Embroidery gun needle deviation rectifying method, device and equipment and storage medium

Abstract

The invention relates to the field of carpet bayonet spinning, and discloses an embroidery gun needle deviation rectifying method, device and equipment and a storage medium. The method comprises the following steps: acquiring a central point of a gun head of a pricking gun and a current gun needle down-out eccentric point, and obtaining a distance and an eccentric angle between the central point and the current gun needle down-out eccentric point according to the central point and the current gun needle down-out eccentric point; according to the distance and the eccentric angle between the center point and the current pistol needle down-out eccentric point, the offset of the current pistol needle down-out eccentric point is obtained; obtaining the offset of the pile-out eccentric point of the previous gun needle, and obtaining the coordinate of the pile-out eccentric point of the current gun needle according to the offset of the pile-out eccentric point of the current gun needle and the offset of the pile-out eccentric point of the previous gun needle; and moving the gun needle according to the coordinate of the current gun needle down-out eccentric point so as to realize deviation correction when the gun needle down-out eccentric point is not at the central point. In the embodiment of the invention, the stitch can be kept consistent with the central point, the manual finishing time is saved, and the production efficiency and quality are improved.

Description

Technical Field

[0001] The invention relates to the field of carpet gun-stitching textiles, and in particular to an embroidery gun needle deviation correction method, device, equipment and storage medium. Background Art

[0002] In the carpet gun-stitching automated textile manufacturing industry, carpet embroidery uses a gun needle to insert the wool thread into the gap between the warp and weft of the base fabric. The gun needle is mechanically fixed on the gun head. Since the diameter of the universal gun needle itself is between 2.0mm and 6.0mm, the mechanical installation cannot accurately locate the center point of the gun needle's wool thread and the same center of the gun head, resulting in the mechanical gun head and the gun needle's wool thread point being not concentric, and there is a deviation, which causes the various embroidery stitch patterns to be inconsistent with the original pattern, resulting in deformation and displacement, and thread stepping problems, affecting the accuracy and beauty of the embroidered carpet embroidery. Adjacent stitches may step on the thread, causing uneven carpet density; and the later manual rework and repair is difficult and time-consuming, seriously wasting labor costs and time costs, resulting in low production efficiency and quality. Summary of the invention

[0003] The main purpose of the present invention is to solve the technical problems of low production efficiency and quality in carpet production and textile production.

[0004] A first aspect of the present invention provides an embroidery gun needle deviation correction method, the embroidery gun needle deviation correction method comprising:

[0005] Obtain the center point of the needle tip and the current eccentric point of the needle, and obtain the distance and eccentric angle between the center point and the current eccentric point of the needle according to the center point and the current eccentric point of the needle. The eccentric angle is obtained based on the angle between the center point and the eccentric point of the needle in the rectangular coordinate system with the center point as the origin;

[0006] According to the distance between the center point and the current eccentric point of the needle out of the pile and the eccentric angle, the offset of the current eccentric point of the needle out of the pile is obtained;

[0007] Obtain the offset of the eccentric point of the previous needle out of the down, and obtain the coordinates of the current eccentric point of the needle out of the down according to the offset of the current eccentric point of the needle out of the down and the offset of the eccentric point of the previous needle out of the down;

[0008] The gun needle is moved according to the coordinates of the current eccentric point of the gun needle out of the pile, so as to realize the correction that the eccentric point of the gun needle out of the pile is not at the central point.

[0009] Optionally, in a first implementation of the first aspect of the present invention, the obtaining of the offset of the eccentric point of the previous needle out of the down, and obtaining the coordinates of the current needle out of the down eccentric point according to the offset of the current needle out of the down eccentric point and the offset of the previous needle out of the down eccentric point, comprises:

[0010] Obtain the horizontal and vertical offsets of the eccentric point of the previous needle out of the needle in the rectangular coordinate system;

[0011] Obtaining the horizontal and vertical offsets of the current needle pile eccentric point in the rectangular coordinate system;

[0012] The coordinates of the current gun needle pile eccentric point are obtained according to the horizontal and vertical offsets of the previous gun needle pile eccentric point in the rectangular coordinate system and the horizontal and vertical offsets of the current gun needle pile eccentric point in the rectangular coordinate system.

[0013] Optionally, in a second implementation of the first aspect of the present invention, the coordinates of the current gun needle down eccentric point are obtained according to the horizontal offset and vertical offset of the previous gun needle down eccentric point in the rectangular coordinate system, and the horizontal offset and vertical offset of the current gun needle down eccentric point in the rectangular coordinate system, including:

[0014] Calculate the horizontal axis coordinate value of the offset of the eccentric point of the needle pile outlet at the current needle according to the horizontal direction offset of the eccentric point of the needle pile outlet at the previous needle in the rectangular coordinate system, the horizontal direction offset of the eccentric point of the needle pile outlet at the current needle in the rectangular coordinate system, and the center point;

[0015] According to the vertical offset of the eccentric point of the previous needle in the rectangular coordinate system, the vertical offset of the eccentric point of the current needle in the rectangular coordinate system, and the center point, the vertical axis coordinate value of the offset of the eccentric point of the current needle is calculated.

[0016] Optionally, in a third implementation of the first aspect of the present invention, the obtaining of the center point of the needle tip and the current needle out-of-pile eccentric point, and obtaining the distance between the center point and the current needle out-of-pile eccentric point and the eccentric angle according to the center point and the current needle out-of-pile eccentric point comprises:

[0017] Get the center point of the needle tip and the current eccentric point of the needle out of the wool;

[0018] According to the quadrant position of the current eccentric point of the gun needle in the rectangular coordinate system, the preset zero-degree position and the center point, the absolute angle corresponding to the eccentric angle is obtained;

[0019] According to the center point and the current eccentric point of the gun needle out of the down, the distance between the center point and the current eccentric point of the gun needle out of the down is obtained.

[0020] Optionally, in a fourth implementation of the first aspect of the present invention, obtaining the absolute angle corresponding to the eccentric angle according to the quadrant position of the current gun needle velvet outlet eccentric point in the rectangular coordinate system, the preset zero degree position and the center point includes:

[0021] Determine whether the current eccentric point of the gun needle out of the pile is on the coordinate axis of the rectangular coordinate system;

[0022] If so, the absolute angle corresponding to the eccentric angle is calculated according to the coordinate axis direction of the current eccentric point of the gun needle in the rectangular coordinate system and the preset zero degree position;

[0023] If not, the absolute angle corresponding to the eccentric angle is calculated according to the quadrant position of the current eccentric point of the gun needle in the rectangular coordinate system, the preset zero degree position and the center point.

[0024] Optionally, in a fifth implementation of the first aspect of the present invention, the calculating the absolute angle corresponding to the eccentric angle according to the coordinate axis direction of the current gun needle velvet outlet eccentric point in the rectangular coordinate system and the preset zero degree position includes:

[0025] If the current eccentric point of the needle pile is on the horizontal axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated according to the positive and negative directions of the current eccentric point of the needle pile on the horizontal axis of the rectangular coordinate system and the preset zero degree position;

[0026] If the current eccentric point of the needle pile is on the longitudinal axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated according to the positive and negative directions of the current eccentric point of the needle pile on the longitudinal axis of the rectangular coordinate system and the preset zero degree position.

[0027] Optionally, in a sixth implementation of the first aspect of the present invention, the moving the gun needle according to the coordinates of the current gun needle velvet outlet eccentric point to achieve the correction of eliminating the gun needle velvet outlet eccentric point not being at the center point includes:

[0028] Move the gun needle from the eccentric point where the previous gun needle comes out of the wool back to the central point;

[0029] According to the coordinates of the current eccentric point of the needle out of pile, the needle is moved to the current eccentric point of the needle out of pile, so as to realize the deviation correction that the eccentric point of the needle out of pile is not at the center point.

[0030] The second aspect of the present invention provides an embroidery gun needle deviation correction device, comprising: a memory and at least one processor, wherein instructions are stored in the memory, and the memory and the at least one processor are interconnected through a line; the at least one processor calls the instructions in the memory so that the embroidery gun needle deviation correction device executes the above-mentioned embroidery gun needle deviation correction method.

[0031] A third aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the above-mentioned embroidery gun needle deviation correction method.

[0032] In an embodiment of the present invention, the center point of the needle tip and the current eccentric point of the needle out of the needle are obtained, and based on the center point and the current eccentric point of the needle out of the needle, the distance between the center point and the current eccentric point of the needle out of the needle and the eccentric angle are obtained, the eccentric angle being obtained in a rectangular coordinate system with the center point as the origin, based on the angle between the center point and the eccentric point of the needle out of the needle in the rectangular coordinate system; based on the distance between the center point and the current eccentric point of the needle out of the needle and the eccentric angle, the offset of the current eccentric point of the needle out of the needle of the previous needle is obtained, and the coordinates of the current eccentric point of the needle out of the needle out of the needle are obtained based on the offset of the eccentric point of the current eccentric point of the needle out of the needle and the offset of the eccentric point of the needle out of the previous needle; the needle is moved according to the coordinates of the current eccentric point of the needle out of the needle, so as to realize the deviation correction that the eccentric point of the needle out of the needle is not at the center point. In the present invention, the offset of the current eccentric point of the needle pile outlet is calculated through the center point of the needle gun head and the current eccentric point of the needle pile outlet, and the coordinates of the current eccentric point of the needle pile outlet are obtained in combination with the offset of the eccentric point of the needle pile outlet of the previous needle. Then, the needle is moved according to the coordinates of the current eccentric point of the needle pile outlet to realize the correction of the eccentric point of the needle pile outlet that is not at the center point. In the carpet production and weaving process, the stitches can be kept consistent with the center point, the uniformity of the line texture of the carpet embroidery is greatly improved, the thread stepping is reduced, the flatness of the bottom line is guaranteed, the manual finishing time is saved, and the production efficiency and quality are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of an embodiment of an embroidery gun needle deviation correction method in an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of an embroidery machine head gun needle in an embodiment of the present invention;

[0035] Figure 3 Schematic diagram of the center offset of the bayonet tip in an embodiment of the present invention;

[0036] Figure 4 Schematic diagram of the deviation of the spear embroidery stitch in the embodiment of the present invention;

[0037] Figure 5 Schematic diagram of the movement trajectory of the lancet needle in the embodiment of the present invention;

[0038] Figure 6 Schematic diagram of absolute angle division of the lance needle in an embodiment of the present invention;

[0039] Figure 7 It is a schematic diagram of an embodiment of an embroidery gun needle deviation correction device in an embodiment of the present invention;

[0040] Figure 8 A schematic diagram of an embodiment of an embroidery needle deviation correction device in an embodiment of the present invention; DETAILED DESCRIPTION

[0041] The embodiments of the present invention provide an embroidery gun needle deviation correction method, device, equipment and storage medium.

[0042] The embodiments disclosed in the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments disclosed in the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments disclosed in the present invention are only for exemplary purposes and are not intended to limit the scope of protection disclosed in the present invention.

[0043] In the description of the embodiments disclosed in the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0044] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , an embodiment of the embroidery needle deviation correction method in the embodiment of the present invention includes:

[0045] S100, obtaining the center point of the needle tip and the current eccentric point of the needle out of the wool, and obtaining the distance and eccentric angle between the center point and the current eccentric point of the needle out of the wool according to the center point and the current eccentric point of the needle out of the wool.

[0046] In this embodiment, the structural diagram of the embroidery machine head needle is as follows: Figure 2 As shown in the figure, when the embroidery machine head rotates following the pattern path, the lancet head and the needle mechanically fixed will rotate synchronously. At this time, the lancet head rotation center, the thread exit point of the needle, and the needle center are required to be at the same center of the circle. Since the diameter of the universal needle for carpets is 2.5mm to 6.0mm, the center point of the mechanical embroidery machine head rotation will not change, but the needle thread exit point deviates from the center point, that is, the offset point is constantly changing.

[0047] First, obtain the center point of the needle tip and the current needle eccentric point, where the current needle eccentric point is the actual deviation of the needle from the point where the needle is actually out of the line. Figure 3 As shown, point O is the center point of the spear head. 1 It is the eccentric point of the needle out of the velvet. The eccentric point of the needle out of the velvet is O 1 (X 1 , Y 1 ), Figure 3 The middle and outer curves (blue curves) are the trajectories corresponding to the center point O of the embroidery machine head when it rotates 360 degrees. The middle curve (red curve) is the eccentric point O of the needle after the needle deviates from the center point. 1 The path corresponding to a 360-degree rotation, where the radius R of the circle deviating from the center point is the distance between the center point O and the eccentric point O of the needle out of the velvet 1 Before embroidery, the distance between the center point and the current eccentric point of the needle and the eccentric angle need to be calculated based on the center point of the needle tip and the current eccentric point of the needle to get the offset of the current needle.

[0048] S200, obtaining the offset of the current eccentric point of the needle pile outlet according to the distance between the center point and the current eccentric point of the needle pile outlet and the eccentric angle.

[0049] In this embodiment, the current needle thread exit point deviates from the center point of the needle tip, causing the embroidery stitch path to deform and move. Figure 4 As shown in the figure, if the needle thread exit point is concentric with the embroidery machine head, then the embroidery stitch is A. If the needle thread exit point is eccentric with the embroidery machine head, as shown in the figure, Figure 3 Position, then the stitches embroidered are B. From B, we can see that eccentricity will cause the embroidery stitch path to move, resulting in parallel and easy thread stepping. According to the distance between the center point and the current eccentric point of the needle, and the eccentric angle, calculate the horizontal offset of the current eccentric point of the needle in the rectangular coordinate system and the vertical offset of the current eccentric point of the needle in the rectangular coordinate system. The offset calculation is as follows:

[0050] Horizontal offset Xn = cos(Angel*PI / 180)*R;

[0051] Vertical offset Yn = sin(Angel*PI / 180)*R;

[0052] Among them, PI is the constant pi of the trigonometric function, π radians = 180°, R is the distance between the center point and the eccentric point of the needle, the eccentric point offset distance L = R, Angel is the angle between the eccentric point of the needle and the X-axis of the rectangular coordinate system, that is, the eccentric angle. For example, Figure 5 The eccentric point of the needle out of the pile is O 1 (X 1 , Y 1 ) has an eccentric angle of Angel = α. When the needle exits the velvet, the eccentric point O 1 Rotate angle β to point O2 , the needle out of the eccentric point O 2 (X 2 , Y 2 )’s eccentric angle Angel = 180-α-β.

[0053] S300, obtaining the offset of the eccentric point of the previous needle out of the down, and obtaining the coordinates of the current eccentric point of the needle out of the down according to the offset of the current eccentric point of the needle out of the down and the offset of the eccentric point of the previous needle out of the down.

[0054] In this embodiment, since the bayonet head is mechanically fixed and rotated 360°, the center point O(X 0 , Y 0 ) will not change, only the eccentric point of the needle out of the pile will change. Therefore, when calculating the eccentric point of the needle out of the pile On(Xn, Yn) for each needle in the pattern data, the same center point O(Xn) is used. 0 , Y 0 ) calculation. When the needle of the previous needle moves from the center point to the eccentric point, the needle of the next needle needs to first return from the eccentric point to the reference center point O(X 0 , Y 0 ), and then recalculate the offset distance, so it cannot be directly accumulated. The next time you calculate the offset distance, you need to eliminate the last accumulated offset distance and recalculate the eccentric point from the center point. Specifically, the "center point" coordinate O coordinates (0, 0). During the rotation of the eccentric gun head, the eccentric point will rotate on the arc with a radius of R. The coordinates of the eccentric point O1 after rotation can be calculated (O 1x , O 1y ), and get the eccentric point offset distance L 1 Before embroidery, the distance L1 from the center point to the eccentric point is subtracted by moving the frame, so the embroidery center point is obtained and then the embroidery is started. During the embroidery process, the needle follows the rotation angle β to recalculate the coordinates of the eccentric point (O 2x , O 2y ), obtain the eccentric point offset distance L2, and then eliminate the previous offset distances L1 and L2 by moving the frame, and repeat this process in a cycle, and realize automatic deviation correction by eliminating the center eccentricity by moving the frame.

[0055] S400, moving the gun needle according to the coordinates of the offset of the current eccentric point of the gun needle to correct the eccentric point of the gun needle.

[0056] In this embodiment, according to the coordinates of the current eccentric point of the needle, the needle is moved to the current eccentric point of the needle, so as to achieve deviation correction when the eccentric point of the needle is not at the center.

[0057] In an optional embodiment of the first aspect of the present invention, the offset of the eccentric point of the previous needle out of the down is obtained, and the coordinates of the current eccentric point of the needle out of the down are obtained according to the offset of the eccentric point of the current needle out of the down and the offset of the eccentric point of the previous needle out of the down, including:

[0058] Get the horizontal and vertical offsets of the eccentric point of the previous needle's down in the rectangular coordinate system; get the horizontal and vertical offsets of the eccentric point of the current needle's down in the rectangular coordinate system; get the coordinates of the current needle's down eccentric point based on the horizontal and vertical offsets of the eccentric point of the previous needle's down in the rectangular coordinate system and the horizontal and vertical offsets of the eccentric point of the current needle's down in the rectangular coordinate system.

[0059] In this embodiment, according to the distance between the center point and the current eccentric point of the gun needle down and the eccentric angle, the horizontal offset of the current eccentric point of the gun needle down in the rectangular coordinate system and the vertical offset of the current eccentric point of the gun needle down in the rectangular coordinate system are calculated, and the horizontal offset and vertical offset of the eccentric point of the gun needle down of the previous needle in the rectangular coordinate system are obtained. When calculating the coordinates of the current eccentric point of the gun needle down, it is necessary to first remove the horizontal offset and vertical offset of the eccentric point of the gun needle down of the previous needle in the rectangular coordinate system, and then accumulate the horizontal offset and vertical offset of the eccentric point of the gun needle down in the rectangular coordinate system.

[0060] In an optional embodiment of the first aspect of the present invention, according to the horizontal offset and vertical offset of the eccentric point of the previous needle out of the pile in the rectangular coordinate system, and the horizontal offset and vertical offset of the eccentric point of the current needle out of the pile in the rectangular coordinate system, the coordinates of the current needle out of the pile eccentric point are obtained, including:

[0061] According to the horizontal offset of the eccentric point of the previous needle's down in the rectangular coordinate system, the horizontal offset of the eccentric point of the current needle's down in the rectangular coordinate system, and the center point, the horizontal axis coordinate value of the offset of the eccentric point of the current needle's down in the rectangular coordinate system is calculated; according to the vertical offset of the eccentric point of the previous needle's down in the rectangular coordinate system, the vertical offset of the eccentric point of the current needle's down in the rectangular coordinate system, and the center point, the vertical axis coordinate value of the offset of the eccentric point of the current needle's down in the rectangular coordinate system is calculated.

[0062] In this embodiment, the horizontal offset of the eccentric point of the previous needle in the rectangular coordinate system is removed, and the horizontal offset of the eccentric point of the current needle in the rectangular coordinate system is accumulated to calculate the horizontal axis coordinate value of the offset of the eccentric point of the current needle. The vertical offset of the eccentric point of the previous needle in the rectangular coordinate system is removed, and the vertical offset of the eccentric point of the current needle in the rectangular coordinate system is accumulated to calculate the vertical axis coordinate value of the offset of the eccentric point of the current needle. For example, Figure 5 As shown, the center point coordinates O(X 0 , Y 0 ), then the eccentric point of the needle out of the velvet is O 1 The coordinates of the offset are calculated:

[0063] Since the eccentricity angle Angel = α;

[0064] Horizontal displacement X 1 =cos(Angel*PI / 180)*R;

[0065] Vertical displacement Y 1 = sin(Angel*PI / 180)*R;

[0066] The horizontal axis coordinate value X = X 0 -X 1 =X 0 -cos(α*PI / 180)*R;

[0067] The vertical axis coordinate value Y=Y 0 -Y 1 =Y 0 -sin(α*PI / 180)*R;

[0068] During the embroidery process, the eccentric point is adjusted dynamically in real time. The embroidery is always at the center point of the embroidery to eliminate the eccentric point. n(1,2,3,...) Point and center O(X 0 , Y 0 ) point. When the embroidery needle rotates angle β to point O 2 When embroidering, first remove the offset of the previous stitch and add the offset of the next stitch, then the eccentric point of the needle exiting the velvet is O. 2 The coordinates of the offset are calculated:

[0069] X=XX 2 +X 1 =X 0 -cos((α+β)*PI / 180)*R+cos(α*PI / 180)*R;

[0070] Y=YY 2 +Y 1 =Y 0-sin((α+β)*PI / 180)*R+sin(α*PI / 180)*R;

[0071] Next stitch, calculate the coordinates of the eccentric point:

[0072] X=XX 3 +X 2 ;

[0073] Y=YY 3 +Y 2 ;

[0074] Repeat this process until the embroidery is finished.

[0075] In an optional implementation of the first aspect of the present invention, the center point of the needle tip and the current needle out-of-pile eccentric point are obtained, and the distance between the center point and the current needle out-of-pile eccentric point and the eccentric angle are obtained according to the center point and the current needle out-of-pile eccentric point, including:

[0076] Get the center point of the needle tip and the current eccentric point where the needle is out of the wool; get the absolute angle corresponding to the eccentric angle according to the quadrant position of the current eccentric point where the needle is out of the wool in the rectangular coordinate system, the preset zero-degree position and the center point; get the distance between the center point and the current eccentric point where the needle is out of the wool according to the center point and the current eccentric point where the needle is out of the wool.

[0077] In this embodiment, if Figure 5 As shown, the eccentric point is from O 1 Rotate point to O 2 When the needle rotates to the position of the target, the absolute angle (α+β) is used to determine the offset coordinates corresponding to the current needle rotation, and obtain the position coordinates (RX, RY) corresponding to each specified angle in a circle. The absolute angle ANGEL corresponding to 0 to 360 degrees of rotation in a circle can be subdivided to achieve precise control. Figure 6 As shown in the figure, the motor pulse number corresponding to the motor rotating the spear head for one 360° rotation is currently converted to MAX_ANGEL=360°. The positive direction of the Y axis is defined as the zero position of the spear head rotation, and the corresponding angle is 0 degrees. When rotating counterclockwise, the 360° circle coincides with the 0° angle position, so the eccentric point On (Xn, Yn) will have an absolute angle corresponding to any point on the arc.

[0078] Determine the quadrant position of the current eccentric point of the needle in the rectangular coordinate system. If the eccentric point is in the first quadrant, ANGEL = 270° + eccentric angle; if the eccentric point is in the second quadrant, ANGEL = 90° - eccentric angle; if the eccentric point is in the third quadrant, ANGEL = 90° + eccentric angle; if the eccentric point is in the fourth quadrant, ANGEL = 270° - eccentric angle. Then, according to the absolute angle ANGEL, calculate the coordinates of the eccentric point of the needle.

[0079] In an optional implementation of the first aspect of the present invention, according to the quadrant position of the current gun needle velvet outlet eccentric point in the rectangular coordinate system, the preset zero degree position and the center point, the eccentric angle is obtained including:

[0080] Determine whether the current eccentric point of the needle out of the wool is on the coordinate axis of the rectangular coordinate system; if so, calculate the absolute angle corresponding to the eccentric angle according to the coordinate axis direction of the current eccentric point of the needle out of the wool in the rectangular coordinate system and the preset zero-degree position; if not, calculate the absolute angle corresponding to the eccentric angle according to the quadrant position of the current eccentric point of the needle out of the wool in the rectangular coordinate system, the preset zero-degree position and the center point.

[0081] In this embodiment, first, it is determined whether the current eccentric point of the needle is on the coordinate axis of the rectangular coordinate system. If so, the absolute angle corresponding to the eccentric angle is calculated according to the coordinate axis direction of the current eccentric point of the needle in the rectangular coordinate system and the preset zero-degree position. If the current eccentric point of the needle is not on the coordinate axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated according to the quadrant position of the current eccentric point of the needle in the rectangular coordinate system, the preset zero-degree position and the center point.

[0082] In an optional implementation of the first aspect of the present invention, according to the coordinate axis direction of the current needle velvet outlet eccentric point in the rectangular coordinate system and the preset zero degree position, calculating the absolute angle corresponding to the eccentric angle includes:

[0083] If the current eccentric point of the gun needle is on the horizontal axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated based on the positive and negative directions of the current eccentric point of the gun needle on the horizontal axis of the rectangular coordinate system and the preset zero degree position; if the current eccentric point of the gun needle is on the vertical axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated based on the positive and negative directions of the current eccentric point of the gun needle on the vertical axis of the rectangular coordinate system and the preset zero degree position.

[0084] In this embodiment, if the current eccentric point of the needle out of the down is on the horizontal axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated according to the positive and negative directions of the current eccentric point of the needle out of the down on the horizontal axis of the rectangular coordinate system and the preset zero-degree position. Specifically, assuming the eccentric point position coordinates (RX, RY), RX=0, if RY>0, then the absolute angle ANGEL=0°, if RY<0, then ANGEL=180°. If the current eccentric point of the needle out of the down is on the vertical axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated according to the positive and negative directions of the current eccentric point of the needle out of the down on the vertical axis of the rectangular coordinate system and the preset zero-degree position. Specifically, assuming the eccentric point position coordinates (RX, RY), RY=0, if RX>0, then the absolute angle ANGEL=270°, if RX<0, then ANGEL=90°. The absolute angle calculation logic of the eccentric point (RX, RY) is as follows:

[0085]

[0086] See also Figure 7 The second aspect of the present invention provides an embroidery gun needle deviation correction device, the embroidery gun needle deviation correction device comprising:

[0087] The eccentric data acquisition module 10 is used to obtain the center point of the needle tip and the current eccentric point of the needle, and obtain the distance between the center point and the current eccentric point of the needle according to the center point and the current eccentric point of the needle. The eccentric angle is obtained based on the angle between the center point and the eccentric point of the needle in the rectangular coordinate system with the center point as the origin;

[0088] The offset calculation module 20 is used to obtain the offset of the current eccentric point of the needle out of the pile according to the distance and eccentric angle between the center point and the current eccentric point of the needle out of the pile;

[0089] The eccentric point coordinate calculation module 30 is used to obtain the offset of the eccentric point of the previous needle out of the down, and obtain the coordinates of the current eccentric point of the needle out of the down according to the offset of the current eccentric point of the needle out of the down and the offset of the eccentric point of the previous needle out of the down;

[0090] The needle movement correction module 40 is used to move the needle according to the coordinates of the current eccentric point of the needle to correct the eccentric point of the needle when the eccentric point is not at the center.

[0091] In an optional implementation of the second aspect of the present invention, the eccentric point coordinate calculation module 30 is also used to obtain the horizontal offset and vertical offset of the eccentric point of the previous needle out of the gun in the rectangular coordinate system; obtain the horizontal offset and vertical offset of the eccentric point of the current needle out of the gun in the rectangular coordinate system; according to the horizontal offset and vertical offset of the eccentric point of the previous needle out of the gun in the rectangular coordinate system, and the horizontal offset and vertical offset of the eccentric point of the current needle out of the gun in the rectangular coordinate system, the coordinates of the eccentric point of the current needle out of the gun are obtained.

[0092] In an optional implementation of the second aspect of the present invention, the eccentric point coordinate calculation module 30 is also used to calculate the horizontal axis coordinate value of the offset of the eccentric point of the current gun needle down according to the horizontal offset of the eccentric point of the previous gun needle down in the rectangular coordinate system, the horizontal offset of the eccentric point of the current gun needle down in the rectangular coordinate system, and the center point; and calculate the vertical axis coordinate value of the offset of the eccentric point of the current gun needle down according to the vertical offset of the eccentric point of the previous gun needle down in the rectangular coordinate system, the vertical offset of the eccentric point of the current gun needle down in the rectangular coordinate system, and the center point.

[0093] In an optional implementation of the second aspect of the present invention, the eccentric data acquisition module 10 is also used to obtain the center point of the needle tip and the current eccentric point of the needle out of the wool; according to the quadrant position of the current eccentric point of the needle out of the wool in the rectangular coordinate system, the preset zero degree position and the center point, the absolute angle corresponding to the eccentric angle is obtained; according to the center point and the current eccentric point of the needle out of the wool, the distance between the center point and the current eccentric point of the needle out of the wool is obtained.

[0094] In an optional implementation of the second aspect of the present invention, the eccentricity data acquisition module 10 is also used to determine whether the current eccentricity point of the gun needle out of the wool is on the coordinate axis of the rectangular coordinate system; if so, the absolute angle corresponding to the eccentricity angle is calculated based on the coordinate axis direction of the current eccentricity point of the gun needle out of the wool in the rectangular coordinate system and the preset zero degree position; if not, the absolute angle corresponding to the eccentricity angle is calculated based on the quadrant position of the current eccentricity point of the gun needle out of the wool in the rectangular coordinate system, the preset zero degree position and the center point.

[0095] In an optional implementation of the second aspect of the present invention, the eccentricity data acquisition module 10 is also used to calculate the absolute angle corresponding to the eccentricity angle according to the positive and negative directions of the horizontal axis of the rectangular coordinate system and the preset zero degree position of the current eccentricity point of the gun needle out of the wool if the current eccentricity point of the gun needle out of the wool is on the horizontal axis of the rectangular coordinate system; if the current eccentricity point of the gun needle out of the wool is on the vertical axis of the rectangular coordinate system, then the absolute angle corresponding to the eccentricity angle is calculated according to the positive and negative directions of the vertical axis of the rectangular coordinate system and the preset zero degree position of the current eccentricity point of the gun needle out of the wool.

[0096] In an optional embodiment of the second aspect of the present invention, the gun needle movement correction module 40 is also used to move the gun needle from the eccentric point of the previous gun needle out of the wool back to the center point; according to the coordinates of the current gun needle out of the wool eccentric point, the gun needle is moved to the current gun needle out of the wool eccentric point to achieve the correction of the gun needle out of the wool eccentric point is not the center point.

[0097] Figure 8 : is a schematic diagram of the structure of an embroidery needle deviation correction device provided by an embodiment of the present invention. The embroidery needle deviation correction device 500 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 510 (for example, one or more processors) and a memory 520, and one or more storage media 530 (for example, one or more mass storage devices) storing application programs 533 or data 532. Among them, the memory 520 and the storage medium 530 can be short-term storage or permanent storage. The program stored in the storage medium 530 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the embroidery needle deviation correction device 500. Furthermore, the processor 510 can be configured to communicate with the storage medium 530 to execute a series of instruction operations in the storage medium 530 on the embroidery needle deviation correction device 500.

[0098] The embroidery needle correction device 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input and output interfaces 560, and / or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will appreciate that Figure 8 The structure of the embroidery gun needle deviation correction device shown does not constitute a limitation on the embroidery gun needle deviation correction device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0099] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the embroidery needle correction method.

[0100] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0101] In addition, although each operation is described in a specific order, this should be understood as requiring such operation to be performed in the specific order shown or in a sequential order, or requiring that all illustrated operations should be performed to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination mode.

[0102] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A method for correcting the deviation of an embroidery gun needle, characterized in that: The embroidery gun needle deviation correction method comprises: Obtain the center point of the needle tip and the current eccentric point of the needle, and obtain the distance and eccentric angle between the center point and the current eccentric point of the needle according to the center point and the current eccentric point of the needle. The eccentric angle is obtained based on the angle between the center point and the eccentric point of the needle in the rectangular coordinate system with the center point as the origin; According to the distance between the center point and the current eccentric point of the needle out of the pile and the eccentric angle, the offset of the current eccentric point of the needle out of the pile is obtained; Obtain the offset of the eccentric point of the previous needle out of the down, and obtain the coordinates of the current eccentric point of the needle out of the down according to the offset of the current eccentric point of the needle out of the down and the offset of the eccentric point of the previous needle out of the down; The gun needle is moved according to the coordinates of the current eccentric point of the gun needle out of the pile, so as to realize the deviation correction that the eccentric point of the gun needle out of the pile is not at the central point.

2. The embroidery gun needle deviation correction method according to claim 1, characterized in that: The step of obtaining the offset of the eccentric point of the previous needle out of the down, and obtaining the coordinates of the current eccentric point of the needle out of the down according to the offset of the current eccentric point of the needle out of the down and the offset of the eccentric point of the previous needle out of the down comprises: Obtain the horizontal and vertical offsets of the eccentric point of the previous needle out of the needle in the rectangular coordinate system; Obtaining the horizontal and vertical offsets of the current needle pile eccentric point in the rectangular coordinate system; The coordinates of the current gun needle pile eccentric point are obtained according to the horizontal and vertical offsets of the previous gun needle pile eccentric point in the rectangular coordinate system and the horizontal and vertical offsets of the current gun needle pile eccentric point in the rectangular coordinate system.

3. The embroidery gun needle deviation correction method according to claim 2, characterized in that: The coordinates of the current eccentric point of the needle pile outlet are obtained according to the horizontal offset and vertical offset of the eccentric point of the previous needle pile outlet in the rectangular coordinate system, and the horizontal offset and vertical offset of the eccentric point of the current needle pile outlet in the rectangular coordinate system, including: Calculate the horizontal axis coordinate value of the offset of the eccentric point of the needle pile outlet at the current needle according to the horizontal direction offset of the eccentric point of the needle pile outlet at the previous needle in the rectangular coordinate system, the horizontal direction offset of the eccentric point of the needle pile outlet at the current needle in the rectangular coordinate system, and the center point; According to the vertical offset of the eccentric point of the previous needle in the rectangular coordinate system, the vertical offset of the eccentric point of the current needle in the rectangular coordinate system, and the center point, the vertical axis coordinate value of the offset of the eccentric point of the current needle is calculated.

4. The embroidery gun needle deviation correction method according to claim 1, characterized in that: The method of obtaining the center point of the needle tip and the current needle out-of-pile eccentric point, and obtaining the distance between the center point and the current needle out-of-pile eccentric point and the eccentric angle according to the center point and the current needle out-of-pile eccentric point includes: Get the center point of the needle tip and the current eccentric point of the needle out of the wool; According to the quadrant position of the current eccentric point of the gun needle in the rectangular coordinate system, the preset zero-degree position and the center point, the absolute angle corresponding to the eccentric angle is obtained; According to the center point and the current eccentric point of the gun needle out of the down, the distance between the center point and the current eccentric point of the gun needle out of the down is obtained.

5. The embroidery gun needle deviation correction method according to claim 4, characterized in that: The absolute angle corresponding to the eccentric angle is obtained according to the quadrant position of the current gun needle velvet outlet eccentric point in the rectangular coordinate system, the preset zero degree position and the center point, including: Determine whether the current eccentric point of the gun needle out of the pile is on the coordinate axis of the rectangular coordinate system; If yes, then according to the coordinate axis direction of the current gun needle velvet exit eccentric point in the rectangular coordinate system and the preset zero degree position, the absolute angle corresponding to the eccentric angle is calculated; If not, the absolute angle corresponding to the eccentric angle is calculated according to the quadrant position of the current eccentric point of the gun needle in the rectangular coordinate system, the preset zero degree position and the center point.

6. The embroidery gun needle deviation correction method according to claim 5, characterized in that: The calculation of the absolute angle corresponding to the eccentric angle according to the coordinate axis direction of the current gun needle velvet outlet eccentric point in the rectangular coordinate system and the preset zero degree position comprises: If the current eccentric point of the needle pile is on the horizontal axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated according to the positive and negative directions of the current eccentric point of the needle pile on the horizontal axis of the rectangular coordinate system and the preset zero degree position; If the current eccentric point of the needle pile is on the longitudinal axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated according to the positive and negative directions of the current eccentric point of the needle pile on the longitudinal axis of the rectangular coordinate system and the preset zero degree position.

7. The embroidery gun needle deviation correction method according to claim 1, characterized in that: The step of moving the gun needle according to the coordinates of the current gun needle velvet outlet eccentric point to achieve the correction of eliminating the gun needle velvet outlet eccentric point not being at the center point includes: Move the gun needle from the eccentric point where the previous gun needle comes out of the wool back to the central point; According to the coordinates of the current eccentric point of the needle out of pile, the needle is moved to the current eccentric point of the needle out of pile, so as to realize the deviation correction that the eccentric point of the needle out of pile is not at the center point.

8. An embroidery gun needle deviation correction device, characterized in that: The embroidery gun needle deviation correcting device comprises: An eccentric data acquisition module is used to acquire the center point of the needle tip and the current eccentric point of the needle, and obtain the distance between the center point and the current eccentric point of the needle and the eccentric angle according to the center point and the current eccentric point of the needle. The eccentric angle is obtained based on the angle between the center point and the eccentric point of the needle in the rectangular coordinate system with the center point as the origin; An offset calculation module, used for obtaining the offset of the current eccentric point of the needle out of the pile according to the distance between the center point and the current eccentric point of the needle out of the pile and the eccentric angle; The eccentric point coordinate calculation module is used to obtain the offset of the eccentric point of the previous needle out of the down, and obtain the coordinates of the current eccentric point of the needle out of the down according to the offset of the current eccentric point of the needle out of the down and the offset of the eccentric point of the previous needle out of the down; The gun needle movement correction module is used to move the gun needle according to the coordinates of the current gun needle pile outlet eccentric point, so as to achieve the correction of the gun needle pile outlet eccentric point not being at the center point.

9. An embroidery needle deviation correction device, characterized in that: The embroidery gun needle deviation correction device comprises: a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected through a line; The at least one processor calls the instructions in the memory to enable the embroidery gun needle deviation correction device to execute the embroidery gun needle deviation correction method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the embroidery gun needle correction method as described in any one of claims 1 to 7 is implemented.

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