Embroidery device control method and apparatus, embroidery device, and storage medium

Abstract

The application provides an embroidery equipment control method and device, embroidery equipment and storage medium. The method is applied to a peripheral controller of the embroidery equipment; the embroidery equipment further comprises a main controller, a loose bead embroidery device and a gold sheet embroidery device; the loose bead embroidery device comprises at least one loose bead feeding execution mechanism and a loose bead feeding control motor corresponding to each loose bead feeding execution mechanism; the gold sheet embroidery device comprises at least one gold sheet feeding execution mechanism and a gold sheet feeding control motor corresponding to each gold sheet feeding execution mechanism; the method comprises the following steps: receiving a pattern stitch sent by the main controller; performing instruction analysis on the pattern stitch to obtain a plurality of loose bead feeding instructions and gold sheet feeding instructions with execution sequences; and sequentially sending each loose bead feeding instruction and gold sheet feeding instruction to each loose bead feeding control motor and each gold sheet feeding control motor according to the execution sequence. The method solves the problem of poor embroidery effect of the existing embroidery equipment and embroidery method.

Description

Technical Field

[0001] This application relates to the field of embroidery equipment control technology, and in particular to an embroidery equipment control method, device, embroidery equipment, and storage medium. Background Technology

[0002] As people's living standards improve, their demands for clothing, home textiles, and handicrafts are increasing. In order to attract consumers, different patterns are usually set on clothing, home textiles, and handicrafts as decorations. When only colored embroidery threads are used to complete various patterns, the three-dimensionality of the patterns is poor. Because sequin and bead embroidery patterns have distinct layers and a strong three-dimensional effect, they are very popular in the clothing, home textiles, and handicrafts industries.

[0003] However, common bead embroidery can only embroider loose beads onto a substrate according to a pattern, and sequin embroidery can only embroider sequins onto a substrate according to a pattern. The two types of embroidery machines cannot embroider at the same stitch position, meaning that the resulting embroidery cannot meet the market's demand for different embroidery techniques. Furthermore, existing bead embroidery mostly uses loose beads of a single color, resulting in limited styles and a poor overall effect. Summary of the Invention

[0004] This application provides an embroidery equipment control method, device, embroidery equipment, and storage medium to solve the problem of poor embroidery quality obtained using existing embroidery equipment and methods.

[0005] In a first aspect, this application provides a control method for embroidery equipment, applied to a peripheral controller of the embroidery equipment; the embroidery equipment further includes a main controller, a loose bead embroidery device, and a sequin embroidery device; the loose bead embroidery device includes at least one loose bead feeding actuator and a loose bead feeding control motor corresponding to each loose bead feeding actuator; the sequin embroidery device includes at least one sequin feeding actuator and a sequin feeding control motor corresponding to each sequin feeding actuator; the peripheral controller is connected to the main controller and each of the loose bead feeding control motors and each of the sequin feeding control motors respectively;

[0006] The method includes:

[0007] Receive the pattern stitches sent by the main controller;

[0008] The instructions for the patterned needlework are parsed to obtain multiple loose bead feeding instructions and gold sheet feeding instructions with execution order;

[0009] According to the execution order, each loose bead feeding instruction and each gold sheet feeding instruction are sent sequentially to each loose bead feeding control motor and each gold sheet feeding control motor, so that the loose bead feeding control motor controls the loose bead feeding actuator to perform a bead feeding operation at the first needle insertion point, and the gold sheet feeding control motor controls the gold sheet feeding actuator to perform a sheet feeding operation at the first needle insertion point.

[0010] Optionally, the ball feeding actuator includes ball fork mechanisms corresponding to different attribute information, and the ball feeding control motor includes closed-loop ball fork control motors corresponding to each of the ball fork mechanisms.

[0011] Accordingly, each of the loose bead feeding commands is sent to each of the loose bead feeding control motors, so that the loose bead feeding control motors control the loose bead feeding actuators to perform a bead feeding operation at the first needle insertion point, including:

[0012] For any loose bead delivery instruction, determine the loose bead attribute information contained in the loose bead delivery instruction;

[0013] The target closed-loop loose ball shift fork control motor corresponding to the loose ball feeding command is determined based on the loose ball attribute information.

[0014] The loose bead feeding command is sent to the target closed-loop loose bead shift fork control motor, so that the target closed-loop loose bead shift fork control motor performs the bead feeding operation; the bead feeding operation includes receiving the bead, waiting, and feeding the bead.

[0015] Optionally, the gold sheet feeding actuator includes a gold sheet advance / retreat mechanism, a gold sheet shift fork mechanism, and a gold sheet cutter assembly; the gold sheet feeding control motor includes an open-loop advance / retreat control motor corresponding to the gold sheet advance / retreat mechanism, a closed-loop gold sheet shift fork control motor corresponding to the gold sheet shift fork mechanism, and a closed-loop gold sheet cutter control motor corresponding to the gold sheet cutter assembly.

[0016] Accordingly, to enable the gold sheet feeding control motor to control the gold sheet feeding actuator to perform a feeding operation at the first needle point, including:

[0017] For any gold sequin feeding command, the gold sequin advance and retreat mechanism is controlled to advance the preset gold sequin bottom groove in the gold sequin embroidery device to the needle insertion point corresponding to the embroidery needle in the embroidery equipment;

[0018] The gold sheet shifting fork mechanism is controlled to push the gold sheet to be embroidered in the gold sheet bottom groove to the needle insertion point;

[0019] When it is determined that the embroidery is to be applied to the gold sheet to be embroidered, the gold sheet cutting assembly is controlled to cut the gold sheet to be embroidered.

[0020] Optionally, the method further includes:

[0021] When it is determined that the gold piece to be embroidered has been completed and the next execution sequence instruction is the scattered bead feeding instruction, the gold piece advance and retreat mechanism is controlled to retract the gold piece bottom groove to the preset retraction point so that the scattered bead feeding execution mechanism can perform the bead feeding operation.

[0022] Optionally, the method further includes:

[0023] The system receives a pause command for embroidery sent by the main controller and, in response to the pause command, controls each of the loose bead feeding control motors and each of the gold sheet feeding control motors to stop controlling each of the loose bead feeding actuators and each of the gold sheet feeding actuators.

[0024] Optionally, the method further includes:

[0025] For any control motor, receive control data from any control process fed back by the control motor, and visualize the control data.

[0026] Secondly, this application provides an embroidery equipment control device, comprising:

[0027] The device is located in the peripheral controller of the embroidery equipment; the embroidery equipment also includes a main controller, a loose bead embroidery device, and a sequin embroidery device; the loose bead embroidery device includes at least one loose bead feeding actuator and a loose bead feeding control motor corresponding to each loose bead feeding actuator; the sequin embroidery device includes at least one sequin feeding actuator and a sequin feeding control motor corresponding to each sequin feeding actuator; the peripheral controller is connected to the main controller and each of the loose bead feeding control motors and each of the sequin feeding control motors;

[0028] The device includes:

[0029] The instruction receiving module is used to receive the pattern stitches sent by the main controller;

[0030] The instruction processing module is used to parse the instructions of the pattern needlework to obtain multiple loose bead feeding instructions and gold sheet feeding instructions with execution order.

[0031] The instruction sending module is used to send each of the loose bead feeding instructions and the gold sheet feeding instructions to each of the loose bead feeding control motors and each of the gold sheet feeding control motors in sequence according to the execution order, so that the loose bead feeding control motors control the loose bead feeding actuators to perform bead feeding operations at the first needle insertion point, and the gold sheet feeding control motors control the gold sheet feeding actuators to perform sheet feeding operations at the first needle insertion point.

[0032] Thirdly, this application provides an embroidery device, comprising: a peripheral controller, a main controller, a loose bead embroidery device, and a sequin embroidery device; the loose bead embroidery device includes at least one loose bead feeding actuator and a loose bead feeding control motor corresponding to each of the loose bead feeding actuators; the sequin embroidery device includes at least one sequin feeding actuator and a sequin feeding control motor corresponding to each of the sequin feeding actuators; the peripheral controller is connected to the main controller and each of the loose bead feeding control motors and each of the sequin feeding control motors.

[0033] The peripheral controller is used to execute the embroidery equipment control method described in the first aspect.

[0034] Fourthly, this application provides an embroidery device, including: a processor, and a memory communicatively connected to the processor;

[0035] The memory stores computer-executed instructions;

[0036] The processor executes computer execution instructions stored in the memory to implement the method as described in the first aspect.

[0037] Fifthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described in the first aspect.

[0038] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect.

[0039] The embroidery equipment control method, device, embroidery equipment, and storage medium provided in this application receive pattern stitches generated by the main controller based on the embroidery pattern, parse the pattern stitches, and generate multiple loose bead feeding instructions and sequin feeding instructions with an execution order. When the current instruction to be executed according to the execution order is a bead feeding instruction, the loose bead feeding instruction is sent to the corresponding loose bead feeding control motor. Then, the loose bead feeding control motor controls the loose bead feeding actuator to perform the bead feeding operation based on the received instructions, thereby completing the loose bead embroidery in the embroidery pattern. The above solution introduces multiple loose bead fork actuators into the loose bead embroidery device of the embroidery equipment, thereby increasing the number of loose bead forks and adopting independent control, adapting to loose beads of various specifications and colors. The embroidery process improves the efficiency and stability of the fork's movement. Furthermore, when the current instruction executed in the sequence is a sequin feeding instruction, the sequin feeding instruction is sent to the corresponding sequin feeding control motor. The sequin feeding control motor then controls the sequin feeding actuator to perform the feeding operation based on the received instruction, thus completing the sequin embroidery in the embroidery pattern. This solution, by setting multiple actuators in the sequin embroidery device, allows for the retraction of the sequins during loose bead embroidery at the same needle position, and the advancement of the sequins to the sequin working position during sequin embroidery, achieving a switch between loose bead and sequin embroidery to meet the needs of different embroidery methods in the market. This also enables the combination of multiple loose bead and sequin embroidery techniques at the same needle position, making the embroidery more precise and the effect more exquisite. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0041] Figure 1 An application scenario diagram of the embroidery equipment control method provided in this application;

[0042] Figure 2 A flowchart illustrating an embroidery equipment control method provided in an embodiment of this application;

[0043] Figure 3 This application provides a schematic diagram of the motion curve of an open-loop forward / reverse control motor.

[0044] Figure 4A This application provides a schematic diagram of the motion curve of an open-loop forward / backward control motor performing a bead-receiving operation, as shown in the embodiments of this application.

[0045] Figure 4B This application provides a schematic diagram of the action curve of an open-loop forward / backward control motor during a waiting operation.

[0046] Figure 4CThis application provides a schematic diagram of the action curve of an open-loop forward / backward control motor performing a bead feeding operation.

[0047] Figure 5 A schematic diagram illustrating the working principle of an embroidery device provided for embodiments of this application;

[0048] Figure 6 A schematic diagram of the structure of an embroidery equipment control device provided in an embodiment of this application;

[0049] Figure 7 This is a schematic diagram of the structure of an embroidery device provided in an embodiment of this application;

[0050] Figure 8 This is a schematic diagram of another embroidery device provided in an embodiment of this application.

[0051] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0052] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0053] In practical applications, as people's living standards improve, their requirements for clothing, home textiles, and handicrafts are getting higher and higher. In order to attract consumers, different patterns are usually set on clothing, home textiles, and handicrafts as decorations. When only colored embroidery threads are used to complete various patterns, the three-dimensionality of the patterns is poor. Because sequin and bead embroidery patterns have distinct layers and a strong three-dimensional effect, they are very popular in the clothing, home textiles, and handicrafts industries.

[0054] However, existing embroidery equipment cannot embroider multi-colored beads and sequins in the same stitch position during the embroidery process. It requires separate stitch positions to embroider the beads first and then the sequins, or vice versa. The patterns need to be spliced ​​together, and the embroidery effect is generally not satisfactory to the market.

[0055] The embroidery equipment control method provided in this application aims to solve the aforementioned technical problems of the prior art. Specifically, multiple loose bead fork actuators are introduced into the loose bead embroidery device of the embroidery equipment, increasing the number of loose bead forks and adopting independent control to adapt to loose bead embroidery of multiple specifications and colors, greatly improving the efficiency and stability of the fork action. Furthermore, multiple actuators are set in the sequin embroidery device, so that when embroidering at the same needle position, the sequins for loose bead embroidery are retracted to the retracted position, and when embroidering sequins, they are advanced to the sequin working position, realizing the switching between loose bead and sequin embroidery to meet the needs of different embroidery methods in the market; thus, multiple loose bead and sequin combinations can be embroidered at the same needle position, and the combination of loose beads and sequins makes the embroidery more precise and the effect more exquisite.

[0056] Figure 1 This is an application scenario diagram of the embroidery equipment control method provided in this application. For ease of understanding, the following will illustrate... Figure 1 The application scenarios applicable to the embodiments of this application are described below. See also... Figure 1 The above-mentioned embroidery equipment control method is applied to the peripheral controller of the embroidery equipment; the embroidery equipment also includes a main controller, a loose bead embroidery device, and a sequin embroidery device; the loose bead embroidery device includes at least one loose bead feeding actuator and a loose bead feeding control motor corresponding to each loose bead feeding actuator; the sequin embroidery device includes at least one sequin feeding actuator and a sequin feeding control motor corresponding to each sequin feeding actuator.

[0057] In practical applications, the main controller can be another control device not installed inside the embroidery equipment, and the main controller is communicatively connected to the peripheral controllers. Optionally, the main controller can also be set inside the embroidery equipment; this application embodiment does not specify the location of the main controller. Specifically, the peripheral controllers are also connected to the closed-loop loose bead shift fork control motor, the open-loop forward / backward control motor, the closed-loop sheet metal shift fork control motor, and the closed-loop sheet metal cutter control motor, respectively.

[0058] Specifically, the main controller receives the embroidery pattern input by the user, which includes loose bead embroidery and sequin embroidery; then generates the corresponding pattern stitch, and sends the pattern stitch to the peripheral controller; the peripheral controller parses the received pattern stitch to obtain multiple loose bead feeding instructions and sequin feeding instructions with execution order.

[0059] Optionally, when the current instruction executed according to the execution sequence is a bead feeding instruction, the loose bead feeding instruction is sent to the corresponding loose bead feeding control motor; then, the loose bead feeding control motor controls the loose bead feeding actuator to perform the bead feeding operation based on the received instruction, so as to complete the loose bead embroidery in the embroidery pattern; Optionally, when the current instruction executed according to the execution sequence is a sequin feeding instruction, the sequin feeding instruction is sent to the corresponding sequin feeding control motor; then, the sequin feeding control motor controls the sequin feeding actuator to perform the sequin feeding operation based on the received instruction, so as to complete the sequin embroidery in the embroidery pattern.

[0060] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0061] Figure 2 This is a flowchart illustrating an embroidery equipment control method provided in an embodiment of this application. The method can be executed by an embroidery equipment control device, which can be a server or an embroidery equipment. The following description uses an embroidery equipment as an example. The method in this embodiment can be implemented through software, hardware, or a combination of both. Figure 2 As shown, the method includes the following steps.

[0062] S210, Receive the pattern stitch sent by the main controller.

[0063] In this embodiment of the application, the main controller can be understood as the host computer of the embroidery equipment, which is used to receive the input embroidery pattern and convert the embroidery pattern into a pattern stitch, so that each device in the embroidery equipment can perform embroidery according to the pattern stitch to obtain the embroidery work corresponding to the embroidery pattern.

[0064] It should be noted that, since the embroidery equipment provided in this application embodiment includes both a loose bead embroidery device and a sequin embroidery device, and the two devices can alternately perform embroidery on the same needle on the fabric, the user can input a complex embroidery pattern that includes both loose bead embroidery and sequin embroidery at the same needle position when inputting the embroidery pattern. After embroidering with the embroidery machine provided in this application embodiment, a more exquisite embroidery product can be obtained.

[0065] Specifically, the main controller stores a pre-written stitch generation program, which can then process the stitches of the embroidery pattern according to the user's input when the embroidery pattern is received, thereby obtaining the corresponding stitches.

[0066] Furthermore, when generating the pattern stitch, the main controller can send the pattern stitch to the peripheral controller of the embroidery equipment. In practical applications, the peripheral controller is also connected to the motors of each device that performs the embroidery, so as to control each device to perform the embroidery according to the pattern stitch, thereby obtaining the completed embroidery.

[0067] S220. Perform instruction parsing on the pattern needlework to obtain multiple loose bead feeding instructions and gold sheet feeding instructions with execution order.

[0068] In this embodiment of the application, since the embroidery pattern includes different decorative patterns such as scattered bead embroidery and sequin embroidery, and the embroidery equipment includes different embroidery devices such as scattered bead embroidery device and sequin embroidery device, when the pattern stitch is sent by the main controller, it is necessary to analyze the pattern stitch to obtain the embroidery instructions corresponding to each embroidery device, and then embroider alternately according to each embroidery instruction to realize the embroidery of different patterns in the embroidery.

[0069] Specifically, a pre-written parsing program is stored in the peripheral controller. Upon receiving a pattern stitch from the main controller, the parsing program processes the pattern stitch instructions to obtain multiple embroidery commands with an execution order. It should be noted that, depending on the embroidery pattern and the different embroidery devices within the embroidery equipment, the embroidery commands may include, but are not limited to, commands such as bead feeding, sequin feeding, and stitch insertion.

[0070] S230. According to the execution order, send the loose bead feeding instructions and the gold sheet feeding instructions to the loose bead feeding control motor and the gold sheet feeding control motor respectively.

[0071] In the above embodiments, when the scattered bead feeding instruction and the sequin feeding instruction are received, the above embroidery instructions are sent to the corresponding embroidery devices in the order of execution, so as to realize that each embroidery device can perform alternating embroidery based on the first stitch point, that is, any stitch point in the embroidery pattern, to obtain an embroidery that contains both scattered bead embroidery and sequin embroidery at the same stitch position, thereby improving the delicacy of the embroidery and thus improving the quality of the embroidery.

[0072] Optionally, when the current instruction executed according to the execution sequence is a bead feeding instruction, the loose bead feeding instruction is sent to the corresponding loose bead feeding control motor; then, the loose bead feeding control motor controls the loose bead feeding actuator to perform the bead feeding operation based on the received instruction, and when the bead feeding operation is completed, it embroiders the loose beads to be embroidered based on the embroidery needle to complete the loose bead embroidery in the embroidery pattern; Optionally, when the current instruction executed according to the execution sequence is a sequin feeding instruction, the sequin feeding instruction is sent to the corresponding sequin feeding control motor; then, the sequin feeding control motor controls the sequin feeding actuator to perform the sequin feeding operation based on the received instruction, and when the sequin feeding operation is completed, it embroiders the sequin to be embroidered based on the embroidery needle to complete the sequin embroidery in the embroidery pattern.

[0073] In practical applications, when the embroidery pattern contains loose beads of multiple colors or sizes, and it is necessary to complete the embroidery of one color or size of loose beads first, an additional bead-changing mechanism is used to change the color or size of the loose beads in the embroidery equipment. After the change is completed, the next color or size of loose beads is embroidered until the embroidery is finished. This embroidery method requires pausing the embroidery process midway for bead changing, resulting in low embroidery efficiency. Furthermore, the stitches in the embroidery produced using this method are discontinuous, affecting the quality of the finished product.

[0074] To address the aforementioned issues, the bead-feeding device of the embroidery equipment provided in this application includes at least one bead-feeding actuator. This bead-feeding actuator can be a bead-shifting fork mechanism corresponding to different attribute information. Furthermore, to facilitate control of each mechanism, the bead-feeding control motor in the bead-feeding device of this application can be a closed-loop bead-shifting fork control motor corresponding to each bead-shifting fork mechanism.

[0075] Based on this, the specific process of sending each loose bead feeding command to each loose bead feeding control motor in this embodiment of the application, so that the loose bead feeding control motor controls the loose bead feeding actuator to perform the bead feeding operation, may include: for any loose bead feeding command, determining the loose bead attribute information contained in the loose bead feeding command; determining the target closed-loop loose bead shift fork control motor corresponding to the loose bead feeding command based on the loose bead attribute information; sending the loose bead feeding command to the target closed-loop loose bead shift fork control motor, so that the target closed-loop loose bead shift fork control motor performs the bead feeding operation; the bead feeding operation includes receiving the bead, waiting, and feeding the bead.

[0076] The attribute information for loose beads can be their color and size. Loose beads with different attribute information can include, but are not displayed, such as: loose bead A with attribute 'a' color and size 'a', loose bead B with attribute 'a' color and size 'b', loose bead C with attribute 'b' color and size 'a', loose bead D with attribute 'b' color and size 'b', etc.

[0077] Specifically, when the peripheral controller generates multiple embroidery instructions corresponding to the pattern stitch, it sequentially sends each embroidery instruction to the corresponding control motor in each embroidery device to control the execution mechanism. Optionally, during the embroidery instruction transmission process, if the embroidery instruction in the current execution order is a loose bead feeding instruction, since loose beads include multiple colors and sizes, it is necessary to determine the loose bead attribute information in the loose bead feeding instruction; if the loose bead attribute is determined to be color a and size a, i.e., loose bead A; accordingly, the target closed-loop loose bead shift fork control motor corresponding to loose bead A is determined, and the loose bead feeding instruction is sent to the target closed-loop loose bead shift fork control motor; the target closed-loop loose bead shift fork control motor performs the bead feeding operation according to the received loose bead feeding instruction.

[0078] In practical applications, the bead feeding operation includes bead receiving, waiting, and bead feeding. Specifically, the target closed-loop loose bead fork control motor controls the loose bead fork mechanism corresponding to loose bead A according to the loose bead feeding command to complete three actions of loose bead A: receiving (fork to receiving point), waiting (fork to ready position), and feeding (fork to needle position). Specifically, the loose bead fork mechanism feeds loose bead A to the needle position, that is, directly below the embroidery needle of the embroidery equipment; at this time, the embroidery needle is controlled to pass through the center hole of the bead into the bead; when the needle tip enters the fabric, the fork retracts to release the bead, and the embroidery needle continues to fall with the top thread, fixing the loose bead that has left the fork onto the fabric. At the same time, the next stitch of the embroidery needle is controlled to use a flat stitch to completely fix the position of loose bead A, thus completing the embroidery process of loose bead to fabric.

[0079] It should also be noted that in practical applications, the bead feeding control motors corresponding to the existing bead shifting fork mechanisms on the market are open-loop control motors. These open-loop control methods execute the shifting fork action without position feedback during control. When encountering obstacles during embroidery, this can easily lead to missed steps and incomplete bead feeding, resulting in misalignment of the bead holes, causing bead slippage or needle breakage, and failing to provide effective error reporting. To address these potential issues, the control scheme provided in this application replaces the control motor corresponding to the bead shifting fork mechanism with a closed-loop control motor. Since the encoder in a closed-loop motor has a zero-position signal, it can provide real-time feedback on the execution position during control, achieving precise bead feeding and effective error reporting. Furthermore, by adjusting the motor's output current, a smaller current can be used to maintain the position under light load, reducing heat generation and energy consumption. This solves the problem of circuit board and motor overheating caused by the need to maintain a large current in open-loop control motors, which prevents high-speed embroidery operations, thus improving the stability and efficiency of bead feeding embroidery.

[0080] In practical applications, existing embroidery equipment cannot embroider multi-colored beads and sequins in the same stitch position. It requires separate stitch positions, either embroidering beads first and then sequins, or vice versa, resulting in spliced ​​patterns and generally poor embroidery quality. Therefore, this embodiment introduces a forward / backward mechanism into the sequin embroidery device. This mechanism is controlled by an open-loop motor with optocoupler detection. When embroidering beads in the same stitch position, the sequin fork mechanism is retracted to the retracted position, and when embroidering sequins, it advances to the sequin working position, thus enabling switching between sequin and bead embroidery and meeting the market's demand for different embroidery techniques.

[0081] Specifically, the gold sequin embroidery device provided in this application includes a gold sequin feeding mechanism, a gold sequin shifting fork mechanism, and a gold sequin cutting assembly. To facilitate the control of each mechanism, the gold sequin feeding control motor of this application includes an open-loop feeding control motor corresponding to the gold sequin feeding mechanism, a closed-loop gold sequin shifting fork control motor corresponding to the gold sequin shifting fork mechanism, and a closed-loop gold sequin cutting control motor corresponding to the gold sequin cutting assembly.

[0082] Based on this, in the embodiments of this application, the specific process of sending each gold sheet feeding instruction to each gold sheet feeding control motor so that the gold sheet feeding control motor controls the gold sheet feeding actuator to perform the feeding operation may include: for any gold sheet feeding instruction, controlling the gold sheet advance and retreat mechanism to advance the preset gold sheet bottom groove in the gold sheet embroidery device to the needle insertion point corresponding to the embroidery needle in the embroidery equipment; controlling the gold sheet shifting fork mechanism to push the gold sheet to be embroidered in the gold sheet bottom groove to the needle insertion point; and controlling the gold sheet cutter assembly to cut the gold sheet to be embroidered when it is determined that the embroidery needle is to embroider the gold sheet to be embroidered.

[0083] Specifically, for a single sequin feeding operation to be completed, the sequin embroidery device requires the sequential control of three actuators within the device. Specifically, upon receiving the sequin feeding control command, the command is first sent to the open-loop advance / retreat control motor corresponding to the sequin advance / retreat mechanism. This open-loop motor controls the mechanism to advance the pre-set sequin base groove to the needle insertion point (directly below the needle) in the embroidery equipment. Optionally, the open-loop motor sends a completion message to the peripheral controller when advancing the sequin base groove to the needle insertion point. Further, based on this completion message, the peripheral controller sends the sequin feeding command to the closed-loop sequin shift fork control motor corresponding to the sequin shift fork mechanism. This closed-loop motor controls the mechanism to advance the sequin base groove... Once the sequin is pushed to the next stitch point, the embroidery needle is guided through the center hole of the sequin. Optionally, the closed-loop sequin shift fork control motor can send a sequin delivery completion message to the peripheral controller when the sequin is pushed to the next stitch point. Further, the peripheral controller sends the sequin delivery instruction to the corresponding closed-loop sequin cutter control motor based on the received sequin delivery completion message. When the closed-loop sequin cutter control motor determines that the needle tip has entered the fabric, it controls the sequin cutter assembly to cut the sequin, and simultaneously uses a thread to bring the sequin to the fabric and fix it on the fabric. The next stitch of the embroidery needle is then controlled to use a flat stitch to completely fix the position of the sequin, completing the sequin to fabric embroidery process.

[0084] It should be noted that the control motors in the above-mentioned sequin embroidery can all adopt closed-loop control motors to further improve the stability and efficiency of sequin embroidery. Of course, since the sequin advance and retreat mechanism only needs to know the result of advance and retreat during the execution process, and does not need to know the advance and retreat process in real time, an open-loop control motor can be used to save equipment costs.

[0085] In practical applications, in order to achieve multiple loose beads and sequins combined for embroidery at the same needle position, the sequin groove in the sequin embroidery device needs to be retracted after the sequin embroidery is completed, so that the loose bead embroidery device can send the loose beads to the needle position, thereby completing the embroidery.

[0086] Optionally, the retraction processing method of the gold sequin embroidery device provided in this application embodiment may specifically include: when it is determined that the gold sequin to be embroidered has been completed and the next execution sequence instruction is the loose bead feeding instruction, controlling the gold sequin advance and retreat mechanism to retract the gold sequin bottom groove to a preset retraction point, so that the loose bead feeding execution mechanism can perform the bead feeding operation.

[0087] To ensure equipment safety, before controlling the bead feeding mechanism via the closed-loop bead feeding fork control motor, it is possible to pre-detect whether the sequin embroidery device is in the lower needle position based on the preset control module in the peripheral controller; if so, the sequin embroidery device needs to be pre-emptively moved away; otherwise, the bead feeding operation can be performed directly.

[0088] During the embroidery process, the technical solution provided in this application embodiment further includes: receiving an embroidery pause command sent by the main controller, and responding to the embroidery pause command by controlling each loose bead feeding control motor and each gold sheet feeding control motor to stop controlling each loose bead feeding actuator and each gold sheet feeding actuator.

[0089] Specifically, if an emergency occurs during the embroidery process, the user can input an embroidery pause command to the main controller, which will then send the embroidery pause command to the peripheral controller to control the embroidery equipment to stop operation. Emergency situations include, but are not limited to, changes to the embroidery machine or embroidery patterns.

[0090] Furthermore, when the peripheral controller receives an embroidery pause command, it stops sending embroidery instructions to each control motor until it receives a start command, at which point it resumes sending embroidery instructions to each control motor, thus improving the flexibility of embroidery control.

[0091] In this embodiment of the application, for any control motor in the embroidery equipment, control data from any control process fed back by the control motor is received and the control data is visualized.

[0092] Optionally, when the open-loop advance and retreat control motor controls the gold sheet advance and retreat mechanism, the control data fed back by the open-loop advance and retreat control motor is collected, the control data is visualized, and the action curve of the open-loop advance and retreat control motor during the control process is generated. Figure 3 This is a schematic diagram of the motion curve of an open-loop forward / reverse control motor provided in an embodiment of this application. See also... Figure 3 The curve in the figure illustrates the process of the open-loop advance / retreat control motor controlling the gold sheet advance / retreat mechanism to perform the advance / retreat operation. It progresses from stable acceleration at the beginning to high-speed movement in the middle, then to stable deceleration in the later stage, until the movement stops. This demonstrates the stability of the open-loop advance / retreat control motor during the control process, thereby ensuring the efficiency and stability of the embroidery and thus guaranteeing the quality of the embroidery.

[0093] Optionally, when the closed-loop ball-handling fork control motor controls the ball-handling fork mechanism to perform the operations of receiving, waiting and delivering balls, the control data fed back can be visualized to generate the motion curve of the ball-handling fork mechanism during the execution process. Figure 4A , Figure 4B and Figure 4CThe diagram shows the curves corresponding to different control actions of the closed-loop ball-handling fork control motor provided in this embodiment of the application. Figure 4A A schematic diagram of the motion curve of the closed-loop ball-catching fork control motor controlling the ball-catching fork mechanism to perform the ball-catching operation. Figure 4B A schematic diagram of the motion curve of the closed-loop ball bearing shift fork control motor controlling the ball bearing shift fork mechanism to perform a waiting operation; Figure 4C This is a schematic diagram illustrating the motion curve of the closed-loop ball-feeding fork control motor controlling the ball-feeding fork mechanism to perform the ball-feeding operation. For example, the motion curve is illustrated using the control of the ball-receiving operation as an example. See [link to documentation]. Figure 4A In the figure, the horizontal axis of the curve represents time (ms), and the vertical axis represents the coordinates of the moving position of the shift fork mechanism. As can be seen from the curve, the closed-loop loose bead shift fork control motor starts and decelerates smoothly during the control process, and runs relatively smoothly with little mechanical vibration. This demonstrates the stability of the closed-loop loose bead shift fork control motor during the control process, thereby ensuring the efficiency and stability of the embroidery and thus guaranteeing the quality of the embroidery.

[0094] In the above technical solution, the main controller receives the pattern stitches generated based on the embroidery pattern, parses the pattern stitches, and generates multiple loose bead feeding instructions and sequin feeding instructions with an execution order. When the current instruction to be executed according to the execution order is a bead feeding instruction, the loose bead feeding instruction is sent to the corresponding loose bead feeding control motor. Then, the loose bead feeding control motor controls the loose bead feeding actuator to perform the bead feeding operation based on the received instructions, thereby completing the loose bead embroidery in the embroidery pattern. The above solution introduces multiple loose bead fork actuators into the loose bead embroidery device of the embroidery equipment, thereby increasing the number of loose bead forks and adopting independent control, adapting to multi-specification and multi-color loose bead embroidery, and improving the fork action. Efficiency and stability; furthermore, when the current instruction executed according to the execution sequence is a sequin feeding instruction, the sequin feeding instruction is sent to the corresponding sequin feeding control motor; then, the sequin feeding control motor controls the sequin feeding actuator to perform the feeding operation based on the received instruction, so as to complete the sequin embroidery in the embroidery pattern; the above solution, by setting multiple actuators in the sequin embroidery device, realizes that when embroidering at the same needle position, the sequins for loose bead embroidery are retracted to the retracted position, and when embroidering sequins are performed, they are advanced to the sequin working position, realizing the switching between loose bead and sequin embroidery, meeting the needs of different embroidery methods in the market; thus, it realizes the combination of multiple loose bead and sequin embroidery at the same needle position, and the combination of loose beads and sequins makes the embroidery more precise and the effect more exquisite.

[0095] Based on the above implementation scheme, this application also provides an optional implementation scheme, which describes the control process of the embroidery equipment. Figure 5 This is a schematic diagram illustrating the working principle of an embroidery device provided for an embodiment of this application.

[0096] See Figure 5 The working principle of the embroidery equipment provided in this application embodiment includes the following:

[0097] 1. During power-on initialization, the loose bead fork mechanisms and sequin advance / retreat mechanisms corresponding to loose beads A, B, and C in the embroidery equipment successively perform self-checks to find the origin. Specifically, the loose bead fork mechanism finds the origin by moving backward, that is, adjusting the loose bead fork mechanism to the bead receiving point. After finding the origin, it picks up a bead and moves it forward to stop at the loose bead fork's ready position. It should be noted that the encoder corresponding to the closed-loop control motor of the loose bead fork mechanism has a zero-position signal. The motor outputs a zero-position signal at only one position after one revolution. Therefore, the position corresponding to the zero-position signal can be defined as the origin, i.e., the bead receiving point.

[0098] 2. After the scattered bead fork mechanism finds its origin, the open-loop motor corresponding to the gold sheet advance and retreat mechanism will also move backward to find the preset avoidance point photocoupler position in the gold sheet embroidery device, and control the gold sheet advance and retreat mechanism to stay at that position to wait for the embroidery command sent by the external control.

[0099] 3. After initial power-on, the embroidery equipment is controlled based on the control commands from the peripheral controller to complete the embroidery process. Specifically, in the sequin and bead switching process, when the bead embroidery is completed, the sequin device moves to the next needle point to embroider the sequins. Simultaneously, when the sequin embroidery is completed, the sequin device retracts to the retraction point. Afterward, the bead fork sends beads to the next needle point to embroider the loose beads. The sequin and bead movements are complementary and closely linked in sequence, enabling mixed sequin and bead embroidery on the same side and at the same needle position, significantly improving both embroidery efficiency and product quality.

[0100] Figure 6 This is a schematic diagram of the structure of an embroidery equipment control device provided in an embodiment of this application. See also... Figure 6 The device includes: an instruction receiving module 601, an instruction processing module 602, and an instruction sending module 603; wherein,

[0101] The instruction receiving module 601 is used to receive the pattern stitches sent by the main controller;

[0102] The instruction processing module 602 is used to parse the instructions of the pattern needlework to obtain multiple loose bead feeding instructions and gold sheet feeding instructions with execution order.

[0103] The instruction sending module 603 is used to send the loose bead feeding instruction and the gold sheet feeding instruction to the loose bead feeding control motor and the gold sheet feeding control motor respectively according to the execution order, so that the loose bead feeding control motor controls the loose bead feeding actuator to perform the bead feeding operation, and the gold sheet feeding control motor controls the gold sheet feeding actuator to perform the sheet feeding operation.

[0104] Optionally, the ball feeding actuator includes ball fork mechanisms corresponding to different attribute information, and the ball feeding control motor includes closed-loop ball fork control motors corresponding to each ball fork mechanism.

[0105] Accordingly, when the instruction sending module 603 sends each loose bead feeding instruction to each loose bead feeding control motor, so that the loose bead feeding control motor controls the loose bead feeding actuator to perform the bead feeding operation, it is specifically used for:

[0106] For any loose bead delivery instruction, determine the loose bead attribute information contained in the loose bead delivery instruction;

[0107] Determine the target closed-loop loose ball fork control motor corresponding to the loose ball feeding command based on the loose ball attribute information.

[0108] The loose bead feeding command is sent to the target closed-loop loose bead shift fork control motor, so that the target closed-loop loose bead shift fork control motor performs the bead feeding operation; the bead feeding operation includes receiving the bead, waiting, and feeding the bead.

[0109] Optionally, the sheet feeding actuator includes a sheet feeding mechanism, a sheet shifting fork mechanism, and a sheet cutting assembly; the sheet feeding control motor includes an open-loop feeding control motor corresponding to the sheet feeding mechanism, a closed-loop sheet shifting fork control motor corresponding to the sheet shifting fork mechanism, and a closed-loop sheet cutting control motor corresponding to the sheet cutting assembly.

[0110] Accordingly, when the instruction sending module 603 causes the gold sheet feeding control motor to control the gold sheet feeding actuator to perform the feeding operation, it is specifically used for:

[0111] For any gold sequin feeding instruction, the gold sequin advance and retreat mechanism is controlled to advance the preset gold sequin bottom groove in the gold sequin embroidery device to the needle insertion point corresponding to the embroidery needle in the embroidery equipment;

[0112] The gold sheet fork mechanism is controlled to push the gold sheet to be embroidered in the gold sheet bottom groove to the needle insertion point;

[0113] When it is determined that the embroidery is to be done on the gold sheet to be embroidered, the gold sheet cutting component is controlled to cut the gold sheet to be embroidered.

[0114] Optionally, the device further includes: a backoff command control execution module, used for:

[0115] When it is determined that the gold piece to be embroidered has been completed and the next execution sequence instruction is the loose bead feeding instruction, the gold piece advance and retreat mechanism is controlled to retreat the bottom groove of the gold piece to the preset retreat point so that the loose bead feeding execution mechanism can perform the bead feeding operation.

[0116] Optionally, the device further includes: an embroidery pause command control execution module, used for:

[0117] The system receives the embroidery pause command sent by the main controller and, in response to the embroidery pause command, controls each loose bead feeding motor and each gold sheet feeding motor to stop controlling each loose bead feeding actuator and each gold sheet feeding actuator.

[0118] Optionally, the device may also include: a data visualization module for:

[0119] For any given control motor, receive control data from any control process fed back by the control motor and visualize the control data.

[0120] Figure 7 This is a schematic diagram of the structure of an embroidery device 70 provided in an embodiment of this application. See also... Figure 7 The device includes: a peripheral controller 71, a main controller 72, a loose bead embroidery device 73, and a sequin embroidery device 74; the loose bead embroidery device 73 includes at least one loose bead feeding actuator 731 and a loose bead feeding control motor 732 corresponding to each loose bead feeding actuator 731; the sequin embroidery device 74 includes at least one sequin feeding actuator 741 and a sequin feeding control motor 742 corresponding to each sequin feeding actuator 741; the peripheral controller 71 is connected to the main controller 72 and each loose bead feeding control motor 731 and each sequin feeding control motor 741.

[0121] See also Figure 7 Optionally, the ball feeding actuator 731 includes ball shifting fork mechanisms 7311 corresponding to different attribute information, and the ball feeding control motor 732 includes a closed-loop ball shifting fork control motor 7321 corresponding to each ball shifting fork mechanism 7311.

[0122] See also Figure 7 Optionally, the sheet feeding actuator 741 includes a sheet advance / retreat mechanism 7411, a sheet shift fork mechanism 7412, and a sheet cutter assembly 7413; the sheet feeding control motor 742 includes an open-loop advance / retreat control motor 7421 corresponding to the sheet advance / retreat mechanism 7411, a closed-loop sheet shift fork control motor 7422 corresponding to the sheet shift fork mechanism 7412, and a closed-loop sheet cutter control motor 7423 corresponding to the sheet cutter assembly 7413.

[0123] Figure 8 This is a schematic diagram of another embroidery device provided in an embodiment of this application. Figure 8 As shown, the embroidery equipment in this embodiment may include:

[0124] At least one processor 801; and

[0125] Memory 802 that is communicatively connected to at least one processor;

[0126] The memory 802 stores instructions that can be executed by at least one processor 801 to cause the server to perform the method as described in any of the above embodiments.

[0127] Alternatively, the memory 802 can be either standalone or integrated with the processor 801.

[0128] The implementation principle and technical effects of the embroidery equipment provided in this embodiment can be found in the foregoing embodiments, and will not be repeated here.

[0129] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method of any of the foregoing embodiments.

[0130] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method of any of the foregoing embodiments.

[0131] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed.

[0132] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application.

[0133] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor. The memory may include high-speed RAM, and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk, or optical disc, etc.

[0134] The aforementioned storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0135] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components within a server or host device.

[0136] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0137] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for controlling embroidery equipment, characterized in that, An external controller is applied to embroidery equipment; the embroidery equipment also includes a main controller, a loose bead embroidery device, and a sequin embroidery device; the loose bead embroidery device includes at least one loose bead feeding actuator and a loose bead feeding control motor corresponding to each loose bead feeding actuator; the loose bead feeding actuator includes loose bead shifting fork mechanisms corresponding to different attribute information, and the loose bead feeding control motor includes a closed-loop loose bead shifting fork control motor corresponding to each loose bead shifting fork mechanism; the sequin embroidery device includes at least one sequin feeding actuator and a sequin feeding control motor corresponding to each sequin feeding actuator; the sequin feeding actuator includes a sequin advance / retreat mechanism, a sequin shifting fork mechanism, and a sequin cutter assembly; the sequin feeding control motor includes an open-loop advance / retreat control motor corresponding to the sequin advance / retreat mechanism, a closed-loop sequin shifting fork control motor corresponding to the sequin shifting fork mechanism, and a closed-loop sequin cutter control motor corresponding to the sequin cutter assembly; the external controller is connected to the main controller and each of the loose bead feeding control motors and each of the sequin feeding control motors respectively. The method includes: The system receives the embroidery pattern and stitch corresponding to the embroidery pattern sent by the main controller. The embroidery pattern includes scattered bead embroidery and sequin embroidery. The instructions for the patterned needlework are parsed to obtain multiple loose bead feeding instructions and gold sheet feeding instructions with execution order; According to the execution order, each loose bead feeding instruction and each gold sheet feeding instruction are sent to each loose bead feeding control motor and each gold sheet feeding control motor respectively, so that the loose bead feeding control motor controls the loose bead feeding actuator to perform bead feeding operation at the first needle insertion point, and the gold sheet feeding control motor controls the gold sheet feeding actuator to perform sheet feeding operation at the first needle insertion point. Specifically, sending each of the loose bead feeding commands to each of the loose bead feeding control motors, so that the loose bead feeding control motors control the loose bead feeding actuator to perform a bead feeding operation at the first needle point, includes: For any loose bead delivery instruction, determine the loose bead attribute information contained in the loose bead delivery instruction; The target closed-loop loose ball shift fork control motor corresponding to the loose ball feeding command is determined based on the loose ball attribute information. The loose bead feeding command is sent to the target closed-loop loose bead shift fork control motor, so that the target closed-loop loose bead shift fork control motor performs the bead feeding operation; the bead feeding operation includes receiving the bead, waiting, and feeding the bead. Each gold sheet feeding command is sent to a gold sheet feeding control motor, so that the gold sheet feeding control motor controls the gold sheet feeding actuator to perform a feeding operation at the first needle point, including: For any gold sequin feeding command, the gold sequin advance and retreat mechanism is controlled to advance the preset gold sequin bottom groove in the gold sequin embroidery device to the needle insertion point corresponding to the embroidery needle in the embroidery equipment; The gold sheet shifting fork mechanism is controlled to push the gold sheet to be embroidered in the gold sheet bottom groove to the needle insertion point; When it is determined that the embroidery is being performed on the gold sheet to be embroidered, the gold sheet cutting component is controlled to cut the gold sheet to be embroidered. The method further includes: When it is determined that the gold piece to be embroidered has been completed and the next execution sequence instruction is the scattered bead feeding instruction, the gold piece advance and retreat mechanism is controlled to retreat the bottom groove of the gold piece to the preset retreat point so that the scattered bead feeding execution mechanism can perform the bead feeding operation; Before controlling the bead feeding operation by the closed-loop bead fork control motor to control the bead fork mechanism, it is pre-detected whether the sequin embroidery device is in the lower needle position; If so, the gold sheet advance and retreat mechanism is controlled to retract the gold sheet bottom groove to a preset retraction point; If not, then proceed directly with the bead delivery operation.

2. The method according to claim 1, characterized in that, The method further includes: The system receives an embroidery pause command from the main controller and, in response to the embroidery pause command, controls each of the loose bead feeding control motors and each of the gold sheet feeding control motors to stop controlling each of the loose bead feeding actuators and each of the gold sheet feeding actuators.

3. The method according to claim 1, characterized in that, The method further includes: For any control motor, receive control data from any control process fed back by the control motor, and visualize the control data.

4. A control device for embroidery equipment, characterized in that, The device is applied to the peripheral controller of an embroidery equipment; the embroidery equipment also includes a main controller, a loose bead embroidery device, and a sequin embroidery device; the loose bead embroidery device includes at least one loose bead feeding actuator and a loose bead feeding control motor corresponding to each loose bead feeding actuator; the loose bead feeding actuator includes loose bead shifting fork mechanisms corresponding to different attribute information, and the loose bead feeding control motor includes a closed-loop loose bead shifting fork control motor corresponding to each loose bead shifting fork mechanism; the sequin embroidery device includes at least one sequin feeding actuator and a sequin feeding control motor corresponding to each sequin feeding actuator; the sequin feeding actuator includes a sequin advance / retreat mechanism, a sequin shifting fork mechanism, and a sequin cutter assembly; the sequin feeding control motor includes an open-loop advance / retreat control motor corresponding to the sequin advance / retreat mechanism, a closed-loop sequin shifting fork control motor corresponding to the sequin shifting fork mechanism, and a closed-loop sequin cutter control motor corresponding to the sequin cutter assembly; the peripheral controller is connected to the main controller and each loose bead feeding control motor and each sequin feeding control motor respectively. The device includes: The instruction receiving module is used to receive the pattern stitches, including scattered bead embroidery and sequin embroidery, sent by the main controller; The instruction processing module is used to parse the instructions of the pattern needlework to obtain multiple loose bead feeding instructions and gold sheet feeding instructions with execution order. The instruction sending module is used to send each of the loose bead feeding instructions and the gold sheet feeding instructions to each of the loose bead feeding control motors and each of the gold sheet feeding control motors in sequence according to the execution order, so that the loose bead feeding control motors control the loose bead feeding actuators to perform bead feeding operations at the first needle insertion point, and the gold sheet feeding control motors control the gold sheet feeding actuators to perform sheet feeding operations at the first needle insertion point; The retraction instruction control execution module is used to control the gold piece advance and retreat mechanism to retract the preset gold piece bottom groove in the gold piece embroidery device to a preset retraction point when it is determined that the gold piece to be embroidered has been completed and the next execution order instruction is the loose bead feeding instruction, so that the loose bead feeding execution mechanism can perform the bead feeding operation. The peripheral controller is used to execute the embroidery equipment control method according to any one of claims 1-3; When the loose bead feeding instructions are sent to the loose bead feeding control motors so that the loose bead feeding control motors control the loose bead feeding actuators to perform a bead feeding operation at the first needle point, the instruction sending module is specifically used to: determine the loose bead attribute information contained in any loose bead feeding instruction; determine the target closed-loop loose bead shift fork control motor corresponding to the loose bead feeding instruction based on the loose bead attribute information; and send the loose bead feeding instruction to the target closed-loop loose bead shift fork control motor so that the target closed-loop loose bead shift fork control motor performs a bead feeding operation; the bead feeding operation includes receiving a bead, waiting, and feeding a bead. Each gold sheet feeding instruction is sent to the respective gold sheet feeding control motor, so that when the gold sheet feeding control motor controls the gold sheet feeding actuator to perform the feeding operation at the first needle insertion point, the instruction sending module is specifically used to, for any gold sheet feeding instruction, control the gold sheet advance and retreat mechanism to advance the preset gold sheet bottom groove in the gold sheet embroidery device to the needle insertion point corresponding to the embroidery needle in the embroidery equipment; control the gold sheet shifting fork mechanism to push the gold sheet to be embroidered in the gold sheet bottom groove to the needle insertion point; and when it is determined that the embroidery needle is embroidering the gold sheet to be embroidered, control the gold sheet cutter assembly to cut the gold sheet to be embroidered.

5. An embroidery device, characterized in that, include: Peripheral controller, main controller, loose bead embroidery device and sequin embroidery device; The loose bead embroidery device includes at least one loose bead feeding actuator and a loose bead feeding control motor corresponding to each loose bead feeding actuator; the sequin embroidery device includes at least one sequin feeding actuator and a sequin feeding control motor corresponding to each sequin feeding actuator; the peripheral controller is connected to the main controller and each loose bead feeding control motor and each sequin feeding control motor respectively. The peripheral controller is used to execute the embroidery equipment control method according to any one of claims 1-3.

Images