Yarn conveying method, device and system, storage medium and dyeing and embroidering system

Abstract

The invention discloses a yarn conveying method, device and system, a storage medium and a dyeing and embroidering system. The yarn conveying method comprises the steps that the real-time yarn feeding length and the set yarn feeding length of the current needle sequence are obtained; determining a yarn feeding deviation value based on the real-time yarn feeding length and the set yarn feeding length; using the yarn feeding deviation value to determine the candidate yarn feeding length of the next needle sequence adjacent to the current needle sequence; the current tension of the yarn is obtained, and the candidate yarn feeding length is adjusted based on the current tension so as to obtain the target yarn feeding length for the rear needle sequence. According to the yarn feeding method and device, the deviation is made between the real-time yarn conveying amount and the set amount, the yarn feeding amount is dynamically adjusted on the basis of the deviation and the current yarn tension, feedback data of the dyeing equipment and feedback data of the weaving and embroidering equipment can be linked, and accurate yarn feeding is achieved.

Description

Technical Field

[0001] The present application relates to the field of industrial automation control processing, and in particular to a dyeing yarn conveying method, device, system, storage medium and dyeing and embroidery system. Background Art

[0002] In the current textile industry, dyeing equipment for yarn and knitting and embroidery equipment are typically designed, manufactured, and sold separately by different manufacturers. This lack of interoperability between the dyeing and embroidery equipment results in distorted or mismatched colors on the fabric or embroidery, even when yarn dyeing is precise. This severely impacts market adoption and adoption. Summary of the Invention

[0003] To address the above-mentioned issues, the present application discloses a yarn delivery method, device, system, storage medium, and dyeing and embroidery system. The method enables linkage between dyeing and embroidery equipment, dyeing and delivering yarn based on actual yarn consumption, thereby achieving precise dyeing, precise embroidery, synchronized dyeing and weaving, and collaborative production.

[0004] The first aspect of the present application provides a yarn delivery method, which may include: obtaining the real-time yarn feed length of the current stitch sequence and setting the yarn feed length; determining a yarn feed deviation value based on the real-time yarn feed length and the set yarn feed length; using the yarn feed deviation value to determine a candidate yarn feed length for a subsequent stitch sequence adjacent to the current stitch sequence; obtaining the current tension of the yarn, and adjusting the candidate yarn feed length based on the current tension to obtain a target yarn feed length for the subsequent stitch sequence.

[0005] By adjusting the subsequent yarn feeding amount according to the deviation value between the real-time yarn feeding length and the set yarn feeding length, accurate yarn feeding can be achieved.

[0006] According to some embodiments of the present application, obtaining the set yarn feed length may include: obtaining the actual consumed length of yarn consumed in the previous stitch sequence adjacent to the current stitch sequence; determining a first relationship between the actual consumed length and the set yarn feed length of the previous stitch sequence; determining a second relationship between the blank knitting length of the first knitting area related to the previous stitch sequence and zero; and determining the set yarn feed length of the current stitch sequence based on the first relationship and / or the second relationship.

[0007] The dyeing amount of subsequent yarns is adjusted by the real-time yarn consumption of the weaving and embroidery equipment. Combined with the aforementioned precise adjustment of the yarn feeding amount, the dyeing equipment and the weaving and embroidery equipment can be linked to achieve precise dyeing, precise yarn feeding and precise weaving and embroidery.

[0008] According to some embodiments of the present application, the first relationship indicates that the actual consumed yarn length of the previous stitch sequence is greater than the set yarn feed length, and the second relationship indicates that the blank knitting length is greater than zero; determining the set yarn feed length includes: obtaining the yarn length difference between the actual consumed yarn length of the previous stitch sequence and the set yarn feed length; specifying the set yarn feed length of the current stitch sequence as the sum of the theoretical yarn feed length of the current stitch sequence and the yarn length difference; or, the second relationship indicates that the blank knitting length is less than or equal to zero; setting the calculated yarn length includes: determining the first average yarn feed length of the unexecuted stitch sequence related to the first knitting area; specifying the average yarn feed length as the set yarn feed length of the current stitch sequence.

[0009] According to some embodiments of the present application, the first relationship indicates that the actual consumed yarn length of the previous stitch sequence is less than the set yarn feed length, and the second relationship indicates that the blank knitting length is greater than zero; determining the set yarn feed length includes: obtaining the yarn length difference between the actual consumed yarn length of the previous stitch sequence and the set yarn feed length; specifying the set yarn feed length of the current stitch sequence as the difference between the theoretical yarn feed length of the current stitch sequence and the yarn length difference; or, the second relationship indicates that the blank knitting length is less than or equal to zero; determining the set yarn length includes: determining the second average yarn feed length of the unexecuted stitch sequence related to the first knitting area; specifying the average yarn feed length as the set yarn feed length of the current stitch sequence.

[0010] According to some embodiments of the present application, the first relationship indicates that the actual consumed yarn length of the previous stitch sequence is equal to the set yarn feed length, and determining the set yarn feed length includes: specifying the theoretical yarn feed length of the current stitch sequence as the set yarn feed length of the current stitch sequence.

[0011] According to some embodiments of the present application, the use of the yarn feed deviation value to determine the candidate yarn feed length may include: specifying the difference between the set yarn feed length of the subsequent stitch sequence and the yarn feed deviation value as the candidate yarn feed length; or, obtaining the remaining yarn feed total length of the second knitting area related to the current stitch sequence and the remaining number of needles related to the remaining stitch sequence; specifying the difference between the remaining yarn feed total length and the yarn feed deviation value and the quotient of the remaining number of needles as the candidate yarn feed length; or, obtaining the tension coefficient and tension error of the yarn; using the tension coefficient and tension error, determine the candidate yarn feed length based on the set yarn feed length and the yarn feed deviation value.

[0012] Different correction methods can be used to accurately eliminate the yarn feeding deviation value.

[0013] According to some embodiments of the present application, obtaining the target yarn feed length may include: determining the tension state of the current tension; determining a correction value for the candidate yarn feed length based on the tension state; and adjusting the candidate yarn feed length using the correction value to obtain the target yarn feed length.

[0014] According to some embodiments of the present application, the method also includes: determining whether the yarn feeding deviation value is greater than a deviation threshold; if so, based on the characteristic information of the second knitting area of ​​the current needle sequence, guiding the yarn of a length corresponding to the yarn feeding deviation amount to be consumed in the second knitting area or the first blank area.

[0015] According to some embodiments of the present application, the method also includes: determining whether the current stitch sequence is the last stitch sequence of the second knitting area; if so, determining whether the remaining fed thread length after the current stitch sequence is completed is greater than a thread length threshold; if so, guiding the remaining fed thread length to be consumed in the second blank area.

[0016] By consuming excess yarn, the amount of dyed yarn can be corrected to avoid over-dyed yarn affecting the weaving speed and quality.

[0017] According to a second aspect of the present application, there is provided a yarn delivery device, which may include: an acquisition module configured to acquire the real-time yarn feed length and the set yarn feed length of the current stitch sequence; a calculation module configured to determine a yarn feed deviation value based on the real-time yarn feed length and the set yarn feed length; a determination module configured to determine a candidate yarn feed length for a subsequent stitch sequence adjacent to the current stitch sequence using the yarn feed deviation value; and a correction module configured to acquire the current tension of the yarn, and adjust the candidate yarn feed length based on the current tension to obtain a target yarn feed length for the subsequent stitch sequence.

[0018] A third aspect of the present application provides a processing system, which may include a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the yarn delivery method described above may be implemented.

[0019] A fourth aspect of the present application provides a computer-readable storage medium storing a computer program, which implements the steps of the yarn delivery method described above when executed by a processor.

[0020] A fifth aspect of the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, implements the steps of the yarn delivery method as described above.

[0021] According to a sixth aspect of the present application, there is provided a dyeing and embroidery system, which may include: a dyeing component, a yarn feeding component and a weaving and embroidery component arranged in sequence according to the yarn transmission direction; wherein the dyeing component is configured to determine the set yarn feeding length of each stitch, and dye the yarn of the set yarn feeding length based on the preset color of each stitch, and then transmit it to the yarn feeding component; the yarn feeding component is configured to transmit the yarn of the target yarn feeding length corresponding to each stitch to the weaving and embroidery component, wherein determining the target yarn length includes: obtaining the real-time yarn feeding length of the current stitch, and setting the yarn feeding length; determining the yarn feeding deviation value based on the real-time yarn feeding length and the set yarn feeding length; determining a candidate yarn feeding length using the yarn feeding deviation value; obtaining the current tension value of the yarn, and adjusting the candidate yarn feeding length based on the current tension value to obtain the target yarn feeding length for the stitch following the current stitch; the weaving and embroidery component is configured to receive the yarn of the corresponding length of each stitch for knitting, and feed back relevant knitting parameters to the dyeing component and the yarn feeding component.

[0022] The yarn delivery method disclosed in the present application can correct the yarn delivery length of the subsequent stitch sequence based on the deviation value between the actual yarn delivery length of the current stitch sequence and the set yarn delivery length, combined with the tension of the delivered yarn, to achieve precise yarn delivery to the weaving and embroidery equipment and improve the knitting effect.

[0023] The yarn delivery method disclosed in this application can adjust the yarn dyeing length and timing based on the actual yarn consumption of the weaving and embroidery equipment, achieving precise dyeing. Yarn delivery correction is implemented in conjunction with yarn delivery, ensuring precise weaving and embroidery by the weaving and embroidery equipment. Implementing this application enables real-time interaction between dyeing and weaving equipment, achieving precise dyeing, precise weaving, and synchronized dyeing and weaving, forming a closed control system for precise dyeing and weaving.

[0024] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The disclosure of this application will be more easily understood with reference to the accompanying drawings. Those skilled in the art will readily appreciate that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Furthermore, similar numbers in the figures represent similar components, where: Figure 1 is an exemplary schematic diagram of a yarn delivery system according to some embodiments of the present application; Figure 2 is an exemplary schematic diagram of a computing device for implementing a yarn delivery method according to some embodiments of the present application; Figure 3is an exemplary flow chart of a yarn delivery method according to some embodiments of the present application; Figure 4 is an exemplary flow chart of a method for determining a yarn feed length according to some embodiments of the present application; Figure 5 is an exemplary flow chart of a method for determining a target yarn feed length according to some embodiments of the present application; Figure 6 is an exemplary module diagram of a processing system for implementing a yarn delivery method according to some embodiments of the present application; Figure 7 is an exemplary structural diagram of a dyeing and embroidery system according to some embodiments of the present application; Figure 8 is an exemplary schematic diagram of determining and setting a yarn feed length according to some embodiments of the present application; Figure 9 is an exemplary schematic diagram of determining a target yarn feed length according to some embodiments of the present application. DETAILED DESCRIPTION

[0026] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0027] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. The terms "and / or" or "and / or" used in this application include any and all combinations of one or more related listed items.

[0028] Some preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be noted that the following description is for illustrative purposes and is not intended to limit the scope of protection of the present application. The flowcharts used are used to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the described operations are not necessarily performed in exact sequence. On the contrary, various steps can be processed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or one or more steps can be removed from these processes.

[0029] Figure 1 1 is an exemplary schematic diagram of a yarn delivery system according to some embodiments of the present application. In some embodiments, the yarn delivery system 100 can be used to achieve the difference between yarn dyeing and embroidery, and realize precise dyeing and weaving. Figure 1 As shown, the yarn delivery system 100 may include a processing device 110 , a storage device 120 , a terminal 130 , a network 140 , a dyeing device 150 , a yarn feeding device 160 , and an embroidery device 170 .

[0030] The processing device 110 can be configured to receive dyed yarn from the dyeing device 150 and then, based on data calculations, determine the yarn length for the yarn feeding device 160 to deliver to the embroidery device 170. In some embodiments, the processing device 110 can be configured to process yarn-related information and / or data to perform one or more functions disclosed herein. For example, the processing device 110 can obtain the real-time yarn feed length and the set yarn feed length for the current stitch sequence. The real-time yarn feed length can be determined by an encoder, such as a rotary encoder, installed in the yarn feeding device 160, and the set yarn feed length can be determined by the dyeing device 150 based on the actual yarn length consumed. This data can be transmitted via the network 140 and thus be obtained by the processing device 110. For another example, the processing device 110 can determine a yarn feed deviation value based on the real-time yarn feed length and the set yarn feed length. For another example, the processing device 110 can use the yarn feed deviation value to determine a candidate yarn feed length. For another example, the processing device 110 may obtain a current tension value of the yarn, and adjust the candidate yarn feed length based on the current tension value to obtain a target yarn feed length for a subsequent stitch sequence adjacent to the current stitch sequence.

[0031] In some embodiments, the processing device 110 can be implemented by a single server or a server group. The processing device 110 can be a single server or a server group. The server group can be centralized or distributed. In some embodiments, the processing device 110 can be local or remote. For example, the processing device 110 can access information and / or data stored in the storage device 120 through the network 140, or receive information and / or data sent by the dyeing device 150 and / or the embroidery device 170. For another example, the processing device 110 can be directly connected to the storage device 120, the dyeing device 150 and / or the embroidery device 170 to access the stored information and / or data. In some embodiments, the processing device 110 can be implemented on a cloud platform. Just to give an example, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, a multi-cloud, etc. or any combination of the above examples. In some embodiments, the processing device 110 can be implemented on a cloud platform that is compatible with the present application. Figure 2 For example, the processing device 110 may be implemented on a computing device such as Figure 2 The system is implemented on a computing device 200 as shown, and includes one or more components of the computing device 200.

[0032] In some embodiments, the processing device 110 may include one or more processing engines (e.g., a single-core processing engine or a multi-core processor). By way of example only, the processing device 110 may include one or more combinations of a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic controller (PLC), a programmable logic device (PLD), a controller, a microcontroller unit (MCU), a reduced instruction set computer (RISC), a microprocessor, and the like.

[0033] Storage device 120 can store data and / or instructions. For example, storage device 120 can store data and / or instructions for execution or use by processing device 110, which can then execute or use the data and / or instructions to implement the exemplary methods described herein. In some embodiments, storage device 120 can be part of processing device 110. In some embodiments, storage device 120 can include mass storage, removable storage, volatile read-write memory (RAM), read-only memory (ROM), or any combination thereof. Exemplary mass storage devices can include magnetic disks, optical disks, solid-state disks, and the like. Exemplary removable storage devices can include flash drives, floppy disks, optical disks, memory cards, compact disks, and magnetic tapes. Exemplary RAM can include dynamic RAM (DRAM), double data rate synchronous dynamic RAM (DDR SDRAM), static RAM (SRAM), thyristor RAM (T-RAM), and zero-capacitance RAM (Z-RAM). Exemplary ROMs may include mask ROM (MROM), programmable ROM (PROM), erasable programmable ROM (PEROM), electronically erasable programmable ROM (EEPROM), compact disc ROM (CD-ROM), and digital versatile disk ROM, among others. In some embodiments, storage device 120 may be a distributed storage system. In some embodiments, storage device 120 may be implemented on a cloud platform. By way of example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, or any combination thereof. For example, some algorithms or data in this application may be stored on a cloud platform and updated regularly, and processing device 110 may access these algorithms or data via a network to achieve unified and interactive algorithms or data across the entire platform.

[0034] The terminal 130 may serve as the front-end for the operation of the processing device 110 and may include, but is not limited to, a mobile device 130-1, a tablet computer 130-2, a laptop computer 130-3, a desktop computer 130-4, or any combination thereof. An operator may input control instructions and / or external information corresponding to operations that the yarn delivery system 100 can perform on the terminal 130. For example, this may be used to input yarn dyeing process files. In some embodiments, the terminal 130 may be integrated with the processing device 110. For example, the computing power (e.g., CPU, GPU, etc.) inherent to the terminal 130 may be used to implement the functions of the processing device 110. Input ports of the terminal 130 (e.g., the touch-sensitive virtual keyboard of the mobile device 130-1 and tablet computer 130-2, such as a smartphone or smart tablet, or the mouse and keyboard of the laptop computer 130-3 or desktop computer 130-4) may be used to input operational instructions and / or external information.

[0035] Network 140 can facilitate the exchange of information and / or data. In some embodiments, one or more components of yarn delivery system 100 (e.g., processing device 110, storage device 120, terminal 130, dyeing device 150, and / or embroidery device 170) can transmit information to other components of yarn delivery system 100 via network 140. For example, processing device 110 can obtain the set yarn feed length for each stitch from dyeing device 150 via network 140. In some embodiments, network 140 can be any form of wired or wireless network, or any combination thereof. By way of example only, the network 140 may be a wired network, a fiber optic network, a telecommunications network, an intranet, the Internet, a local area network (LAN), a wide area network (WAN), a wireless local area network (WLAN), a metropolitan area network (MAN), a wide area network (WAN), a public switched telephone network (PSTN), a Bluetooth network, a ZigBee network, a near field communication (NFC) network, a global system for mobile communications (GSM) network, a code division multiple access (CDMA) network, a time division multiple access (TDMA) network, a general packet radio service (GPRS) network, or an enhanced data rate for GSM evolution ( The network 140 may be a combination of one or more of: a 4G LTE (High-Speed ​​Datagram Protocol) (HSDP) network, a 5G LTE (Long-Term Evolution) network, a 6G LTE (High-Speed ​​Datagram Protocol) network, a 1.5G LTE (High-Speed ​​Datagram Protocol) network, a 1.5G LTE (Long-Term Evolution ...

[0036] Dyeing device 150 can be used to dye yarn. In some embodiments, dyeing device 150 can receive the set yarn feed length for each stitch from processing device 110 via network 140 and dye the white yarn to the corresponding length based on the set yarn feed length and yarn color. In some embodiments, dyeing device 150 can have its own computing power, enabling it to directly calculate the set yarn feed length and perform dyeing. In another implementation, the computing power of dyeing device 150 can be a distributed node of processing device 110.

[0037] The yarn feeding device 160 can be used to transport the yarn. In some embodiments, the yarn feeding device 160 can receive a set yarn feeding length for each stitch from the dyeing device 150, and correct the set yarn feeding length according to the actual yarn feeding length, and then feed the yarn to the embroidery device 170 based on the corrected yarn feeding length.

[0038] The embroidery device 170 can receive the dyed yarn from the yarn feeding device and then knit it. It can also provide real-time feedback of the current knitting position, such as row, column, number of stitches, etc., to the processing device 110 and the dyeing device 150 through the network 140. The processing device 110 and / or the dyeing device 150 can use this information to adjust the yarn feeding length for subsequent knitting and / or the dyeing speed and timing.

[0039] In some embodiments, communication between the dyeing device 150, the yarn feeding device 160, and the embroidery device 170 can be based on a bus protocol, such as the HDLC protocol. The dyeing device 150 can be embedded with an industrial controller, such as an embedded MCU. The industrial controller can serve as the processing device 110 to perform the functions described above or below.

[0040] Figure 2 2 is a block diagram illustrating an exemplary processing device according to some embodiments of the present application. Computing device 200 may include any components used to implement the system described in the embodiments of the present application. For example, computing device 200 may be implemented using hardware, software, firmware, or a combination thereof. For convenience, only one processing device is depicted in the figure. However, the computing functions associated with the yarn delivery system 100 described in the embodiments of the present application can be implemented in a distributed manner using a group of similar platforms to distribute the system's processing load.

[0041] In some embodiments, computing device 200 may include a processor 210, memory 220, input / output 230, and a communication port 240. In some embodiments, the processor (e.g., CPU) 210 may execute program instructions in the form of one or more processors. In some embodiments, the memory 220 may include various forms of program memory and data storage, such as a hard disk, read-only memory (ROM), random access memory (RAM), etc., for storing various data files processed and / or transmitted by the computer. In some embodiments, the input / output 230 may be used to support input / output between computing device 200 and other components. In some embodiments, the communication port 240 may be connected to a network for data communication. Exemplary processing devices may include program instructions stored in read-only memory (ROM), random access memory (RAM), and / or other types of non-transitory storage media, executed by processor 210. The methods and / or processes of embodiments of the present application may be implemented in the form of program instructions. Computing device 200 may also receive the programs and data disclosed herein via network communications.

[0042] For ease of understanding, Figure 2 Only one processor is shown in the figure as an example. However, it should be noted that the computing device 200 in the embodiment of the present application may include multiple processors, so the operations and / or methods implemented by one processor described in the embodiment of the present application may also be implemented jointly or independently by multiple processors. For example, if in the present application, the processor of the computing device 200 performs operations A and B, it should be understood that operations A and B may also be performed jointly or independently by two different processors of the computing device 200 (for example, the first processor performs operation A, the second processor performs operation B, or the first and second processors perform operations A and B jointly).

[0043] Figure 3 is an exemplary flow chart of a yarn delivery method according to some embodiments of the present application. In some embodiments, process 300 can be executed by processing system 600. For example, process 300 can be stored in a storage device (such as a built-in storage unit of processing system 600 or an external storage device) in the form of a program or instruction. When the program or instruction is executed, process 300 can be implemented. In some embodiments, processing system 600 can be implemented in processing device 110. Figure 3 As shown, process 300 may include the following operations.

[0044] Step 310 , obtaining the real-time yarn feed length of the current stitch sequence and setting the yarn feed length. This step can be executed by the obtaining module 610 .

[0045] It is understood that a stitch sequence can indicate the movement sequence or operating status of the needles of a weaving device, such as embroidery device 170, during weaving. For example, a stitch sequence can indicate the row and column in which each needle in the stitch sequence is inserted during weaving. By executing multiple stitch sequences, the weaving device can weave different fabric patterns. Of course, executing each stitch sequence consumes yarn. In this application, the yarn used by the weaving device, such as embroidery device 170, can be output from a dyeing device, such as yarn dyeing device 150, and then delivered by yarn feeding device 160. For example, yarn feeding device 160 can include a rotary encoder, and the yarn can be wound around a rotating shaft on the rotary encoder. Thus, when the current stitch sequence is executed, the yarn delivery will drive the rotating shaft to rotate synchronously, thereby measuring the length of the delivered yarn based on the rotation of the rotating shaft. This measured value can be the real-time yarn delivery length for the current stitch sequence. The acquisition module 610 can communicate with the yarn feeding device 160 (or the rotary encoder) to obtain the real-time yarn delivery length.

[0046] The set yarn feed length can be a theoretical value determined based on a process file, or an adjusted value based on the specific knitting situation. For example, the process file may include at least each stitch sequence for weaving a preset pattern, as well as the corresponding yarn length and color. This provides the theoretical value. In this case, the set yarn feed length can be referred to as the theoretical yarn feed length. The dyeing device 150 can dye the yarn based on this information and then deliver it to the yarn feed device 160 for feeding to the embroidery device 170. Alternatively, an external input target image or fabric color file to be woven can be used. Using a color model based on the target image and a length model of the yarn trajectory, the length of dyed yarn required for each knitted area of ​​the target image can be calculated. This length is then distributed to each stitch sequence, resulting in the set yarn feed length for the current stitch sequence. When the yarn length consumed by each stitch sequence of the embroidery device 170 is equal to or close to the set yarn feed length, excellent knitting results can be achieved.

[0047] Of course, in the actual weaving and embroidery process, the consumption of yarn will not be carried out according to the predetermined one. Therefore, the set yarn feed length can be adjusted according to the actual consumption of the yarn. For example, if the actual yarn consumption value of the previous stitch sequence belonging to the same knitting area (for example, continuous weaving and using the same color yarn) is less than the set value determined according to the process file, it means that less yarn can be used in the future. For example, the next stitch sequence can be fed a little less. For example, the dyeing device 150 can dye less yarn, and the same yarn feeding device can also feed less yarn, so that the extra dyed yarn in the previous stitch sequence can compensate for the less dyed yarn in the next stitch sequence. Thereby, the purpose of precise dyeing can be achieved. In this way, the set yarn feed length corresponding to the next stitch sequence needs to be adjusted. In some embodiments, the set yarn feed length of the current stitch sequence can be based on the yarn consumption of the previous stitch sequence adjacent to the current stitch sequence, the specific weaving and embroidery situation of the knitting area (also referred to as the first knitting area in this application), for example, it is necessary to combine the blank knitting length of the first knitting area, etc. For details, please refer to the subsequent process Figure 4 .

[0048] In some embodiments, the set yarn feed length may be an output value of the processing device 110 or the dyeing device 150 (when the embedded industrial controller of the dyeing device 150 serves as the processing device 110) (for example, the processing device 110 will simultaneously execute Figure 4 400 in the process), the acquisition module 610 can communicate with the internal computing module of the processing device 110, or with the dyeing device 150 to obtain the set yarn feeding length.

[0049] Step 320 , determining a yarn feeding deviation value based on the real-time yarn feeding length and the set yarn feeding length. This step may be performed by the calculation module 620 .

[0050] In some embodiments, the yarn feeding deviation value may be the difference between the real-time yarn feeding length and the set yarn feeding length. , the yarn feeding length is set to , the calculation module 620 can determine the yarn feeding deviation value .

[0051] Step 330 : Determine a candidate yarn feed length for a subsequent stitch sequence adjacent to the current stitch sequence using the yarn feed deviation value. This step may be performed by the determination module 630 .

[0052] In conjunction with the above description, when a yarn feed deviation value exists for the current stitch sequence, the dyeing device 150 can adjust the dyeing operation for the yarn required for the subsequent stitch sequence, and the yarn feed device 160 can adjust the yarn length delivered for the subsequent stitch sequence. The candidate yarn feed length can then be the adjusted value of the original set yarn feed length for the subsequent stitch sequence adjacent to the current stitch sequence.

[0053] In some embodiments, the candidate yarn feed length can be obtained by offsetting the error between the set yarn feed length of the subsequent needle sequence and the yarn feed deviation value. For example, the set yarn feed length of the subsequent needle sequence is denoted as , then the candidate yarn length The determination module 630 may designate the difference between the set yarn feeding length of the subsequent needle sequence and the yarn feeding deviation value as the candidate yarn feeding length. It can be a positive value or a negative value. If it is positive, it can reduce the set yarn feeding length of the following needle sequence, and if it is negative, it can increase the set yarn feeding length of the following needle sequence. For example, assuming the yarn feeding deviation value If the yarn feeding length of the subsequent needle sequence is 1mm, the yarn feeding length of the subsequent needle sequence can be reduced by 1mm, and vice versa.

[0054] In some embodiments, the candidate yarn feed length may be related to the remaining total yarn feed length of the knitting area (referred to as the second knitting area in this application) associated with the current stitch sequence and the remaining number of needles associated with the remaining stitch sequence. Generally, the first knitting area may be the same knitting area as the second knitting area. Exemplarily, the yarn feed deviation value may be evenly distributed to the remaining number of needles in the second knitting area to avoid excessive adjustment of the yarn feed length set in the subsequent stitch sequence, which may cause a sudden change in yarn tension and improve weaving softness. The remaining total yarn feed length of the second knitting area is denoted as , the remaining number of needles is , then the candidate yarn length . The determination module 630 can specify the difference between the remaining yarn feeding total length and the yarn feeding deviation value, and the quotient between the remaining number of needles as the candidate yarn feeding length. Among them, the remaining yarn feeding total length can be calculated based on the process file. For example, the total length is obtained by using the stitch sequence required to knit the second knitting area and the yarn length required for each stitch sequence calculated based on the process file, and then subtracting the total length of yarn consumed by the stitch sequence that has been executed to obtain the remaining yarn feeding total length. The remaining number of needles can be determined based on the stitch sequence that has not been executed to complete the knitting of the second knitting area. Generally, one stitch sequence corresponds to one stitch number. Alternatively, one stitch sequence can correspond to multiple stitch numbers, which can be determined based on actual conditions.

[0055] In some embodiments, the candidate yarn feed length may be related to the tension coefficient and tension error of the yarn being fed. For example, after the error of the set yarn feed length of the subsequent stitch sequence and the yarn feed deviation value is offset, the tension may be fine-tuned to restore the tension of the yarn being fed to a stable range, thereby avoiding the influence of excessive or insufficient tension on the final length of the yarn being fed. The yarn tension coefficient is denoted as , the actual tension of the yarn under the current stitch sequence is , the preset yarn tension is , the determination module 630 can specify the candidate yarn length .in, The yarn tension system can be a property parameter of the yarn itself, which can be obtained by testing the yarn in advance. The actual tension of the yarn can be sensed by a tension sensor on the yarn feeding device and transmitted to the determination module 630.

[0056] In some embodiments, when the yarn feed deviation value is zero, the candidate yarn feed length will not be adjusted.

[0057] Step 340 , obtaining the current tension of the yarn, and adjusting the candidate yarn feed length based on the current tension to obtain the target yarn feed length. Step 340 may be performed by the correction module 640 .

[0058] The candidate yarn feed lengths obtained by the aforementioned process cannot be completely uniformly delivered by the yarn feeding device to the weaving and embroidery device, such as the weaving and embroidery device 170, to be consumed. For example, when the tension of the yarn is large during the delivery process, the yarn will collapse straighter, and the yarn consumed after the execution of the stitch sequence will be less. When the tension of the yarn is small during the delivery process, the yarn will present a drooping curve state, and the yarn consumed after the execution of the stitch sequence will be more. In order to ensure that the yarn delivered by the yarn feeding device to the weaving and embroidery device, such as the weaving and embroidery device 170, is completely or as much as possible consumed in the subsequent stitch sequence, the candidate yarn feed length can be adjusted based on the current tension of the yarn to obtain the target yarn feed length. When the yarn feeding device delivers yarn to the weaving and embroidery device 170 with the target yarn feed length, it is expected that the length of the yarn consumed by the weaving and embroidery device 170 when executing the subsequent stitch sequence will be equal to or close to the set yarn feed length, thereby achieving the best knitting effect.

[0059] In some embodiments, the correction module 640 can determine whether the current tension is within a preset tension range. The tension range can be determined based on the performance of the fabric. For example, the upper limit value is based on not damaging the performance of the yarn and not affecting the quality of the fabric, and the lower limit value is based on not affecting the quality of the fabric, which can be predetermined. Based on the above determination results, the correction module 640 can determine whether the current tension is too large, too small, or within a normal range. The current tension state will correspond to an adjustment parameter. Based on the adjustment parameter, the correction module 640 can correct the candidate yarn feed length to obtain the target yarn feed length. For details, please refer to the subsequent process Figure 5 .

[0060] The yarn delivery method disclosed in this application can correct the yarn delivery length of the subsequent stitch sequence based on the deviation value between the actual yarn delivery length of the current stitch sequence and the set yarn delivery length, combined with the tension of the delivered yarn, to achieve precise yarn delivery to the weaving and embroidery equipment and improve the knitting effect.

[0061] In some embodiments, the processing system 600 (or processing device 110) may further determine whether the yarn feed deviation value exceeds a deviation threshold. The deviation threshold may be pre-set, for example, 10mm, 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 80mm, 90mm, 100mm, etc. Different deviation thresholds may apply in different situations and are not specifically limited in this application. If the yarn feed deviation value is determined to be greater than the deviation threshold, for example, greater than 10mm, the previously described process 300 may be used to correct the set yarn feed length for subsequent stitches or to spread the yarn feed deviation value across all subsequent unexecuted stitches, which no longer effectively eliminates the deviation. In this case, the processing system 600 (or processing device 110) may, based on characteristic information of the second knitting region of the current stitch sequence, direct the yarn length corresponding to the yarn feed deviation to be consumed in the second knitting region or the first blank region. The characteristic information may include the pattern, color block, etc. of the second knitting region. Based on this characteristic information, the processing system 600 (or processing device 110) can determine whether the second knitted area has space to accommodate excess thread. For example, if the pattern is determined to have an intermediate layer, the processing system 600 (or processing device 110) can instruct the embroidery device 170 to "hide" the excess thread in a less noticeable area within the pattern by changing the stitching (for example, from a loop stitch to an elongated stitch). Alternatively, the excess yarn can be inserted into a non-surface layer. For example, if the color block is determined to be a dark background area, it can accommodate a larger amount of excess thread. In this case, the processing system 600 (or processing device 110) will instruct the embroidery device 170 to switch the stitching to a long stitch to absorb the excess thread.

[0062] If the second knitted area is determined to be a bright-colored edge area based on the characteristic information, hidden needles could affect the appearance. The processing system 600 (or processing device 110) will instruct the embroidery device 170 to send excess yarn to a first blank area near the second knitted area. Knitting or embroidering this first blank area will not affect the final product's appearance, or it may be a non-process-required area. This area can be defined during the fabric design process and reflected in the process file. Virtual points will be used to extend the excess yarn into the first blank area. For example, suppose the second knitted area is determined to be a bright-colored lace area, and the yarn feed deviation is large, making it impossible to adjust the yarn feed amount through tension adjustment in process 300. Furthermore, hidden needles could affect the appearance. The processing system 600 (or processing device 110) will instruct the embroidery device 170 to insert the excess yarn into the marked area in the lower left corner of the second knitted area.

[0063] After one or more stitches, the yarn tension will gradually return to a stable range due to the yarn feed correction mechanism and the yarn consumption mechanism, and the yarn feed amount for each stitch will be equal to or close to the set yarn feed length, thereby enabling the embroidery device 170 to perform precise embroidery and achieve the best knitting effect.

[0064] In some embodiments, the processing system 600 (or processing device 110) further determines whether the current stitch sequence is the last stitch sequence in the second knitting region. If not, the processing system 600 (or processing device 110) corrects the yarn feed length for subsequent stitch sequences and / or consumes excess yarn length in the current stitch sequence based on the aforementioned yarn feed correction mechanism and yarn consumption mechanism. If so, the processing system 600 (or processing device 110) determines whether the remaining fed yarn length after the current stitch sequence is completed exceeds a yarn length threshold. This remaining fed yarn length can be determined based on the actual total yarn feed length for the entire second knitting region (for example, determined based on feedback from a rotary encoder on the yarn feed device 160) and the theoretical required yarn length (for example, the yarn length required for each stitch sequence as determined in the process file). For example, the remaining fed yarn length can be equal to the actual total yarn feed length minus the theoretical required yarn length. The yarn length threshold can be a preset value, for example, 10 cm, 20 cm, 30 cm, 40 cm, 50 cm, or other values ​​set based on actual conditions. If it is determined that the remaining yarn length is greater than the yarn length threshold, it may indicate that the actual yarn length is too long and the extra yarn needs to be consumed. For example, it needs to be consumed in the second blank area. The second blank area may be the same or similar to the first blank area. The processing system 600 (or the processing device 110) may evenly distribute the remaining yarn length to each stitch in the second blank area to consume the remaining yarn length. For example, assuming that the second blank area needs to be knitted Needle sequence, need to consume the remaining sent line length , each stitch sequence will feed more yarn In this way, the second blank area will appear slightly loose after knitting, but due to its characteristics it will have no effect on the overall pattern.

[0065] The consumption of the yarn feed deviation value can also be determined based on yarn color. For example, process 300 can be performed for a knitting area, where the yarn colors required for consecutive stitches are consistent. If the yarn color required for one stitch is inconsistent with the yarn color required for the next stitch, indicating a change in the knitting area, for example, if the yarn color required for the current stitch is blue, while the yarn color required for the subsequent stitch is red, and the current stitch consumes less yarn, resulting in an excess of blue yarn, the processing system 600 (or processing device 110) will direct the embroidery device 170 to consume the excess blue yarn in another area, such as the aforementioned blank area (such as the first blank area or the second blank area). When the color sensor within the yarn feeding device 160 detects the presence of the target color, red yarn, the processing system 600 (or processing device 110) will direct the embroidery device 170 to execute the subsequent stitch based on the supplied red yarn.

[0066] It should be noted that the above Figure 3 The description of each step in is only for illustration and explanation, and does not limit the scope of application of this application. For those skilled in the art, under the guidance of this application, Figure 3 Various modifications and changes may be made to the various steps in the present invention. However, these modifications and changes are still within the scope of this application.

[0067] Figure 4 is an exemplary flow chart of a method for determining a candidate matching area according to some embodiments of the present application. In some embodiments, process 400 can be executed by a processing system 600. For example, process 400 can be stored in a storage device (such as a built-in storage unit of the processing system 600 or an external storage device) in the form of a program or instruction. When the program or instruction is executed, process 400 can be implemented. In some embodiments, the processing system 600 can be implemented in a processing device 110 embedded in the dyeing device 150. Figure 4 As shown, process 400 may include the following operations.

[0068] Step 410: Obtain the actual consumed yarn length of the previous stitch sequence adjacent to the current stitch sequence.

[0069] In some embodiments, the actual length of the yarn consumed in the previous stitch sequence can be captured by an encoder provided in a weaving and embroidery device, such as the weaving and embroidery device 170. Similarly or similarly, the encoder can also be a rotary encoder, and the yarn entering the weaving and embroidery device 170 can first be wound around the rotating shaft of the rotary encoder. As the yarn is consumed, the rotating shaft of the rotary encoder will be driven to rotate, thereby measuring the actual length of the yarn consumed.

[0070] Step 420: Determine a first relationship between the actual consumed yarn length and the set yarn feed length of the previous stitch sequence.

[0071] In some embodiments, the set yarn feed length of the previous stitch sequence is the same as or similar to the set yarn feed length of the current stitch sequence, and can be a calculated value determined according to a process file, or an adjustment value determined based on the above calculated value according to the actual yarn consumption of a stitch sequence located before the previous stitch sequence. For example, before dyeing and embroidery begin, the process for determining the set yarn feed length required for each stitch sequence can be executed first. Thereby, the corresponding set yarn feed length for each stitch sequence is obtained. However, the set yarn feed length is not fixed. In this application, the set yarn feed length of the next stitch sequence will be adjusted according to the actual yarn consumption value of the previous stitch sequence. That is, process 400.

[0072] In some embodiments, the first relationship may indicate the size relationship between the actual consumed yarn length and the set yarn feed length of the previous stitch sequence. For example, it can be achieved by directly comparing two values, or by calculating the size relationship between the difference between the two and zero. The actual consumed yarn length is denoted as , the setting of the yarn feeding in the previous needle sequence is , the difference between the two The first relationship may include: 、 as well as , which respectively indicate that the actual consumed yarn length is greater than the set yarn feeding length, the actual consumed yarn length is less than the set yarn feeding length, and the actual consumed yarn length is equal to the set yarn feeding length.

[0073] Step 430: determining a second relationship between the blank knitting length of the first knitting area associated with the previous stitch sequence and zero.

[0074] In some embodiments, the blank knitting length can be determined based on the process file and the consumed yarn length (delivery yarn length) of the completed stitch sequence. For example, the theoretical cumulative length of the yarn required for the first knitting area can be determined based on the process file, and then the consumed yarn length is determined based on the yarn length feedback from the rotary encoder of each stitch sequence and accumulated. The accumulated consumed yarn length is then subtracted from the theoretical cumulative length to obtain the blank knitting length. The blank knitting length is denoted as , its second relationship with zero, that is, the magnitude relationship, indicates whether the yarn required for the first knitted area is dyed (or printed). When , it means that there is still an unprinted part, that is, yarn, in the first knitted area. When , it indicates that the yarn required for the first knitting area has been printed completely.

[0075] Step 440: Determine and calculate the yarn feed length based on the first relationship and / or the second relationship as the set yarn feed length of the current stitch sequence.

[0076] In some embodiments, the first relationship and / or the second relationship affects how to determine the set yarn feed length of the subsequent stitch sequence.

[0077] For example, when the first relationship indicates that the actual consumption length of the previous stitch sequence is greater than the set yarn feeding length, and the second relationship indicates that the blank knitting length is greater than zero, that is, and , which means that the previous stitch sequence consumes more yarn and there is still unprinted yarn in the first knitting area. The difference between the actual consumption length of the previous needle sequence and the set yarn feeding length is The sum of the two is used as the setting yarn feeding length of the current needle sequence This is because the previous stitch sequence consumes more yarn, and there is unprinted yarn in the first knitting area. At this time, you can directly print an extra section of yarn, that is, The yarn is combined with the theoretical yarn feeding length as the set yarn feeding length of the current needle sequence.

[0078] When the second relationship indicates that the blank knitting length is less than or equal to zero, that is, and , this means that the yarn consumed in the previous stitch is relatively large, and the yarn required for the first knitting area has been printed, that is, the theoretical yarn feeding length required for the remaining stitches has been dyed and is waiting to be delivered. At this time, the method used to increase the yarn printing length can no longer compensate for the extra yarn consumption. It is necessary to use the yarn feeding device 160 to adjust the tension during the yarn feeding process to reduce the length of yarn consumed in the previous stitch. In this case, the yarn consumed in the previous stitch can be spread evenly among the unexecuted stitches in the first knitting area. The number of remaining stitches included in the unexecuted stitches in the first knitting area is recorded as The cumulative length of the theoretical yarn feeding length without executing the needle sequence is , then the first average yarn length of the unexecuted stitch sequence related to the first knitting area is . Because the previous needle sequence consumes more The yarn is deducted and then averaged to the remaining stitches. The average yarn length obtained is The set yarn feed length of the current stitch sequence will be specified This operation can avoid sudden changes in yarn length and affect subsequent yarn delivery.

[0079] When the first relationship indicates that the actual consumed yarn length of the previous needle sequence is less than the set yarn feeding length of the previous needle sequence, and the second relationship indicates that the blank knitting length is greater than zero, that is, and , this means that the yarn consumed in the previous stitch sequence is relatively large, and there is still unprinted yarn in the first knitting area. The difference between the actual consumption length of the previous needle sequence and the set yarn feeding length is The difference is used as the setting yarn feeding length of the current needle sequence This is because the previous stitch sequence consumes a large amount of yarn, and there is unprinted yarn in the first knitting area. In this case, you can directly print less yarn, that is, The yarn is combined with the theoretical yarn feeding length as the set yarn feeding length of the current needle sequence. At the same time, yarn raw materials are saved.

[0080] Similarly, in It will also exist Similarly, the second average yarn length of the unexecuted stitch sequence associated with the first knitting area is The yarn length set for the current stitch sequence will be confirmed. Similarly, since the prior needle sequence consumes less The yarn is added and averaged to the remaining stitches. The average yarn length obtained is The set yarn feed length of the current stitch sequence will be specified .

[0081] When the first relationship indicates that the actual yarn consumption length of the previous stitch sequence is equal to the set yarn feed length, it means that the previous stitch sequence did not consume more or less yarn. The theoretical yarn feed length of the current stitch sequence can be directly designated as the set yarn feed length.

[0082] The needle sequence setting and yarn feed length determination disclosed in this application can adjust the yarn dyeing length / timing according to the actual yarn consumption value of the embroidery equipment to achieve precise dyeing. At the same time, it can also realize yarn feed correction in combination with yarn delivery to ensure that the embroidery equipment can embroider accurately.

[0083] It should be noted that the above Figure 4 The description of each step in is only for illustration and explanation, and does not limit the scope of application of this application. For those skilled in the art, under the guidance of this application, Figure 4 Various modifications and changes may be made to the various steps in the present invention. However, these modifications and changes are still within the scope of this application.

[0084] Figure 5 is an exemplary flow chart of a method for determining a target yarn feed length according to some embodiments of the present application. In some embodiments, process 500 can be executed by the correction module 640 of the processing system 600. For example, process 500 can be stored in a storage device (such as a built-in storage unit of the processing system 600 or an external storage device) in the form of a program or instruction. When the program or instruction is executed, process 500 can be implemented. Figure 5 As shown, process 500 may include the following operations.

[0085] Step 510: Determine the tension state of the current tension.

[0086] In some embodiments, the current tension of the conveyed yarn can be determined by a tension sensor provided on the yarn feeding device. For example, the tension sensor can be a pulley tension sensor, such as a three-pulley tension sensor, in which the yarn is alternately conveyed through three pulleys. The current tension of the yarn is measured by the force generated by the contact between the yarn and the pulleys. Any suitable or commercially available pulley tension sensor may be used in this application. Other types of tension sensors are also applicable and are not specifically limited in this application.

[0087] In some embodiments, the tension state can be determined based on determining whether the current tension is within a preset tension range. For example, when the current tension exceeds the maximum value of the tension range, that is, the upper limit value, the tension state of the current tension can be considered to be high. If it is less than the minimum value of the tension range, that is, the lower limit value, the tension state of the current tension can be considered to be low. If the current tension is within the tension range, it can be considered that the current tension is in a normal state. The tension range can be determined based on the performance of the fabric. For example, the upper limit value is based on not damaging the performance of the yarn and not affecting the quality of the fabric, and the lower limit value is based on not affecting the quality of the fabric. By comparing the current tension with the above-mentioned upper limit value and lower limit value to determine the size, the tension state of the current tension can be determined. The current tension is recorded as The upper limit of the tension range is , the lower limit is , then when When the current tension state is low, it is recorded as LOW. , the current tension state is high, recorded as HIGH. , the tension state of the current tension is normal, which is recorded as NORMAL.

[0088] Step 520: Determine a correction value for the candidate yarn feed length based on the tension state.

[0089] In some embodiments, different tension states will correspond to different correction values. The correction value can be calculated using the tension coefficient of the yarn. As an exemplary but non-limiting explanation, when the tension state of the current tension is LOW, the correction value can be determined as When the current tension state is HIGH, the correction value can be determined as When the current tension state is NORMAL, no correction is required and the correction value is determined to be zero.

[0090] Step 530: Using the correction value, adjust the candidate yarn feeding length to obtain the target yarn feeding length.

[0091] In some embodiments, the correction value can be used to perform mathematical operations with the candidate yarn feeding length to obtain the target yarn feeding length. For example, when the tension state of the current tension is LOW, it can be considered that the yarn is drooping and the yarn feeding amount will increase. At this time, the target yarn feeding length can be determined as , in order to reduce the yarn feeding length to achieve yarn feeding balance. When the tension state of the current tension is HIGH, it can be considered that the yarn is tight and the yarn feeding amount will be reduced. At this time, the target yarn feeding length can be determined as , in order to increase the yarn feeding amount to achieve yarn feeding balance. When the tension state of the current tension is NORMAL, the candidate yarn feeding length can be directly determined. .

[0092] It should be noted that the above Figure 5 The description of each step in is only for illustration and explanation, and does not limit the scope of application of this application. For those skilled in the art, under the guidance of this application, Figure 5 Various modifications and changes may be made to the various steps in the present invention. However, these modifications and changes are still within the scope of this application.

[0093] The yarn delivery method disclosed in this application can link dyeing, yarn feeding, and weaving and embroidery, and the corresponding dyeing equipment, yarn feeding equipment, and weaving and embroidery equipment. During the entire weaving and embroidery process, the yarn dyeing length can be adjusted according to the actual length of yarn consumed, and the yarn feeding amount can be adjusted according to the tension. At the same time, the yarn consumption logic is used to consume excess yarn, which can enable the dyeing equipment and weaving and embroidery equipment to be linked, achieving precise dyeing, precise yarn feeding, precise weaving, and synchronized dyeing and weaving.

[0094] An example used to illustrate the present application may be that the cumulative yarn length consumed by the current stitch is 9mm, and the specific corresponding setting value is 10mm. At this time, if there is unprinted yarn in the knitting area where the current stitch is located, since 1mm of yarn is consumed less, the yarn printed by 1mm can be reduced, for example, to the 1mm yarn printed in the next stitch. If all the yarns in the knitting area where the current stitch is located have been printed, but the printed yarns have not been used, the setting value of the yarn required for the subsequent stitch can be adjusted, and the tension can be adjusted based on the aforementioned yarn delivery method to consume the 1mm. Alternatively, the real-time yarn correction method can be used to consume the yarn in the middle layer, bottom layer or adjacent blank area of ​​the knitting area. If the knitting area where the current stitch is located has been knitted, but there is still excess yarn, the yarn can be guided to be consumed in the blank area.

[0095] Figure 6 This is an exemplary module diagram of a processing system for implementing the above-mentioned yarn delivery method according to some embodiments of the present application. The processing system can correct the yarn feeding amount of the subsequent stitch sequence according to the deviation between the actual yarn consumption value of the current stitch sequence and the set value. Figure 6 As shown, the processing system 600 may include an acquisition module 610 , a calculation module 620 , a determination module 630 , and a correction module 640 .

[0096] The acquisition module 610 can be configured to obtain the real-time yarn feed length for the current stitch sequence and set the yarn feed length. The real-time yarn feed length for the current stitch sequence can be determined based on a rotary encoder. For example, the yarn can be wound around the rotary encoder's rotating shaft once. The acquisition module 610 can communicate with the rotary encoder to obtain the real-time yarn feed length. The set yarn feed length can be a predetermined theoretical value or an adjusted value based on the specific knitting conditions. This value can be input externally and directly obtained by the acquisition module 610.

[0097] The calculation module 620 may be configured to determine a yarn feeding deviation value based on the real-time yarn feeding length and the set yarn feeding length. The yarn feeding deviation value may be the difference between the real-time yarn feeding length and the set yarn feeding length. The calculation module 620 may directly calculate the difference between the two to determine the yarn feeding deviation value.

[0098] The determination module 630 can be configured to use the yarn feed deviation value to determine a candidate yarn feed length for a subsequent stitch sequence adjacent to the current stitch sequence. The determination module 630 can specify the difference between the set yarn feed length for the subsequent stitch sequence and the yarn feed deviation value as the candidate yarn feed length. Alternatively, the determination module 630 can specify the quotient of the difference between the remaining total yarn feed length and the yarn feed deviation value and the number of remaining stitches associated with the remaining stitch sequence as the candidate yarn feed length. Alternatively, the determination module 630 can specify the candidate yarn feed length as the difference between the set yarn feed length for the subsequent stitch sequence and the yarn feed deviation value after adjustment based on tension.

[0099] The correction module 640 may be configured to obtain a current yarn tension and adjust the candidate yarn feed length based on the current tension to obtain a target yarn feed length for the subsequent stitch. The correction module 640 may determine whether the current tension is within a preset tension range and correct the candidate yarn feed length based on an adjustment parameter corresponding to the current tension to obtain the target yarn feed length.

[0100] For other descriptions of the above components, please refer to this application Figure 3-Figure 5 part.

[0101] It should be understood that Figure 6The illustrated system and its modules can be implemented in various ways. For example, in some embodiments, the system and its modules can be implemented using hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic, while the software portion can be stored in memory and executed by an appropriate instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the above-described methods and systems can be implemented using computer-executable instructions and / or contained in processor control code, such as provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The system and its modules of the present application can be implemented not only using hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips or transistors, or programmable hardware devices such as field programmable gate arrays or programmable logic devices, but can also be implemented using software, such as executed by various types of processors, or a combination of the above-described hardware circuits and software (e.g., firmware).

[0102] It should be noted that the above description of modules is for ease of description only and does not limit this application to the scope of the embodiments illustrated. It is understood that those skilled in the art, after understanding the principles of the system, may arbitrarily combine the modules or form subsystems connected to other modules without departing from these principles. For example, the modules may share a single storage module, or each module may have its own storage module. Such variations are within the scope of protection of this application.

[0103] Figure 7 : is an exemplary structural diagram of a dyeing and embroidery system according to some embodiments of the present application. Figure 7 As shown, the dyeing and embroidery system 700 may include a dyeing component 710 , a yarn feeding component 720 and a weaving and embroidery component 730 .

[0104] The dyeing assembly 710, the yarn feeding assembly 720, and the embroidery assembly 730 can communicate with each other. For example, the dyeing assembly 710, the yarn feeding assembly 720, and the embroidery assembly 730 can communicate with each other at the bus level or at the electrical signal level. Exemplary communication methods include, but are not limited to, fieldbuses (e.g., PROFIBUS, MODBUS, DeviceNet, CANopen, etc.), Ethernet (e.g., EtherNet / IP, PROFINET, EtherCAT, Modbus TCP, etc.), wireless communications (e.g., Wi-Fi™, Bluetooth™, ZigBee™, LoRa™, etc.), serial communications (e.g., RS-232, RS-485, etc.), parallel communications, fiber optic communications, OPC (OLE for Process Control), Internet of Things (IIoT) protocols (e.g., MQTT, AMQP, CoAP, etc.), time-sensitive networks (TSN), 5G networks, etc. In one implementation, data communication between the dyeing assembly 710, the yarn feeding assembly 720, and the embroidery assembly 730 can be achieved using the HDLC protocol.

[0105] In one implementation, the dyeing component 710 may include an industrial control element 711, including but not limited to an industrial computer (e.g., a Linux-based computer), a main control chip (e.g., ARM, DSC, DSP, etc.), a programmable logic controller (PLC), a programmable logic device (PLD), a microcontroller (MCU), etc. This industrial control element 711 may constitute a master control module (Master) provided on the dyeing component 710. This master control module 711 may support a communication interface for bus protocols such as HDLC, enabling information exchange, such as message transmission, via full-duplex RS485. It also provides a command issuing interface for issuing control commands to components equipped with slave control modules (e.g., the yarn feeding component 720 and / or the weaving and embroidery component 730). For example, these commands may include starting and stopping the weaving and embroidery component 730, controlling its color synchronization, and other information acquisition commands, such as real-time acquisition of the weaving and embroidery component 730's knitting progress, including but not limited to the row and column index of the knitting action, the currently executed stitch number index, the ID index of the weaving and embroidery component 730, and fault feedback from the weaving and embroidery component 730. The slave control module (Slave), for example, the slave control module (Slave) provided on the weaving and embroidery component 730 can be integrated with a knitting controller or a stepping drive module to drive the knitting needles to move / work based on the needle sequence to achieve the weaving of a specific pattern. At the same time, the slave control module (Slave) can also record the textile progress (for example, row / column / needle number index) in real time and feed it back to the master control module (Master). The feedback data can also include the equipment operating status and fault codes. In addition, the synchronous monitoring module can also be integrated into the master control module (Master) to parse and maintain the equipment status table, and at the same time obtain the current knitting position and status at fixed intervals, and be used to trigger the coordination of dyeing progress (for example, alignment, color transition, etc.).

[0106] In some embodiments, industrial control component 711 can be used to determine the yarn dyeing length required for each knitted area of ​​a target pattern or fabric, nozzle switching timing, and inkjet channel configuration before weaving. For example, industrial control component 711 can receive a target pattern or fabric color matching file input by a user, then construct a color model (Color Model) based on the pattern and a length model (LengthModel) of the yarn trajectory, output the yarn dyeing length required for each knitted area, and control the nozzles based on this information to perform color changes.

[0107] During the weaving and dyeing stage, the industrial control component 711 can control the dyeing module 712 to dye the yarn in real time. The dyeing module 712 may include exemplary structures such as a nozzle, an inkjet channel, and an ink storage chamber. The industrial control component 711 can control the operation of the dyeing module 712 by sending control instructions to the dyeing module 712, for example, adjusting the inkjet speed of the nozzle, adjusting the inkjet time of different colors of ink to change the color change timing, etc. The above control instructions can be generated based on the weaving progress of the embroidery component 730 (for example, row / column / needle number index) and the yarn length consumed by each stitch during weaving, and are used to control the dyeing module 712 to output the yarn dyeing length required for each stitch, for example, to increase, decrease or maintain the set yarn feed length for the next stitch. At the same time, the industrial control component 711 can transmit the set yarn feed length required for the next stitch to the yarn feeding component 720 after the current stitch is executed. The above process can refer to Figure 4 Related instructions.

[0108] refer to Figure 8 The exemplary principle diagram for determining the set yarn feeding length is shown as follows: Figure 8 As shown, the theoretical color data D1 for the current stitch sequence and the dyed yarn color data D2 captured by the color sensor 940 can be transmitted to the color calculation model 910 to determine the deviation. Simultaneously, the consumed yarn length D3 for the current stitch sequence, as fed back by an encoder 930, such as a rotary encoder (e.g., located within the embroidery assembly 730), is transmitted to the length calculation model 920. The length calculation model 920, combined with the set yarn feed length for the current stitch sequence, calculates the set yarn feed length for the next stitch sequence and outputs it to the yarn feed assembly 720.

[0109] The dyeing assembly 710 may further include an encoder 713. For example, the encoder 713 may be a rotary encoder that can be used to measure the length of the yarn that has been dyed from the dyeing module 712 and transmit it to the industrial element 711 to determine whether the yarn to be dyed is completed as a length accumulation.

[0110] The yarn feeding component 720 can be used to deliver the dyed yarn to the embroidery device 730 for specific weaving. In some embodiments, the yarn feeding component 720 can correct the yarn feeding amount required for each stitch in real time based on the yarn consumption value (for example, feedback from the embroidery component 730) and the current tension of the yarn, combined with the set yarn feeding length for each stitch sent by the dyeing component 710, so that the embroidery component 730 can output high-quality weaving output with consistent pattern, tension, and color. Figure 7As shown, the yarn feeding assembly 720 may include a color sensor 721, a tension sensor 722, a rotary encoder 723, and a yarn feeding control module 724. The yarn feeding control module 724 may serve as a slave control module of the yarn feeding assembly 720. The color sensor 721 may be used to detect the color of the yarn L being fed, for example, by detecting reflected light from the yarn L. The tension sensor 722 may be used to detect the current tension of the yarn L being fed. For example, the tension sensor 722 may be a three-pulley tension sensor, where the yarn L alternately passes through three pulleys before being fed out. The yarn tension is measured by the force generated by the contact between the yarn L and the pulleys. The rotary encoder 723 may be used to measure the length of the fed yarn L. For example, the yarn L will wrap around the rotary shaft of the rotary encoder 723 once. During the feeding process of the yarn L, the rotary shaft will rotate synchronously. The fed length of the yarn L can be determined by measuring the rotation of the rotary shaft. These components can transmit the sensed data to the yarn feeding control module 724 to adjust the feeding speed and feeding tension of the yarn L to change the yarn feeding rhythm and better adapt to the subsequent weaving progress of the embroidery assembly 730. Figure 3 and Figure 5 Related instructions.

[0111] The above conveying speed of the yarn L can be adjusted by adjusting the stepper motor ( Figure 7 The conveying tension can be adjusted by adjusting the tension adjustment mechanism ( Figure 7 Any existing mechanism capable of adjusting tension can be applied to the present application. Alternatively, the feed tension can be adjusted by adjusting the speed of the stepper motor. For example, when the motor speed decreases, the amount of yarn fed per unit time decreases, which causes the yarn feed speed to decrease. If the yarn pulling speed remains unchanged at this time, the yarn tension may increase. Therefore, in order to relieve the tension, it is usually necessary to increase the motor speed to increase the yarn feed amount; conversely, the yarn feed speed will be reduced and the tension may increase.

[0112] refer to Figure 9 The exemplary principle diagram for determining the target yarn feeding length is shown as follows: Figure 9As shown, during the weaving process, an encoder 930, such as a rotary encoder, can acquire the yarn length being delivered for the current stitch in real time and generate length feedback 940, which transmits this real-time yarn length data D5 (e.g., the real-time yarn delivery length for the current stitch in the aforementioned description) to the fixed-length yarn delivery control unit 910. Simultaneously, the yarn delivery amount data D4 for the stitch following the current stitch (e.g., the set yarn delivery length for the subsequent stitch in the aforementioned description) transmitted by the dyeing component 710 will also be received by the fixed-length yarn delivery control unit 910. Combined with the set yarn delivery length for the current stitch (this data was already received during the yarn delivery amount calculation for the previous stitch), the fixed-length yarn delivery control unit 910 can determine a base yarn delivery length for the next stitch (e.g., the candidate yarn delivery length in the aforementioned description). Subsequently, the current tension D6 of the yarn captured by the tension sensor 950 will be compared with the input tension range D7 to determine the correction value of the above-mentioned basic yarn feed length. The final target yarn feed length for the next stitch sequence will be transmitted to the correction unit 920 to dynamically correct the yarn feed amount of the next stitch sequence.

[0113] The embroidery component 730 uses the supplied yarn to weave fabric according to predefined control instructions. During the knitting process, the embroidery component 730 feeds the current weaving position (including row, column, and number of stitches) as knitting parameters to the dyeing component 710 and the yarn feeding component 720. The embroidery component 730 also provides feedback, for example, on the actual thread length consumed for each stitch sequence to the dyeing component 730. This data is also included in the knitting parameters. The dyeing component 730 uses this data to dynamically adjust the yarn dyeing process.

[0114] When the embroidery component 730 consumes the yarn delivered, the industrial control component 711 of the dyeing component 710 can simultaneously obtain the consumed yarn length and guide the embroidery component 730 to consume the excess yarn based on the deviation between the consumed yarn length and the set yarn delivery length. For example, in the case of a large deviation value. For details, please refer to Figure 3 Relevant part.

[0115] The following describes an exemplary operational process for the dyeing and embroidery system 700, which includes a pattern import and pre-calculation phase, a real-time production phase, and an interactive and dynamic correction phase. During the pattern import and pre-calculation phase, the user can input a target pattern or fabric color file. The system constructs a color model and a length model, performs calculations, and outputs the required color yarn print length, nozzle switching timing, and inkjet channel configuration for each knitted area. During the real-time production phase, the dyeing component 710 begins dyeing in real time according to the model. The yarn feed component 720 feeds yarn based on the current position (e.g., the current stitch sequence) and tension value. The embroidery component 730 continues knitting and provides feedback on the current position (row / column / stitch number) to the dyeing and yarn feed components 710 and 720. During the interactive and dynamic correction phase, if the embroidery component 730 reports abnormal tension, row and column deviation, or progress ahead / lag, the dyeing component 710 adjusts the inkjet speed and color change timing to change the required color yarn print length for the subsequent stitch sequence. The yarn feed component 720 dynamically increases or decreases the yarn feed speed to maintain a closed tension loop. In addition, the system can also handle various yarn consumption logics, including tension-based adjustments, hidden needle consumption, and blank area consumption. If the cumulative error exceeds a set threshold, the system can trigger actions such as pause and alarm.

[0116] The dyeing and embroidery system 700 disclosed in this application includes a dyeing component 710 that can pre-calculate the dyed yarn length required for each knitted area based on the color model of the preset pattern to be woven and the length model of the yarn travel trajectory, and control the dyeing nozzle to perform color changes accordingly. At the same time, by establishing a bus-level / electrical-level communication link with the yarn feeding component 720 and the embroidery component 730, it can obtain real-time information such as weaving progress (row / column / needle index), equipment status, tension feedback, etc., dynamically adjust the dyeing output and yarn feeding rhythm, and form a dyeing and weaving synchronous control closed loop to achieve high-quality weaving output with consistent pattern, tension, and color.

[0117] While the basic concepts have been described herein, it will be apparent to those skilled in the art that the detailed disclosure herein is merely illustrative and does not constitute a limitation of the present application. Although not expressly provided herein, those skilled in the art may make various modifications, improvements, and amendments to the present application. Such modifications, improvements, and amendments are suggested herein and remain within the spirit and scope of the exemplary embodiments of the present application.

[0118] At the same time, this application uses specific terms to describe the embodiments of this application. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "one embodiment," "an embodiment," or "an alternative embodiment" mentioned twice or multiple times in different locations in this application does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application may be appropriately combined.

[0119] Furthermore, those skilled in the art will appreciate that various aspects of the present application may be illustrated and described in terms of a number of patentable categories or situations, including any new and useful process, machine, product, or combination of substances, or any new and useful improvement thereof. Accordingly, various aspects of the present application may be implemented entirely in hardware, entirely in software (including firmware, resident software, microcode, etc.), or a combination of hardware and software. The aforementioned hardware or software may be referred to as a "data block," "module," "engine," "unit," "component," or "system." Furthermore, various aspects of the present application may be implemented as a computer product embodied in one or more computer-readable media, including computer-readable program code.

[0120] A computer storage medium may include a propagated data signal embodying computer program code, for example, in baseband or as part of a carrier wave. The propagated signal may be in a variety of forms, including electromagnetic, optical, or any suitable combination thereof. A computer storage medium may be any computer-readable medium other than a computer-readable storage medium that can be connected to a command control system, device, or apparatus to communicate, propagate, or transmit the program for use. The program code on a computer storage medium may be transmitted via any suitable medium, including radio, cable, fiber optic cable, RF, or similar media, or any combination of such media.

[0121] The computer program code required for the operation of the various parts of this application can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, etc., conventional procedural programming languages ​​such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages ​​such as Python, Ruby and Groovy, or other programming languages. The program code can be executed entirely on the user's computer, or as a stand-alone software package on the user's computer, or partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer via any network, such as a local area network (LAN) or a wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as software as a service (SaaS).

[0122] In addition, unless expressly stated in the claims, the order of the processing elements and sequences described in this application, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this application. Although the above disclosure discusses some of the invention embodiments currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this application. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0123] Similarly, it should be noted that, in order to simplify the presentation of this application and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this application sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not mean that the subject matter of this application requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single embodiment disclosed above.

[0124] Finally, it should be understood that the embodiments described in this application are merely illustrative of the principles of the embodiments of this application. Other variations may also fall within the scope of this application. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this application may be considered consistent with the teachings of this application. Accordingly, the embodiments of this application are not limited to the embodiments explicitly introduced and described in this application.

Claims

1. A yarn conveying method, characterized in that: The method comprises: Get the real-time yarn feeding length of the current stitch sequence and set the yarn feeding length; determining a yarn feeding deviation value based on the real-time yarn feeding length and the set yarn feeding length; Determining a candidate yarn feed length for a subsequent stitch sequence adjacent to the current stitch sequence using the yarn feed deviation value; The current tension of the yarn is obtained, and the candidate yarn feed length is adjusted based on the current tension to obtain a target yarn feed length for the subsequent stitch sequence.

2. The yarn conveying method according to claim 1, characterized in that: Obtaining the set yarn feeding length includes: Obtaining the actual consumed yarn length of the previous stitch sequence adjacent to the current stitch sequence; determining a first relationship between the actual consumed yarn length and the set yarn feed length of the previous stitch sequence; determining a second relationship between a blank knitting length of the first knitting region associated with the previous stitch sequence and zero; The set yarn feed length of the current stitch sequence is determined based on the first relationship and / or the second relationship.

3. The yarn conveying method according to claim 2, characterized in that: The first relationship indicates that the actual consumed yarn length of the previous stitch sequence is greater than the set yarn feeding length, and the second relationship indicates that the blank knitting length is greater than zero; Determining and setting the yarn feeding length includes: Obtaining the difference between the actual consumed yarn length of the previous stitch sequence and the set yarn feeding length; Specifying the set yarn feeding length of the current stitch sequence as the sum of the theoretical yarn feeding length of the current stitch sequence and the yarn length difference; or, The second relationship indicates that the blank knitting length is less than or equal to zero; and the setting calculation of the yarn length includes: determining a first average yarn feed length of an unexecuted stitch sequence associated with the first knitting area; The average yarn feed length is designated as the set yarn feed length of the current stitch sequence.

4. The yarn conveying method according to claim 2, characterized in that: The first relationship indicates that the actual consumed yarn length of the previous stitch sequence is less than the set yarn feeding length, and the second relationship indicates that the blank knitting length is greater than zero; Determining and setting the yarn feeding length includes: Obtaining the difference between the actual consumed yarn length of the previous stitch sequence and the set yarn feeding length; Specifying the set yarn feeding length of the current stitch sequence as the difference between the theoretical yarn feeding length of the current stitch sequence and the yarn length difference; or, The second relationship indicates that the blank knitting length is less than or equal to zero; and the determining of the set yarn length includes: determining a second average yarn feed length of an unexecuted stitch sequence associated with the first knitting area; The average yarn feed length is designated as the set yarn feed length of the current stitch sequence.

5. The yarn conveying method according to claim 2, characterized in that: The first relationship indicates that the actual consumed yarn length of the previous stitch sequence is equal to the set yarn feeding length, and determining the set yarn feeding length includes: The theoretical yarn feeding length of the current stitch sequence is designated as the set yarn feeding length of the current stitch sequence.

6. The yarn conveying method according to claim 1, characterized in that: The determining of the candidate yarn feeding length by using the yarn feeding deviation value includes: designating the difference between the set yarn feeding length of the subsequent needle sequence and the yarn feeding deviation value as the candidate yarn feeding length; or, Obtaining the remaining total yarn feeding length of the second knitting area related to the current needle sequence and the remaining number of needles related to the remaining needle sequence; Specifying the quotient of the difference between the remaining yarn feeding total length and the yarn feeding deviation value and the remaining number of needles as the candidate yarn feeding line length; or, Obtaining the tension coefficient and tension error of the yarn; The candidate yarn feed length is determined based on the set yarn feed length and the yarn feed deviation value using the tension coefficient and the tension error.

7. The yarn conveying method according to claim 1, characterized in that: Obtaining the target yarn feeding length includes: determining a tension state of the current tension; determining a correction value for the candidate yarn feed length based on the tension state; The candidate yarn feed length is adjusted using the correction value to obtain the target yarn feed length.

8. The yarn conveying method according to claim 1, characterized in that: The method further comprises: determining whether the yarn feeding deviation value is greater than a deviation threshold; If so, based on the characteristic information of the second knitting area of ​​the current stitch sequence, the yarn having a length corresponding to the yarn feeding deviation is guided to be consumed in the second knitting area or the first blank area.

9. The yarn conveying method according to claim 8, characterized in that: The method further comprises: determining whether the current stitch sequence is the last stitch sequence of the second knitting area; If so, determining whether the remaining thread length after the current stitch sequence is completed is greater than a thread length threshold; If so, the remaining fed wire length is directed to be consumed in the second blank area.

10. A yarn conveying device, characterized in that: The device comprises: an acquisition module configured to acquire the real-time yarn feeding length of the current stitch sequence and set the yarn feeding length; a calculation module configured to determine a yarn feeding deviation value based on the real-time yarn feeding length and the set yarn feeding length; a determination module configured to determine a candidate yarn feed length for a subsequent stitch sequence adjacent to the current stitch sequence using the yarn feed deviation value; The correction module is configured to obtain a current tension of the yarn and adjust the candidate yarn feed length based on the current tension to obtain a target yarn feed length for the subsequent stitch sequence.

11. A processing system, characterized in that: include: A memory, a processor, and a computer program stored in the memory and operable on the processor, wherein when the computer program is executed by the processor, the steps of the yarn delivery method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the yarn delivery method according to any one of claims 1 to 9 are implemented.

13. A dyeing and embroidery system, characterized in that: The system comprises: a dyeing component, a yarn feeding component and an embroidery component arranged in sequence according to the yarn transmission direction; wherein, The dyeing assembly is configured to determine a set yarn feed length for each stitch sequence, and dye the yarn of the set yarn feed length based on a preset color for each stitch sequence, and then transmit the dyed yarn to the yarn feed assembly; The yarn feeding assembly is configured to transmit yarn of a target yarn feeding length corresponding to each stitch sequence to the embroidery assembly, wherein determining the target yarn length includes: Get the real-time yarn feed length of the current stitch sequence and set the yarn feed length; determining a yarn feeding deviation value based on the real-time yarn feeding length and the set yarn feeding length; Determining a candidate yarn feeding length using the yarn feeding deviation value; obtaining a current tension value of the yarn, and adjusting the candidate yarn feed length based on the current tension value to obtain a target yarn feed length for a subsequent stitch sequence adjacent to the current stitch sequence; The embroidery component is configured to receive yarn of a corresponding length for each stitch sequence for knitting, and to feed back relevant knitting parameters to the dyeing component and the yarn feeding component.

Images