A multi-axis coordinated beat control method of a woven bag cutting and sewing integrated production line

Abstract

The application relates to the technical field of industrial automatic control, and discloses a multi-shaft collaborative beat control method of a woven bag cutting and sewing integrated production line. The method first collects state signals of a printing station, a bag cutting station, an edge folding station, a sewing station and a buffer pool through a unified clock, respectively establishes beat queues corresponding to a printing time base, a bag cutting time base and a sewing time base, and dynamically coordinates the beats of the stations according to the buffer pool capacity state; when line changing, ink changing, cutter temperature correction, cutter blade wear or specification switching, occupation processing is carried out, and the bag cutting position, the printing overprint position and the sewing position are corrected in combination with the color mark position, the tension state and the visual offset state. The beat continuity of the whole line, the local disturbance isolation capability and the position control stability are improved.

Description

Technical Field

[0001] This invention relates to the field of industrial automatic control technology, specifically to a multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags. Background Technology

[0002] Woven bags are widely used for packaging bulk materials such as cement, fertilizer, grain, and feed. To improve production efficiency, existing production lines typically integrate printing, bag cutting, folding, and sewing processes into a single integrated cutting, sewing, and printing device, achieving continuous production through multi-axis synchronous control. Existing multi-axis synchronous control methods often use the printing main roller or main traction roller as a virtual main axis, and then use a fixed electronic cam to make the bag cutting servo axis, printing pressure roller axis, folding mechanism, and sewing mechanism follow the slave axes according to a preset relationship. For example, the invention patent with authorization announcement number CN100447688C discloses an electronic cam control method and a servo motor control system, which achieves synchronous following of the slave axis relative to the main axis through an electronic cam curve. Another example is the invention patent with authorization announcement number CN110879568B, which discloses a motion control method for a multi-axis linkage economical CNC system, achieving multi-axis linkage through command pulses and feed control. The above solution can meet the synchronous control requirements of general equipment. However, in the integrated production of woven bags, the bag cutting process is a periodic flying shear action, the printing process requires continuous and stable roller speed, and the folding and sewing processes involve intermittent holding and needle reciprocating feed. The operating rhythm and disturbance characteristics of each process are not consistent. If the same spindle time base and fixed ratio are still used for rigid coupling control, the overall line speed is easily limited by the slowest process, resulting in a decrease in production capacity. When local disturbances such as sewing thread breakage and replacement, printing ink change and cleaning, cutting blade temperature correction, blade wear compensation, or specification switching occur, the disturbances will be transmitted to other processes along the master-slave coupling relationship. This leads to increased waste during line deceleration, downtime, and recovery processes. Simultaneously, woven fabrics exhibit elastic shrinkage under tension; tension fluctuations, transmitted between adjacent processes, cause the theoretical feed length to gradually deviate from the actual material position, resulting in bag length deviation, overprinting misalignment, and seam deviation from the fold line. Therefore, there is an urgent need for a multi-axis collaborative cycle control method capable of dynamically coordinating the cycle times of different processes, isolating and absorbing local disturbances, and compensating for flexible material position deviations online. This method aims to improve overall line capacity, reduce downtime and waste, and maintain the stability of bag length accuracy, overprinting accuracy, and sewing position. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags, which solves the problems mentioned in the background section.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A multi-axis coordinated cycle control method for an integrated production line for cutting, sewing, and printing woven bags includes: S1: Synchronously collect signals from printing station, bag cutting station, hemming station, sewing station, material buffer pool, tension signal, color mark signal, visual offset signal, and specification switching signal according to a unified clock. S2: Based on the capacity of the material buffer pool, the capacity change status, and the operating status of each workstation, establish the corresponding cycle queues for printing time base, bag cutting time base, and sewing time base respectively; S3: Based on the status of each beat queue, material buffer pool, and the adjustable range of each workstation's beat, coordinate and adjust the printing beat, bag cutting beat, and sewing beat. S4: When a line change, ink change, cutter temperature correction, blade wear, or specification change event is detected, the corresponding workstation will be switched to the occupied processing state, and the cycle time of adjacent workstations will be adjusted according to the status of the material buffer pool. S5: Based on the color mark position, tension status, and visual offset status, correct the bag cutting position, printing registration position, and sewing position, and send corresponding control commands to the servo axis groups of each workstation.

[0005] Furthermore, S1 includes: During synchronous acquisition, in automatic operation mode, specification switching preparation mode, disturbance handling mode, or disturbance recovery mode, each signal is acquired in a loop according to the unified clock and the main control. Each acquired signal is appended with a unified timestamp and written into a circular real-time data pool. The encoder signal, color mark signal, tension signal, and visual offset signal are checked for consistency. Based on the check results, each acquired signal is marked as valid, pending verification, abnormal, or degraded.

[0006] Furthermore, S2 includes: When establishing the cycle queue, the capacity of the first buffer pool is represented by the storage length, the capacity of the second buffer pool is represented by the number of bag sheets, and the buffer pool status is determined according to the corresponding capacity change rate. Based on the printing cycle, feeding and cutting cycle and folding and sewing cycle, generate cycle events, sort the cycle events according to the planned trigger time, and then bind the specification parameters and workstation status identifiers. Establish the constraint relationship between the printing cycle queue and the bag cutting cycle queue based on the state of the first buffer pool; Establish the constraint relationship between the bag cutting rhythm queue and the sewing rhythm queue based on the state of the second buffer pool.

[0007] Furthermore, cycle time events are generated based on the printing cycle, feeding and cutting cycle, and folding and sewing cycle. These cycle time events are then sorted according to their planned trigger times and bound to specification parameters and workstation status identifiers, including: The cycle time events are classified into normal processing events, specification switching events, occupancy handling events, and degraded operation events; Configure the planned trigger time, associated bag number, associated specification parameters, workstation status identifier, and adjustable time range according to the corresponding printing time base, bag cutting time base, or sewing time base, and then form an ordered queue of the corresponding time base according to the planned trigger time.

[0008] Furthermore, S3 includes: When coordinating and adjusting the cycle time, the adjustable range of the cycle time is determined by the intersection of the equipment's allowable adjustment range, the process's allowable adjustment range, and the buffer pool's allowable adjustment range. Within each coordination decision window, the dominant time base is determined based on the buffer pool alert level, capacity change direction, and workstation status, and the planned trigger time of the corresponding cycle event is moved forward or backward. When there is no available cycle time adjustment space at the corresponding workstation, the adjustment request is transferred to the adjacent workstation, and a buffer pool criticality flag and a workstation adjustment restricted flag are generated.

[0009] Furthermore, within each coordination decision window, the dominant time base is determined based on the buffer pool alert level, capacity change direction, and workstation status, and the planned trigger time of the corresponding cycle event is shifted forward or backward, including: Within each coordination decision window, the alert level is determined by the deviation ratio of the buffer pool capacity from the safety center value, and the time base corresponding to the adjacent workstation is selected for revision based on the deviation of the first buffer pool and the second buffer pool. When two buffer pools enter the warning zone simultaneously, the printing time base, bag cutting time base, or sewing time base is determined according to the direction of capacity change, and the planned trigger time of the corresponding beat event is moved forward or backward.

[0010] Furthermore, S4 includes: During the occupancy process, an occupancy processing event is generated based on event trigger signals such as line change, ink change, cutter temperature correction, blade wear, or specification switching. The estimated occupancy duration, associated workstation, associated buffer pool, recovery conditions, and rollback conditions are configured. Based on the buffer pool's absorbable time, it is determined whether adjacent workstations maintain the current cycle time, gradually revise the cycle time, or enter a degraded cycle time, and the end boundary of the old specification and the start boundary of the new specification are determined when switching specifications.

[0011] Furthermore, based on the buffer pool's absorbability time, it is determined whether adjacent workstations maintain the current cycle time, progressively revise the cycle time, or enter a degraded cycle time. During specification switching, the end boundary of the old specification and the start boundary of the new specification are determined, including: The buffer pool's absorption time is determined by the current absorbable capacity of the buffer pool corresponding to the disturbed workstation, and the material increment or consumption of adjacent workstations under the current cycle time. Based on the comparison between the estimated occupancy time and the buffer pool's absorption time, maintain the cycle time of adjacent workstations, gradually revise the cycle time of adjacent workstations, or cause adjacent workstations to enter a degraded cycle time. When switching specifications, the quantity of materials in transit and the boundary between the old and new specifications are determined based on the color mark position, bag cut count, buffer pool capacity, and sewing entrance status.

[0012] Furthermore, S5 includes: When generating control commands, a longitudinal position reference is established based on the color mark trigger record. The feeding length is corrected by the tension and elastic elongation lookup table. When the tension exceeds the limit or is downgraded, the endpoint value of the lookup table or the alternative tension value is used for correction. Based on the overprinting deviation, the shearing window of the rotary cutter, and the filtered visual offset, the printing phase correction amount, the cutter trigger correction amount, the folding position correction amount, and the sewing position correction amount are respectively generated, and the execution feedback and communication status update control status archive area are combined.

[0013] Compared with the prior art, the present invention provides a multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags, which has the following beneficial effects: 1. This invention synchronously collects operating signals and material status signals from each workstation using a unified clock, establishing cycle queues corresponding to printing time base, bag cutting time base, and sewing time base respectively. The capacity status of the first and second buffer pools serves as a flexible constraint basis between adjacent processes, enabling continuous printing, periodic bag cutting, and intermittent sewing to overcome the limitations of rigid coupling from a single main shaft. By generating occupancy processing events when local disturbances occur, such as line changes, ink changes, cutter temperature correction, blade wear, and specification switching, and by maintaining, progressively revising, or downgrading the cycle time of adjacent workstations based on the buffer pool's absorption time, the impact of local disturbances on the overall line cycle time is reduced. Furthermore, by combining color mark position, tension status, and visual offset status, online corrections are made to the feeding length, cutter trigger phase, printing registration position, folding position, and sewing position, reducing the cumulative errors caused by tension fluctuations, elastic shrinkage, and lateral offset in the flexible woven fabric. This achieves dynamic coordination of cycle time differences between different processes, isolation and absorption of local disturbances, and stable control of bag length, registration, and sewing position accuracy.

[0014] 2. This invention sets status indicators such as valid, pending verification, abnormal, and degraded for the acquired signals, and records the triggering reasons, adjustment directions, execution feedback, and abnormal indicators during cycle time revision, occupancy handling, specification switching, and control command issuance. This provides continuous data support for changes in the production line's operating status, cycle time adjustment process, and abnormal handling process. By switching to a safe waiting state, standby cycle time, or safe cycle time curve rollback when sensors are missing, communication synchronization is abnormal, workstations fail to recover on schedule, or the buffer pool reaches its limit boundary, this invention avoids issuing active acceleration or premature triggering commands when the operating status is not confirmed or the execution feedback is abnormal. By writing the compensation amount, cycle time revision amount, and final control action of this control cycle into the control status archive area, this invention provides traceable basis for subsequent parameter revision, abnormal verification, and specification switching, thereby improving the controllability of production line abnormal handling, the traceability of operating status, and the control reliability in continuous production processes. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags according to the present invention. Figure 2 This is a schematic diagram of the workstation and data collection object of the integrated cutting and printing production line of the present invention; Figure 3 This is a diagram showing the constraint relationship between the three-time-base beat queue and the buffer pool in this invention; Figure 4 This is a clock coordination logic diagram driven by the buffer pool state of the present invention; Figure 5 This is a schematic diagram of the disturbance occupancy handling and buffer absorption of the present invention; Figure 6 This is a diagram showing the combined position correction of color mark, tension, and visual offset in this invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Example 1: Figures 1-6 A multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags is presented, including: S1: Synchronously collect signals from printing station, bag cutting station, hemming station, sewing station, material buffer pool, tension signal, color mark signal, visual offset signal, and specification switching signal according to a unified clock. S2: Based on the capacity of the material buffer pool, the capacity change status, and the operating status of each workstation, establish the corresponding cycle queues for printing time base, bag cutting time base, and sewing time base respectively; S3: Based on the status of each beat queue, material buffer pool, and the adjustable range of each workstation's beat, coordinate and adjust the printing beat, bag cutting beat, and sewing beat. S4: When a line change, ink change, cutter temperature correction, blade wear, or specification change event is detected, the corresponding workstation will be switched to the occupied processing state, and the cycle time of adjacent workstations will be adjusted according to the status of the material buffer pool. S5: Based on the color mark position, tension status, and visual offset status, correct the bag cutting position, printing registration position, and sewing position, and send corresponding control commands to the servo axis groups of each workstation.

[0018] This method is applied to the continuous control process of an integrated production line for cutting, sewing, and printing woven bags. The processing objects are tubular woven fabric and bag pieces formed by cutting. The process objects involved in the control, along the material conveying direction, include, in sequence, a printing station, a bag cutting station, a folding station, a sewing station, and a material buffer pool set between adjacent stations. During the control process, a unified clock is used as the time reference. The input information includes at least the color mark trigger status of the printing station, the feeding status and rotary cutting status of the bag cutting station, the gripping status of the folding station, the fabric feeding status and needle status of the sewing station, the capacity of the material buffer pool, the tension status, the visual offset status, and the specification switching status. The processing includes the independent establishment, dynamic coordination, disturbance occupancy handling, and position correction of the printing cycle time, bag cutting cycle time, and sewing cycle time. The output information includes at least the position command, speed command, cycle time trigger command, occupancy handling command, specification switching command, and position correction command for each station's servo axis group.

[0019] Specifically, such as Figure 2As shown: When the production line enters the automatic operation state, specification switching preparation state, disturbance handling state, or disturbance recovery state, the operating signals and material status signals of each workstation are collected at the beginning of each main control cycle according to a unified clock. The unified clock is formed by broadcasting time synchronization from an industrial Ethernet distributed clock, a high-precision clock inside the real-time controller, or an independent synchronous clock source. The main control cycle can be selected as 1ms. Under high-speed operation or high-precision control conditions, the main control cycle can be 500μs to 1ms. Under low-speed operation or conditions with wide process tolerances, the main control cycle can be 2ms. The above values ​​are based on the fact that when the line speed is 70m / min, the material line speed is about 1166.7mm / s. 500μs, 1ms, and 2ms correspond to material movement distances of about 0.58mm, 1.17mm, and 2.33mm, respectively. This can cover the millisecond-level control requirements of servo axis response, color mark triggering, tension fluctuation, and buffer pool capacity change in the integrated woven bag cutting, sewing, and printing production line, while taking into account real-time control accuracy and controller computational load. Each acquired signal is appended with a unified timestamp after acquisition. The timestamp accuracy can be selected to be no more than 20μs, with alternative values ​​ranging from 10μs to 50μs. The above values ​​are based on the fact that when the overall line speed is 70m / min, the material movement distance corresponding to 20μs is approximately 0.023mm, and the material movement distance corresponding to 50μs is approximately 0.058mm. This time alignment error is lower than the time synchronization accuracy required for beat alignment, color mark backtracking, and position compensation, and is suitable as a unified time reference for judging buffer pool capacity changes, establishing beat queues, and correcting cumulative position deviations. The data collected includes: main roller encoder pulses, printing pressure roller feedback position, pressure roller torque, printing roller status, and ink change status at the printing station; feeding servo feedback position, rotary cutter angle, hot cutting temperature, cutter compensation status, and bag length detection status at the bag cutting station; folding edge holding position signal, folding edge guide rail position, and folding edge contour offset at the folding edge station; fabric feeding servo feedback position, needle top and bottom dead point signals, thread breakage detection signal, and thread cutting status at the sewing station; material buffer pool status signals, including the position of the first buffer pool floating roller and the number of bag pieces in the second buffer pool; tension signals obtained from the tension load detection at the inlet and outlet of each buffer pool; color mark signals obtained from photoelectric detection of color marks before and after printing or before bag cutting, and the corresponding trigger time recorded; visual offset signals obtained from edge visual detection before bag cutting and before sewing; and specification switching signals obtained from the target bag length, target bag width, target printed pattern, target folding edge width, and target sewing position input by the human-machine interface. Each acquired signal is written into the real-time data pool according to a unified data structure. The unified data structure includes at least the fields of timestamp, signal source, signal type, measured value, and signal status identifier. The signal status identifier includes at least four states: valid, pending verification, abnormal, and degraded. The real-time data pool adopts a ring buffer structure, and the buffer time window can be selected as 100ms. When the main control loop is 1ms, the corresponding buffer depth is 100 frames. The alternative values ​​for the buffer time window are 50ms to 200ms. The basis for these values ​​is that there is usually a delay of tens of milliseconds from signal acquisition to mechanical response in conventional servo axes, edge-folding actuators, hot-cutting mechanisms, and vision inspection links. Setting the above buffer time window can cover this type of delay and leave a backtracking margin, providing continuous data for subsequent capacity change judgment, cycle queue revision, and cumulative deviation backtracking. To improve the reliability of the acquired data, a synchronization consistency check is performed on the acquired signals. For encoder signals, the current linear velocity is calculated based on the position increment of adjacent sampling periods, and the actual acceleration is obtained based on the difference in linear velocity between two adjacent sampling periods. The acceleration boundary is taken as the minimum value among the servo axis rated acceleration, the process allowable acceleration, and the acceleration corresponding to the allowable change in material tension. If the actual acceleration exceeds the acceleration boundary, the encoder signal frame is marked as pending verification. This acceleration boundary is simultaneously constrained by the equipment drive capability, process speed limit, and material tension stability, which can avoid ignoring the impact of woven fabric tension fluctuations on feeding stability by judging solely based on the servo axis rated capability. For color mark signals, the trigger interval between adjacent color marks is compared with the theoretical trigger interval calculated based on the current printing line speed and the circumference of the printing roller. During specification switching or acceleration / deceleration transitions, the theoretical trigger interval is updated in real time according to the current line speed change trend. If the actual trigger interval deviates from the theoretical trigger interval by more than 10% and occurs three times consecutively, the color mark signal is marked as abnormal. The 10% value is used to distinguish between normal speed fluctuations and trigger anomalies caused by missed or false detections of color marks. Three consecutive occurrences are used to exclude occasional misjudgments caused by single jitter, momentary obstruction, or local printing contamination. For tension signals, the consistency between the tension change within adjacent sampling periods and the floating roller motion trend is verified. The tension mutation judgment threshold is set to 10% of the current stable average tension, or a fixed change threshold between 5N and 10N, with the larger of the two values ​​used as the current tension mutation judgment threshold. The 10% threshold is used to adapt to different tension setting conditions, while the fixed threshold between 5N and 10N is used to cover the tension load detection resolution capability, mechanical vibration, and small fluctuations caused by instantaneous material vibration. When the tension change in the current and subsequent sampling periods exceeds the tension mutation judgment threshold, while the floating roller displacement change is less than the corresponding theoretical displacement threshold, the tension signal frame is marked as pending verification. If the tension signal is marked as pending verification for three consecutive main control cycles, or if the number of frames pending verification exceeds 30% of the total number of frames within a 100ms buffer time window, the tension signal enters a degraded state. The three consecutive main control cycles are used to eliminate instantaneous sampling noise, and the 30% threshold is used to determine whether abnormal data within the buffer time window has reached the level of affecting subsequent cycle coordination and position compensation. For the visual offset signal, a normalized image edge confidence score is generated based on the material edge continuity, edge grayscale gradient intensity, and boundary width consistency, with weights of 0.4, 0.3, and 0.3, respectively. Edge continuity characterizes whether the material edge is broken, edge grayscale gradient intensity characterizes the contrast between the edge and the background, and boundary width consistency characterizes whether the identified material width matches the current specification width. When the image edge confidence score is below 0.7, the visual offset value of that frame is determined to be unstable, and the most recent valid visual offset value is used as a replacement. The retention time of the most recent valid visual offset value does not exceed 100ms. If no valid visual offset value is obtained after 100ms, the replacement offset value is switched to the one calculated from the adjacent encoder position and historical lateral offset trend, and the visual offset signal is marked as degraded. The value of 0.7 is used to distinguish between stable edge recognition results and unstable recognition results affected by edge breaks, reflection interference, material wrinkles, or image contamination. After synchronous acquisition, timestamp calibration, cache writing, and consistency check, an operating status data group with a unified time reference is generated. The operating status data group includes at least the operating status of each workstation, buffer pool status, tension status, color mark position, visual offset status, specification switching status, and various signal status identifiers, which are used to establish the buffer pool capacity status, capacity change status, and operating status of each workstation.

[0020] Specifically, such as Figure 3As shown: After obtaining the operating status data set with a unified time base, the cycle queues corresponding to the printing time base, bag cutting time base, and sewing time base are established based on the material buffer pool status signal, the operating status of each workstation, and the current specification parameters. This process is executed when the production line enters the continuous operation state, disturbance recovery state, specification switching preparation state, or cycle reconstruction state after the new material roll is connected. Among them, the new material roll connection state is triggered by the material roll diameter detection signal, the connection confirmation signal, or the new material roll confirmation command from the human-machine interface terminal. By organizing the cycle events of printing, bag cutting, and sewing processes respectively, the cycle queues can use the actual material buffer state as the constraint basis for subsequent coordinated control. The first buffer tank, located between the printing station and the bag cutting station, uses the storage length as the capacity variable, which is calculated from the position of the floating roller. The vertical stroke of the floating roller can be 400mm. When the material passes through both the upstream and downstream sections of the floating roller and participates in storage, the storage length changes to twice the displacement of the floating roller, corresponding to a storage length range of 0mm to 800mm. This value matches the stroke arrangement of the floating roller buffer structure in common integrated cutting and printing production lines, providing storage margin between the printing station and the bag cutting station without significantly increasing the equipment length. The second buffer pool between the bag-making station and the sewing station uses the number of bag pieces as the capacity variable. The upper limit of the capacity can be 20 bag pieces, and the alternative value is 10 to 30 bag pieces. Based on a bag cutting cycle of 0.8s to 3s, 20 bag pieces correspond to a buffer time of about 16s to 60s, which can cover the accumulation of bag pieces caused by sewing thread breakage, thread change, or short-term thread cutting adjustment. The alternative value can be determined according to the length of the bag piece conveying section, the number of hanging trays, and the fluctuation range of the sewing cycle, so as to avoid the sewing material breakage due to the buffer capacity being too small, or the bag piece stacking, folding misalignment, and conveying delay due to the buffer capacity being too large. Capacity change status is represented by the capacity change rate, which is the difference between the capacity value of the current control cycle and the capacity value of the previous control cycle divided by the time interval between two adjacent control cycles. The capacity change rate of the first buffer pool is in mm / s, and the capacity change rate of the second buffer pool is in sheets / s. For the second buffer pool, which is represented by the number of bag pieces, a 1-second sliding time window can be used to smooth the discrete counting results, and the capacity change rate is calculated based on the change in the number of bag pieces within this time window. The 1-second sliding time window is less than the upper limit of the conventional sewing time base of 4 seconds and close to the single bag output cycle of 0.8s to 1.2s under high-speed bag cutting conditions. This can weaken the impact of single counting jumps on the beat judgment, while not masking the changing trend of bag piece accumulation or consumption. The capacity change rate of the first buffer pool is positive. When the rate of change of the second buffer pool capacity is positive, it indicates that the output of the printing side is faster than the consumption of the bag cutting side; when it is negative, it indicates that the consumption of the bag cutting side is faster than the output of the printing side. When the absolute value of the rate of change of the capacity is less than 0.5% / s of the upper limit of the corresponding buffer pool capacity, it is determined that the adjacent workstations are in a dynamic equilibrium state. For example, when the upper limit of the storage length of the first buffer pool is 800mm, the corresponding dynamic equilibrium threshold is 4mm / s, and when the upper limit of the capacity of the second buffer pool is 20 bags, the corresponding dynamic equilibrium threshold is 0.1 bags / s. This threshold is used to exclude small fluctuations caused by sensor jitter, small vibrations of the floating roller, and discreteness of bag counting, so as to avoid frequent revision of the cycle queue due to invalid fluctuations. The printing time base uses the color mark repetition cycle or the running cycle corresponding to the circumference of the printing roller as the cycle benchmark. The printing cycle is determined by the circumference of the printing roller and the printing linear speed. For example, when the circumference of the printing roller is 1050 mm and the printing linear speed is 30 m / min to 70 m / min, the printing time base cycle is approximately 2.1 s to 0.9 s. This value is calculated by dividing the circumference of the printing roller by the printing linear speed and can reflect the cycle characteristics of continuous roller rotation in the printing station. The bag cutting time base uses the complete action of one feeding, synchronous shearing, and return preparation as the cycle benchmark. The cycle time can be taken from 0.8s to 3s; this range is determined based on the standard bag length of 500mm to 1200mm, the acceleration and deceleration capability of the feeding servo, the rotational inertia of the rotary cutter, and the hot cutting stabilization time; the sewing time base is based on the complete action of folding and holding, needle sewing, thread cutting, and bag exit, and the cycle time can be taken from 1.2s to 4s; this range is determined based on the bag length, needle speed, folding cylinder response time, and thread cutting mechanism reset time; thus, the printing time base, bag cutting time base, and sewing time base correspond to the process cycle time of continuous printing, periodic flying shear, and intermittent sewing, respectively; Each time base establishes an independent tick queue, which uses a data structure sorted by planned trigger time. Tick events in the tick queue include at least the following fields: event type, planned trigger time, associated bag number, associated specification parameters, workstation status identifier, and adjustable time range. The event type distinguishes between normal processing events, specification switching events, occupancy processing events, and degraded operation events. The planned trigger time determines the time of the next action for the corresponding workstation. The associated bag number maps the same bag during printing, cutting, and sewing processes. The associated specification parameters record the target bag length, target bag width, target hem width, and target sewing position. The position status identifier is used to indicate whether the corresponding workstation can currently execute the cycle event; the adjustable time range is used to indicate the time interval during which the cycle event can be advanced or delayed, which is determined based on the current cycle period of the corresponding workstation, the allowable acceleration and deceleration of the servo axis, the safety window of the process action, and the capacity status of the material buffer pool; among them, the adjustable time range of the printing time base is determined by the allowable change in printing line speed and the allowable deviation of color mark registration, the adjustable time range of the bag cutting time base is determined by the acceleration and deceleration capability of the feeding servo, the synchronous cutting window of the rotary cutter, and the allowable deviation of the bag length, and the adjustable time range of the sewing time base is determined by the folding grip holding time, the needle insertion window, and the thread cutting reset time; The queue depth can be set to 20 tick events, with alternative values ​​ranging from 10 to 30 tick events. Based on a tick cycle of 0.9s to 4s, 20 tick events can cover a future action range of approximately 18s to 80s, which can cover the time range of materials in transit required for line change, ink change, short-term temperature correction, and specification change boundary planning, while avoiding delays in tick revision due to excessively long queues. Each workstation's operating status is generated based on action feedback signals, manual confirmation signals, detection signals, and anomaly indicators from the operating status data group. When multiple statuses are simultaneously met, the current status indicator is determined according to the priority of degraded operation, waiting in occupancy, disturbance handling, specification switching preparation, and normal operation. Printing workstation statuses can be categorized as normal printing, ink change preparation, plate roller switching, waiting in occupancy, and degraded operation. Bag cutting workstation statuses can be categorized as normal bag cutting, temperature correction, blade compensation, specification parameter overload, and degraded operation. Folding workstation statuses can be categorized as normal folding, holding in occupancy, and lateral folding. Correction and degraded operation; the sewing station status can be divided into normal sewing, thread breakage handling, thread cutting adjustment, waiting in occupancy, and degraded operation; after the status identifier is bound to the cycle time event, three independent cycle time queues are formed and constrained by the buffer pool capacity; among them, the printing cycle time queue and the bag cutting cycle time queue establish a constraint relationship through the first buffer pool capacity status, and the bag cutting cycle time queue and the sewing cycle time queue establish a constraint relationship through the second buffer pool capacity status; through this constraint relationship, printing, bag cutting, and sewing no longer rely on the same virtual spindle for rigid synchronization, but form a flexible coupling based on the buffer pool capacity status; When a synchronization signal anomaly causes the status of a certain workstation to be unconfirmed, a consistent status identifier from the last 5 valid main control cycles is used for short-term maintenance. The 5 main control cycles correspond to approximately 2.5ms to 10ms, which can cover sampling jitter or instantaneous communication delays. If the continuous abnormal time exceeds 50ms, it is determined that the status has exceeded the short-term maintenance range, and the corresponding workstation's cycle queue is frozen in a safe cycle event. The safe cycle event is a planned cycle event that has been verified in the most recent abnormal state, or a conservative cycle event used when the corresponding workstation is degraded. The trigger time of the conservative cycle event is not earlier than the original planned trigger time of the corresponding event in the current cycle queue, and the cycle period is not less than the average of the last 10 normal cycle periods of the workstation, in order to limit active acceleration in abnormal states. The 50ms value is based on the fact that if the abnormality of conventional servo feedback, cylinder positioning feedback, and photoelectric detection continues to reach this length, it may affect the reliability of subsequent cycle triggering, so it is necessary to stop the early triggering of the workstation's cycle queue. After the above processing, three independent cycle queues are obtained, along with corresponding buffer pool capacity status, capacity change status, and workstation status identifiers, which are used for subsequent cycle coordination and adjustment.

[0021] Specifically, such as Figure 4 As shown: After forming the cycle queues corresponding to the printing time base, bag cutting time base, and sewing time base, the cycle coordination process is initiated. The cycle coordination process is executed when any buffer pool capacity enters the warning zone, the capacity change rate continuously deviates from the dynamic equilibrium state, any cycle queue has a cycle event to be revised, or any workstation status indicator changes. The adjustable cycle range is used to limit the time boundary for the cycle event to be advanced or delayed. Its value is the intersection of the equipment's allowable adjustment range, the process's allowable adjustment range, and the buffer pool status's allowable adjustment range. When there is no intersection among the three, it is determined that the adjustable cycle range of the corresponding workstation is insufficient. The equipment's allowable adjustment range is determined by the acceleration and deceleration capability of the corresponding workstation's servo axis, the process's allowable adjustment range is determined by the process action safety window and position tolerance, and the buffer pool status's allowable adjustment range is determined by the current capacity and capacity change rate of the corresponding buffer pool. The single-cycle adjustment range can be 15% of the current cycle, with alternative values ​​ranging from 10% to 20%. This range is based on the fact that the cycle times for printing, bag cutting, and sewing in an integrated cutting, sewing, and printing production line are typically between 0.8s and 4s. An adjustment of 10% to 20% corresponds to a trigger correction range of approximately 0.08s to 0.8s, which can change the trend of buffer pool capacity change while avoiding excessive acceleration / deceleration abrupt changes or material tension fluctuations in a single cycle for the servo axis. After each single-cycle adjustment, the corresponding buffer pool capacity and capacity change rate are reread in the next coordination decision window, and a decision is made based on the new capacity change trend to determine whether to continue revising in the same direction, in order to avoid over-revision caused by continuous adjustments in the same direction. When coordinating and adjusting, first construct the cycle coordination state quantity for the current control cycle. The cycle coordination state quantity should include at least the capacity of the first buffer pool, the rate of change of the capacity of the first buffer pool, the capacity of the second buffer pool, the rate of change of the capacity of the second buffer pool, the trigger time of the next event in the printing cycle queue, the trigger time of the next event in the bag cutting cycle queue, the trigger time of the next event in the sewing cycle queue, the adjustable range of the cycle for each workstation, and the status indicators of each workstation. The coordination decision window can be 0.2s, or alternatively, 0.1s to 0.5s. This value is greater than the main control cycle period, which can aggregate the capacity change trend within multiple sampling cycles. At the same time, it is less than the shortest bag cutting cycle period of 0.8s, which can complete the cycle revision before the next bag cutting or sewing action is triggered, avoiding control oscillation caused by adjusting the cycle for each main control cycle. When running at high speed or when the buffer pool capacity changes rapidly, the coordination decision window can be set towards 0.1s. When running at low speed or during specification switching transition, the coordination decision window can be set towards 0.5s. When coordinating and judging the first buffer pool, the lower limit warning value can be taken as 15% of the upper limit of the capacity, and the upper limit warning value can be taken as 85% of the upper limit of the capacity. When the upper limit of the storage length of the first buffer pool is 800mm, the lower limit warning value is 120mm, and the upper limit warning value is 680mm. This value retains a mechanical and control margin of about 120mm at both ends of the buffer pool to absorb minor vibrations of the floating roller, sensor errors, and short-term cycle time differences between the printing station and the bag cutting station. When the capacity of the first buffer pool is lower than the lower limit warning value and the capacity change rate is negative... This indicates that the consumption at the bag-cutting station is faster than the output at the printing station. The next untriggered printing event is selected in the printing cycle queue, and the planned trigger time is moved forward within the adjustable range of the printing station's cycle time. If moving forward would cause the printing line speed to change beyond the allowable acceleration, the forward movement is limited or the bag-cutting cycle event is moved backward. When the capacity of the first buffer pool is higher than the upper limit warning value and the capacity change rate is positive, it indicates that the output at the printing station is faster than the consumption at the bag-cutting station. Based on the size of the adjustable range of the current cycle times for the printing and bag-cutting stations, either the printing cycle event is moved backward or the bag-cutting cycle event is moved forward. When coordinating the second buffer pool, the upper warning value can be taken as the upper capacity minus 3 bag pieces, and the lower warning value can be taken as 3 bag pieces. When the upper capacity of the second buffer pool is 20 bag pieces, 3 bag pieces is approximately 15% of the upper capacity, used to maintain consistency with the buffer margin of the first buffer pool. This value can preserve necessary buffer space during short-term sewing pauses, short-term delays in bag cutting, or discrete fluctuations in bag piece counting. When the upper capacity of the second buffer pool is adjusted, the upper and lower warning values ​​can be set at 85% and 1% of the upper capacity, respectively. A 5% proportional conversion is performed; when the conversion result is not an integer, the lower limit warning value is rounded up and the upper limit warning value is rounded down to retain a safety buffer margin; if the number of bags in the second buffer pool reaches the upper limit warning value and the capacity change rate is positive, it indicates that the bag cutting output is faster than the sewing consumption, and the bag cutting cycle event is postponed; if the number of bags in the second buffer pool is lower than the lower limit warning value and the capacity change rate is negative, it indicates that the sewing consumption is faster than the bag cutting output, and the bag cutting cycle event is postponed, or the sewing cycle event is postponed when the adjustable range of the bag cutting cycle is insufficient; To avoid cycle time conflicts caused by simultaneous adjustments at multiple workstations, a single-window progressive revision rule is adopted. Within each coordination decision window, a dominant time base is prioritized for adjustment, determined jointly by the buffer pool alert level and the workstation status. The buffer pool alert level is determined according to the deviation ratio of the current capacity from the safety center value, which can be 50% of the upper limit of capacity, to ensure that the buffer pool retains similar adjustment space in both upstream accumulation and downstream consumption directions. If the deviation ratio of the first buffer pool is greater than that of the second buffer pool, the printing time base and the bag cutting time base are coordinated first. If the deviation ratio of the second buffer pool is greater than that of the first buffer pool, then the bag cutting time base and the sewing time base should be coordinated first. When both buffer pools enter the warning zone at the same time, the material flow status should be judged according to the direction of capacity change. When both buffer pools are showing a filling trend, the cycle time of the station that causes the faster increase in capacity should be reduced first. When both buffer pools are showing a consumption trend, the bag cutting cycle time should be increased first. If the adjustment range of the bag cutting cycle time is insufficient, the sewing cycle time should be reduced. When one buffer pool is showing a filling trend and the other buffer pool is showing a consumption trend, the bag cutting time base that affects both buffer pools should be adjusted first. After each cycle timer revision is completed, the trigger time before revision, the trigger time after revision, the adjustment direction, the adjustment range, the trigger reason, and the corresponding buffer pool status are written into the cycle timer status trajectory. The cycle timer status trajectory can retain the most recent 30 seconds, with alternative values ​​ranging from 10 seconds to 60 seconds. The basis for this range is that the routine line breakage and replacement, cutter temperature correction, and cycle timer recovery processes are mostly within the range of several seconds to tens of seconds. 30 seconds can cover most short-term disturbances and the initial stage of specification switching, while 60 seconds can be used for longer ink changes or conditions with more manual intervention. The cycle timer status trajectory is used to determine whether cycle timer adjustments are frequent, whether the buffer pool continuously deviates from the safety center value, and whether it is necessary to enter local disturbance absorption or degradation processing. When any workstation is determined to have insufficient adjustable cycle time, the adjustment of that workstation will no longer be forced; instead, the adjustment request will be transferred to an adjacent workstation. Insufficient adjustable cycle time can occur when the printing line speed has reached its limit, the bag cutting feed servo acceleration is close to the allowable limit, the rotary cutter's synchronous cutting window is insufficient, the sewing machine needle frequency is close to its limit, or the hem holding time is insufficient. If there is also no available adjustable cycle time space at adjacent workstations, the corresponding buffer pool status will be marked as critical. The critical state is when the buffer pool capacity has entered the warning zone and there is no available adjustable cycle time space at adjacent workstations. If sensor data is missing, causing the buffer pool capacity to fail to update, short-term prediction is made using the most recent effective capacity value and the three most recent effective capacity change rate samples. The three most recent effective capacity change rate samples are capacity change rate samples formed within the three most recent coordination decision windows, used to avoid prediction based solely on instantaneous fluctuations in a single sampling period, with a prediction time not exceeding 100ms. 100ms corresponds to the real-time data pool buffer time window, which can cover short-term sampling loss or communication jitter. If effective capacity data is not recovered after more than 100ms, the active acceleration or early triggering instructions of the three cycle queues are frozen, allowing only the original cycle time or delayed triggering to avoid increasing the risk of material accumulation, emptying, or incorrect cycle triggering when the buffer pool status is unclear. After coordination and adjustment, revised printing cycle queues, bag cutting cycle queues, and sewing cycle queues are formed, and cycle adjustment records, buffer pool critical indicators, and workstation adjustment restricted indicators are generated; the above results are used for local disturbance absorption, occupancy processing, and degradation processing.

[0022] Specifically, such as Figure 5 As shown: After obtaining the coordinated and adjusted cycle time queue, buffer pool capacity status, buffer pool criticality indicator, and workstation adjustment restriction indicator, the events of line change, ink change, cutter temperature correction, blade wear, and specification switching are identified; when any disturbance event is identified, the specification switching signal is confirmed, or a certain workstation continuously experiences cycle time execution deviation, the occupancy processing judgment is initiated. The thread change event is triggered by the thread breakage detection signal at the sewing station, abnormal needle top and bottom dead center signals, or manual confirmation signal. When three consecutive planned needle top and bottom dead centers fail to reach their positions, or when the thread breakage detection signal is valid for more than two needle cycles, the thread change event is determined to be established. Three consecutive planned needle top and bottom dead centers are used to eliminate occasional misjudgments caused by vibration, sensor jitter, or single missed detection. Two consecutive needle cycles are used to eliminate momentary jitter of the thread breakage detection switch and to confirm the thread breakage status after a complete needle up and down movement. Ink change events are triggered by ink change confirmation signals from the printing station, low ink level signals from the ink trough, or printing roller status switching signals. The low ink level threshold can be set to 15% of the ink trough capacity. This value is based on the fact that this margin can usually support the printing station to continue operating at the highest linear speed for about 1 minute, which can avoid frequent ink changes caused by premature ink level warnings and also allow time for manual or automatic ink replenishment before the low ink level affects the stability of the ink layer. Cutter temperature correction events are triggered when the hot cutting temperature deviates from the process temperature range. The process temperature range is determined based on the current woven fabric material, thickness, and hot cutting process parameters. When the hot cutting temperature deviates from the set temperature by ±5℃ and lasts for 2 seconds, the cutter temperature correction event is considered to be established. ±5℃ is used to cover the normal fluctuation range of the hot cutting temperature control system and to trigger correction before cut adhesion or obvious burrs occur. The 2-second duration is used to eliminate temperature sampling noise and short-term overshoot of the heater. Blade wear events are triggered by continuous bag length deviations. When the actual bag length deviation of three consecutive bags exceeds 0.5mm and the deviation direction is consistent, the blade wear event is determined to be established. 0.5mm is one-quarter of the commonly used bag length tolerance of ±2mm, and compensation can be initiated before the finished bag length exceeds the tolerance. Three consecutive bags with consistent direction are used to identify the unidirectional cumulative trend caused by blade wear. If the deviation direction of three consecutive bags is inconsistent, it is preferentially determined to be feeding disturbance or measurement noise, and the blade wear compensation event is not triggered. Specification switching events are triggered after the target specification is input and confirmed by the human-machine interface. The confirmation information is associated with at least the target bag length, target hem width, target sewing position, and target printed pattern. After event identification, an occupancy handling event is inserted into the corresponding workstation's cycle time queue, instead of directly triggering a full-line shutdown. The occupancy handling event must include at least the following fields: event type, trigger time, estimated occupancy duration, associated workstation, associated buffer pool, recovery condition, and rollback condition. Recovery conditions must include at least the following: the disturbance release signal is valid, the corresponding workstation's status indicator returns to normal, the buffer pool capacity has not reached its limit, and there is an executable cycle time event in the corresponding cycle time queue. Rollback conditions must include at least the following: the workstation fails to recover within the estimated occupancy duration, the buffer pool capacity reaches its limit, and critical sensor signals are missing. The signal is valid if there is a loss, an alarm from the actuator, or a manual safety intervention signal; the limit boundary of the buffer pool can be 5% above the lower limit of the capacity and 5% below the upper limit of the capacity; when the upper limit of the storage length of the first buffer pool is 800mm, the lower limit boundary is 40mm and the upper limit boundary is 760mm; when the upper limit of the capacity of the second buffer pool is 20 bags, the lower limit boundary can be one bag and the upper limit boundary can be 19 bags; the 5% value is used to retain a minimum safety margin before mechanical limits, complete material cut-off, or complete filling, and forms a graded protection with the 15% and 85% buffer pool warning boundaries; The estimated duration is determined using both initial and historical statistical values. The initial value for a thread change event can be 3 seconds, which is suitable for common time scales such as automatic needle stop, thread breakage confirmation, alarm prompts, or short-term connection handling. If the manual thread change process is too long, the actual duration should be used for correction. The initial value for an ink change event can be 10 seconds, corresponding to short-term ink replenishment, ink roller status confirmation, or partial cleaning preparation time. The duration of a complete ink change process can be extended by the manual confirmation signal. The initial value for a cutter temperature correction event can be 2 seconds, consistent with the temperature deviation determination time, and can cover minor temperature control adjustments during hot-cutting operations. The process is stable and confirmed. The initial value of the blade wear compensation event can be 0.7s, which is close to the high-speed bag cutting cycle of 0.8s. The feeding phase compensation or cutter trigger correction can be completed within one bag cutting cycle. After each event, the estimated duration of the same event is updated according to the actual duration. The update method can be a weighted average, with a historical weight of 0.9 and a current weight of 0.1. The current weight of 0.1 indicates that after about 10 similar events, the new operating conditions can gradually affect the estimated value, which can reflect the long-term operating conditions and avoid large fluctuations in the estimated time caused by a single abnormal operation. After inserting an occupancy event, determine whether the event can be absorbed by the material buffer pool based on the buffer pool capacity status. The buffer pool's absorbable time is obtained by dividing the current absorbable capacity of the corresponding buffer pool by the material increment or consumption of the adjacent workstation in the current cycle. When the material increment or consumption of the adjacent workstation in the current cycle is 0, or lower than the dynamic balance threshold, it is treated as the buffer pool is in a temporarily stable state, and the absorbable time is not calculated based on this ratio. If the adjacent workstation is about to trigger the next cycle event before the disturbed workstation recovers, the absorbable time is recalculated based on the material increment or consumption corresponding to the next cycle event. For printing station occupancy, the absorbable capacity of the first buffer pool is the current storage length minus the lower safety length, which can be taken as 15% of the upper limit of the first buffer pool's capacity. When the upper limit of the first buffer pool's storage length is 800mm, the lower safety length is 120mm, which is consistent with the buffer pool's warning margin and is used to prevent material interruption at the bag cutting station during printing occupancy. For bag cutting station occupancy, the time it takes for the first buffer pool to approach its upper limit due to continued printing output and the time it takes for the second buffer pool to approach its lower limit due to continued sewing consumption are both determined, and the smaller of the two is taken as the absorbable time for bag cutting station occupancy. For sewing station occupancy, the absorbable capacity of the second buffer pool is the difference between the upper limit retention amount and the current number of bag pieces. The upper limit retention amount can be 3 bag pieces, and the alternative value is 2 to 5 bag pieces. When the upper limit of the second buffer pool's capacity is 20 bag pieces, 3 pieces is approximately 15% of the upper limit, which is consistent with the buffer pool's warning margin. The alternative range can be adjusted according to the length of the bag piece conveying section, the pallet capacity, and the risk of bag piece stacking. When the estimated occupancy time is no greater than the corresponding buffer pool's absorption time, the occupancy event is determined to be fully absorbable, the disturbed workstation remains in occupancy processing state, and adjacent workstations maintain their original cycle time. When the estimated occupancy time is greater than the absorbable time but not more than 1.5 times the absorbable time, the occupancy event is determined to be partially absorbable, and a gradual cycle time revision is performed within the adjustable range of the adjacent workstations' cycle time. For example, when a sewing thread breaks, if the remaining capacity of the second buffer pool is insufficient to fully absorb the bag cutting output, the bag cutting cycle time is shifted backward, and the printing cycle time is fine-tuned if necessary. When changing ink during printing, if the material storage in the first buffer pool is insufficient to maintain continuous bag cutting operation, the bag cutting cycle time is gradually shifted backward when approaching the lower limit warning value, and the second buffer pool is used to adjust the cycle time. The flushing pool maintains the sewing cycle time; when the estimated occupancy time exceeds 1.5 times the absorbable time, a degraded cycle time is entered; the 1.5 times factor is used to reserve a 50% safety margin for fluctuations in manual processing time, lag in cycle time revision, and detection errors, avoiding frequent switching in critical states; the degraded cycle time is a cycle time state that conservatively delays or slows down the cycle time of relevant workstations while maintaining continuous material conveying; during the degraded process, the cycle time of adjacent workstations is gradually reduced according to the difference in unabsorbed material and the remaining occupancy time, without using direct abrupt stops; when a buffer pool criticality indicator or a workstation adjustment restriction indicator is received, the processing level of the corresponding occupancy event is raised by one level, and the degraded cycle time is used for processing first; For specification switching events, they are treated as special occupancy events. Based on the color mark position, bag count, and each cycle queue in the aforementioned operating status data group, the in-transit length of the tubular fabric between the printing station and the bag cutting station, and the number of in-transit bag pieces between the bag cutting station and the sewing station are determined. The in-transit length of the tubular fabric is determined by the fixed path length between the printing station and the bag cutting station, the material storage length of the first buffer pool, and the nearest color mark position. The number of in-transit bag pieces is determined by the bag cutting count, the number of bag pieces in the second buffer pool, and the sewing entrance detection status. The end boundary of the old specification can be selected as the last color mark or bag number that has entered the printing to bag cutting path and is still being cut according to the old specification. The start boundary of the new specification can be selected as the next color mark or the next bag number after the end boundary of the old specification, so that the in-transit material of the old specification is processed according to the original cycle. The target cycle and target position parameters are loaded for the material of the new specification after the start boundary of the new specification. The bag-cutting station specification switching can adopt a three-stage processing method: unbinding the current cycle event, loading the new specification parameters, and restoring the cycle queue trigger. Each stage can pause for 50ms, totaling 150ms, with an alternative range of 100ms to 300ms. The 50ms is used to cover the typical response time for servo driver parameter refresh, position loop stabilization, and cycle queue state switching. The 150ms can complete the three stages of unbinding, parameter loading, and restoring trigger. The alternative range of 100ms to 300ms is suitable for different servo response speeds, communication cycle configurations, and specification parameter complexity. If no parameter loading completion signal or position loop stabilization signal is received within the preset pause time in any stage, the process will pause and proceed to the next stage. During occupancy processing or specification switching, if a sensor is missing, the workstation fails to recover within the estimated occupancy time, the buffer pool capacity reaches its limit boundary, a manual safety intervention signal is effective, or the pause time in any stage of specification switching exceeds 300ms, a rollback strategy is triggered. The rollback strategy includes switching the corresponding workstation to a safe waiting state and causing the adjacent workstation to enter a standby cycle before reaching the buffer pool warning boundary. The safe waiting state means that the corresponding workstation keeps the servo enabled, stops triggering new processing actions, and retains the current cycle queue state. The standby cycle is the state in which the adjacent workstation maintains the material position or low-speed conveying at a conservative cycle. The cycle of the standby cycle is not less than 1.2 times the average of the last 10 normal cycle cycles of the corresponding workstation. This value is based on the fact that a cycle of 1.2 times can form a conservative operating rhythm without completely stopping the material status maintenance and reduce the risk of re-impact during the abnormal recovery phase. After occupancy processing, an updated cycle time queue, occupancy processing status, specification switching boundary, cycle time adjustment results of adjacent workstations, and abnormal rollback flag are generated, which are used for position correction and quality compensation before control instruction generation.

[0023] Specifically, such as Figure 6 As shown: After obtaining the occupancy-processed beat queue, occupancy processing status, specification switching boundary, and abnormal rollback flag, position correction and control command generation are performed; this process is executed when a beat event is about to be triggered, a color mark signal arrives, the tension status changes, the visual offset exceeds the correction threshold, the occupancy processing event ends, or the specification switching boundary is reached; the input data includes at least the fields of synchronously acquired data, three-timebase beat queue, beat coordination result, occupancy processing status, specification switching boundary, color mark position, tension status, visual offset status, and status flags of each workstation; When processing the color mark position, the color mark number, trigger time, printing main roller position, bag cutting feed axis position, sewing fabric feed axis position, and current tension value are recorded each time a color mark is triggered, forming a longitudinal position reference record. The backtracking window of the longitudinal position reference record can take the most recent 20 color mark records, with alternative values ​​ranging from 10 to 50 color mark records. This value is based on the fact that the length of commonly used woven bags is 500mm to 1200mm, and 20 color mark records correspond to a material length of approximately 10m to 24m. At a running speed of 30m / min to 70m / min, this corresponds to a running time of approximately 8.6s to 48s, which can cover the short-term elastic recoil process caused by tension changes in the woven fabric during continuous conveying. 10 color mark records are suitable for high-speed stable working conditions, while 50 color mark records are suitable for low-speed operation or working conditions with slower tension changes. When correcting the actual position of the material based on the tension state, a lookup table is established between tension and elastic elongation. The tension range can be 10N to 200N, and the tension interval can be 5N, with alternative values ​​ranging from 2N to 10N. This range is based on the fact that 10N to 200N can cover the low to medium-high tension operating range of the woven fabric before and after unwinding, buffering, bag cutting, and hemming. Below 10N, the material is prone to slack and edge drift, while above 200N, it is prone to stretching deformation of the woven fabric or slippage during conveying. The 5N interval is used to balance the size of the lookup table and the correction accuracy, and the alternative values ​​of 2N to 10N can be adjusted according to the resolution of the tension sensor, the width of the material, and the weight of the material. When the same color mark passes through two detection positions at known distances in sequence, the elastic elongation rate under the current tension section is calculated based on the physical distance between the two detection positions and the integral distance of the main roller encoder; the elastic elongation rate can be calculated using the following formula: Where ε is the elastic elongation, Le is the integral distance of the main roller encoder, and Ld is the physical distance between the two detection positions; when Le is greater than Ld, ε takes a positive value, indicating that the material is in a stretched state; when Le is less than Ld, ε takes a negative value, or is treated as 0 when the material relaxation indicator is valid; the calculated elastic elongation is written into the lookup table of the corresponding tension segment and updated using a smoothing factor; the smoothing factor can be 0.2, and can be replaced by values ​​from 0.1 to 0.3; a smoothing factor of 0.2 corresponds to an update memory length of about 5 valid samples, which is suitable for suppressing single color mark errors while following changes in material roll batch, humidity, and temperature; a smoothing factor of 0.1 is suitable for working conditions with slow tension changes and high sampling noise; a smoothing factor of 0.3 is suitable for rapid convergence working conditions after roll change or specification switching; When the current tension value falls between two adjacent tension segments, linear interpolation is performed based on the elastic elongation rates corresponding to the two adjacent tension segments to obtain the elastic elongation rate corresponding to the current tension value. When the current tension value is lower than the lower limit of the lookup table or higher than the upper limit of the lookup table, the elastic elongation rate closest to the endpoint is used, and a tension over-limit flag is generated. When the tension signal is in a degraded state, the most recent effective tension value, the historical average tension value of the same batch of materials, or the alternative tension value calculated from the trend of floating roller position change is used for correction. When the alternative tension value is used continuously for more than 100ms, the position correction convergence coefficient is reduced, and large-scale correction at one time is prohibited. The 100ms time window matches the real-time data buffer and short-term anomaly handling time window, which can cover short-term tension sampling loss or communication jitter, while avoiding the accumulation of correction deviation caused by long-term use of alternative tension values. When applying tension correction to the target feed length using a lookup table, the feed length with tension correction can be calculated using the following formula: Where Lc is the feed length with tension correction, Lt is the target feed length, and ε is the elastic elongation of the corresponding tension section; when the elastic elongation is small, it can also be calculated as follows: Approximate corrections are made; the actual position after tension correction is compared with the nominal bag-cutting position and the nominal sewing position, respectively; when the bag-cutting position deviation exceeds 1.0mm, a bag-cutting position correction is added to the next untriggered event in the bag-cutting cycle queue; when the sewing position deviation exceeds 1.5mm, a sewing position correction is added to the next untriggered event in the sewing cycle queue; the bag-cutting position deviation threshold of 1.0mm and the sewing position deviation threshold of 1.5mm are both lower than the commonly used bag length tolerance of ±2mm; among them, the bag-cutting position directly determines the bag length, so a stricter threshold is used; the sewing position is also affected by the hem width and the allowable range of the needle drop point, so the threshold can be slightly wider; The position correction amount can be taken as the reverse value of the deviation multiplied by the convergence coefficient, which is between 0.3 and 0.7. When there is no occupancy processing, no degraded operation, and the buffer pool capacity has not entered the warning zone in the last 30 seconds, the convergence coefficient is between 0.6 and 0.7. When in a state of disturbance recovery, specification switching, or large tension fluctuation, the convergence coefficient is between 0.3 and 0.5. The single position correction amount shall not exceed the upper limit of the position that can be compensated by the adjustable range of the corresponding workstation cycle. If the upper limit is exceeded, the remaining correction amount shall be allocated to subsequent cycle events to be completed gradually, so as to avoid a new tension fluctuation or cycle change caused by excessive correction at one time. When correcting the printing registration position, the registration deviation is determined based on the color mark trigger position, the printing roller phase, and the printing time base cycle event. The registration phase deviation threshold can be taken as the phase amount corresponding to 0.5mm to 1.0mm, which is lower than the commonly used bag length tolerance and is suitable for early correction of registration offset. The phase amount corresponding to the registration phase deviation can be obtained by multiplying the ratio of the registration linear deviation to the printing roller circumference by 360°. For example, when the printing roller circumference is 1050mm, the phase amount corresponding to the registration linear deviation of 0.5mm to 1.0mm is approximately 0.17° to 0.34°. When the registration deviation direction is consistent for two to three consecutive color mark cycles and the deviation amount exceeds the registration phase deviation threshold, the phase of the next printing event in the printing cycle queue is fine-tuned. The phase fine-tuning amount can be taken as the reverse value of the registration deviation multiplied by the aforementioned convergence coefficient and limited to the adjustable range of the printing time base cycle. The phase fine-tuning does not change the shape of the printing action curve, but only changes the starting phase of the next printing event to avoid affecting the contact process of the printing pressure roller and the stability of ink transfer. When correcting the bag cutting position, the longitudinal position reference record and the color mark position after tension correction are called, and the cutter trigger phase is determined in combination with the target bag length. The shearing window of the rotary cutter is the phase interval in which the rotary cutter blade enters the stable shearing angle range and the feed shaft speed and the cutter linear speed meet the synchronization relationship. If the cutter trigger phase falls into the shearing window of the rotary cutter, the cutter trigger command is generated according to the corrected trigger phase. If the cutter trigger phase does not coincide with the shearing window of the rotary cutter, the trigger time is corrected first within the adjustable range of the bag cutting time base. If they still cannot coincide, a bag cutting time limit indicator is generated, and the process returns to the time coordination process to adjust the printing time or sewing time in the next coordination window. When correcting the sewing position, the sewing correction amount is determined based on the position of the bag's leading edge, the offset of the folded edge contour, and the position of the needle. The visual offset state is used for lateral position correction. The real-time visual offset values ​​before bag cutting and sewing are filtered using a first-order low-pass filter to generate the lateral correction input. The filtering time constant can be 50ms, but alternative values ​​are 30ms to 80ms. This range is based on the fact that the lateral oscillation of the woven fabric at the guide rollers and folded edge guide rails is typically a low-frequency oscillation of tens to hundreds of milliseconds. 50ms can filter out high-frequency noise in camera edge detection while preserving the process offset trend; 30ms... Suitable for high-speed correction conditions, 80ms is suitable for low-speed operation or conditions with high visual noise; when the visual deviation exceeds 5mm, a serious deviation mark is generated; 5mm is usually close to the acceptable lateral deviation limit for folding guide and bag cutting edge alignment, and continued operation is likely to cause uneven folding or sewing deviation; if the serious deviation does not return for 3s, the serious deviation mark is returned to the cycle coordination and occupancy processing as the trigger for degraded operation or standby cycle; 3s can cover at least one or more bag cutting or sewing cycle cycles, used to eliminate misjudgments caused by short-term swing or single-frame visual error; Before the control command is issued, the cycle time adjustment amount, occupancy status, longitudinal position correction amount, lateral position correction amount, and station status identifier are combined into a station control command. The printing station receives the line speed command, the printing roller phase command, and the overprinting correction command. The bag cutting station receives the feeding position command, the rotary cutter trigger command, and the bag length correction command. The hemming station receives the hemming guide rail position command, the grip timing command, and the lateral correction command. The sewing station receives the fabric feeding position command, the needle trigger command, and the sewing position correction command. After the control command is issued, the execution feedback of each station is collected and compared with the corresponding command value. The allowable range of execution deviation is determined by the position tolerance of the corresponding station, the upper limit of the servo following error, and the adjustable range of the current cycle time. It can be taken as 50% to 80% of the position tolerance of the corresponding station, or the smaller value between the upper limit of the servo driver's allowed following error and the process position tolerance. If the execution deviation exceeds the allowable range within three consecutive main control cycles, it is marked as an execution deviation anomaly. Three consecutive main control cycles are used to eliminate single-cycle bus jitter or instantaneous fluctuations in servo feedback. When the communication synchronization deviation exceeds 50μs or the periodic packet loss rate exceeds 0.1%, the unissued active acceleration or early trigger commands are frozen, and each workstation reverts to the most recent safe cycle curve. 50μs is consistent with the aforementioned timestamp accuracy substitution upper limit and can be used as the judgment boundary for communication synchronization anomalies. A periodic packet loss rate of 0.1% means that at most one cycle is allowed to be missing in every 1000 communication cycles. If this ratio is exceeded, active acceleration or early trigger commands may not be able to be issued stably and on time. The safe cycle curve can be the running curve with no alarms, no limit violations, and no degradation records in the most recent 5 minutes. 5 minutes can cover multiple cycle adjustment, color mark triggering, and buffer pool capacity change cycles in continuous production and can reflect the stable operating status under the current specifications, current rolls, and current speed. If there is no safe cycle curve that meets the conditions in the most recent 5 minutes, the cycle curve will revert to the conservative cycle curve in the current specification parameter table. After position correction and control command issuance, the compensation amount, cycle time revision amount, disturbance status, execution feedback, anomaly identification, and final control action of this control cycle are written into the control status archive area. The control status archive area can retain control records from the most recent 30 seconds to 5 minutes. Among them, 30 seconds are used for real-time rollback and short-term anomaly verification, and 5 minutes are used to support the generation of safety cycle time curves and the identification of the current specification stable state. The control status archive area is used for data acquisition, cycle time revision, position correction, and bag length, overprinting, and sewing position verification for the next control cycle.

[0024] Example 2: Based on Example 1, the specific application process of a multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags is further explained: Taking the continuous production process of cylindrical woven bags for cement packaging as an example, the production line is set up in sequence along the material conveying direction, including an unwinding unit, a printing station, a first material buffer pool, a bag cutting station, a second material buffer pool, an edge folding station, a sewing station, and a bag collecting unit; the processing object is polypropylene cylindrical woven fabric, the target bag length is 900mm, the target bag width is 550mm, the target edge folding width is 40mm, and the target sewing position is 8mm from the inside of the edge folding line. The printing pattern is overprinted according to one color mark cycle per bag; the initial running speed of the entire line can be 60m / min. The printing station operates in a continuous rotation mode of the printing roller. The bag cutting station consists of periodic bag cutting actions consisting of feeding, rotary cutting, and return preparation. The sewing station consists of intermittent sewing actions consisting of edge holding, fabric feeding, needle sewing, thread cutting, and bag exit. After the production line starts, it synchronously collects data on the printing main roller encoder, bag cutting and feeding servo shaft, rotary cutter angle, folding guide rail position, sewing feed shaft, needle top and bottom dead point signals, first material buffer pool floating roller position, second material buffer pool bag quantity, tension load, color mark trigger signal, and visual offset signal according to a unified clock, and adds a unified timestamp to the collected data. The initial storage length of the first material buffer pool can be 400mm, located in the middle of its maximum capacity of 800mm; the second material buffer pool initially contains 10 bag pieces, located in the middle of its maximum capacity of 20 bag pieces. Based on the above collected data, cycle queues corresponding to the printing time base, bag cutting time base, and sewing time base are established respectively. Among them, the printing cycle queue is organized according to the color mark repetition cycle, the bag cutting cycle queue is organized according to the feeding and cutting cycle, and the sewing cycle queue is organized according to the folding and sewing cycle. A correspondence is established between the printing color mark, bag cutting number, and sewing number of the same bag body. During the stable operation phase, the capacity change rates of the first and second material buffer pools are read according to the coordination decision window. When the storage length of the first material buffer pool fluctuates between 360mm and 440mm, and the number of bags in the second material buffer pool fluctuates between 9 and 11, it is determined that the upstream and downstream workstations are in a dynamic equilibrium state. At this time, only the three cycle queues are refreshed for maintenance, and the cycle of each workstation is not actively changed. When the printing color mark reaches the detection position before bag cutting, the longitudinal position of the material is determined according to the most recent 20 color mark records, and the correction coefficient is obtained from the tension and elastic elongation rate lookup table in combination with the current tension value. The target feeding length is converted into a feeding length with tension correction. If the bag cutting position deviation does not exceed 1.0mm, the sewing position deviation does not exceed 1.5mm, and the visual lateral offset does not exceed 5mm, then control instructions are issued to each workstation according to the current cycle queue. When production reaches around the 1800th bag, if the low-level signal of the ink tank at the printing station reaches the warning threshold of 15% of the ink tank capacity, it is identified as an ink change preparation event, and an occupancy processing event is inserted into the printing cycle queue. At this time, the storage length of the first material buffer pool is 620mm, which is higher than the intermediate capacity position but has not reached the upper limit warning value, indicating that the printed tubular fabric stored in the first material buffer pool can support the continued operation of the bag cutting station during the short-term printing occupancy period. Therefore, the printing station is put into occupancy processing state, while the bag cutting station and sewing station are kept running at the current cycle to consume the printed material in the first material buffer pool. As the bag cutting station continues to consume, the storage length of the first material buffer pool gradually decreases. When the storage length approaches the lower limit warning value of 120mm and the ink change has not yet ended, the entire line is not directly stopped. Instead, the planned trigger time is gradually shifted to the next untriggered event in the bag cutting cycle queue, so that the bag cutting station smoothly transitions from the current cycle to a conservative cycle, and the sewing station is maintained through the second material buffer pool. If the thread breakage detection signal at the sewing station remains active for more than two needle cycles before the ink change operation ends, it is identified as a thread change event, and an occupation processing event is inserted into the sewing cycle queue. At this time, there are 14 bag pieces in the second material buffer pool, with 6 available spaces before the capacity limit of 20 bag pieces. The number of bag pieces that may be added during the sewing occupation is calculated based on the bag cutting cycle. If the second material buffer pool can absorb the bag piece accumulation caused by the short-term thread breakage, the current conservative cycle of the bag cutting station is maintained, and the sewing station enters the occupation processing state. If the actual duration of the thread change exceeds the estimated duration and the number of bag pieces in the second material buffer pool reaches 17, it is determined that the second material buffer pool is approaching the upper limit warning zone, and the bag cutting cycle event is further postponed to prevent bag pieces from continuing to accumulate to the limit boundary. During the handling of the two disturbance events, the estimated occupancy time is continuously compared with the buffer pool's absorption time. When the printing ink change event recovers after 9 seconds and the material length of the first material buffer pool is still above the limit boundary, the printing station occupancy status is lifted, and printing output is gradually restored according to the cycle time queue under the most recent abnormal state. When the sewing station thread change event recovers after 3.5 seconds, and the thread break release signal is valid, the needle dead point signals return to normal, the second material buffer pool has not reached the limit boundary, and there are executable events in the sewing cycle time queue, the sewing occupancy status is lifted. During the recovery process, each station is not restored to the highest cycle time all at once. Instead, the bag cutting and sewing cycles are gradually restored within multiple coordination decision windows based on the degree to which the capacity of the two buffer pools deviates from the safety center value, so that the first and second material buffer pools return to near the middle capacity. After production resumes, due to changes in tension during ink changes and line breakage, the longitudinal position deviations of several recent color marks may accumulate in the same direction during subsequent color mark triggering. For example, when a color mark reaches the pre-cutting detection position, if the elastic elongation calculated based on the integral distance of the main roller encoder and the physical distance between the two detection positions is higher than the corresponding interval value in the original lookup table, then the elastic elongation is written into the tension lookup table according to the smoothing factor, and the target feeding length is tension corrected. If the actual position after tension correction deviates from the nominal cutting position by 1.2mm, then the reverse position correction is superimposed in the next untriggered event in the cutting cycle queue. If the registration linear deviation is detected to be 0.6mm and the deviation directions of two consecutive color mark cycles are consistent, then the linear deviation is converted into a phase deviation based on the circumference of the printing roller, and phase fine-tuning is performed in the next printing event in the printing cycle queue. This phase fine-tuning only changes the starting phase of the next printing event and does not change the contact action curve of the printing pressure roller. During the same operation, if the visual inspection before bag cutting detects a lateral offset of 6mm, the real-time visual offset value is first subjected to a first-order low-pass filter. If the offset still exceeds the severe offset threshold after filtering, a severe offset flag is generated. If the severe offset does not return within 3 seconds, the severe offset flag is returned to the cycle coordination and occupancy processing as the trigger for the bag cutting station and sewing station to enter degraded operation or standby cycle. If the visual offset returns to the allowable range within 3 seconds, only the lateral correction amount is superimposed on the folding guide rail position command and the sewing fabric feed position command, so that the folding line and stitch position are aligned with the edge of the bag again. When the production line needs to switch from a 900mm bag length to a 1000mm bag length, the operator inputs the target bag length, target hem width, target sewing position, and target printing pattern on the human-machine interface and confirms. The specification switching event is executed as a special occupancy processing event. First, based on the current color mark position, the length of the first material buffer pool, the bag cutting count, the number of bag pieces in the second material buffer pool, and the sewing entrance detection status, the in-transit length of the tubular fabric between the printing station and the bag cutting station and the number of in-transit bag pieces between the bag cutting station and the sewing station are determined. Then, the end boundary of the old specification and the start boundary of the new specification are determined. The in-transit material of the old specification continues to complete the bag cutting, hem folding, and sewing according to the original rhythm. The material of the new specification loads the new target rhythm and position parameters after the start boundary of the new specification. The bag cutting station sequentially executes three processing stages: unbinding the current rhythm event, loading the new specification parameters, and restoring the rhythm queue trigger. If no parameter loading completion signal or position loop stabilization signal is received in any stage, the process is paused and proceeds to the next stage. If the pause time exceeds 300ms, a rollback strategy is entered. Throughout the operation, before each control command is issued, the cycle time adjustment, occupancy status, longitudinal position correction, lateral position correction, and status identifiers of each workstation are combined into a workstation control command. Specifically, the printing workstation receives commands for line speed, printing roller phase, and overprint correction; the bag cutting workstation receives commands for feed position, rotary cutter trigger, and bag length correction; the hemming workstation receives commands for hemming guide position, grip timing, and lateral correction; and the sewing workstation receives commands for fabric feed position, needle trigger, and sewing position correction. After each workstation executes the command, execution feedback is collected and compared with the corresponding command value. If the execution deviation exceeds the allowable range within three consecutive main control cycles, an execution deviation anomaly is marked. If the communication synchronization deviation exceeds 50μs or the periodic packet loss rate exceeds 0.1%, any unissued active acceleration or early trigger commands are frozen, and each workstation reverts to a safe cycle time curve with no alarms, limit violations, or degradation records within the last 5 minutes. Through the above operation process, the independent cycle time of printing, bag cutting, and sewing can be maintained under normal production conditions; when local disturbances occur, the first and second material buffer pools can be used to absorb the impact of the disturbances; when the disturbances exceed the buffer absorption capacity, the entire line can be prevented from stopping abruptly by reducing the cycle time; when tension changes, color mark shifts, and visual lateral shifts occur, the bag cutting position, overprinting position, and sewing position can be corrected online, so that the integrated cutting, sewing, and printing production line can maintain cycle time continuity and position control stability during continuous production, disturbance recovery, and specification switching.

[0025] It should be noted that this invention can be deployed on the device itself to realize embedded applications, or it can run on a PC or other terminal with a user interface, thereby meeting various hardware environments and usage requirements.

[0026] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above embodiments can be implemented in whole or in part by a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions of the embodiments of this application are implemented in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted wirelessly or wiredly from one website, computer, server, or data center to another website, computer, server, or data center. Wired methods include optical fiber, twisted pair, coaxial cable, etc. Wireless methods include infrared, microwave, etc. Available media include any available media that can be accessed by a computer or data storage devices such as servers and data centers that contain one or more sets of available media. Available media can be magnetic media (floppy disks, hard disks, magnetic tapes), optical media (DVDs), or semiconductor media. Semiconductor media can be solid-state drives.

[0027] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0028] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags, characterized in that, include: S1: Synchronously collect signals from printing station, bag cutting station, hemming station, sewing station, material buffer pool, tension signal, color mark signal, visual offset signal, and specification switching signal according to a unified clock. S2: Based on the capacity of the material buffer pool, the capacity change status, and the operating status of each workstation, establish the corresponding cycle queues for printing time base, bag cutting time base, and sewing time base respectively; S3: Based on the status of each beat queue, material buffer pool, and the adjustable range of each workstation's beat, coordinate and adjust the printing beat, bag cutting beat, and sewing beat. S4: When a line change, ink change, cutter temperature correction, blade wear, or specification change event is detected, the corresponding workstation will be switched to the occupied processing state, and the cycle time of adjacent workstations will be adjusted according to the status of the material buffer pool. S5: Based on the color mark position, tension status, and visual offset status, correct the bag cutting position, printing registration position, and sewing position, and send corresponding control commands to the servo axis groups of each workstation.

2. The multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags according to claim 1, characterized in that, S1 includes: During synchronous acquisition, in automatic operation mode, specification switching preparation mode, disturbance handling mode, or disturbance recovery mode, each signal is acquired in a loop according to the unified clock and the main control. Each acquired signal is appended with a unified timestamp and written into a circular real-time data pool. The encoder signal, color mark signal, tension signal, and visual offset signal are checked for consistency. Based on the check results, each acquired signal is marked as valid, pending verification, abnormal, or degraded.

3. The multi-axis collaborative cycle control method for an integrated woven bag cutting, sewing, and printing production line according to claim 1, characterized in that, S2 includes: When establishing the cycle queue, the capacity of the first buffer pool is represented by the storage length, the capacity of the second buffer pool is represented by the number of bag sheets, and the buffer pool status is determined according to the corresponding capacity change rate. Based on the printing cycle, feeding and cutting cycle and folding and sewing cycle, generate cycle events, sort the cycle events according to the planned trigger time, and then bind the specification parameters and workstation status identifiers. Establish the constraint relationship between the printing cycle queue and the bag cutting cycle queue based on the state of the first buffer pool; Establish the constraint relationship between the bag cutting rhythm queue and the sewing rhythm queue based on the state of the second buffer pool.

4. The multi-axis collaborative cycle control method for an integrated woven bag cutting, sewing, and printing production line according to claim 3, characterized in that, Cycle events are generated based on the printing cycle, feeding and cutting cycle, and folding and sewing cycle. These cycle events are then sorted according to their planned trigger times and bound to specification parameters and workstation status identifiers, including: The cycle time events are classified into normal processing events, specification switching events, occupancy handling events, and degraded operation events; Configure the planned trigger time, associated bag number, associated specification parameters, workstation status identifier, and adjustable time range according to the corresponding printing time base, bag cutting time base, or sewing time base, and then form an ordered queue of the corresponding time base according to the planned trigger time.

5. The multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags according to claim 1, characterized in that, S3 includes: When coordinating and adjusting the cycle time, the adjustable range of the cycle time is determined by the intersection of the equipment's allowable adjustment range, the process's allowable adjustment range, and the buffer pool's allowable adjustment range. Within each coordination decision window, the dominant time base is determined based on the buffer pool alert level, capacity change direction, and workstation status, and the planned trigger time of the corresponding cycle event is moved forward or backward. When there is no available cycle time adjustment space at the corresponding workstation, the adjustment request is transferred to the adjacent workstation, and a buffer pool criticality flag and a workstation adjustment restricted flag are generated.

6. The multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags according to claim 5, characterized in that, Within each coordination decision window, the dominant time base is determined based on the buffer pool alert level, capacity change direction, and workstation status. The planned trigger time for the corresponding cycle event is then shifted forward or backward, including: Within each coordination decision window, the alert level is determined by the deviation ratio of the buffer pool capacity from the safety center value, and the time base corresponding to the adjacent workstation is selected for revision based on the deviation of the first buffer pool and the second buffer pool. When two buffer pools enter the warning zone simultaneously, the printing time base, bag cutting time base, or sewing time base is determined according to the direction of capacity change, and the planned trigger time of the corresponding beat event is moved forward or backward.

7. The multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags according to claim 1, characterized in that, S4 includes: During the occupancy process, an occupancy processing event is generated based on event trigger signals such as line change, ink change, cutter temperature correction, blade wear, or specification switching. The estimated occupancy duration, associated workstation, associated buffer pool, recovery conditions, and rollback conditions are configured. Based on the buffer pool's absorbable time, it is determined whether adjacent workstations maintain the current cycle time, gradually revise the cycle time, or enter a degraded cycle time, and the end boundary of the old specification and the start boundary of the new specification are determined when switching specifications.

8. The multi-axis collaborative cycle control method for an integrated production line for cutting, sewing, and printing woven bags according to claim 7, characterized in that, Based on the buffer pool's absorbance time, it is determined whether adjacent workstations maintain the current cycle time, progressively revise the cycle time, or enter a degraded cycle time. During specification switching, the end boundary of the old specification and the start boundary of the new specification are determined, including: The buffer pool's absorption time is determined by the current absorbable capacity of the buffer pool corresponding to the disturbed workstation, and the material increment or consumption of adjacent workstations under the current cycle time. Based on the comparison between the estimated occupancy time and the buffer pool's absorption time, maintain the cycle time of adjacent workstations, gradually revise the cycle time of adjacent workstations, or cause adjacent workstations to enter a degraded cycle time. When switching specifications, the quantity of materials in transit and the boundary between the old and new specifications are determined based on the color mark position, bag cut count, buffer pool capacity, and sewing entrance status.

9. The multi-axis collaborative cycle control method for an integrated woven bag cutting, sewing, and printing production line according to claim 1, characterized in that, S5 includes: When generating control commands, a longitudinal position reference is established based on the color mark trigger record. The feeding length is corrected by the tension and elastic elongation lookup table. When the tension exceeds the limit or is downgraded, the endpoint value of the lookup table or the alternative tension value is used for correction. Based on the overprinting deviation, the shearing window of the rotary cutter, and the filtered visual offset, the printing phase correction amount, the cutter trigger correction amount, the folding position correction amount, and the sewing position correction amount are respectively generated, and the execution feedback and communication status update control status archive area are combined.

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