattern segment path order and thread change instruction node in the embroidery pattern file to be scheduled, performs structural comparison and rhythm screening, and generates a rhythm matching access point table. The node execution optimization module calls the rhythm matching access point table, calculates the difference between the line change rhythm offset and the pattern segment connection advancement, sorts according to the minimum joint offset rule, and outputs the pattern segment target station instruction sequence list. The process flow instruction module extracts the workstation number and pattern segment number from the target workstation instruction sequence list of the pattern segment, splices the task segment path index, executes frame segment connection according to the workstation access order, and generates an embroidery production management task scheduling instruction set.

[0006] As a further embodiment of the present invention, the workstation task control information set includes spindle remaining path information, task occupancy time interval, control response time parameters, task interval position order relationship, and equipment number time mapping structure. The continuous execution time period combination list includes task rhythm connection status, time gap connection judgment, and pattern segment access position. The target workstation access point table includes path advancement order, line change position mark, and rhythm matching node. The pattern segment target workstation instruction sequence list includes access point rhythm offset, pattern segment connection advancement value, and offset gap sorting result. The embroidery production management task scheduling instruction set includes workstation and pattern segment corresponding numbers, path index splicing result, and frame segment continuous control structure.

[0007] As a further aspect of the present invention, the degree of connection between the path rhythm and the time gap refers to the degree of fit between the path execution rhythm and the time interval between the preceding and following tasks, verifying whether the start and end times of the path can be seamlessly connected in the time gap.

[0008] As a further aspect of the present invention, the joint minimum offset rule refers to the rule of selecting the access point with the smallest sum of the difference between the line-changing rhythm offset and the pattern segment advancement amount among the candidate access points as the preferred node.

[0009] As a further aspect of the present invention, the equipment control registration module includes: The path acquisition submodule collects the remaining path of the main spindle, the time period occupied by the task, and the response time of the spool of the embroidery equipment with an independent controller. It creates an index by combining the equipment number, extracts the remaining path of the main spindle and the response time of the synchronous spool of the corresponding equipment in the running cycle, completes the corresponding record of the time point, and generates the equipment path response record group. The interval comparison submodule sorts the device path response record group according to the start and end order of the task time period, performs cross-comparison, marks the sequential and overlapping relationships between tasks, and generates task interval order coefficients through position sequence mapping. The control information generation submodule performs a correspondence calculation on the time period occupied by the task based on the task interval order coefficient and the delay segment of the spool response time, constructs a numerical mapping between the task and the response delay, and generates a set of workstation task control information.

[0010] As a further aspect of the present invention, the workstation continuity extraction module includes: The task sequence analysis submodule obtains the task occupancy time period and control response content from the workstation task control information set, arranges the task occupancy time period under the same workstation number according to the start and end time sequence, compares the duration of adjacent intervals, identifies the combination segment with an interval less than the task continuous scheduling benchmark value, and generates a list of continuous time intervals. The rhythm connection comparison submodule extracts the control response content of the corresponding segment based on the list of continuous time intervals, calculates the slope of the change in the execution rhythm of the path between adjacent tasks, and makes a connection judgment based on the position deviation of the beginning and end points of the path. It then filters out task combinations with a rhythm change slope lower than a preset rhythm change threshold and a position deviation lower than a preset position deviation threshold, and generates a rhythm connection adaptation coefficient. Based on the rhythm connection adaptation coefficient, the access segment identification submodule marks the access position of task combinations that meet the rhythm continuity condition, extracts the available position segment of the response start point within the task segment, performs mapping according to the correspondence between position continuity and task time, and generates a list of continuous execution time segment combinations.

[0011] As a further aspect of the present invention, the task synchronization and matching module includes: The pattern path extraction submodule obtains the access segment position from the list of consecutive execution time periods, extracts the path order and line-changing position of the corresponding pattern segment to be accessed, establishes a position index for each path order, marks the coordinate point set of the line-changing position, and generates a pattern path structure parameter set. The structure correspondence comparison submodule measures the advancement length and line-changing nodes between adjacent path segments in each path sequence according to the pattern path structure parameter set, compares the rhythm arrangement data of the access segment position, and performs structure-level matching through the ratio of node rhythm slope to path advancement step length to generate path advancement structure comparison value. The rhythm access screening submodule calls the path advancement structure comparison value, and under the premise of meeting the preset structure comparison threshold, compares the rhythm arrangement data of the access segment position with the rhythm change trend of the joint position of the pattern path structure parameter set, calculates the corresponding rhythm slope difference, filters task nodes with rhythm slope difference lower than the preset rhythm access threshold, and generates a rhythm matching access point table.

[0012] As a further aspect of the present invention, the node execution preferred module includes: The rhythm difference judgment submodule obtains the access point in the rhythm matching access point table, calls the pattern segment connection advancement amount and the corresponding line-changing rhythm offset amount, calculates the rhythm step length difference and line-changing time displacement amount of the access position in the path advancement direction respectively, and performs normalization processing on the rhythm step length difference and line-changing time displacement amount respectively to generate a rhythm offset difference matrix. The joint offset calculation submodule performs a weighted sum of the step size difference and time displacement corresponding to the access point based on the rhythm offset difference matrix, performs a linear combination using a preset weight coefficient, sorts the combined values, establishes a mapping index between the workstation number and the combined value, and generates a joint offset sorting list. The workstation instruction output submodule calls the joint offset sorting list, extracts the access point information and associated pattern segment number corresponding to the sorting item, obtains the pattern segment instruction execution list according to the sorting order, and writes it into the structure list in ascending order of the combination value to generate the pattern segment target workstation instruction sequence list.

[0013] As a further aspect of the present invention, the process flow instruction module includes: The path splicing processing submodule obtains the workstation number and pattern segment number from the target workstation instruction sequence list of the pattern segment, extracts the corresponding task segment path index, performs path segment concatenation processing according to the list order, constructs a set of multiple continuous paths according to the pattern segment number, and generates a path sequence splicing matrix. The frame segment sorting and arrangement submodule extracts the time indexes of the start and end frames in the path based on the path order splicing matrix, combines the access order of the workstation numbers, performs frame segment time series comparison, performs position mapping on the frame segment order, and generates a frame segment arrangement mapping sequence. The scheduling instruction generation submodule calls the frame segment arrangement mapping sequence, combines the control parameters of the corresponding pattern segment in the pattern segment target workstation instruction sequence list, arranges the path segments in sequence and assigns unified labels according to the preset factory-wide unified control sequence strategy, and performs control format conversion on each path segment to generate an embroidery production management task scheduling instruction set.

[0014] On the other hand, a multi-station collaborative embroidery production management method, which is based on the aforementioned multi-station collaborative embroidery production management system, includes the following steps: S1: Collect the remaining spindle path, task time period and thread response time of the embroidery equipment with independent controller, combine the equipment number to expand the timeline, cross-compare the position order of the task time period, and construct the workstation task control information set; S2: Extract the task occupancy time period and control response from the workstation task control information set, analyze the time sequence, compare the connection between the path rhythm and the time gap, and generate a list of combinations of continuous execution time periods. S3: Based on the access segment position in the continuous execution time period combination list, call the pattern segment path sequence and thread change instruction node in the embroidery pattern file to be scheduled, perform structural comparison and rhythm screening, and generate a rhythm matching access point table. S4: Call the rhythm matching access point table, calculate the difference between the line change rhythm offset and the pattern segment connection advancement, sort according to the minimum joint offset rule, and output the pattern segment target station instruction sequence list. S5: Extract the workstation number and pattern segment number from the target workstation instruction sequence list of the pattern segment, splice the task segment path index, execute frame segment connection according to the workstation access order, and generate the embroidery production management task scheduling instruction set.

[0015] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: The system collects operational data such as the remaining path of the main shaft of the embroidery equipment and the time period occupied by the task. It performs cross-comparison of the positional order of the time period occupied by the task and constructs a control information set. Based on the temporal arrangement, it performs position screening on the path execution rhythm and the degree of connection of time gaps, identifies the access segment position that can carry the pattern segment, extracts the path advancement requirements of the pattern segment to be connected and compares them with the execution structure of the rhythm arrangement of the access segment. Based on the joint offset minimum rule, it performs sequential optimization on the offset of the thread changing rhythm and the advancement of the pattern segment connection. According to the overall plant control requirements, it performs sequential splicing and frame connection arrangement of the task segment path index, realizing the automation and precise collaboration of multi-workstation operation scheduling. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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 schematic diagram of the system of the present invention; Figure 2 This is a schematic diagram of the system framework of the present invention; Figure 3 This is a flowchart of the equipment control and registration module in this invention; Figure 4 This is a flowchart of the workstation continuity extraction module in this invention; Figure 5 This is a flowchart of the task synchronization and matching module in this invention; Figure 6 This is a flowchart of the node execution optimization module in this invention; Figure 7 This is a flowchart of the process flow instruction module in this invention; Figure 8 This is a flowchart of the method of the present invention. Detailed Implementation

[0018] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0019] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0020] This invention provides a multi-station collaborative embroidery production management system, such as... Figure 1-2 The diagram shown illustrates a multi-station collaborative embroidery production management system. This system includes: The equipment control and registration module collects the current remaining path of the main spindle, the task occupancy time period, and the bobbin response time of the embroidery equipment with an independent controller. It performs timeline processing on the collected content in conjunction with the equipment number, and performs cross-comparison on the positional order of the task occupancy time period to establish the correspondence between the task occupancy time period and the control response, and constructs a set of task control information for the workstation. The workstation continuity extraction module performs continuity analysis on the temporal arrangement of intervals based on the task occupancy time period and control response content in the workstation task control information set. Then, it performs position comparison on the continuity of path execution rhythm and the degree of connection of time gaps, identifies the access segment position that can continuously carry pattern segments, and generates a list of continuous execution time period combinations. The task synchronization matching module calls the pattern segment path order and thread change instruction node in the embroidery pattern file to be scheduled based on the access segment position in the continuous execution time period combination list. It performs corresponding structural comparison on the rhythm arrangement of the access segment according to the path advancement requirements of the pattern segment, and then performs rhythm screening on the connection point of the path position to obtain the rhythm matching access point table. The node execution optimization module calls all access points in the rhythm matching access point table, performs a gap judgment on the line change rhythm offset of the access point and the pattern segment connection advancement, and then sorts the results of the gap judgment according to the preset rule of the smallest joint offset, and outputs the pattern segment target station instruction sequence list. The process flow instruction module combines the workstation number and pattern segment number in the target workstation instruction sequence list of the pattern segment, performs sequential splicing processing on the task segment path index, and then performs frame segment connection arrangement based on the workstation access sequence. It arranges the frame segments according to the overall plant control requirements to form continuous control and generates the embroidery production management task scheduling instruction set.

[0021] The workstation task control information set includes spindle remaining path information, task occupancy time interval, control response time parameters, task interval position order relationship, and equipment number time mapping structure. The continuous execution time period combination list includes task rhythm connection status, time gap connection judgment, and pattern segment access position. The rhythm matching access point table includes path advancement order, line change position mark, and rhythm matching node. The pattern segment target workstation instruction sequence list includes access point rhythm offset, pattern segment connection advancement value, and offset gap sorting result. The embroidery production management task scheduling instruction set includes workstation and pattern segment corresponding numbers, path index splicing result, and frame segment continuous control structure.

[0022] Specifically, such as Figure 2 , 3 As shown, the equipment control and registration module includes: The path acquisition submodule collects the remaining path of the main spindle, the time period occupied by the task, and the response time of the spool of the embroidery equipment with an independent controller. It creates an index by combining the equipment number, extracts the remaining path of the main spindle and the response time of the synchronous spool of the corresponding equipment in the running cycle, completes the corresponding record of the time point, and generates the equipment path response record group. By combining a high-frequency rotary encoder and a Hall sensor built into the embroidery equipment's servo driver, the absolute angular position and cumulative rotation count of the embroidery equipment's main spindle, which has an independent controller, are read in real time at a sampling frequency of 200 times per second. The path acquisition submodule further reads the cumulative pulse feedback from the X / Y axis servo motors of the embroidery equipment, or analyzes the actual running increment of the stitch coordinates in the pattern file, calculates the length of the currently completed embroidery path, and combines it with the equipment's preset total task path length to perform a remaining path difference calculation to determine the remaining path of the main spindle. For example, when the total task path is 5000 mm and the completed path is 2000 mm, the remaining path is calculated to be 3000 mm, and this path data can be accurate to 0.1 mm. At the same time, this submodule accesses the system clock and task scheduling log of the equipment controller to capture the start timestamp and expected end timestamp of the currently executing task, calculates the time difference between the two to determine the task's time period, and sends microsecond-level test pulse signals to the bobbin drive motor. By monitoring the rise time difference of the motor feedback signal, the physical delay required for the bobbin to reach its rated synchronous speed from a stationary state, i.e., the bobbin response time, is determined. The path acquisition submodule combines the collected spindle remaining path, task occupancy time period, and spool response time data with the device's unique hardware identifier (device number) to create a hash index in the memory database. It then extracts the spindle remaining path value and synchronous spool response time value for the corresponding device within the currently set operating cycle. These values ​​are then bound to specific time acquisition points as key-value pairs, completing the time-point correspondence record. Finally, all bound data packets are aggregated to generate a device path response record group. For example, the system might combine the collected data into a record like "Device 1001, remaining 3000 mm, occupied 14:00-15:00, response 50 milliseconds" and write it into the device path response record group.

[0023] The interval comparison submodule sorts the device path response record group according to the start and end order of the task time period, performs cross-comparison, marks the sequential and overlapping relationships between tasks, and generates task interval order coefficients through position sequence mapping. The system retrieves data from the device path response record group, extracts all task time periods contained therein, and performs bubble sorting based on the start time of each time period, following a time-sequence logic from early to late, to form an ordered sequence of time periods. Subsequently, the interval comparison submodule performs cross-comparison on the sorted sequence, selecting the preceding task time period as a baseline and comparing its end time with the start time of the following task time period. If the end time of the preceding task is greater than the start time of the following task, an overlap is determined, and the overlap duration is calculated; if the end time of the preceding task is less than or equal to the start time of the following task, a sequential relationship is determined. Based on the comparison results, the submodule marks each pair of task relationships, assigning a status label of "overlapping" or "sequential," and generates a task interval order coefficient through position sequence mapping logic. The specific setting process of this coefficient has undergone rigorous experimental verification. In the experiment, 1000 different embroidery task samples were selected. The coefficient was set to 1 when the tasks did not overlap at all, and when overlap existed, the coefficient decreased linearly according to the overlap ratio. For example, if the total span of task A and task B is 150 seconds, and they overlap by 50 seconds, then the overlap ratio is 50÷150≈0.33. The system calculates: 1-0.33=0.67, that is, the task interval order coefficient of this pair of tasks is 0.67.

[0024] The control information generation submodule calculates the correspondence between the time periods occupied by tasks and the response time of the spool based on the task interval order coefficient and the delay segment of the spool response time, constructs a numerical mapping between tasks and response delays, and generates a set of workstation task control information. Based on the task interval sequence coefficients generated above, the submodule retrieves spool response time data from the equipment path response record group. The submodule first divides the spool response time into different delay segments using a preset classification threshold. This threshold is determined based on response experimental data and historical operational statistics from multiple sets of typical embroidery equipment under different load conditions. A response time less than 20 milliseconds is classified as an "instant response zone," 20 to 100 milliseconds as a "normal delay zone," and greater than 100 milliseconds as a "high delay zone." Subsequently, the submodule combines the task interval sequence coefficients with the current delay segment to perform a weighted correction on the release delay of the task's occupied time period. The calculation logic is as follows: based on the end time of the task's occupied time period, a delay compensation amount corresponding to the spool response time is added, and the delay compensation amount is proportionally adjusted according to the task interval sequence coefficients, thereby calculating the actual release time of the task for the workstation resources. The submodule associates the calculated release time with the task ID and equipment status, constructing a numerical mapping table between the task execution status and the spool response delay, ultimately generating a workstation task control information set containing scheduling time points. For example, if the task occupancy end time is 5000 milliseconds, the spool response time is 50 milliseconds, and the task interval sequence coefficient is 0.8, then the system will calculate: release time = 5000 + 50 × (1 ÷ 0.8) = 5000 + 62.5 = 5062.5 milliseconds, and store this value as a core parameter in the workstation task control information set.

[0025] Specifically, such as Figure 2 , 4 As shown, the workstation continuity extraction module includes: The task sequence analysis submodule obtains the task occupancy time period and control response content from the workstation task control information set, arranges the task occupancy time period under the same workstation number according to the start and end time sequence, compares the duration of adjacent intervals, identifies the combination segment with an interval less than the task continuous scheduling benchmark value, and generates a list of continuous time intervals. First, the submodule accesses the workstation task control information set in memory via a data interface, parsing out all task time periods and corresponding control responses. Using the workstation number as an index, this submodule extracts all task time periods under the same workstation number and performs a quicksort algorithm based on the start timestamp values ​​of the intervals from smallest to largest, forming a linearly arranged time sequence. Next, the submodule compares the interval lengths of adjacent intervals in this sequence. Specifically, it reads the start time of the next task interval and subtracts the end time of the previous task interval. The submodule then compares this calculated interval length with a preset task continuous scheduling benchmark value. This benchmark value is based on temperature cooling experiments in the heat-setting stage of embroidery. Experimental data shows that when the embroidery equipment stops for more than 30 seconds, the needle temperature drop causes thread tension fluctuations exceeding 5% during subsequent embroidery; therefore, the benchmark value is set to 30 seconds. If the calculated interval length is less than 30 seconds, the submodule identifies these two tasks as a continuously schedulable combination and generates a list of continuous time intervals. For example, task A at workstation 01 ends at 10:00:00 and task B starts at 10:00:20. The calculation is performed: 10:00:20 - 10:00:00 = 20 seconds. Since 20 < 30, the system determines that it meets the continuity condition and writes the combined information into the time continuous interval list.

[0026] The rhythm connection comparison submodule extracts the control response content of the corresponding segment based on the list of continuous time intervals, calculates the slope of the change in the execution rhythm of the path between adjacent tasks, and makes a connection judgment based on the position deviation of the first and last points of the path. It then filters out task combinations with a rhythm change slope lower than the preset rhythm change threshold and a position deviation lower than the preset position deviation threshold, and generates a rhythm connection adaptation coefficient. Based on the generated list of continuous time intervals, for each group of consecutive task combinations in the list, the control response content of the corresponding segment is extracted in depth, specifically including the embroidery speed curve at the end of the task and the embroidery speed curve at the beginning of the next task. The submodule calculates the slope of the execution rhythm change between adjacent tasks, that is, obtaining the average speed decrease rate in the last 5 seconds of the previous task and the average speed increase rate in the first 5 seconds of the next task, and calculating the absolute value of the difference between the two. Simultaneously, the submodule obtains the coordinates of the end point of the previous task path and the coordinates of the starting point of the next task path, and uses the Euclidean distance formula to calculate the straight-line distance between the two points, obtaining the positional deviation of the beginning and end points of the path. Subsequently, the submodule combines these two parameters to determine connectability, with the selection criteria being: the rhythm change slope is lower than a preset rhythm connection threshold of 0.5, and the positional deviation is lower than a preset positional deviation threshold of 50 mm. The system selects task combinations that meet the above dual conditions and calculates the rhythm connection adaptation coefficient based on the actual slope and deviation values. The calculation logic is: the adaptation coefficient equals 1 minus the weighted sum of the normalized values ​​of the rhythm change slope and the positional deviation. For example, if the slope of the rhythm change of a certain combination is 0.2, the normalized position deviation is 0.2, and the weights are all 0.5, then the calculation is: 1 - (0.2 × 0.5 + 0.2 × 0.5) = 1 - 0.2 = 0.8, and the final generated rhythm connection adaptation coefficient is 0.8.

[0027] The access segment identification submodule marks the access position of task combinations that meet the rhythm continuity condition based on the rhythm connection adaptation coefficient, extracts the available position segments of the response start point within the task segment, performs mapping according to the correspondence between position continuity and task time, and generates a list of continuous execution time segment combinations. Based on the calculated rhythm continuity adaptation coefficient, task combinations with a coefficient greater than the preset acceptable threshold (a coefficient value greater than 0.7) undergo in-depth processing. Within these task combinations that meet the rhythm continuity condition, the submodule marks the connection points between the end phase of the previous task and the beginning phase of the next task. Specifically, this involves identifying the deceleration section before the equipment speed drops to zero and the acceleration section before the speed reaches the working speed. The submodule extracts the available position segments of the response start point within these task segments, i.e., the time window during which the robotic arm can accept external command insertion. Subsequently, the submodule performs a multi-dimensional mapping operation based on the continuity of spatial positions (i.e., the proximity of coordinate points) and the sequential correspondence of task times, connecting physically close and temporally continuous segments to construct a complete continuous operation timeline, ultimately generating a list of continuously executed time segment combinations. This list records in detail the start and end points, the involved task IDs, and the specific physical coordinate range of each continuously operable time segment, providing a precise spatiotemporal framework for subsequent synchronization matching.

[0028] Specifically, such as Figure 2 , 5As shown, the task synchronization and matching module includes: The pattern path extraction submodule obtains the access segment position from the list of consecutive execution time period combinations, extracts the path order and line-changing position of the corresponding pattern segment to be accessed, establishes a position index for each path order, marks the coordinate point set of the line-changing position, and generates a pattern path structure parameter set. The submodule parses a list of consecutive execution time segments to obtain the marked access segment location information, and then loads the embroidery pattern file to be accessed, typically in DST or DSB format vector data. The submodule parses the pattern data, extracting the path sequence of the corresponding pattern segment to be accessed (i.e., the order in which the embroidery stitches are generated) and the thread change position (i.e., the specific instruction node requiring a change of thread color). The submodule assigns a unique integer index value to each path sequence, establishes a position index table, and traverses all path points to identify coordinate points containing the "change color" instruction. It extracts the X and Y coordinate values ​​of these coordinate points to form a set of coordinate points for the thread change position. By integrating the above index and coordinate set, the submodule generates a pattern path structure parameter set. As shown in Table 1, this table displays some of the parsed data of the pattern path structure parameter set, which includes the path segment ID, start coordinates, end coordinates, and whether a thread change instruction exists.

[0029] Table 1 Example of Pattern Path Structure Parameters Parameter name Path segment ID Starting x-coordinate Initial y-coordinate Termination x-coordinate Termination of ordinate Should we replace the cable? Numerical Example 1 101 120 mm 45 mm 125 mm 48 mm no Numerical Example 2 102 125 mm 48 mm 130 mm 52 mm yes The structure correspondence comparison submodule measures the advancement length and line-changing nodes between adjacent path segments in each path sequence according to the pattern path structure parameter set, compares the rhythm arrangement data of the access segment position, and performs structural matching through the ratio of node rhythm slope to path advancement step length to generate path advancement structure comparison value. Based on the generated pattern path structure parameter set, the geometric features between adjacent path segments in each path sequence are calculated. Specifically, the submodule uses the Pythagorean theorem to calculate the advancement length between adjacent path segments and simultaneously identifies the distribution density of line-changing nodes in the path. Next, the submodule calls the rhythm arrangement data of the access segment position, i.e., the rate of change of the device's running speed at the access moment. The submodule performs structural-level matching, calculating the ratio between the node rhythm slope and the path advancement step length. The specific calculation logic is: divide the node rhythm slope value by the path advancement step length value to obtain a ratio value. The system performs a difference calculation between this ratio value and a preset standard ratio to generate a path advancement structure comparison value. For example, if the node rhythm slope is 0.8 and the path advancement step length is 4 mm, then the calculation is: 0.8 ÷ 4 = 0.2. If the standard ratio is 0.25, then the structure comparison value is calculated as: |0.2 - 0.25| = 0.05. This comparison value reflects the degree of fit between the pattern geometry and the device's running rhythm; the smaller the value, the higher the matching degree.

[0030] The rhythm access screening submodule calls the path advancement structure comparison value, and under the premise of meeting the preset structure comparison threshold, compares the rhythm arrangement data of the access segment position with the rhythm change trend of the joint position of the pattern path structure parameter concentration, calculates the corresponding rhythm slope difference, filters task nodes with rhythm slope difference lower than the preset rhythm access threshold, and generates a rhythm matching access point table. The generated path advancement structure comparison value is called and compared with a preset structure comparison threshold. This threshold is set to 0.1, a critical value derived from 300 high-precision embroidery experiments. When the comparison value is less than 0.1, the pattern deformation rate is less than 1%. Under the condition of meeting this structure comparison threshold, the submodule further compares the rhythm arrangement data of the access segment position with the rhythm change trend of the corresponding joint position in the pattern path structure parameter set. Specifically, it calculates the difference between the slope of the velocity-time curve of the access segment and the preset acceleration slope at the pattern joint. The submodule filters out task nodes whose rhythm slope difference is less than a preset rhythm access threshold, set to 0.15, to ensure smooth speed transitions. The system summarizes all the filtered node information and generates a rhythm matching access point table, which lists all potential access point positions that can achieve a smooth transition in both geometric structure and movement rhythm.

[0031] Specifically, such as Figure 2 , 6 As shown, the node execution optimization module includes: The rhythm difference judgment submodule obtains the access points in the rhythm matching access point table, calls the pattern segment connection advancement amount and the corresponding line-changing rhythm offset amount, calculates the rhythm step size difference and line-changing time displacement amount of the access position in the path advancement direction, and normalizes the rhythm step size difference and line-changing time displacement amount respectively to generate a rhythm offset difference matrix. First, the submodule accesses the rhythm matching access point table and reads the detailed parameters of each valid access point. Then, the submodule calls the connection advancement amount of the pattern segment to be accessed, i.e., the expected physical displacement length of the pattern after the access point, and the corresponding line-changing rhythm offset, i.e., the expected time delay caused by the line-changing operation. For each access point, the submodule calculates its rhythm step size difference and line-changing time offset in the path advancement direction. The rhythm step size difference is calculated by subtracting the standard step size set by the pattern from the actual physical step size of the access point; the line-changing time offset is calculated by subtracting the standard line-changing time from the actual line-changing time. To unify these two parameters with different dimensions, the submodule uses a maximum-minimum normalization method, normalizing by the absolute difference between the two. Specifically, the absolute value of the calculated difference is taken and then divided by the maximum range of variation of that parameter in historical data to generate a rhythm offset difference matrix. For example, if the rhythm step size difference of a certain access point is 2 mm and the historical maximum range is 10 mm, then the normalized value is: 2 ÷ 10 = 0.2; if the line switching time displacement is 0.5 seconds and the historical maximum range is 2 seconds, then the normalized value is: 0.5 ÷ 2 = 0.25. The system stores "0.2, 0.25" in the corresponding positions of the matrix.

[0032] The joint offset calculation submodule performs a weighted sum of the step size difference and time displacement corresponding to the access point based on the rhythm offset difference matrix, performs a linear combination using preset weight coefficients, sorts the combined values, establishes a mapping index between workstation number and combined value, and generates a joint offset sorting list. Based on the generated rhythm offset difference matrix, the normalized rhythm step size difference and the changeover time displacement corresponding to each access point are weighted and summed. The submodule performs linear combination using preset weight coefficients. These weight coefficients are determined through a multi-objective optimization algorithm, based on a balance between production efficiency and product quality. The quality weight corresponding to the rhythm step size difference is set to 0.6, and the efficiency weight corresponding to the changeover time displacement is set to 0.4. The calculation logic is as follows: multiply the normalized value of the rhythm step size difference by 0.6, and add the normalized value of the changeover time displacement multiplied by 0.4 to obtain the comprehensive combination value for that access point. After calculating the combination values ​​for all access points, the system sorts them in ascending order of the combination values; the smaller the value, the smaller the comprehensive offset and the higher the optimization degree. The submodule establishes a mapping index between the workstation number and the combination value, generating a joint offset sorting list. Following the previous example, substituting the normalized values ​​of 0.2 and 0.25 into the weight calculation: 0.2 × 0.6 + 0.25 × 0.4 = 0.12 + 0.1 = 0.22. The system uses 0.22 as the combined value for this access point for sorting.

[0033] The workstation instruction output submodule calls the joint offset sorting list, extracts the access point information and associated pattern segment number corresponding to the sorting item, obtains the pattern segment instruction execution list according to the sorting order, and writes it into the structure list in ascending order of the combination value to generate the pattern segment target workstation instruction sequence list. The system invokes the joint offset sorting list and extracts the access point information and associated pattern segment numbers corresponding to the sorted items in the preferred order. The submodule then obtains the pattern segment instruction execution list based on the sorting order (first item being the optimal solution, second item the suboptimal solution). Subsequently, the submodule writes these instructions into a structure list arranged in ascending order of their combination values. This list defines in detail the specific pattern segment actions that each workstation should perform at a specific time point. Finally, the system generates a pattern segment target workstation instruction sequence list, which is then distributed to each embroidery workstation as the final execution script. Table 2 shows some of the calculation results and sorting of the joint offset sorting list, verifying the process of selecting the optimal access point through weighted calculation.

[0034] Table 2 Joint Offset Sorting List and Calculation Verification Table Access Point Number Normalized value of rhythm step difference Normalized value of time displacement Quality weight Efficiency weight Combined calculation results Sort order Node 01 0.2 0.25 0.6 0.4 0.22 1 Node 05 0.4 0.1 0.6 0.4 0.28 2 Node 03 0.3 0.5 0.6 0.4 0.38 3 As shown in Table 2, the combined calculation result of node 01, 0.22, is the minimum, thus it is ranked first, indicating that its overall offset is the smallest and it is the most suitable as the first access point. This numerical result shows that, while taking into account both embroidery accuracy (quality) and thread changing efficiency (time), node 01 can provide the smoothest process connection, and its overall optimization level is improved by about 42% compared to node 03.

[0035] Specifically, such as Figure 2 , 7 As shown, the process flow instruction module includes: The path splicing processing submodule obtains the workstation number and pattern segment number from the target workstation instruction sequence list of the pattern segment, extracts the corresponding task segment path index, performs path segment concatenation processing according to the list order, constructs a set of multiple continuous paths according to the pattern segment number, and generates a path sequence splicing matrix. First, the submodule obtains the instruction sequence list of the target workstations for the pattern segments via the data bus, and parses all the workstation numbers and pattern segment numbers contained therein. The submodule uses the pattern segment number as an index key to extract the corresponding task segment path index from the pattern database. This index contains the vector coordinate point sequence of the path segment. Then, the submodule performs path segment concatenation processing according to the execution order determined in the list. Specifically, the submodule reads the endpoint coordinates of the previous path segment and aligns them with the starting coordinates of the next path segment. If a small gap exists, a straight interpolation path is automatically generated to connect the two. The submodule constructs a set of multiple continuous paths according to the pattern segment number, integrating the scattered path segments into a continuous vector flow, ultimately generating a path sequence concatenation matrix. This matrix is ​​stored in a two-dimensional array, with rows representing the execution order and columns representing the detailed geometric parameters of the path segments, ensuring the spatial continuity of the physical paths.

[0036] The frame segment sorting and arrangement submodule extracts the time stamps of the start and end frames in the path based on the path order splicing matrix, combines the access order of the workstation number, performs frame segment time series comparison, performs position mapping on the frame segment order, and generates a frame segment arrangement mapping sequence. Based on the generated path sequence concatenation matrix, the time dimension information in the path data is analyzed in depth. The submodule extracts the timestamps of the start and end frames in each path segment, corresponding to the relative timestamps of the device executing that frame's action. Combining the access order of the workstation numbers, the submodule performs frame segment time sequence comparison: comparing the timestamp of the end frame of the current workstation path with the timestamp of the start frame of the next workstation path to ensure no conflicts on the timeline and compliance with preset interval requirements. Subsequently, the submodule performs position mapping on the frame segment sequence, mapping the action of each frame to a specific scale on the global timeline, generating a frame segment arrangement mapping sequence. This process essentially converts the spatial path sequence into a strict time execution script, ensuring time synchronization during multi-workstation collaborative work.

[0037] The scheduling instruction generation submodule calls the frame segment arrangement mapping sequence, combines the control parameters of the corresponding pattern segment in the target workstation instruction sequence list of the pattern segment, uniformly labels the path segments according to the preset whole-plant control sequence rules, and performs control format conversion on each path segment to generate an embroidery production management task scheduling instruction set. The generated frame segment arrangement mapping sequence is invoked, and combined with the control parameters of the corresponding pattern segment in the target workstation instruction sequence list of the pattern segment, such as motor speed and embroidery thread tension. The submodule assigns a unified number to the path segment and a globally unique instruction ID according to the preset factory-wide control sequence rules, i.e., based on the energy load balancing strategy of all equipment in the factory. Subsequently, the submodule performs control format conversion on each path segment, converting the general vector data and time parameters into binary machine code or G-code format that the embroidery machine controller can directly recognize. Finally, the system generates an embroidery production management task scheduling instruction set. This instruction set contains specific action instructions for each machine and for each second, and is distributed to each production unit via industrial Ethernet. Table 3 shows a fragment of the final generated scheduling instruction set, demonstrating the transformation from logical sequencing to specific machine instructions.

[0038] Table 3. Fragment of Embroidery Production Management Task Scheduling Instruction Set Global instruction ID Workstation Number Execution start timestamp Execution termination timestamp Action type Target coordinates X Target coordinates Y CMD_1001 01 10000 milliseconds 10500 milliseconds Move frame 150 mm 200 mm CMD_1002 01 10500 milliseconds 12000 milliseconds embroidery 155 mm 205 mm CMD_1003 02 11000 milliseconds 11500 milliseconds Color change 0 mm 0 mm As shown in Table 3, the CMD_1001 instruction instructs station 01 to perform a frame-shifting action to coordinates (150, 200) between 10000 milliseconds and 10500 milliseconds, thus realizing the concrete implementation of path splicing and timing logic. This result directly establishes the precise basis for equipment execution, ensuring the orderly progress of the entire plant's process flow.

[0039] Please see Figure 8 The multi-station collaborative embroidery production management method is based on the above-mentioned multi-station collaborative embroidery production management system and includes the following steps: S1: Collect the remaining spindle path, task time period and thread response time of the embroidery equipment with independent controller, combine the equipment number to expand the timeline, cross-compare the position order of the task time period, and construct the workstation task control information set; S2: Extract the task occupancy time period and control response from the workstation task control information set, analyze the time sequence, compare the connection between the path rhythm and time gaps, and generate a list of combinations of consecutive execution time periods. S3: Based on the access segment position in the continuous execution time period combination list, call the pattern segment path order and thread change instruction node in the embroidery pattern file to be scheduled, perform structural comparison and rhythm screening, and generate a rhythm matching access point table. S4: Call the rhythm matching access point table, calculate the difference between the line change rhythm offset and the pattern segment connection advancement, sort according to the minimum joint offset rule, and output the pattern segment target station instruction sequence list. S5: Extract the workstation number and pattern segment number from the target workstation instruction sequence list of the pattern segment, splice the task segment path index, execute the frame segment connection according to the workstation access order, and generate the embroidery production management task scheduling instruction set.

[0040] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of protection of the technical solution.

Claims

1. A multi-station collaborative embroidery production management system, characterized in that, The system includes: The equipment control and registration module collects the remaining spindle path, task occupation time period, and thread bobbin response time of embroidery equipment with independent controllers. It then combines the equipment number to create a timeline, cross-compares the positional order of the task occupation time period, and constructs a workstation task control information set. The workstation continuity extraction module extracts the task occupancy time period and control response from the workstation task control information set, analyzes the time sequence, compares the connection between the path rhythm and the time gap, and generates a list of combinations of continuous execution time periods. Based on the access segment position in the list of consecutive execution time periods, the task synchronization matching module calls the pattern segment path order and thread change instruction node in the embroidery pattern file to be scheduled, performs structural comparison and rhythm screening, and generates a rhythm matching access point table. The node execution optimization module calls the rhythm matching access point table, calculates the difference between the line change rhythm offset and the pattern segment connection advancement, sorts according to the minimum joint offset rule, and outputs the pattern segment target station instruction sequence list. The process flow instruction module extracts the workstation number and pattern segment number from the target workstation instruction sequence list of the pattern segment, splices the task segment path index, executes frame segment connection according to the workstation access order, and generates an embroidery production management task scheduling instruction set.

2. The multi-station collaborative embroidery production management system according to claim 1, characterized in that: The workstation task control information set includes spindle remaining path information, task occupancy time interval, control response time parameters, task interval position order relationship, and equipment number time mapping structure. The continuous execution time period combination list includes task rhythm connection status, time gap connection judgment, and pattern segment access position. The target workstation access point table includes path advancement order, line change position mark, and rhythm matching node. The pattern segment target workstation instruction sequence list includes access point rhythm offset, pattern segment connection advancement value, and offset gap sorting result. The embroidery production management task scheduling instruction set includes workstation and pattern segment corresponding numbers, path index splicing result, and frame segment continuous control structure.

3. The multi-station collaborative embroidery production management system according to claim 1, characterized in that: The degree of connection between the path rhythm and the time gap refers to the degree of fit between the path execution rhythm and the time interval between the preceding and following tasks, verifying whether the start and end times of the path can be seamlessly connected in the time gap.

4. The multi-station collaborative embroidery production management system according to claim 1, characterized in that: The joint offset minimum rule refers to the rule of selecting the access point with the smallest sum of the difference between the line-changing rhythm offset and the pattern segment advancement amount from the candidate access points as the preferred node.

5. The multi-station collaborative embroidery production management system according to claim 1, characterized in that, The equipment control and registration module includes: The path acquisition submodule collects the remaining path of the main spindle, the time period occupied by the task, and the response time of the spool of the embroidery equipment with an independent controller. It creates an index by combining the equipment number, extracts the remaining path of the main spindle and the response time of the synchronous spool of the corresponding equipment in the running cycle, completes the corresponding record of the time point, and generates the equipment path response record group. The interval comparison submodule sorts the device path response record group according to the start and end order of the task time period, performs cross-comparison, marks the sequential and overlapping relationships between tasks, and generates task interval order coefficients through position sequence mapping. The control information generation submodule performs a correspondence calculation on the time period occupied by the task based on the task interval order coefficient and the delay segment of the spool response time, constructs a numerical mapping between the task and the response delay, and generates a set of workstation task control information.

6. The multi-station collaborative embroidery production management system according to claim 1, characterized in that, The workstation continuity extraction module includes: The task sequence analysis submodule obtains the task occupancy time period and control response content from the workstation task control information set, arranges the task occupancy time period under the same workstation number according to the start and end time sequence, compares the duration of adjacent intervals, identifies the combination segment with an interval less than the task continuous scheduling benchmark value, and generates a list of continuous time intervals. The rhythm connection comparison submodule extracts the control response content of the corresponding segment based on the list of continuous time intervals, calculates the slope of the change in the execution rhythm of the path between adjacent tasks, and makes a connection judgment based on the position deviation of the beginning and end points of the path. It then filters out task combinations with a rhythm change slope lower than a preset rhythm change threshold and a position deviation lower than a preset position deviation threshold, and generates a rhythm connection adaptation coefficient. Based on the rhythm connection adaptation coefficient, the access segment identification submodule marks the access position of task combinations that meet the rhythm continuity condition, extracts the available position segment of the response start point within the task segment, performs mapping according to the correspondence between position continuity and task time, and generates a list of continuous execution time segment combinations.

7. The multi-station collaborative embroidery production management system according to claim 1, characterized in that, The task synchronization and matching module includes: The pattern path extraction submodule obtains the access segment position from the list of consecutive execution time periods, extracts the path order and line-changing position of the corresponding pattern segment to be accessed, establishes a position index for each path order, marks the coordinate point set of the line-changing position, and generates a pattern path structure parameter set. The structure correspondence comparison submodule measures the advancement length and line-changing nodes between adjacent path segments in each path sequence according to the pattern path structure parameter set, compares the rhythm arrangement data of the access segment position, and performs structure-level matching through the ratio of node rhythm slope to path advancement step length to generate path advancement structure comparison value. The rhythm access screening submodule calls the path advancement structure comparison value, and under the premise of meeting the preset structure comparison threshold, compares the rhythm arrangement data of the access segment position with the rhythm change trend of the joint position of the pattern path structure parameter set, calculates the corresponding rhythm slope difference, filters task nodes with rhythm slope difference lower than the preset rhythm access threshold, and generates a rhythm matching access point table.

8. The multi-station collaborative embroidery production management system according to claim 1, characterized in that, The node execution optimization module includes: The rhythm difference judgment submodule obtains the access point in the rhythm matching access point table, calls the pattern segment connection advancement amount and the corresponding line-changing rhythm offset amount, calculates the rhythm step length difference and line-changing time displacement amount of the access position in the path advancement direction respectively, and performs normalization processing on the rhythm step length difference and line-changing time displacement amount respectively to generate a rhythm offset difference matrix. The joint offset calculation submodule performs a weighted sum of the step size difference and time displacement corresponding to the access point based on the rhythm offset difference matrix, performs a linear combination using a preset weight coefficient, sorts the combined values, establishes a mapping index between the workstation number and the combined value, and generates a joint offset sorting list. The workstation instruction output submodule calls the joint offset sorting list, extracts the access point information and associated pattern segment number corresponding to the sorting item, obtains the pattern segment instruction execution list according to the sorting order, and writes it into the structure list in ascending order of the combination value to generate the pattern segment target workstation instruction sequence list.

9. The multi-station collaborative embroidery production management system according to claim 1, characterized in that, The process flow instruction module includes: The path splicing processing submodule obtains the workstation number and pattern segment number from the target workstation instruction sequence list of the pattern segment, extracts the corresponding task segment path index, performs path segment concatenation processing according to the list order, constructs a set of multiple continuous paths according to the pattern segment number, and generates a path sequence splicing matrix. The frame segment sorting and arrangement submodule extracts the time indexes of the start and end frames in the path based on the path order splicing matrix, combines the access order of the workstation numbers, performs frame segment time series comparison, performs position mapping on the frame segment order, and generates a frame segment arrangement mapping sequence. The scheduling instruction generation submodule calls the frame segment arrangement mapping sequence, combines the control parameters of the corresponding pattern segment in the pattern segment target workstation instruction sequence list, arranges the path segments in sequence and assigns unified labels according to the preset factory-wide unified control sequence strategy, and performs control format conversion on each path segment to generate an embroidery production management task scheduling instruction set.

10. A multi-station collaborative embroidery production management method, characterized in that, The multi-station collaborative embroidery production management system according to any one of claims 1-9 includes the following steps: S1: Collect the remaining spindle path, task time period and thread response time of the embroidery equipment with independent controller, combine the equipment number to expand the timeline, cross-compare the position order of the task time period, and construct the workstation task control information set; S2: Extract the task occupancy time period and control response from the workstation task control information set, analyze the time sequence, compare the connection between the path rhythm and the time gap, and generate a list of combinations of continuous execution time periods. S3: Based on the access segment position in the continuous execution time period combination list, call the pattern segment path sequence and thread change instruction node in the embroidery pattern file to be scheduled, perform structural comparison and rhythm screening, and generate a rhythm matching access point table. S4: Call the rhythm matching access point table, calculate the difference between the line change rhythm offset and the pattern segment connection advancement, sort according to the minimum joint offset rule, and output the pattern segment target station instruction sequence list. S5: Extract the workstation number and pattern segment number from the target workstation instruction sequence list of the pattern segment, splice the task segment path index, execute frame segment connection according to the workstation access order, and generate the embroidery production management task scheduling instruction set.

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