Corner sewing method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a corner sewing method and device, electronic equipment and a storage medium, and the method comprises the steps that the theoretical corner sewing speed and the theoretical corner sewing needle number meeting a first relational expression are determined, the first relational expression is # imgabs0 #, Mi represents the speed variation of the ith needle when a corner is sewn, and Mi represents the speed variation of the ith needle when the corner is sewn; v0 represents the sewing speed of the junction of the straight line of the sewn fabric and the corner, Vi represents the sewing speed of the ith needle when the corner is sewn, and when the corner is sewn, the sewing needle of the sewing machine is controlled to conduct sewing according to the theoretical corner sewing speed and the theoretical corner sewing needle number. According to the method and device provided by the embodiment of the invention, the control unit of the sewing machine controls the sewing machine to perform deceleration sewing according to the number of stitches needing to be sewn of the corner to be sewn, so that the situation that the sewing speed is too high when the corner is sewn is avoided, the sewing needle of the sewing machine is matched with the feeding plate, and the sewing efficiency is improved. Therefore, the occurrence probability of the phenomena of large and small stitches, non-straight corners, round corners and outward falling of the corners is reduced, and the sewing quality of the corners of the embroidery is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sewing machines, and in particular to a corner sewing method, device, electronic equipment and storage medium. Background Art

[0002] A sewing machine includes a needle, a needle bar, a feed plate, and a presser foot. The needle is one of the core components of a sewing machine. It is fixed on the needle bar, and the eye of the needle is located behind the tip of the needle, not the tail. The needle bar is pulled up and down by a motor through a series of gears and cams. The feed plate is used to transport the fabric during the sewing process, and the presser foot is used to press the fabric to ensure that it remains stable during the sewing process. When the needle descends from top to bottom and passes through the fabric, it pulls out a small loop from one side of the fabric to the other. A fixing device under the fabric (such as a shuttle bed) will grab this loop and wrap it around another thread (bottom thread) or another loop of the same thread. In this way, the loop is intertwined with the bottom thread to form a continuous stitch. Such as Figure 4 As shown, the traces are divided into straight lines and corners ( Figure 4 The number of sewing stitches at the corner is related to the size and shape of the corner.

[0003] Most of the existing technologies improve the sewing efficiency of the sewing machine by increasing the sewing speed of the sewing needle. When sewing to the corner, it is necessary to change the direction of the feed plate to convey the fabric to complete the sewing of the corner. However, at this time, the sewing needle is still in a high-speed sewing state, which does not match the state of the feed plate, so that it is easy to form large and small needles, crooked corners, rounded corners and outward corners at the corners, which reduces the sewing quality of the embroidery corners. Summary of the invention

[0004] To solve the problems existing in the prior art, one or more embodiments of the present specification describe a corner sewing method, device, electronic device and storage medium.

[0005] According to a first aspect, a corner sewing method is provided, the method comprising:

[0006] Determine the theoretical corner sewing speed and the theoretical corner sewing stitch number that satisfy the first relationship, wherein the first relationship is V i =V 0 -∑ i q＝1 M i , where M i V represents the speed change of the i-th needle when sewing a corner. 0 Indicates the sewing speed at the intersection of the straight line and the corner of the sewing fabric, V i Indicates the sewing speed of the i-th stitch when sewing a corner;

[0007] When sewing the corner, the sewing machine needle is controlled to sew according to the theoretical corner sewing speed and the theoretical number of corner sewing needles.

[0008] Preferably, the method further comprises acquiring sewing data of subsequent sewing needles, detecting whether there is a corner to be sewn according to the sewing data of the subsequent sewing needles, and performing decelerated straight-line sewing when the corner to be sewn is detected.

[0009] Preferably, the sewing data includes the displacement of the current sewing position and the previous sewing position in two directions perpendicular to each other on the plane where the sewing fabric is located.

[0010] Preferably, the detecting the corner to be sewn comprises:

[0011] According to the position data of the subsequent sewing needles, the angle change of each stitch is obtained, and the speed change of each stitch is obtained according to the angle change of each stitch.

[0012] Preferably, the angle change of each needle is proportional to the speed change of each needle.

[0013] Preferably, when sewing a corner, the feed plate is controlled to move the sewing fabric, and the moving direction of the sewing fabric is opposite to the contraction direction of the sewing fabric.

[0014] Preferably, the sewing fabric material and the speed at which the feed plate moves the sewing fabric satisfying the second relationship are determined, and the second relationship is: Among them, V represents the speed at which the feed plate moves the sewing fabric, V i represents the sewing speed of the i-th needle when sewing a corner, F represents the softness or hardness of the sewing fabric, and when sewing a corner, the feed plate of the sewing machine is controlled to move the sewing fabric according to the second relational expression.

[0015] According to a second aspect, a corner sewing device is provided, the device comprising:

[0016] A calculation module is used to determine a theoretical corner sewing speed and a theoretical corner sewing stitch number that satisfy a first relationship, wherein the first relationship is: Among them, M i V represents the speed change of the i-th needle when sewing a corner. 0 Indicates the sewing speed at the intersection of the straight line and the corner of the sewing fabric, V i Indicates the sewing speed of the i-th stitch when sewing a corner;

[0017] The execution module is used to control the sewing machine needle to sew according to the theoretical corner sewing speed and the theoretical corner sewing needle number when sewing the corner.

[0018] According to a third aspect, there is provided an electronic device, comprising a processor and a memory;

[0019] The processor is connected to the memory;

[0020] The memory is used to store executable program code;

[0021] The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method provided in the first aspect or any possible implementation manner of the first aspect.

[0022] According to a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and the computer-readable storage medium stores instructions, which, when the instructions are executed on a computer or a processor, cause the computer or the processor to execute the method provided in the first aspect or any possible implementation of the first aspect.

[0023] The beneficial effects of the present invention are:

[0024] 1. The method and device provided in the embodiments of this specification, the control unit of the sewing machine controls the sewing machine to slow down the sewing according to the number of stitches required to sew the corner to be sewn, thereby avoiding the situation where the sewing speed is too high when sewing the corner, so that the sewing needle of the sewing machine matches the feed plate, thereby reducing the probability of the occurrence of large and small needles, crooked corners, rounded corners and corners outward, and improving the sewing quality of embroidery corners;

[0025] 2. The method and device provided in the embodiments of this specification, when detecting a corner that needs to be sewn, the sewing machine will immediately decelerate and sew in a straight line, and the sewing machine will slowly decelerate, thereby ensuring the tension of the suture, avoiding the occurrence of uneven sewing line arrangement, and ensuring the sewing quality of the embroidery;

[0026] 3. In the method and device provided in the embodiments of this specification, when sewing a corner, the control unit of the sewing machine controls the feed plate to move the sewing fabric, and the moving direction of the sewing fabric is opposite to the contraction direction of the sewing fabric, thereby offsetting the contraction of the fabric caused by the pulling of the bottom line and improving the corner sewing effect of the sewing fabric. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a flowchart of a corner sewing method in the specific implementation of this specification;

[0029] Figure 2 It is a structural schematic diagram of a corner sewing device in the specific implementation of this specification;

[0030] Figure 3 It is a structural schematic diagram of an electronic device in the specific implementation of this specification;

[0031] Figure 4 The utility model relates to a sewing stitch diagram in the prior art. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0033] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0034] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0035] See also Figure 1 , Figure 1 : is a schematic diagram of a process of a corner sewing method provided in an embodiment of the present application. In the embodiment of the present application, the method comprises:

[0036] S101, determining a theoretical corner sewing speed and a theoretical corner sewing stitch number that satisfy a first relationship, wherein the first relationship is: Among them, M i V represents the speed change of the i-th needle when sewing a corner. 0 Indicates the sewing speed at the intersection of the straight line and the corner of the sewing fabric, V i Indicates the sewing speed of the i-th stitch when sewing a corner;

[0037] S102, when sewing a corner, controlling the sewing machine needle to sew according to the theoretical corner sewing speed and the theoretical number of corner sewing needles.

[0038] The executor of the present application may be a control unit of a sewing machine.

[0039] In the embodiment of the present specification, when the sewing machine sews a corner, the control unit of the sewing machine controls the sewing needle of the sewing machine to sew according to the first relational expression to form a corner stitch. The first relational expression is: Among them, M i V represents the speed change of the i-th needle when sewing a corner. 0 Indicates the sewing speed at the intersection of the straight line and the corner of the sewing fabric, V i represents the sewing speed of the i-th stitch when sewing a corner. It can be seen from the first relation that the sewing machine will slow down each stitch when sewing a corner to avoid the situation where the sewing speed is too fast when sewing a corner. In the present application, the control unit of the sewing machine controls the sewing machine to slow down the sewing according to the number of stitches required to sew the corner to be sewn, thereby avoiding the situation where the sewing speed is too high when sewing a corner, so that the sewing needle of the sewing machine matches the feed plate, thereby reducing the probability of the occurrence of large and small needles, crooked corners, rounded corners and corner outwards, and improving the sewing quality of embroidery corners.

[0040] In one possible implementation, the sewing machine detects in advance whether a corner needs to be sewn during subsequent sewing. The process of the sewing machine detecting the corner to be sewn is as follows: the sewing machine will obtain the sewing data of the subsequent N stitches in advance during sewing, and the sewing data of the sewing needle includes the displacement of the current sewing position and the previous sewing position in two directions perpendicular to each other on the plane where the sewing fabric is located. The control unit of the sewing machine obtains the arc tangent value of the sewing needle at each sewing position according to the sewing data, and then obtains the absolute angle value of each sewing position, and then calculates the angle change of each sewing position from the previous sewing position, and then detects the sewing corner. When a corner that needs to be sewn is detected, the sewing machine will immediately decelerate and sew in a straight line. The sewing machine decelerates slowly, thereby ensuring the tension of the suture, avoiding the occurrence of sewing line layout or unevenness, and ensuring the sewing quality of the embroidery.

[0041] It should be noted that the sewing data is pre-stored in the database, and the sewing data of the subsequent N needles during the sewing process of the sewing machine is obtained from the database, so that there is no need to detect and determine the sewing data of the sewing needle during sewing, thereby improving the sewing efficiency of the sewing machine.

[0042] Furthermore, from the above, it can be seen that the control unit of the sewing machine calculates the angular change of each sewing position from the previous sewing position based on the sewing data of the subsequent N stitches obtained, and then the control unit of the sewing machine obtains the speed change of each stitch based on the angular change of each sewing position.

[0043] Preferably, the process of obtaining the speed change according to the angle change is: Δa=k*Δv+c, wherein Δa is the angle change, Δv is the speed change, k and c are preset parameters that can be adjusted according to actual production conditions, and the angle change is proportional to the speed change. The greater the angle change of the sewing machine during the process of sewing a corner, the greater the speed change, and the smaller the angle change of the sewing machine during the process of sewing a corner, the smaller the speed change.

[0044] It is foreseeable that when sewing a corner, the suture has a certain tension, which causes the suture to shrink inward due to the pulling of the bottom line, which will cause the sewing effect of the corner to deteriorate. Therefore, in one embodiment, when sewing a corner, the control unit of the sewing machine controls the feed plate to move the sewing fabric, and the moving direction of the sewing fabric is opposite to the shrinking direction of the sewing fabric, thereby offsetting the shrinkage of the fabric caused by the pulling of the bottom line and improving the corner sewing effect of the sewing fabric.

[0045] Further, the sewing fabric material and the speed at which the feed plate moves the sewing fabric that satisfies the second relationship are determined. The second relationship is: Among them, V represents the speed at which the feed plate moves the sewing fabric, V i It represents the sewing speed of the i-th needle when sewing a corner, F represents the hardness of the sewing fabric, the larger the F is, the harder the sewing fabric is, a and b are preset parameters that can be adjusted according to actual production conditions. When the sewing machine sews a corner, the feed plate of the sewing machine is controlled to move the fabric according to the second relationship. When sewing a corner, the feed plate of the sewing machine moves the sewing fabric for a distance to offset the fabric shrinkage caused by the pulling of the bottom line, and moves different distances according to the material of the different sewing fabrics to achieve the best sewing effect.

[0046] The following will be combined with the attached Figure 2 , the corner sewing device provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Figure 2 The corner sewing device shown is used to implement the present application Figure 1 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 1 The embodiment shown.

[0047] See also Figure 2 , Figure 2Schematic diagram of the structure of the corner sewing device provided in the embodiment of the present application. Figure 2 As shown, the device comprises:

[0048] The calculation module 201 is used to determine the theoretical corner sewing speed and the theoretical corner sewing stitch number that satisfy the first relationship, wherein the first relationship is: Among them, M i V represents the speed change of the i-th needle when sewing a corner. 0 Indicates the sewing speed at the intersection of the straight line and the corner of the sewing fabric, V i Indicates the sewing speed of the i-th stitch when sewing a corner;

[0049] The execution module 202 is used to control the sewing machine needle to sew according to the theoretical corner sewing speed and the theoretical number of corner sewing needles when sewing the corner.

[0050] In one possible implementation, the calculation module 201 is specifically used for:

[0051] The sewing data of the subsequent sewing needle is obtained, and whether there is a corner to be sewn is detected according to the sewing data of the subsequent sewing needle. When the corner to be sewn is detected, deceleration straight line sewing is performed.

[0052] In one possible implementation, the calculation module 201 is specifically used for:

[0053] The sewing data includes the displacement of the current sewing position and the previous sewing position in two directions perpendicular to each other on the plane where the sewing fabric is located.

[0054] In one possible implementation, the calculation module 201 is specifically used for:

[0055] According to the position data of the subsequent sewing needles, the angle change of each stitch is obtained, and the speed change of each stitch is obtained according to the angle change of each stitch.

[0056] In one possible implementation, the calculation module 201 is specifically used for:

[0057] The angle variation of each needle is proportional to the speed variation of each needle.

[0058] In one possible implementation, the execution module 202 is specifically used to:

[0059] When sewing a corner, the feeding plate is controlled to move the sewing fabric, and the moving direction of the sewing fabric is opposite to the contraction direction of the sewing fabric.

[0060] In one possible implementation, the execution module 202 is specifically used to:

[0061] Determine the distance between the sewing fabric material and the feeding plate moving the sewing fabric that satisfies the second relationship, wherein the second relationship is Among them, S represents the distance that the feed plate moves to sew the fabric, V i represents the sewing speed of the i-th needle when sewing a corner, F represents the softness or hardness of the sewing fabric, and when sewing a corner, the feed plate of the sewing machine is controlled to move the sewing fabric according to the second relational expression.

[0062] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (Field-Programmable Gate Array, FPGA), an integrated circuit (Integrated Circuit, IC), etc.

[0063] Each processing unit and / or module of the embodiments of the present application may be realized by an analog circuit that implements the functions described in the embodiments of the present application, or may be realized by software that executes the functions described in the embodiments of the present application.

[0064] See also Figure 3 , which shows a schematic diagram of the structure of an electronic device involved in an embodiment of the present application, the electronic device can be used to implement Figure 1 The method in the embodiment shown. Figure 3 As shown, the electronic device 300 may include: at least one central processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0065] The communication bus 302 is used to realize the connection and communication between these components.

[0066] The user interface 303 may include a display screen (Display) and a camera (Camera), and the optional user interface 303 may also include a standard wired interface and a wireless interface.

[0067] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0068] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and lines to connect various parts of the entire electronic device 300, and executes various functions and processes data of the terminal 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the central processing unit 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The central processing unit 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics central processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301, and it can be implemented separately through a chip.

[0069] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area may store data involved in the above-mentioned method embodiments, etc. The memory 305 may optionally be at least one storage device located away from the aforementioned central processor 301. As Figure 3 As shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0070] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain data input by the user; and the central processor 301 can be used to call the application stored in the memory 305 and specifically perform the following operations:

[0071] Determine the theoretical corner sewing speed and the theoretical corner sewing stitch number that satisfy the first relationship, wherein the first relationship is V i =V 0 -∑ i q＝1 M i , where M i V represents the speed change of the i-th needle when sewing a corner. 0 Indicates the sewing speed at the intersection of the straight line and the corner of the sewing fabric, V i Indicates the sewing speed of the i-th stitch when sewing a corner;

[0072] When sewing the corner, the sewing machine needle is controlled to sew according to the theoretical corner sewing speed and the theoretical number of corner sewing needles.

[0073] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0074] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0075] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0076] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0077] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0078] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0079] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program code.

[0080] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct the relevant hardware. The program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0081] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A corner sewing method, characterized in that: The method comprises: Determine the theoretical corner sewing speed and the theoretical corner sewing stitch number that satisfy the first relationship, wherein the first relationship is Among them, M i represents the speed change of the i-th needle when sewing a corner, V0 represents the sewing speed at the intersection of the straight line and the corner of the sewing fabric, V i Indicates the sewing speed of the i-th stitch when sewing a corner; When sewing the corner, the sewing machine needle is controlled to sew according to the theoretical corner sewing speed and the theoretical number of corner sewing needles.

2. A corner sewing method according to claim 1, characterized in that: The method further comprises acquiring sewing data of subsequent sewing needles, detecting whether there is a corner to be sewn according to the sewing data of the subsequent sewing needles, and performing deceleration straight line sewing when the corner to be sewn is detected.

3. A corner sewing method according to claim 2, characterized in that: The sewing data includes the displacement of the current sewing position and the previous sewing position in two directions perpendicular to each other on the plane where the sewing fabric is located.

4. A corner sewing method according to claim 2, characterized in that: The detecting of the corner to be sewn comprises: According to the position data of the subsequent sewing needles, the angle change of each stitch is obtained, and the speed change of each stitch is obtained according to the angle change of each stitch.

5. A corner sewing method according to claim 4, characterized in that: The angle variation of each needle is proportional to the speed variation of each needle.

6. A corner sewing method according to claim 1, characterized in that: The method further comprises: when sewing the corner, controlling the feeding plate to move the sewing fabric, wherein the moving direction of the sewing fabric is opposite to the contraction direction of the sewing fabric.

7. A corner sewing method according to claim 6, characterized in that: Determine the sewing fabric material and the speed at which the feed plate moves the sewing fabric that satisfies the second relationship, wherein the second relationship is Among them, V represents the speed at which the feed plate moves the sewing fabric, V i represents the sewing speed of the i-th needle when sewing a corner, F represents the softness or hardness of the sewing fabric, and when sewing a corner, the feed plate of the sewing machine is controlled to move the sewing fabric according to the second relational expression.

8. A corner sewing device, characterized in that: The device comprises: A calculation module is used to determine a theoretical corner sewing speed and a theoretical corner sewing stitch number that satisfy a first relationship, wherein the first relationship is: Among them, M i represents the speed change of the i-th needle when sewing a corner, V0 represents the sewing speed at the intersection of the straight line and the corner of the sewing fabric, V i Indicates the sewing speed of the i-th stitch when sewing a corner; The execution module is used to control the sewing machine needle to sew according to the theoretical corner sewing speed and the theoretical corner sewing needle number when sewing the corner.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer-readable storage medium has instructions stored therein, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 7.

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