阅读说明：本技术 一种基于异构双核的提花手套机控制装置及控制方法 (Control device and control method for jacquard glove machine based on heterogeneous dual cores ) 是由 高明煜 吴浩杰 曾毓 于 2021-06-28 设计创作，主要内容包括：本发明涉及一种基于异构双核的提花手套机控制装置及控制方法。在以往的提花手套机控制系统中因手套机实际编织过程中控制器需要实时向各从机板下发控制命令。为确保编织过程中严格的时序性采用MCU作为核心控制器运行实时操作系统,但MCU受限片内的FLASH和RAM容量,其运算处理能力有限,故手套机的显示屏需另外处理器驱动显示,这使得控制器和显示屏需要额外的通信交互。本发明充分利用单芯片内置的核间共享内存通信方式,实现主处理器与协处理器之间的大数据量快速通信,避免复杂的总线通信协议,大幅提高了控制器的执行效率。(The invention relates to a control device and a control method for a jacquard glove machine based on heterogeneous dual cores. In the prior jacquard glove knitting machine control system, a controller needs to issue control commands to each slave board in real time in the actual knitting process of the glove knitting machine. In order to ensure strict time sequence in the knitting process, the MCU is adopted as a core controller to run a real-time operating system, but the MCU is limited by the capacity of FLASH and RAM in the slice, and the operation processing capability is limited, so that a display screen of the glove knitting machine needs to be driven by an additional processor for display, and the controller and the display screen need to be additionally communicated and interacted. The invention makes full use of the inter-core shared memory communication mode built in the single chip, realizes the large data volume fast communication between the main processor and the coprocessor, avoids complex bus communication protocol, and greatly improves the execution efficiency of the controller.)

1. A glove machine control method based on heterogeneous dual cores specifically comprises the following steps:

s1, the main processor in the heterogeneous dual-core controller runs a user GUI, and introduces weaving pattern files into a local data storage module from an external storage device;

s2, the main processor in the heterogeneous dual-core controller analyzes the pattern of the knitting pattern file, checks whether the current knitting pattern file is matched with the parameters of the glove knitting machine, and acquires knitting command action line information, glove pattern patterns and glove knitting quantity after the check is passed; the main processor stores the knitting action row information to a shared memory and allows the coprocessor to acquire the knitting action row information in an inter-core shared memory mode;

s3, a coprocessor in the heterogeneous dual-core controller acquires sensor signals of hardware units of the glove knitting machine to be monitored in real time and receives a control command issued by a main processor; when the coprocessor receives a control command of 'start knitting' issued by the main processor, the process goes to step S4; when the coprocessor receives control commands such as 'knitting stopping', 'emergency stop' and the like sent by the main processor, the coprocessor sends a control action stopping command to a corresponding hardware unit of the glove machine;

s4, in the glove knitting process, the coprocessor acquires the action row to be knitted currently and the action row information related to the up-down action row from the shared memory in real time, and then analyzes the action row information into a control action command of a corresponding hardware unit of the glove machine of the current action row; then, according to the glove knitting time sequence, the coprocessor sends a control action command of the current ready knitting action row to a corresponding hardware unit of the glove knitting machine;

meanwhile, the coprocessor acquires the execution state of the hardware unit of the glove machine according to the sensor signal of the hardware unit of the glove machine; the execution state comprises an abnormal state and a work completion state; the coprocessor stores knitting action row information finished by the glove machine hardware unit into a shared memory;

s5, the main processor acquires information of the finished current knitting action in real time from the shared memory, and then draws real-time glove patterns of knitting progress in a GUI process and dynamically displays the real-time glove patterns on a display screen of the human-computer interaction module;

the real-time process pattern drawing is to compare the motion row number in the finished current knitting motion row information with the glove pattern of the knitting pattern file: when one row of knitting action is finished, refreshing and displaying one row of glove pattern, wherein the unfinished knitted pattern is displayed in black background color; meanwhile, judging whether the number of the current action row is smaller than the total pattern row of the glove pattern patterns, if so, returning to the step S3 to continue the knitting task and drawing the process patterns, otherwise, considering that all the knitting of the current single glove is finished, and entering the step S6;

s6, the main processor issues a control command of 'stop knitting' to the coprocessor;

s7, the main processor judges whether the number of the gloves which are knitted at present reaches the glove knitting number; if yes, the main processor issues a control command of 'start knitting' to the coprocessor, and the step S4 is carried out; if not, go to step S8;

and S8, the main processor uploads the knitting completion number of the current glove knitting machine to a local server through the data transmission module.

2. A control device of a jacquard glove machine based on heterogeneous dual cores is characterized by comprising a heterogeneous dual-core microprocessor, a power supply module, a data storage module, a data transmission module, a real-time control module, a man-machine interaction module and a bus communication module, wherein the real-time control module comprises a main servo machine head control module, an electromagnet needle selector control module, a mesh parameter control module and a signal transmission module; a first signal end of a main processor in the heterogeneous dual-core microprocessor is bidirectionally connected with a signal end of the data storage module, a second signal end of the main processor is bidirectionally connected with a first signal end of the data transmission module, and a third signal end of the main processor is bidirectionally connected with a signal end of the man-machine interaction module; the signal end of the coprocessor in the heterogeneous dual-core microprocessor is bidirectionally connected with the first signal end of the bus communication module; the second signal end of the bus communication module is bidirectionally connected with the signal end of the real-time control module; the second signal end of the data transmission module is in bidirectional connection with the signal end of the local server; the power supply module supplies power to other modules; the second to fifth signal output ends of the bus communication module are respectively in bidirectional connection with the signal end of the servo motor control module, the signal end of the electromagnet needle selector control module, the signal end of the mesh parameter control module and the signal end of the signal transmission module.

3. The control device of the jacquard glove machine based on the heterogeneous dual cores as claimed in claim 1, characterized in that the heterogeneous multi-core microprocessor adopts STM32MP157 as a core controller, and the chip comprises a dual core Cortex xa7 main processor and a Cortex M4 coprocessor; the information interaction between the main processor and the coprocessor adopts a mode of sharing a memory between cores, wherein one processor stores information needing interaction into the shared memory, and the other processor acquires the information from the shared memory to finish one information interaction.

4. The jacquard glove machine control device based on the heterogeneous dual cores as claimed in claim 1, wherein the data storage module comprises DDR3L memory, EMMC storage medium for storing glove machine control program and knitting pattern file.

5. The jacquard glove machine control device based on heterogeneous dual cores of claim 1, wherein the data transmission module employs a gigabit ethernet circuit.

6. The control device of the jacquard glove machine based on the heterogeneous dual cores according to claim 1, wherein the human-computer interaction module comprises a display screen; the real-time glove pattern display system is used for displaying model parameters of the glove knitting machine, selecting a knitting pattern file and displaying real-time glove patterns of knitting progress.

7. The control device of jacquard glove knitting machine based on heterogeneous dual cores according to claim 1, wherein the human-computer interaction module further comprises a key module.

8. The control device of the jacquard glove knitting machine based on the dual heterogeneous cores as claimed in claim 1, wherein the main servo head control module is used to control the rotation speed and direction of the main servo motor, obtain the position information of the head through the main servo encoder circuit, and feed back to the coprocessor through the bus communication module.

9. The control device of a heterogeneous dual-core based jacquard glove knitting machine according to claim 1, characterized in that the electromagnet needle selector control module is used for controlling and driving the needle selector and the action triangle electromagnet on the machine head to complete the glove knitting action, and feeding back the execution conditions of the needle selector and the action triangle electromagnet to the coprocessor through the bus communication module;

the stitch parameter control module comprises a stitch motor driving circuit used for controlling a stitch motor to control a stitch triangle and changing the position of the stitch triangle in each action line so as to realize the adjustment of yarn tightness;

the signal transmission module is used for receiving signals of zero position and limit of a machine head, a baffle plate and a broken yarn sensor in the glove machine body, feeding the signals back to the coprocessor through the bus communication module, receiving control commands of an alarm signal lamp, machine head blowing air and scissors blowing air sent by the coprocessor and transmitted by the bus communication module, and outputting corresponding signals to corresponding hardware units.

10. The jacquard glove machine control device based on heterogeneous dual cores as claimed in claim 1, wherein the bus communication module adopts FDCAN bus communication mode.

Technical Field

The invention belongs to the technical field of jacquard glove knitting machines, and particularly relates to a control device and a control method of a jacquard glove knitting machine based on heterogeneous dual cores.

Background

In recent years, the personalized requirements of people on the quality and the appearance of gloves are continuously improved, the demand of the gloves in China is more and more large, and the gloves become necessities of daily life of people. The design of the automatic jacquard glove machine controller becomes a key research object in the domestic intelligent textile industry at present. The automatic jacquard glove knitting machine pulls the traditional textile industry to upgrade towards the direction of intelligent manufacturing, so that the requirement response of the market which is faster and personalized is met, and the automation degree and the knitting efficiency of the glove knitting machine are improved. The design scheme of the hardware of the jacquard glove knitting machine controller at present mainly comprises the following steps: 1) a DSP-based glove machine controller; 2) glove machine controller based on ARM:

the glove machine controller based on the DSP utilizes the DSP as a processor, the DSP has a floating point type data calculation function library, the operation execution efficiency is high, serial port communication and CAN standard communication interfaces are contained in the outer piece, and the upper computer CAN be conveniently debugged and CAN communicate with a slave board through a CAN bus. However, the DSP has no abundant peripheral interfaces, so that an operator cannot import file information through equipment such as a U disk, an SD card and the like, and the individualized requirement of glove knitting is met.

According to the scheme, an ARM chip is used as a core processor to be responsible for controlling the whole glove knitting work flow, and control commands are issued to other control single boards through a CAN bus. The MCU is adopted as a core processor, the task execution efficiency is high, and the control requirement of strong real-time property in the high-speed glove knitting process can be met. However, the MCU itself cannot support complex graphical interface display and rich peripheral interface extension. In practical application, two single boards, namely a display screen and a controller, are often needed, and a large amount of data communication exists between the two single boards, so that unnecessary bus occupation is caused, and the bus communication efficiency is influenced. Due to the fact that the working frequency, the internal memory and the storage are not large, a large application program is difficult to operate, and developers are difficult to develop the application program and spend much time.

Disclosure of Invention

The invention provides a glove machine control device based on heterogeneous dual cores, aiming at the problems.

The technical scheme adopted by the invention is as follows: a glove machine control device based on heterogeneous dual cores comprises a heterogeneous dual-core microprocessor, a power supply module, a data storage module, a data transmission module, a real-time control module, a man-machine interaction module and a bus communication module, wherein the real-time control module comprises a main servo machine head control module, an electromagnet needle selector control module, a mesh parameter control module and a signal transmission module; a first signal end of a main processor in the heterogeneous dual-core microprocessor is bidirectionally connected with a signal end of the data storage module, a second signal end of the main processor is bidirectionally connected with a first signal end of the data transmission module, and a third signal end of the main processor is bidirectionally connected with a signal end of the man-machine interaction module; the signal end of the coprocessor in the heterogeneous dual-core microprocessor is bidirectionally connected with the first signal end of the bus communication module; the second signal end of the bus communication module is bidirectionally connected with the signal end of the real-time control module; the second signal end of the data transmission module is in bidirectional connection with the signal end of the local server; the power module supplies power for other modules. The second to fifth signal output ends of the bus communication module are respectively in bidirectional connection with the signal end of the servo motor control module, the signal end of the electromagnet needle selector control module, the signal end of the mesh parameter control module and the signal end of the signal transmission module;

the heterogeneous multi-core microprocessor adopts STM32MP157 as a core controller, and the chip comprises a dual-core Cortex A7 main processor and a Cortex M4 coprocessor. The information interaction between the main processor and the coprocessor adopts a mode of sharing a memory between cores, wherein one processor stores information needing interaction into the shared memory, and the other processor acquires the information from the shared memory to finish one information interaction.

The data storage module comprises a DDR3L memory and an EMMC storage medium and is used for storing a glove machine control program and a knitting pattern file;

the data transmission module adopts a gigabit Ethernet circuit.

The human-computer interaction module comprises a display screen; the real-time glove pattern display system is used for displaying model parameters of the glove knitting machine, selecting a knitting pattern file and displaying knitting progress;

the main servo machine head control module is used for controlling the rotating speed and the direction of the main servo motor, obtaining the position information of the machine head through the main servo encoder circuit and feeding back the position information to the coprocessor through the bus communication module.

The electromagnet needle selector control module is used for controlling and driving the needle selector and the action triangular electromagnet on the machine head to complete the glove knitting action, and feeding back the execution conditions of the needle selector and the action triangular electromagnet to the coprocessor through the bus communication module.

The stitch parameter control module comprises a stitch motor driving circuit used for controlling a stitch motor to control a stitch triangle, and the position of the stitch triangle in each action line is changed, so that the yarn tightness is adjusted.

The signal transmission module is used for receiving signals of zero position and limit of a machine head, a baffle plate and a broken yarn sensor in the glove machine body, feeding the signals back to the coprocessor through the bus communication module, receiving control commands of an alarm signal lamp, machine head blowing air and scissors blowing air sent by the coprocessor and transmitted by the bus communication module, and outputting corresponding signals to corresponding hardware units.

The bus communication module adopts an FDCAN bus communication mode.

The invention also aims to provide a glove machine control method based on the heterogeneous dual core, which specifically comprises the following steps:

s1, the main processor in the heterogeneous dual-core controller runs a user GUI, and introduces weaving pattern files into a local data storage module from an external storage device;

s2, the main processor in the heterogeneous dual-core controller analyzes the pattern of the knitting pattern file, checks whether the current knitting pattern file is matched with the parameters of the glove knitting machine, and acquires knitting command action line information, glove pattern patterns and glove knitting quantity after the check is passed; the main processor stores the knitting action line information to a shared memory, and allows the coprocessor to acquire the knitting action line information in a mode of sharing the memory among cores.

S3, the coprocessor acquires sensor signals of each monitoring glove machine hardware unit in real time and receives a control command issued by the main processor; when the coprocessor receives a control command of 'start knitting' issued by the main processor, the process goes to step S4; when the coprocessor receives control commands such as 'knitting stopping', 'emergency stop' and the like sent by the main processor, the coprocessor sends a control action stopping command to the corresponding hardware unit of the glove machine.

S4, in the glove knitting process, the coprocessor acquires the action row to be knitted currently and the action row information related to the up-down action row from the shared memory in real time, and then analyzes the action row information into a control action command of a corresponding hardware unit of the glove machine of the current action row; then, according to the glove knitting time sequence, the coprocessor sends a control action command of the current ready knitting action row to a corresponding hardware unit of the glove knitting machine;

meanwhile, the coprocessor acquires the execution state of the hardware unit of the glove machine according to the sensor signal of the hardware unit of the glove machine; the execution state comprises an abnormal state and a work completion state; the coprocessor stores knitting action row information finished by the glove machine hardware unit into a shared memory;

s5, the main processor acquires information of the finished current knitting action in real time from the shared memory, and then draws real-time glove patterns of knitting progress in a GUI process and dynamically displays the real-time glove patterns on a display screen of the human-computer interaction module;

the real-time process pattern drawing is to compare the motion row number in the finished current knitting motion row information with the glove pattern of the knitting pattern file: when one row of knitting action is finished, refreshing and displaying one row of glove pattern, wherein the unfinished knitted pattern is displayed in black background color; and meanwhile, judging whether the number of the current action row is smaller than the total pattern row of the glove pattern, if so, returning to the step S3 to continue the knitting task and drawing the process pattern, otherwise, considering that all the knitting of the current single glove is finished, and entering the step S6.

S6, the main processor issues a command of 'stop weaving' to the coprocessor.

S7, the main processor judges whether the number of the gloves which are knitted at present reaches the glove knitting number; if yes, the main processor issues a control command of 'start knitting' to the coprocessor, and the step S4 is carried out; if not, go to step S8;

and S8, the main processor uploads the knitting completion number of the current glove knitting machine to a local server through the data transmission module.

The invention has the beneficial effects that:

1) because the data volume corresponding to the action row sequence of glove knitting is large, in the conventional multi-core control, an external high-speed bus is usually used for realizing large data volume communication between cores, and the communication rate and the control efficiency are easily influenced by factors such as external interference, software protocols and the like. The invention makes full use of the inter-core shared memory communication mode built in the single chip, realizes the large data volume fast communication between the main processor and the coprocessor, avoids complex bus communication protocol, and greatly improves the execution efficiency of the controller.

2) Compared with a single braided line number or braided progress percentage, the method adopts the real-time process pattern to enable a user to visually know the braiding progress.

Compared with the traditional glove knitting machine controller, the dual-core heterogeneous jacquard glove knitting machine controller has the advantages of improved performance, optimized structure and abundant communication interfaces. By utilizing the advantages of dual-core isomerism, the development of a glove machine user interface application program based on a Linux system and the development of a bottom layer weaving program based on an RTOS real-time operating system are realized on one single board. By utilizing the development environment of the dual-system, the main processor plays the advantage of high performance in the man-machine interaction and the file transmission data processing, and the coprocessor plays the advantage of strong real-time performance in the real-time control. The microprocessor with the heterogeneous dual-core architecture is utilized, the defect that a large amount of resources are occupied by the conventional dual-system cross-chip transmission is overcome, meanwhile, knitting error information can be fed back and judged in real time in the glove knitting process, and actual knitting pattern and pattern can be calculated through each action row and displayed on a display screen.

Drawings

FIG. 1 is a system block diagram of the apparatus of the present invention.

FIG. 2 is a flow chart of the method of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific examples. The specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting.

As shown in fig. 1, the glove machine control device based on heterogeneous dual cores comprises a heterogeneous dual core microprocessor, a power supply module, a data storage module, a data transmission module, a real-time control module, a human-computer interaction module and a bus communication module, wherein the real-time control module comprises a main servo head control module, an electromagnet needle selector control module, a mesh parameter control module and a signal transmission module; a first signal end of a main processor in the heterogeneous dual-core microprocessor is bidirectionally connected with a signal end of the data storage module, a second signal end of the main processor is bidirectionally connected with a first signal end of the data transmission module, and a third signal end of the main processor is bidirectionally connected with a signal end of the man-machine interaction module; the signal end of the coprocessor in the heterogeneous dual-core microprocessor is bidirectionally connected with the first signal end of the bus communication module; the second signal end of the bus communication module is bidirectionally connected with the signal end of the real-time control module; the second signal end of the data transmission module is in bidirectional connection with the signal end of the local server; the power module supplies power for other modules. The second to fifth signal output ends of the bus communication module are respectively in bidirectional connection with the signal end of the servo motor control module, the signal end of the electromagnet needle selector control module, the signal end of the mesh parameter control module and the signal end of the signal transmission module;

the heterogeneous multi-core microprocessor STM32MP157 serves as a core controller, a dual-core Cortex A7 main processor and a Cortex M4 coprocessor are contained in the chip, the advantages of heterogeneous dual cores in the chip are utilized, data are exchanged in a memory sharing mode, and frequent information interaction between a display screen and a main control board is omitted. The Linux system is operated on the basis of the main processor, a developer can develop a graphical interface and a driving program by means of a Linux platform, and the STM32MP157 internally comprises a 3DGPU accelerator, so that a display picture can be smoother and finer. The RTOS system is operated on the basis of the coprocessor, so that the real-time performance of the glove knitting process is greatly improved, the problem of multi-plate redundancy of an original glove machine system is solved, the glove machine control system is optimized, and the performance and the stability of the whole system are enhanced.

The data storage module comprises a DDR3L memory and an EMMC storage medium and is used for storing a glove machine control program and a knitting pattern file; the DDR3L memory is MT41K256M16, the memory size is 512MB, the data interface is 16bit, and the working frequency is 533 MHz; the EMMC storage medium is KLM8G1GETF, uses industry MMC protocol v5.1 standard, has 8GB storage capacity, satisfies the large-capacity storage demand.

The data transmission module adopts a gigabit Ethernet circuit, and specifically selects RTL8211 as onboard gigabit Ethernet PHY. An operator connects each glove machine control system into the switch through a network cable, and can check the working state of each glove machine in the whole production workshop through the Ethernet, and the knitting quantity and the work abnormity prompt are displayed.

The human-computer interaction module comprises a 7-inch resistance touch display screen, a key module, a USB interface and an SD card slot; the display screen is used for displaying glove machine model parameters, selection of weaving pattern files and real-time glove patterns for displaying weaving progress, and the display screen has an RGB interface, resolution of 1024 x 600, fine colors and good visual angle. The key module adopts 30 key matrix keys of 5-6, and the key functions comprise a numeric keyboard, a directional keyboard, a function selection key for confirming and canceling and the like.

The main servo machine head control module is used for controlling the rotating speed and the direction of the main servo motor, obtaining the position information of the machine head through the main servo encoder circuit and feeding back the position information to the coprocessor through the bus communication module. The main servo motor encoder circuit is composed of a 26LS32 differential-to-single-ended chip and an encoder interface.

The electromagnet needle selector control module is used for controlling and driving the needle selector and the action triangular electromagnet on the machine head to complete the glove knitting action, and feeding back the execution conditions of the needle selector and the action triangular electromagnet to the coprocessor through the bus communication module.

The stitch parameter control module comprises a stitch motor driving circuit used for controlling a stitch motor to control a stitch triangle, and the position of the stitch triangle in each action line is changed, so that the yarn tightness is adjusted. And the mesh motor driving circuit selects L6474 as a stepping motor driving chip.

The signal transmission module is used for receiving signals of zero position and limit of a machine head, a baffle plate and a broken yarn sensor in the glove machine body, feeding the signals back to the coprocessor through the bus communication module, receiving control commands of an alarm signal lamp, machine head blowing air and scissors blowing air sent by the coprocessor and transmitted by the bus communication module, and outputting corresponding signals to corresponding hardware units.

The bus communication module adopts an FDCAN bus communication mode, and adopts a digital isolation chip ISO1042 as an FDCAN communication chip. Compared with the original standard CAN communication, the FDCAN has the advantages of large transmission data volume of each frame and high transmission rate, so that a control command issued by a jacquard glove machine control system in real time reaches each slave plate with smaller time delay, the speed response of the whole system is improved, and the glove knitting time is shortened.

As shown in fig. 2, the control method based on the above device specifically includes the following steps:

s1, operating a user GUI by a main processor in the heterogeneous dual-core controller, and importing a weaving pattern file from an external storage device (a U disk or an SD card) to a local data storage module;

s2, the main processor in the heterogeneous dual-core controller runs a pattern analysis program, checks whether a current knitting pattern file is matched with the parameters of the glove knitting machine, and acquires knitting command action line information, glove pattern patterns and glove knitting quantity after the check is passed; the main processor stores the knitting action line information to a shared memory, and allows the coprocessor to acquire the knitting action line information in a mode of sharing the memory among cores.

S3, the coprocessor acquires sensor signals of each monitoring glove machine hardware unit in real time and receives a control command issued by the main processor; when the coprocessor receives a control command of 'start knitting' issued by the main processor, the process goes to step S4; when the coprocessor receives control commands such as 'knitting stopping', 'emergency stop' and the like sent by the main processor, the coprocessor sends a control action stopping command to the corresponding hardware unit of the glove machine.

The coprocessor sends a stop control action command to the corresponding hardware unit of the glove machine, and the coprocessor sends a control command to the main servo head control module, the electromagnet needle selector control module and the mesh parameter control module through the bus communication module and controls the corresponding hardware unit of the glove machine through the main servo head control module, the electromagnet needle selector control module and the mesh parameter control module.

S4, in the glove knitting process, the coprocessor acquires the action row to be knitted currently and the action row information related to the up-down action row from the shared memory in real time, and then analyzes the action row information into a control action command of a corresponding hardware unit of the glove machine of the current action row; then, according to the glove knitting time sequence, the coprocessor sends a control action command of the current ready knitting action row to a corresponding hardware unit of the glove knitting machine;

the coprocessor sends a control action command of a currently prepared knitting action row to a corresponding hardware unit of the glove knitting machine, and sends a control command to the main servo machine head control module, the electromagnet needle selector control module and the mesh parameter control module through the bus communication module, and the main servo machine head control module, the electromagnet needle selector control module and the mesh parameter control module control the corresponding hardware unit of the glove knitting machine.

The coprocessor acquires the execution state of the hardware unit of the glove machine according to the sensor signal of the hardware unit of the glove machine; the execution state comprises an abnormal state and a work completion state; the coprocessor stores knitting action row information finished by the glove machine hardware unit into a shared memory;

the coprocessor acquires sensor signals of hardware units of each monitoring glove machine in real time, and acquires the zero position and the limit of a machine head in the glove machine body, the baffle and the broken yarn sensor signals through the bus communication module and the signal transmission module.

The corresponding hardware unit controls actions such as common IO port output, yarn nozzle motor movement, machine head servo movement, machine head needle selection action, electromagnet action and the like.

S5, the main processor acquires information of the finished current knitting action in real time from the shared memory, and then draws real-time glove patterns of knitting progress in a GUI process and dynamically displays the real-time glove patterns on a display screen of the human-computer interaction module; and updating the current real-time glove pattern by the main processor after finishing one action line each time the glove is knitted.

The real-time process pattern drawing is to compare the motion row number in the finished current knitting motion row information with the glove pattern of the knitting pattern file: when one row of knitting action is finished, refreshing and displaying one row of glove pattern, wherein the unfinished knitted pattern is displayed in black background color; and meanwhile, judging whether the number of the current action row is smaller than the total pattern row of the glove pattern, if so, returning to the step S3 to continue the knitting task and drawing the process pattern, otherwise, considering that all the knitting of the current single glove is finished, and entering the step S6.

The glove pattern is a bitmap picture with the size of 300x1000 dot matrix, and the bitmap picture shows the glove patterns with the width of the glove being maximum 150 dots and the height of the glove being maximum 1000 pattern rows, and because each glove pattern comprises a front pattern and a back pattern, the glove patterns in the row with the maximum 150 dots need to be stored by 300 bytes in one row. One dot color information in each row of the pattern occupies one byte, and when the pattern is drawn, the byte value is 0 and black is defaulted, and the other 255 number values correspond to 255 pattern colors.

S6, the main processor issues a command of 'stop weaving' to the coprocessor.

S7, the main processor judges whether the number of the gloves which are knitted at present reaches the glove knitting number; if yes, the main processor issues a control command of 'start knitting' to the coprocessor, and the step S4 is carried out; if not, go to step S8;

and S8, the main processor uploads the knitting completion number of the current glove knitting machine to a local server through the data transmission module.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.