A corner sewing method and device, electronic equipment and storage medium

Abstract

Embodiments of the present specification disclose a corner sewing method and device, electronic equipment and a storage medium. The method comprises determining a theoretical corner sewing speed and a theoretical corner sewing needle number that satisfy a first relationship formula, wherein the first relationship formula is M i represents a speed change amount of the i th needle when sewing a corner, V0 represents a sewing speed of a straight line of a fabric at a corner junction, V i represents a sewing speed of the i th needle when sewing a corner. When sewing a corner, the sewing machine needle is controlled to sew according to the theoretical corner sewing speed and the theoretical corner sewing needle number. The method and device provided by the embodiments of the present specification control the sewing machine to slow down sewing according to the number of needles required to sew the corner, thereby avoiding the situation that the sewing speed is too high when sewing a corner, matching the sewing machine needle with the feeding plate, and thereby reducing the probability of occurrence of large and small needles, a non-straight corner, a round corner and a corner outward curve phenomenon, and improving the corner sewing quality of the embroidery.

Description

Technical Field

[0001] This invention relates to the field of sewing machine technology, and in particular to a corner sewing method, apparatus, electronic device, and storage medium. Background Technology

[0002] A sewing machine consists of a needle, needle bar, feed plate, and presser foot. The needle is one of the core components of the sewing machine; it is fixed to the needle bar, and the eye of the needle is located behind the tip, not at the tail. The needle bar is driven up and down by a motor through a series of gears and cams. The feed plate is used to feed the fabric during sewing, and the presser foot is used to hold the fabric down, ensuring its stability during sewing. As the needle descends from top to bottom and passes through the fabric, it pulls a small loop from one side of the fabric to the other. A fixing device under the fabric (such as a shuttle) catches this loop and wraps it around another thread (bottom thread) or another loop of the same thread. In this way, the loop and the bottom thread interweave to form a continuous stitch. Figure 4 As shown, the lines are divided into straight lines and corners (for...). Figure 4 (The circular marked area), where the number of stitches at the corners is related to the size and shape of the corners.

[0003] In existing technologies, the sewing efficiency of sewing machines is mostly improved by increasing the sewing speed of the sewing needle. When sewing to the corner, the direction of the fabric conveyed by the feed plate needs to be changed to complete the corner sewing. However, since the needle is still in a high-speed sewing state at this time, it does not match the state of the feed plate, which easily leads to uneven needles, crooked corners, rounded corners, and outward flaring of corners at the corners, resulting in a decrease in the quality of corner sewing of embroidery. Summary of the Invention

[0004] To address the problems existing in the prior art, this specification describes a corner sewing method, apparatus, electronic device, and storage medium through one or more embodiments.

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

[0006] Determine the theoretical corner sewing speed and theoretical corner sewing stitch count that satisfy the first relationship, where the first relationship is V. i =V0-∑ i q＝1 M i , of which M i Vi represents the change in speed of the i-th stitch when sewing a corner, and V0 represents the sewing speed at the intersection of the straight line and the corner of the fabric. i This indicates the sewing speed of the i-th stitch when sewing a corner;

[0007] When sewing corners, the sewing machine needle is controlled to sew according to the theoretical corner sewing speed and the theoretical corner sewing stitch count.

[0008] Preferably, the method further includes acquiring sewing data of subsequent needles, detecting whether there is a corner to be sewn based on the sewing data of subsequent needles, and performing decelerated straight sewing when a 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 mutually perpendicular directions on the plane of the sewing fabric.

[0010] Preferably, the detection of the corner to be sewn includes:

[0011] Based on the subsequent needle position data, the angle change of each stitch is obtained, and the speed change of each stitch is obtained based on 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 corners, the feed plate is controlled to move the sewing fabric, and the direction of movement of the sewing fabric is opposite to the direction of shrinkage of the sewing fabric.

[0014] Preferably, the speed at which the sewing fabric material and the feed plate move the sewing fabric, satisfying the second relationship, is determined. The second relationship is: Where V represents the speed at which the feed plate moves to sew the fabric, V i The speed of the i-th stitch when sewing a corner is indicated by F, and the softness or hardness of the sewing fabric is indicated by F. When sewing a corner, the sewing machine feed plate is controlled to move the sewing fabric according to the second relationship.

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

[0016] The calculation module is used to determine the theoretical corner sewing speed and theoretical corner sewing stitch count that satisfy the first relationship, which is: Among them, M i Vi represents the change in speed of the i-th stitch when sewing a corner, and V0 represents the sewing speed at the intersection of the straight line and the corner of the fabric. i This 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 stitch count when sewing corners.

[0018] According to a third aspect, an electronic device is provided, including 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 stored in the memory to perform the steps of the method provided as in the first aspect or any possible implementation thereof.

[0022] According to a fourth aspect, a computer-readable storage medium is provided having a computer program stored thereon, the computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the method provided as in the first aspect or any possible implementation thereof.

[0023] The beneficial effects of this invention are as follows:

[0024] 1. The method and apparatus provided in the embodiments of this specification allow the sewing machine control unit to control the sewing machine to decelerate according to the number of stitches required to sew the corner, thereby avoiding excessive sewing speed when sewing the corner, matching the sewing machine needle with the feed plate, and thus reducing the probability of uneven stitches, non-straight corners, rounded corners, and outward-flaring corners, thereby improving the sewing quality of the corners of the embroidery;

[0025] 2. The method and apparatus 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. The sewing machine decelerates slowly, thereby ensuring the tension of the thread, avoiding uneven or irregular sewing lines, and ensuring the sewing quality of the embroidery.

[0026] 3. The method and apparatus provided in the embodiments of this specification, when sewing corners, the control unit of the sewing machine controls the feed plate to move the sewing fabric. The direction of movement of the sewing fabric is opposite to the direction of shrinkage of the sewing fabric, thereby counteracting the fabric shrinkage caused by the bottom thread pulling and improving the corner sewing effect of the sewing fabric. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a flowchart illustrating one corner sewing method used in the specific implementation of this instruction manual;

[0029] Figure 2 This is a structural diagram of a corner sewing device used in a specific implementation of this instruction manual;

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

[0031] Figure 4 It is a stitch pattern in the existing technology. Detailed Implementation

[0032] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0033] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The following description provides multiple embodiments of this application, which can be substituted or combined with each other. Therefore, this application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then this application should also be considered to include embodiments containing one or more other possible combinations of A, B, C, and D, even if such embodiments are not explicitly described 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 function and arrangement of the described elements without departing from the scope of this application. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0035] See Figure 1 , Figure 1 This is a schematic flowchart of the corner sewing method provided in an embodiment of this application. In this embodiment, the method includes:

[0036] S101. Determine the theoretical corner sewing speed and theoretical corner sewing stitch count that satisfy the first relationship, wherein the first relationship is: Among them, M i Vi represents the change in speed of the i-th stitch when sewing a corner, and V0 represents the sewing speed at the intersection of the straight line and the corner of the fabric. i This indicates the sewing speed of the i-th stitch when sewing a corner;

[0037] S102. When sewing a corner, control the sewing machine needle to sew according to the theoretical corner sewing speed and the theoretical corner sewing stitch count.

[0038] The subject of this application may be the control unit of a sewing machine.

[0039] In the embodiments described in this specification, when the sewing machine is sewing a corner, the control unit of the sewing machine controls the sewing needle to sew according to a first relational formula to form a corner stitch. The first relational formula is: Among them, M i Vi represents the change in speed of the i-th stitch when sewing a corner, and V0 represents the sewing speed at the intersection of the straight line and the corner of the fabric. i This represents the sewing speed of the i-th stitch when sewing a corner. As shown in the first relational formula, the sewing machine slows down with each stitch when sewing a corner to avoid excessive speed. In this application, the sewing machine's control unit controls the machine to slow down based on the number of stitches required for the corner, thus preventing excessive speed and ensuring proper matching between the sewing needle and the feed plate. This reduces the probability of uneven stitches, crooked corners, rounded corners, and outward-flaring corners, improving the quality of corner sewing on embroidery.

[0040] In one possible implementation, the sewing machine detects in advance whether a corner needs to be sewn during subsequent stitching. The process of detecting a corner to be sewn is as follows: During sewing, the sewing machine pre-acquires sewing data for the next N stitches. The sewing data includes the displacement of the current sewing position and the previous sewing position in two mutually perpendicular directions on the plane of the sewing fabric. The sewing machine's control unit calculates the arctangent value of the needle at each sewing position based on the sewing data, then calculates the absolute angle value of each sewing position, and further calculates the angular change of each sewing position from the previous sewing position, thereby detecting the corner. When a corner that needs to be sewn is detected, the sewing machine immediately decelerates and performs straight sewing. The sewing machine decelerates slowly to ensure the tension of the thread, avoid uneven or irregular sewing lines, and ensure the sewing quality of the embroidery.

[0041] It should be noted that the sewing data is pre-stored in the database. During the sewing process, the sewing data for the subsequent N stitches is retrieved from the database. This eliminates the need to detect and determine the sewing data of the needles during sewing, thus improving the sewing efficiency of the sewing machine.

[0042] Furthermore, as described above, the sewing machine's control unit calculates the angular change of each sewing position from the previous sewing position based on the acquired sewing data of the subsequent N stitches. Then, the sewing machine's control unit calculates the speed change of each stitch based on the angular change of each sewing position.

[0043] Preferably, the process of obtaining the speed change based on the angle change is: Δa = k * Δv + c, where Δa is the angle change, Δv is the speed change, and k and c are preset parameters that can be adjusted according to the actual production situation. The angle change and the speed change are directly proportional. The greater the angle change during the sewing process, the greater the speed change; the smaller the angle change during the sewing process, the smaller the speed change.

[0044] It is foreseeable that when sewing corners, the tension of the thread will cause it to shrink inward due to the bobbin thread pulling, resulting in a poor sewing effect at the corner. Therefore, in one possible implementation, when sewing corners, the sewing machine's control unit controls the feed plate to move the sewing fabric. The direction of fabric movement is opposite to the direction of fabric shrinkage, thereby counteracting the fabric shrinkage caused by the bobbin thread pulling and improving the corner sewing effect.

[0045] Furthermore, determine the speed at which the sewing fabric material and the feed plate move the sewing fabric, satisfying the second relationship, which is: Where V represents the speed at which the feed plate moves to sew the fabric, V i This indicates the sewing speed of the i-th stitch when sewing a corner. F represents the softness or hardness of the sewing fabric; the larger F is, the harder the sewing fabric. a and b are preset parameters that can be adjusted according to actual production conditions. When the sewing machine is sewing a corner, the sewing machine feed plate is controlled to move the fabric according to the second relational formula. When sewing a corner, the sewing machine feed plate moves the sewing fabric a certain distance to counteract the fabric shrinkage caused by the bottom thread pulling. The distance moved varies depending on the material of the sewing fabric to achieve the optimal sewing effect.

[0046] The following will be combined with the appendix Figure 2 This application provides a detailed description of the corner sewing device provided in its embodiments. It should be noted that the appendix... Figure 2 The corner sewing device shown is used to perform the present application. Figure 1 The methods shown in the embodiments are for illustrative purposes only, illustrating the parts relevant to the embodiments of this application. For specific technical details not disclosed, please refer to this application. Figure 1 The example shown.

[0047] Please see Figure 2 , Figure 2 This is a schematic diagram of the corner sewing device provided in an embodiment of this application. Figure 2 As shown, the device includes:

[0048] Calculation module 201 is used to determine the theoretical corner sewing speed and theoretical corner sewing stitch count that satisfy the first relationship, wherein the first relationship is: Among them, Mi Vi represents the change in speed of the i-th stitch when sewing a corner, and V0 represents the sewing speed at the intersection of the straight line and the corner of the fabric. i This 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 corner sewing stitch count when sewing a corner.

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

[0051] Obtain the sewing data of subsequent needles, detect whether there is a corner to be sewn based on the sewing data of subsequent needles, and when a corner to be sewn is detected, perform deceleration and straight sewing.

[0052] In one possible implementation, the computing 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 mutually perpendicular directions on the plane of the sewing fabric.

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

[0055] Based on the subsequent needle position data, the angle change of each stitch is obtained, and the speed change of each stitch is obtained based on the angle change of each stitch.

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

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

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

[0059] When sewing corners, the feed plate is controlled to move the sewing fabric, and the direction of movement of the sewing fabric is opposite to the direction of shrinkage of the sewing fabric.

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

[0061] Determine the distance between the sewing fabric material and the feed plate that satisfy the second relationship, where the second relationship is: Where S represents the distance the feed plate moves to sew the fabric, and V i The speed of the i-th stitch when sewing a corner is indicated by F, and the softness or hardness of the sewing fabric is indicated by F. When sewing a corner, the sewing machine feed plate is controlled to move the sewing fabric according to the second relationship.

[0062] Those skilled in the art will clearly understand that the technical solutions of the embodiments of this application can be implemented by means of software and / or hardware. In this specification, "unit" and "module" refer to software and / or hardware capable of independently completing or cooperating with other components to complete a specific function, wherein the hardware may be, for example, a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), etc.

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

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

[0065] The communication bus 302 is used to enable communication between these components.

[0066] The user interface 303 may include a display screen and a camera. Optionally, the 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] The central processing unit 301 may include one or more processing cores. The central processing unit 301 connects to various parts within the electronic device 300 using various interfaces and lines. It executes various functions of the terminal 300 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305. Optionally, the central processing unit 301 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The central processing unit 301 may integrate one or a combination of several of the following: a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display on the screen; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the central processing unit 301.

[0069] The memory 305 may include random access memory (RAM) or read-only memory. Optionally, the memory 305 may include a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, 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 touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 305 may also be at least one storage device located remotely from the aforementioned central processing unit 301. Figure 3 As shown, the memory 305, which serves 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 illustrated electronic device 300, the user interface 303 is mainly used to provide an input interface for the user and to acquire user input data; while the central processing unit 301 can be used to call the application program stored in the memory 305 and specifically perform the following operations:

[0071] Determine the theoretical corner sewing speed and theoretical corner sewing stitch count that satisfy the first relationship, where the first relationship is V. i =V0-∑ i q＝1 M i , of which M i Vi represents the change in speed of the i-th stitch when sewing a corner, and V0 represents the sewing speed at the intersection of the straight line and the corner of the fabric. i This indicates the sewing speed of the i-th stitch when sewing a corner;

[0072] When sewing corners, the sewing machine needle is controlled to sew according to the theoretical corner sewing speed and the theoretical corner sewing stitch count.

[0073] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, as well as magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0074] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0075] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between devices or units may be electrical or other forms.

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

[0078] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0079] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0080] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which 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 foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of embodiments of this disclosure upon considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described herein. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A corner sewing method, characterized in that, The method includes: Determine the theoretical corner sewing speed and theoretical corner sewing stitch count that satisfy the first relationship, where the first relationship is: ,in, This represents the change in speed of the i-th stitch when sewing a corner. This indicates the sewing speed at the intersection of straight lines and corners in the fabric. This indicates the sewing speed of the i-th stitch when sewing a corner; When sewing corners, control the sewing machine needle to sew according to the theoretical corner sewing speed and the theoretical corner sewing stitch count; The method further includes acquiring sewing data of subsequent needles, detecting whether there is a corner to be sewn based on the sewing data of subsequent needles, and performing decelerated straight sewing when a corner to be sewn is detected. The sewing data includes the displacement of the current sewing position and the previous sewing position in two mutually perpendicular directions on the plane of the sewing fabric. The inspection of the corners to be sewn includes: Based on the subsequent needle position data, the angle change of each stitch is obtained, and the speed change of each stitch is obtained based on the angle change of each stitch. The change in angle of each needle is proportional to the change in speed of each needle.

2. The corner sewing method according to claim 1, characterized in that, The method further includes: when sewing a corner, controlling the feed plate to move the sewing fabric, wherein the direction of movement of the sewing fabric is opposite to the direction of shrinkage of the sewing fabric.

3. A corner sewing method according to claim 2, characterized in that, Determine the speed at which the sewing fabric material and the feed plate move the sewing fabric, satisfying the second relationship, whereby the second relationship is: Where V represents the speed at which the feed plate moves to sew the fabric. This indicates the sewing speed of the i-th stitch when sewing a corner, F indicates the softness or hardness of the sewing fabric, and a and b are preset parameters that can be adjusted according to actual production conditions. When sewing a corner, the sewing machine feed plate is controlled to move the sewing fabric according to the second relationship.

4. A corner sewing device, characterized in that, The device includes: The calculation module is used to determine the theoretical corner sewing speed and theoretical corner sewing stitch count that satisfy the first relationship, which is: ,in, This represents the change in speed of the i-th stitch when sewing a corner. This indicates the sewing speed at the intersection of straight lines and corners in the fabric. This 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 stitch count when sewing corners; The calculation module is also used to obtain the sewing data of subsequent needles, detect whether there is a corner to be sewn based on the sewing data of subsequent needles, and perform deceleration straight sewing when a corner to be sewn is detected. The sewing data includes the displacement of the current sewing position and the previous sewing position in two mutually perpendicular directions on the plane of the sewing fabric. The calculation module is also used to obtain the angle change of each stitch based on the position data of the subsequent stitches, and to obtain the speed change of each stitch based on the angle change of each stitch. The change in angle of each needle is proportional to the change in speed of each needle.

5. 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, it implements the steps of the method as described in any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, the computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the steps of the method as claimed in any one of claims 1-3.

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