Embroidery needle deviation correction method, device, equipment and storage medium

Abstract

The present invention relates to the field of carpet gun needle weaving, and discloses an embroidery gun needle deviation correction method, device, equipment and storage medium. The method comprises: obtaining the center point of the needle gun head and the current gun needle pile outlet eccentric point, and according to the center point and the current gun needle pile outlet eccentric point, obtaining the distance and eccentric angle between the center point and the current gun needle pile outlet eccentric point; according to the distance and eccentric angle between the center point and the current gun needle pile outlet eccentric point, obtaining the offset of the current gun needle pile outlet eccentric point; obtaining the offset of the previous needle gun needle pile outlet eccentric point, and according to the offset of the current needle pile outlet eccentric point and the offset of the previous needle pile outlet eccentric point, obtaining the coordinates of the current needle pile outlet eccentric point; moving the gun needle according to the coordinates of the current needle pile outlet eccentric point to realize the deviation correction of the gun needle pile outlet eccentric point not being at the center point. In an embodiment of the present invention, the stitch can be kept consistent with the center point, saving manual trimming time and improving production efficiency and quality.

Description

Technical Field

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

[0002] In the automated carpet needlework textile manufacturing industry, carpet embroidery uses a needle to insert yarn into the warp and weft gaps of the base fabric. The needle is mechanically fixed to the needle gun head. Since the diameter of a universal needle ranges from 2.0mm to 6.0mm, the mechanical installation cannot accurately locate the needle's yarn outlet center point to coincide with the needle gun head. This results in the needle gun head and the needle's yarn outlet point being misaligned, creating deviations. This causes the various embroidery stitches to be inconsistent with the original pattern, leading to deformation and thread stepping, affecting the accuracy and aesthetics of the embroidered carpet. Thread stepping between adjacent stitches can also cause uneven carpet density. Furthermore, manual rework and repairs are difficult and time-consuming, severely wasting labor 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 out of the pile, and obtain the distance between the center point and the current eccentric point of the needle out of the pile and the eccentric angle based on the center point and the current eccentric point of the needle out of the pile, wherein the eccentric angle is obtained based on the angle between the center point and the eccentric point of the needle out of the pile in a rectangular coordinate system with the center point as the origin;

[0006] Obtaining an 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;

[0007] Obtaining the offset of the eccentric point of the previous needle out of the pile, and obtaining the coordinates of the current eccentric point of the needle out of the pile according to the offset of the current eccentric point of the needle out of the pile and the offset of the eccentric point of the previous needle out of the pile;

[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 deviation correction so that the eccentric point of the gun needle out of the pile is not at the center point.

[0009] Optionally, in a first implementation of the first aspect of the present invention, obtaining 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 includes:

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

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

[0012] The coordinates of the current gun needle pile eccentric point are obtained according to the horizontal offset and vertical offset of the previous gun needle pile eccentric point in the rectangular coordinate system, and the horizontal offset and vertical offset 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, obtaining the coordinates of the current gun needle pile outlet eccentric point according to the horizontal offset and the vertical offset of the previous gun needle pile outlet eccentric point in the rectangular coordinate system, and the horizontal offset and the vertical offset of the current gun needle pile outlet eccentric point in the rectangular coordinate system, includes:

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

[0015] According to the vertical offset of the eccentric point of the previous needle pile outlet in the rectangular coordinate system, the vertical offset of the eccentric point of the current needle pile outlet 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 pile outlet is calculated.

[0016] Optionally, in a third implementation of the first aspect of the present invention, obtaining the center point of the needle tip and the current needle pile outlet eccentricity point, and obtaining the distance between the center point and the current needle pile outlet eccentricity point and the eccentricity angle based on the center point and the current needle pile outlet eccentricity point includes:

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

[0018] Obtaining an absolute angle corresponding to the eccentric angle according to the quadrant position of the current needle velvet outlet eccentric point in the rectangular coordinate system, the preset zero-degree position, and the center point;

[0019] According to the center point and the current eccentric point of the gun needle putting out the pile, the distance between the center point and the current eccentric point of the gun needle putting out the pile 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 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 needle velvet outlet eccentric point 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 needle pile eccentric point 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, calculating the absolute angle corresponding to the eccentric angle according to the coordinate axis direction of the current needle pile outlet eccentric point in the rectangular coordinate system and a 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, then 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 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 pile on the vertical 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 pile outlet eccentric point to achieve the correction to eliminate the gun needle pile 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 pile back to the center point;

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

[0030] The second aspect of the present invention provides an embroidery gun needle 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 correction device executes the above-mentioned embroidery gun needle 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 down are obtained, and based on the center point and the current eccentric point of the needle out of the down, the distance and the eccentric angle between the center point and the current eccentric point of the needle out of the down are obtained, and the eccentric angle is obtained based on the angle between the center point and the eccentric point of the needle out of the down in a rectangular coordinate system with the center point as the origin; based on the distance between the center point and the current eccentric point of the needle out of the down and the eccentric angle, the offset of the current eccentric point of the needle out of the down is obtained; the offset of the eccentric point of the needle out of the down of the previous needle is obtained, and based on the offset of the eccentric point of the current needle out of the down and the offset of the eccentric point of the needle out of the down of the previous needle, the coordinates of the current eccentric point of the needle out of the down are obtained; the needle is moved according to the coordinates of the current eccentric point of the needle out of the down, so as to realize the deviation correction that the eccentric point of the needle out of the down is not at the center point. In the present invention, the offset of the current eccentric point of the needle pile outlet is calculated by 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 being 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 needle deviation correction method according to an embodiment of the present invention;

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

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

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

[0037] Figure 5 Schematic diagram of the movement trajectory of the lance needle in an 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 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 following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0043] In the description of the embodiments disclosed herein, the term "including" and similar terms should be understood as open inclusion, i.e., "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 pile, and obtaining the distance and eccentric angle between the center point and the current eccentric point of the needle out of the pile based on the center point and the current eccentric point of the needle out of the pile.

[0046] In this embodiment, the structural diagram of the embroidery machine head needle is as follows: Figure 2 As shown, when the embroidery machine head rotates along the pattern path, the lancet head and the mechanically mounted needle rotate synchronously. This requires the lancet head's rotation center, the yarn exit point at the needle, and the needle center to be co-centered. Since universal carpet needles range in diameter from 2.5mm to 6.0mm, the mechanical embroidery machine head's rotation center remains constant, while the needle's yarn exit point deviates from the center, meaning the offset point is constantly changing.

[0047] First, obtain the center point of the needle tip and the current needle eccentric point of the wool, where the current needle eccentric point is the actual deviation of the needle from the wool line point, such as Figure 3 As shown, point O is the center point of the needle tip, point O1 is the eccentric point where the needle comes out of the pile, and the eccentric point where the needle comes out of the pile is O1 (X1, Y1). Figure 3 The outer curve (blue) shows the trajectory of the embroidery head relative to the center point O, rotating 360 degrees. The middle curve (red) shows the path of the needle, after it deviates from the center point, when the needle's eccentric point O1 rotates 360 degrees. The radius R of the circle deviating from the center point is the distance between the center point O and the eccentric point O1, and the included angle α is the eccentricity angle. Before embroidery, the distance between the center point and the current eccentric point of the needle's embroidery head and the eccentricity angle must be calculated based on the center point of the needle head and the current eccentric point of the needle's embroidery head to determine the current needle offset.

[0048] S200, obtaining an 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 outlet point deviates from the center point of the needle gun head, causing the embroidery stitch path to deform and move. Figure 4 As shown, if the needle thread exit point is concentric with the embroidery machine head, the embroidery stitch is A. If the needle thread exit point is eccentric with the embroidery machine head, as shown in Figure 3 Position, then the embroidery stitch is 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 needle velvet outlet eccentric point and the eccentric angle, calculate the horizontal offset of the current needle velvet outlet eccentric point in the rectangular coordinate system and the vertical offset of the current needle velvet outlet eccentric point 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 of trigonometric function pi, π radians = 180 degrees, 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 As shown, the eccentric angle of the needle pile discharge eccentric point O1 (X1, Y1) is Angel = α. When the needle pile discharge eccentric point O1 rotates by angle β to point O2, the eccentric angle of the needle pile discharge eccentric point O2 (X2, Y2) is 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 needle gun head is mechanically fixed and rotates 360°, the center point O (X0, Y0) will not change, and only the eccentric point of the needle will change. Therefore, when calculating the eccentric point On (Xn, Yn) of the needle for each needle in the pattern data, the calculation is done for the same center point O (X0, Y0). 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 restore from the eccentric point to the reference center point O (X0, Y0), and then recalculate the offset distance, so it cannot be directly accumulated. The next time the offset distance is calculated, the last accumulated offset distance must be eliminated first, and the eccentric point must be recalculated from the center point. Specifically, the "center point" coordinate O is (0, 0). During the rotation of the eccentric gun head, the eccentric point will follow the rotation on an arc with a radius of R. The coordinates of the eccentric point O1 after rotation can be calculated (O 1x , O 1y ) to get the offset distance L1 of the eccentric point. Before the needle is embroidered, the distance L1 from the center point to the eccentric point is subtracted by moving the frame, and the embroidery center point is obtained for embroidery. During the embroidery process, the needle rotates by an angle β to recalculate the coordinates of the eccentric point ( 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 cycle to achieve 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 gun needle pile outlet eccentric point, so as to achieve deviation correction when the gun needle pile outlet eccentric point is not at the center point.

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

[0057] In an optional embodiment of the first aspect of the present invention, obtaining the offset of the eccentric point of the previous needle out of the pile, and obtaining the coordinates of the current needle out of the pile eccentric point according to the offset of the current needle out of the pile and the offset of the eccentric point of the previous needle out of the pile includes:

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

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

[0061] According to the horizontal offset of the eccentric point of the previous needle's down outlet in the rectangular coordinate system, the horizontal offset of the eccentric point of the current needle's down outlet 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 outlet is calculated; according to the vertical offset of the eccentric point of the previous needle's down outlet in the rectangular coordinate system, the vertical offset of the eccentric point of the current needle's down outlet 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 outlet 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 obtain 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 obtain the vertical axis coordinate value of the offset of the eccentric point of the current needle. For example, Figure 5 As shown in the figure, the center point coordinates are O(X0, Y0), then the coordinate calculation of the offset of the eccentric point O1 where the needle exits the pile is:

[0063] Since the eccentric angle Angel = α;

[0064] Horizontal displacement X1 = cos(Angel*PI / 180)*R;

[0065] Vertical displacement Y1 = sin(Angel*PI / 180)*R;

[0066] The horizontal axis coordinate value X = X0-X1 = X0-cos(α*PI / 180)*R;

[0067] The vertical axis coordinate value Y=Y0-Y1=Y0-sin(α*PI / 180)*R;

[0068] During the embroidery process, the eccentric point is adjusted dynamically in real time to keep embroidery at the center point, eliminating the eccentric point. n(1,2,3,...) The offset between the point and the center O (X0, Y0). When the embroidery needle rotates at an angle β to embroider point O2, first remove the offset of the previous stitch and add the offset of the next stitch. Then the coordinates of the offset of the eccentric point O2 where the needle exits the velvet are calculated as follows:

[0069] X=X-X2+X1=X0-cos((α+β)*PI / 180)*R+cos(α*PI / 180)*R;

[0070] Y=Y-Y2+Y1=Y0-sin((α+β)*PI / 180)*R+sin(α*PI / 180)*R;

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

[0072] X=X-X3+X2;

[0073] Y=Y-Y3+Y2;

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

[0075] In an optional embodiment of the first aspect of the present invention, obtaining the center point of the needle tip and the current needle pile outlet eccentricity point, and obtaining the distance between the center point and the current needle pile outlet eccentricity point and the eccentricity angle according to the center point and the current needle pile outlet eccentricity point includes:

[0076] Get the center point of the needle tip and the current eccentric point of the needle out of the pile; get the absolute angle corresponding to the eccentric angle based on the quadrant position of the current eccentric point of the needle out of the pile 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 of the needle out of the pile based on the center point and the current eccentric point of the needle out of the pile.

[0077] In this embodiment, if Figure 5As shown in the figure, when the eccentric point rotates from point O1 to point O2, after the rotation angle β, the calculation of (α+β) uses the absolute angle 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 defined to achieve precise control. Figure 6 As shown in the figure, the motor pulse count corresponding to one 360° rotation of the spearhead motor is MAX_ANGEL = 360°. The positive Y-axis direction is defined as the zero position of the spearhead rotation, corresponding to an angle of 0 degrees. When rotating counterclockwise, the 360° rotation coincides with the 0° angle. Therefore, 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 needle's eccentric point 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, based on this absolute angle ANGEL, calculate the coordinates of the needle's eccentric point.

[0079] In an optional embodiment of the first aspect of the present invention, the eccentric angle is obtained according to the quadrant position of the current needle pile eccentric point in the rectangular coordinate system, the preset zero degree position and the center point, 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 pile outlet is on the coordinate axis of the rectangular coordinate system. If so, the absolute angle corresponding to the eccentric angle is calculated based on the coordinate axis direction of the current eccentric point of the needle pile outlet in the rectangular coordinate system and the preset zero-degree position. If the current eccentric point of the needle pile outlet is not on the coordinate axis of the rectangular coordinate system, the absolute angle corresponding to the eccentric angle is calculated based on the quadrant position of the current eccentric point of the needle pile outlet in the rectangular coordinate system, the preset zero-degree position, and the center point.

[0082] In an optional embodiment of the first aspect of the present invention, according to the coordinate axis direction of the current needle pile 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 needle out of the wool 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 needle out of the wool on the horizontal axis of the rectangular coordinate system and the preset zero degree position; if the current eccentric point of the needle out of the wool 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 needle out of the wool 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 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. 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 pile 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 pile 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 eccentricity data acquisition module 10 is used to obtain the center point of the needle tip and the current eccentricity point of the needle, and obtain the distance between the center point and the current eccentricity point of the needle and the eccentricity angle based on the center point and the current eccentricity point of the needle. The eccentricity angle is obtained based on the angle between the center point and the eccentricity 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 needle pile outlet eccentric point according to the distance and eccentric angle between the center point and the current needle pile outlet eccentric point;

[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 pile, and obtain the coordinates of the current eccentric point of the needle out of the pile according to the offset of the current eccentric point of the needle out of the pile and the offset of the eccentric point of the previous needle out of the pile;

[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 needle is not at the center.

[0091] In an optional embodiment 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 pile outlet in the rectangular coordinate system; obtain the horizontal offset and vertical offset of the eccentric point of the current needle pile outlet in the rectangular coordinate system; and obtain the coordinates of the current needle pile outlet eccentric point based on 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.

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

[0093] In an optional embodiment of the second aspect of the present invention, the eccentricity data acquisition module 10 is also used to obtain the center point of the needle tip and the current eccentricity point of the needle out of the wool; according to the quadrant position of the current eccentricity 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 eccentricity angle is obtained; according to the center point and the current eccentricity point of the needle out of the wool, the distance between the center point and the current eccentricity point of the needle out of the wool is obtained.

[0094] In an optional embodiment of the second aspect of the present invention, the eccentricity data acquisition module 10 is further 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 embodiment of the second aspect of the present invention, the eccentricity data acquisition module 10 is further 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's pile outlet back to the center point; according to the coordinates of the current gun needle's pile outlet eccentric point, the gun needle is moved to the current gun needle's pile outlet eccentric point to achieve correction of the gun needle's pile outlet eccentric point not being at the center point.

[0097] Figure 8 : is a structural diagram 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 temporary 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 further 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. It will be understood by those skilled in the art that Figure 8 The structure of the embroidery gun needle correcting device shown does not constitute a limitation on the embroidery gun needle correcting device, and may include more or fewer 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 can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores instructions, which, when executed on a computer, cause the computer to execute the steps of the embroidery needle deviation correction method.

[0100] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can 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 can 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 adopting specific order to describe each operation, this should be understood as requiring such operation to be carried out in the specific order shown or in sequential order, or requiring that all illustrated operations should be carried out to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although comprising some specific implementation details in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of 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 also can be implemented in a plurality of implementations individually or in the mode of any suitable subcombination.

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

Claims

1. A method for correcting the deviation of an embroidery 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 out of the pile, and according to the center point and the current eccentric point of the needle out of the pile, obtain the distance between the center point and the current eccentric point of the needle out of the pile and the eccentric angle. The eccentric angle is obtained based on the angle between the center point and the eccentric point of the needle out of the pile in the rectangular coordinate system with the center point as the origin. Specifically include: Get the center point of the needle tip and the current eccentric point of the needle out of the wool; Obtaining an absolute angle corresponding to the eccentric angle according to the quadrant position of the current needle velvet outlet eccentric point in the rectangular coordinate system, the preset zero-degree position, and the center point; According to the center point and the current eccentric point of the needle pile, the distance between the center point and the current eccentric point of the needle pile is obtained. Obtaining an 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; Obtaining the offset of the eccentric point of the previous needle pile outlet, and obtaining the coordinates of the current needle pile outlet eccentric point according to the offset of the current needle pile outlet eccentric point and the offset of the previous needle pile outlet eccentric point, specifically including: obtaining the horizontal offset and the vertical offset of the previous needle pile outlet eccentric point in the rectangular coordinate system; Obtaining the horizontal and vertical offsets of the current needle pile outlet eccentric point in the rectangular coordinate system; Obtaining the coordinates of the current eccentric point of the needle pile outlet according to the horizontal and vertical offsets of the previous needle pile outlet eccentric point in the rectangular coordinate system, and the horizontal and vertical offsets of the current needle pile outlet eccentric point in the rectangular coordinate system, specifically comprising: calculating the horizontal axis coordinate value of the offset of the current eccentric point of the needle pile outlet according to the horizontal offset of the previous needle pile outlet eccentric point in the rectangular coordinate system, the horizontal offset of the current needle pile outlet eccentric point in the rectangular coordinate system, and the center point; Calculate the vertical axis coordinate value of the offset of the eccentric point of the current needle pile outlet according to the vertical direction offset of the eccentric point of the previous needle pile outlet in the rectangular coordinate system, the vertical direction offset of the eccentric point of the current needle pile outlet in the rectangular coordinate system, and the center point; The gun needle is moved according to the coordinates of the current gun needle pile outlet eccentric point to achieve deviation correction of the gun needle pile outlet eccentric point not being at the center point, specifically comprising: moving the gun needle from the previous gun needle pile outlet eccentric point back to the center point; According to the coordinates of the current eccentric point of the needle pile outlet, the needle is moved to the current eccentric point of the needle pile outlet to achieve deviation correction so that the eccentric point of the needle pile outlet is not at the center point.

2. The embroidery gun needle deviation correction method according to claim 1, characterized in that: The absolute angle corresponding to the eccentric angle is obtained according to the quadrant position of the current needle velvet exit 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 so, the absolute angle corresponding to the eccentric angle is calculated 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; If not, the absolute angle corresponding to the eccentric angle is calculated according to the quadrant position of the current needle pile eccentric point in the rectangular coordinate system, the preset zero degree position and the center point.

3. The embroidery gun needle deviation correction method according to claim 2, characterized in that: Calculating the absolute angle corresponding to the eccentric angle according to the coordinate axis direction of the current needle pile eccentric point in the rectangular coordinate system and the preset zero degree position includes: If the current eccentric point of the needle pile is on the horizontal axis of the rectangular coordinate system, then 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 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 pile on the vertical axis of the rectangular coordinate system and the preset zero degree position.

4. An embroidery gun needle deviation correction device, characterized in that: The embroidery gun needle deviation correcting device comprises: The eccentricity data acquisition module is used to obtain the center point of the needle tip and the current eccentricity point of the needle, and obtain the distance between the center point and the current eccentricity point of the needle and the eccentricity angle based on the center point and the current eccentricity point of the needle. The eccentricity angle is obtained based on the angle between the center point and the eccentricity point of the needle in the rectangular coordinate system with the center point as the origin. The eccentricity data acquisition module is also used to obtain the center point of the needle tip and the current needle eccentricity point; according to the quadrant position of the current needle eccentricity point in the rectangular coordinate system, the preset zero position and the center point, the absolute angle corresponding to the eccentricity angle is obtained; according to the center point and the current needle eccentricity point, the distance between the center point and the current needle eccentricity point is obtained; an offset calculation module, for obtaining the offset of the current needle pile outlet eccentric point according to the distance between the center point and the current needle pile outlet eccentric point 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 pile, and obtain the coordinates of the current eccentric point of the needle out of the pile according to the offset of the current eccentric point of the needle out of the pile and the offset of the eccentric point of the previous needle out of the pile. The eccentric point coordinate calculation module is also used to obtain the horizontal and vertical offsets of the eccentric point of the previous needle in the rectangular coordinate system; obtain the horizontal and vertical offsets of the eccentric point of the current needle in the rectangular coordinate system; according to the horizontal and vertical offsets of the eccentric point of the previous needle in the rectangular coordinate system, and the horizontal and vertical offsets of the eccentric point of the current needle in the rectangular coordinate system, the coordinates of the eccentric point of the current needle are obtained. The eccentric point coordinate calculation module is further used to calculate the horizontal axis coordinate value of the offset of the eccentric point of the current needle pile outlet according to the horizontal direction offset of the eccentric point of the previous needle pile outlet in the rectangular coordinate system, the horizontal direction offset of the eccentric point of the current needle pile outlet 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 needle pile outlet according to the vertical direction offset of the eccentric point of the previous needle pile outlet in the rectangular coordinate system, the vertical direction offset of the eccentric point of the current needle pile outlet in the rectangular coordinate system, and the center point. 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 that the gun needle pile outlet eccentric point is not at the center point; the gun needle movement correction module is also used to move the gun needle from the previous gun needle pile outlet eccentric point back to the center point; according to the coordinates of the current gun needle pile outlet eccentric point, the gun needle is moved to the current gun needle pile outlet eccentric point, so as to achieve the correction that the gun needle pile outlet eccentric point is not at the center point.

5. An embroidery needle deviation correction device, characterized in that: The embroidery needle deviation correction device includes: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a circuit; 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 according to any one of claims 1 to 3.

6. 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 according to any one of claims 1 to 3 is implemented.

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