Intelligent glue spraying method, system and equipment for infiltrative binding, sewing and shaping of clothes

Abstract

An intelligent glue spraying method for clothing penetration type binding sewing shaping comprises the following steps that the current rotating speed of a sewing equipment driving motor is monitored and obtained in real time, a glue spraying liquid outlet calculation model is called, and the spraying amount and the liquid outlet rate of corresponding shaping glue are calculated and output; the glue spraying amount and the liquid outlet rate required at the current rotating speed and calculated and output by the glue spraying liquid outlet calculation model are obtained, a hydraulic piston is controlled to start acting under driving of a hydraulic rod, and the supply amount of glue entering a spray head is increased or decreased; and when it is monitored that the needle head at the spray head receives the sufficient amount of glue, precise spraying is executed.

Description

Technical Field

[0001] The present invention relates to the field of computers, and in particular, to an intelligent glue spraying method, system and device for clothing permeable hemming sewing and shaping. Background Art

[0002] Traditional hemming sewing processes have problems such as complex operations, low efficiency, and easy thread shedding at the edges in clothing production. Especially for high-quality clothing products, these problems are particularly prominent. To solve these problems, a variety of improved hemming processes have emerged in the market, but most still face difficulties such as uneven glue spraying and insecure fixing of the binding strip. Summary of the Invention

[0003] One of the purposes of the present invention is to provide an intelligent glue spraying method, system and device for clothing permeable hemming sewing and shaping, which can ensure the uniformity of glue spraying, better fix the edge of the binding strip and the clothing piece, effectively prevent the occurrence of fluff edge shedding, and enhance the shaping effect of the hemming, thereby improving the product quality.

[0004] One of the purposes of the present invention is to provide an intelligent glue spraying method, system and device for clothing permeable hemming sewing and shaping, which can provide intelligent glue spraying between clamping the piece and the binding strip, and automatically adjust the spraying amount and liquid output rate of the shaping glue according to the running speed of the sewing machine motor.

[0005] One of the purposes of the present invention is to provide an intelligent glue spraying method, system and device for clothing permeable hemming sewing and shaping, which can provide the combination of a five-thread overlock sewing machine and an intelligent spraying system to realize the synchronous progress of hemming sewing and glue spraying, thereby improving the production efficiency.

[0006] One of the purposes of the present invention is to provide an intelligent glue spraying method, system and device for clothing permeable hemming sewing and shaping, which can provide intelligent glue spraying to realize the tight combination and uniform shaping between the clothing piece and the binding strip, and improve the durability and aesthetics of the clothing.

[0007] One of the purposes of the present invention is to provide an intelligent glue spraying method, system and device for clothing permeable hemming sewing and shaping, which can automatically adjust the spraying amount of the shaping glue according to the motor running speed to ensure that the glue is evenly distributed between the piece and the binding strip.

[0008] One of the purposes of the present invention is to provide an intelligent glue spraying method, system and device for clothing permeable hemming sewing and shaping, which can provide intelligent glue spraying to make the hemming smoother and more natural, without additional sewing traces, and improve the overall aesthetics of the clothing.

[0009] One of the objectives of the present invention is to provide an intelligent glue jetting method, system and equipment for clothing penetration hemming and shaping, which not only improves production efficiency and product quality, but also reduces the requirements for the skills of operators.

[0010] To achieve at least one of the invention objectives of the present invention, the present invention provides an intelligent glue jetting method for clothing penetration hemming and shaping, including the following steps:

[0011] Real-time monitor and obtain the current rotation speed of the driving motor of the sewing equipment, call the glue jetting liquid calculation model, calculate and output the corresponding jetting amount and liquid output rate of the shaping glue;

[0012] Obtain the glue jetting amount and liquid output rate required at the current rotation speed calculated and output by the glue jetting liquid calculation model, control the hydraulic piston to start moving under the drive of the hydraulic rod, and increase or decrease the glue supply amount entering the nozzle; and

[0013] When it is monitored that the needle at the nozzle has received a sufficient amount of glue, perform precise jetting;

[0014] Among them, the glue jetting liquid calculation model of the intelligent glue jetting method for clothing penetration hemming and shaping further includes the following DDPG design steps: execution network construction; execution of sample generation; execution of current Critic network update; execution of current Actor network update; and execution of target network update.

[0015] In some embodiments, in the glue jetting liquid calculation model, the formula for calculating the difference between the control amount at the current moment and the control amount at the previous moment is: Δy(k) = K p [e(k) - e(k - 1)] + K i e(k) + K d [e(k) - 2e(k - 1) + e(k - 2)], Δy(k) is the control increment of the kth sampling; K p is the proportionality coefficient; K i is the integral coefficient; K d is the differential coefficient; e(k) is the deviation value of the difference between the given value and the actual value at the kth sampling moment.

[0016] In some embodiments, the network construction step further includes the following steps: initialize two Actors, and set the parameters of the current Actor and the target Actor to the same initial value; initialize two Critic networks, and set the parameters of the current Critic network and the target Critic network to the same initial value.

[0017] In some embodiments, the sample generation step further includes the following steps: observing the current state S, inputting it into the current Actor network, calculating the action a, applying the action a to the cutting device, obtaining the state S' and the incentive r at the sampling moment k + 1, and adding the quadruple (S, a, r, S') to the experience pool.

[0018] In some embodiments, the intelligent glue injection method for clothing penetration hemming and shaping includes the following steps: when it is monitored that the sewing machine motor starts and begins to operate, receiving its rotation speed signal in real time.

[0019] In some embodiments, the intelligent glue injection method for clothing penetration hemming and shaping includes the following steps: obtaining and monitoring the nozzle injection angle, injection pressure, and injection speed in real time, and controlling the glue to be evenly injected into the gap between the clothing piece and the edging strip.

[0020] In some embodiments, the intelligent glue injection method for clothing penetration hemming and shaping includes the following steps: monitoring the change amount of the sewing machine motor rotation speed in real time, generating a rotation speed change curve; obtaining the glue injection amount and the liquid output rate output results of the glue injection liquid calculation model corresponding to the rotation speed, and recording them in the glue injection amount and liquid output rate adjustment database.

[0021] In some embodiments, the intelligent glue injection method for clothing penetration hemming and shaping includes the following steps: monitoring the glue capacity in the glue container in real time, and when it is monitored that the glue is insufficient, automatically sending an alarm and stopping the injection.

[0022] In some embodiments, the intelligent glue injection method for clothing penetration hemming and shaping includes the following steps: monitoring the nozzle state in real time, and when the nozzle is blocked or fails, automatically shutting down the machine and prompting the maintenance personnel to check and repair through the human-machine interaction interface.

[0023] According to another aspect of the present invention, there is also provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it executes the steps of the intelligent glue injection method for clothing penetration hemming and shaping.

[0024] According to another aspect of the present invention, there is also provided an intelligent glue injection device for clothing penetration hemming and shaping, including:

[0025] A memory for storing software application programs,

[0026] A processor for executing the software application programs, and each program of the software application programs correspondingly executes each step of the intelligent glue injection method for clothing penetration hemming and shaping.

[0027] According to another aspect of the present invention, there is also provided an intelligent glue spraying system for clothing penetration hemming and shaping, which applies the intelligent glue spraying method for clothing penetration hemming and shaping. The intelligent glue spraying system for clothing penetration hemming and shaping includes a signal receiving unit, a glue spraying liquid calculation model unit, a glue supply adjustment and control unit, an accurate spraying unit, and a dynamic adjustment unit. When the driving motor of the sewing equipment starts and begins to operate, the signal receiving unit receives its rotational speed signal in real time. The glue spraying liquid calculation model unit obtains the real-time motor rotational speed, calls the glue spraying liquid calculation model, performs data processing, and calculates the required glue spraying amount and liquid output rate at the current rotational speed according to the preset algorithms and parameters. The dynamic adjustment unit monitors the change amount of the rotational speed of the sewing machine motor in real time, responds in real time, and adjusts the glue spraying amount and liquid output rate according to the output result of the glue spraying liquid calculation model. The glue supply adjustment and control unit obtains the required glue spraying amount and liquid output rate at the current rotational speed calculated and output by the glue spraying liquid calculation model, and controls the hydraulic piston to start moving under the drive of the hydraulic rod. The accurate spraying unit performs accurate spraying when it monitors that the needle at the nozzle has received a sufficient amount of glue.

[0028] In some embodiments, the glue spraying liquid calculation model unit includes a control quantity increment calculation module, and the control quantity increment module is configured to calculate the difference between the control quantity at the current moment and the control quantity at the previous moment. The formula is: Δy(k) = K p [e(k) - e(k - 1)] + K i e(k) + K d [e(k) - 2e(k - 1) + e(k - 2)], where Δy(k) is the control increment of the kth sampling; K p is the proportionality coefficient; K i is the integral coefficient; K d is the differential coefficient; e(k) is the deviation value of the difference between the given value and the actual value at the kth sampling moment.

[0029] In some embodiments, in the glue spraying liquid calculation model of the glue spraying liquid calculation model unit, the action space A is defined as: A t = {(K p , K i , K d )}.

[0030] According to another aspect of the present invention, there is also provided an intelligent glue spraying device for clothing penetration hemming and shaping. The intelligent glue spraying device for clothing penetration hemming and shaping includes a nozzle, a glue container, a hydraulic piston, a hydraulic rod, and a sewing machine motor. The intelligent glue spraying system for clothing penetration hemming and shaping is communicatively connected to the nozzle, the glue container, the hydraulic piston, the hydraulic rod, and the sewing machine motor of the intelligent glue spraying device for clothing penetration hemming and shaping.

[0031] According to another aspect of the present invention, there is also provided a clothing penetration hemming and shaping device, and the clothing penetration hemming and shaping device includes the above-mentioned intelligent glue spraying device for clothing penetration hemming and shaping. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is an algorithm logic diagram of an intelligent glue spraying method for clothing penetration hemming and shaping according to an embodiment of the present invention.

[0033] Figure 2 is an algorithm logic diagram of the above-mentioned intelligent glue spraying method for clothing penetration hemming and shaping according to an embodiment of the present invention.

[0034] Figure 3 is an algorithm logic diagram of the above-mentioned intelligent glue spraying method for clothing penetration hemming and shaping according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and other obvious variations can be conceived by those skilled in the art. The basic principles defined in the following description can be applied to other embodiments, variations, improvements, equivalent solutions, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0036] It can be understood that the term "a" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of the element can be multiple. The term "a" cannot be understood as a limitation on the number.

[0037] The present invention is an invention related to computer programs. Based on an intelligent glue spraying method for clothing penetration hemming and shaping of the present invention, in order to solve the problems proposed by the present invention, based on the computer program processing flow, by executing the computer program compiled according to the above process on a computer, a solution for controlling or processing external or internal objects of the computer is described. Through the intelligent glue spraying method for clothing penetration hemming and shaping of the present invention, intelligent glue spraying can be provided to ensure the uniformity of glue spraying, better fix the edge of the binding strip and the clothing piece, effectively prevent the occurrence of fluff and edge detachment, and enhance the shaping effect of the hemming, improving product quality; it can realize the synchronous progress of hemming sewing and glue spraying, improving production efficiency; it can provide intelligent glue spraying, achieve the tight combination and uniform shaping between the clothing piece and the binding strip, and enhance the durability and aesthetics of the clothing; it can automatically adjust the spraying amount of the shaping glue according to the motor running speed to ensure that the glue is evenly distributed between the piece and the binding strip; it can provide intelligent glue spraying, making the hemming more flat and natural without additional sewing traces, enhancing the overall aesthetics of the clothing. It can be understood that the "computer" referred to in the present invention not only refers to devices such as desktop computers, laptop computers, and tablets, but also includes other intelligent electronic devices that can run according to programs and process data.

[0038] Specifically, the intelligent glue spraying method for clothing penetration hemming and shaping includes the following steps:

[0039] When it is monitored that the sewing machine motor starts and begins to run, its rotation speed signal is received in real time;

[0040] The glue spraying liquid calculation model performs data processing, and calculates the required glue spraying amount and liquid output rate at the current rotation speed according to the preset algorithm and parameters.

[0041] Furthermore, the intelligent glue spraying method for clothing penetration hemming and shaping includes the following glue supply adjustment and control steps:

[0042] Obtain the required glue spraying amount and liquid output rate at the current rotation speed calculated and output by the glue spraying liquid calculation model, and control the hydraulic piston to start moving under the drive of the hydraulic rod;

[0043] When the motor rotation speed is fast, the downward movement distance of the hydraulic piston increases, thereby pushing more glue into the nozzle;

[0044] When the motor rotation speed is slow, the movement distance of the hydraulic piston decreases, and the glue supply amount decreases accordingly, ensuring that the glue spraying amount is proportional to the motor rotation speed.

[0045] Furthermore, the intelligent glue spraying method for clothing penetration hemming and shaping includes the following precise spraying steps:

[0046] When it is detected that the needle at the nozzle has received a sufficient amount of glue, precise spraying is performed;

[0047] Obtain and monitor the spraying angle, spraying pressure, and spraying speed of the nozzle in real time to ensure that the glue can be evenly and accurately sprayed into the gap between the garment cut piece and the edging strip;

[0048] During the spraying process, monitor the glue spraying situation in real time and perform fine-tuning as needed to ensure the stability and consistency of the spraying effect.

[0049] Furthermore, the intelligent glue spraying method for clothing permeable hemming and shaping includes the following dynamic adjustment steps:

[0050] Monitor the change amount of the sewing machine motor speed in real time, respond in real time, and adjust the glue spraying amount and liquid output rate according to the output result of the glue spraying liquid calculation model.

[0051] Through the dynamic adjustment mechanism of the dynamic adjustment step, the glue spraying process becomes more flexible and efficient, and can adapt to different sewing speeds and process requirements.

[0052] The dynamic adjustment step of the intelligent glue spraying method for clothing permeable hemming and shaping further includes the steps: monitoring the change amount of the sewing machine motor speed in real time, generating a speed change curve; obtaining the glue spraying amount and liquid output rate output results of the glue spraying liquid calculation model corresponding to the speed, and recording them into the glue spraying amount and liquid output rate adjustment database. Through this step, during the sewing process, when the same motor speed appears again, according to the selection of the operator at the operation terminal, the corresponding glue spraying amount and liquid output rate to be adjusted can also be retrieved from the glue spraying amount and liquid output rate adjustment database, reducing the calculation time of the model and improving the speed and production efficiency.

[0053] More specifically, the intelligent glue spraying method for clothing permeable hemming and shaping further includes the following steps:

[0054] Obtain the sewing machine motor speed in real time, call the glue spraying liquid calculation model, and calculate and output the spraying amount and liquid output rate of the corresponding shaping glue. Through the glue spraying liquid calculation model, data processing is performed, and according to the preset algorithm and parameters, the spraying amount and liquid output rate results required at the current speed are calculated and output.

[0055] In a specific preferred embodiment, the incremental PID control algorithm is used in the glue spraying liquid calculation model. This algorithm calculates the increment of the control amount, that is, the difference between the control amount at the current moment and the control amount at the previous moment. Its calculation formula is:

[0056] Δy(k)=K p [e(k)-e(k - 1)]+Ki e(k) + K d [e(k) - 2e(k - 1) + e(k - 2)]

[0057] Δy(k) is the control increment at the k-th sampling; K p is the proportionality coefficient; K i is the integral coefficient; K d is the differential coefficient; e(k) is the deviation value (the difference between the given value and the actual value) at the k-th sampling moment

[0058] Preferably, as in Figure 1 y d (k) represents the current actual signal value (here it is the sewing width), and y(k) represents the current output value (the sewing width). e(k) = y d (k) - y(k) represents the output error.

[0059] More specifically, the glue ejection calculation model of the intelligent glue ejection method for clothing permeable hemming and shaping further includes the following DDPG design steps:

[0060] S100: Network construction step: Initialize two Actors, and set the parameters w of the current Actor and the parameters w' of the target Actor to the same initial value; Initialize two Critic networks, and set the parameters θ of the current Critic network and the parameters θ' of the target Critic network to the same initial value.

[0061] S200: Sample generation step: Observe the current state S, input it into the current Actor network, calculate the action a, apply the action a to the laser cutting device, and obtain the state S' and the incentive r at the sampling moment k + 1. Add the quadruple (S, a, r, S') to the experience pool.

[0062] Preferably, in a specific embodiment, the structure of DDPG is as in Figure 2 .

[0063] Furthermore, the intelligent glue ejection method for clothing permeable hemming and shaping further includes the following steps:

[0064] S300: Execute the current Critic network update step.

[0065] Take out a sample (S, a, r, S') from the experience pool for training;

[0066] Input S and a in (S, a, r, S') into the current Critic network to obtain the current Q value Q(S, a);

[0067] Input S' in (S, a, r, S') into the target Actor network to obtain the action a'.

[0068] And input S' and a' together into the target Critic network to obtain the Q value Q(S', a'), and the calculation formula is as follows:

[0069] Q' = r + γQ(S', a');

[0070] Define the Q value difference L,

[0071] L = (Q(S, a) - Q')[[]]END]] 2 ;

[0072] Use the gradient descent method to minimize L; and

[0073] Obtain the new θ value and update all θ values of the current Critic network.

[0074] Furthermore, the intelligent glue spraying method for clothing penetration hemming and shaping also includes the following steps:

[0075] S400: Execute the current Actor network update step.

[0076] Use the current Actor network to calculate the action a in the S state n , and the Q value Q(S, a n ) given in the current Critic, update the Actor to maximize the absolute value of the Q value output Q(S, a n ), that is:

[0077] |Q(S, a n )|

[0078] The specific method is as follows, the gradient of Q(S, a) with respect to w:

[0079]

[0080] Then use gradient ascent to update all parameters w of the Actor network:

[0081]

[0082] Here 0 ≤ a ≤ 1.

[0083] Furthermore, the intelligent glue spraying method for clothing penetration hemming and shaping also includes the following steps:

[0084] S500: Execute the target network update step.

[0085] Every time period T dUse the parameters of these two current networks to update the target Actor and target Critic networks, and the weight calculation method is as follows:

[0086] w′←τw+(1-τ)w′

[0087] θ′←τθ+(1-τ)θ′

[0088] Here, τ∈(0,1).

[0089] Further, the intelligent glue injection method for the clothing penetration hemming and shaping also includes the following steps: performing an iterative step. Specifically, return to the step S200 sample generation step, and call the current Actor for sampling and loop update.

[0090] Specifically, in the preferred embodiment, the overall framework design is as Figure 3 shown.

[0091] Further, in the glue injection liquid calculation model of the intelligent glue injection method for the clothing penetration hemming and shaping:

[0092] The action space A is defined as:

[0093] A t ={(K p ,K i ,K d )}

[0094] The state space S t is defined as:

[0095] S t ={(v,θ,w,Δy)}

[0096] Here, v represents the moving speed of the laser cutting head.

[0097] The incentive R t is designed as:

[0098] R1=-0.00001

[0099] R2=-5,e(k)≥0.00001

[0100] R3=0,e(k)≥0.00001

[0101] R4=-100,e(t)>0.5

[0102] R=R1+R2+R3+R4

[0103] Further, the intelligent glue injection method for the clothing penetration hemming and shaping includes the following safety protection steps:

[0104] Monitor the glue volume in the glue container in real time. When it is detected that the glue is insufficient, an alarm is automatically issued and the spraying is stopped;

[0105] Monitor the status of the nozzle in real time. When the nozzle is blocked or malfunctioning, the machine is automatically shut down and the maintenance personnel are prompted through the human-machine interface to conduct inspections and repairs.

[0106] Those skilled in the art can understand that the embodiments of the present invention can be provided in the form of a method, a system, or a computer program product. Therefore, the present invention can take the form of an all-hardware embodiment, an all-software embodiment, or an embodiment combining software and hardware.

[0107] The present invention can be embedded in a computer program product, which includes all the features enabling the implementation of the intelligent glue spraying method for clothing penetration hemming and shaping described herein. The computer program product is contained in one or more computer-readable storage media, which have computer-readable program code contained therein. According to another aspect of the present invention, a computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, it can execute the steps of the method of the present invention. A computer storage medium is a medium in a computer memory for storing a certain discontinuous physical quantity. Computer storage media include, but are not limited to, semiconductors, disk memories, magnetic cores, magnetic drums, magnetic tapes, laser discs, etc. Those skilled in the art can understand that computer storage media are not limited to the foregoing examples, and the foregoing examples are only for illustration and are not limited to the present invention.

[0108] According to another aspect of the present invention, an intelligent glue spraying device for clothing penetration hemming and shaping is also provided. The device includes: a software application program, a memory for storing the software application program, and a processor for executing the software application program. Each program of the software application program can correspondingly execute the steps in the intelligent glue spraying method for clothing penetration hemming and shaping of the present invention.

[0109] A typical combination of hardware and software can be a general computer system with a computer program. When the program is loaded and executed, it controls the computer system, so that the intelligent glue spraying method for clothing penetration hemming and shaping disclosed in the present invention can be executed.

[0110] Those skilled in the art can understand that the intelligent glue injection method for clothing penetration hemming and shaping of the present invention can be implemented through hardware, software, or a combination of software and hardware. The present invention can be implemented in a centralized manner in at least one computer system, or implemented in a decentralized manner by different parts distributed in several interconnected computer systems. Any computer system or other device that can implement the method is applicable. The combination of common software and hardware can be a general computer system installed with a computer program, and the computer system is controlled by installing and executing the program to make it operate according to the method.

[0111] Corresponding to the embodiments of the method of the present invention, according to another aspect of the present invention, there is also provided an intelligent glue injection system for clothing penetration hemming and shaping. The intelligent glue injection system for clothing penetration hemming and shaping is an application of the intelligent glue injection method for clothing penetration hemming and shaping of the present invention in computer program improvement.

[0112] Specifically, the intelligent glue injection system for clothing penetration hemming and shaping includes a signal receiving unit, a glue injection liquid calculation model unit, a glue supply adjustment control unit, an accurate injection unit, and a dynamic adjustment unit.

[0113] When the sewing machine motor starts and begins to operate, the signal receiving unit receives its rotation speed signal in real time. The glue injection liquid calculation model unit obtains the real-time motor rotation speed, calls the glue injection liquid calculation model, performs data processing, and calculates the required glue injection amount and liquid output rate at the current rotation speed according to the preset algorithm and parameters. The dynamic adjustment unit monitors the change amount of the sewing machine motor rotation speed in real time and responds in real time to adjust the glue injection amount and liquid output rate according to the output result of the glue injection liquid calculation model. The glue supply adjustment control unit obtains the required glue injection amount and liquid output rate at the current rotation speed calculated by the glue injection liquid calculation model, and controls the hydraulic piston to start moving under the drive of the hydraulic rod. The accurate injection unit performs accurate injection when it monitors that the needle at the nozzle has received a sufficient amount of glue.

[0114] More specifically, when the motor rotation speed increases, the glue supply adjustment control unit obtains the required glue injection amount and liquid output rate at the current rotation speed calculated by the glue injection liquid calculation model, and controls the distance that the hydraulic piston moves downward to increase, so as to push more glue into the nozzle. When the motor rotation speed is slow, the glue supply adjustment control unit obtains the required glue injection amount and liquid output rate at the current rotation speed calculated by the glue injection liquid calculation model, and controls the movement distance of the hydraulic piston to decrease, and the glue supply amount decreases accordingly, ensuring that the glue injection amount is proportional to the motor rotation speed.

[0115] More specifically, the precise injection unit includes a precise injection control module, a glue sufficiency monitoring module, a spraying angle monitoring module, a spraying pressure monitoring module, and a spraying speed monitoring module. The spraying angle monitoring module acquires and monitors the spraying angle of the nozzle in real time. The spraying pressure monitoring module acquires and monitors the spraying pressure and spraying speed in real time. The spraying speed monitoring module acquires and monitors the spraying speed of the nozzle in real time. When the glue sufficiency monitoring module monitors that the needle at the nozzle receives a sufficient amount of glue, the precise injection control module performs precise injection. The precise injection control module is further configured to perform: during the injection process, monitor the glue injection situation in real time and perform fine-tuning as needed to ensure the stability and consistency of the injection effect.

[0116] More specifically, the glue ejection calculation model unit includes a control quantity increment calculation module, and the control quantity increment module is used to calculate the increment of the control quantity, which is the difference between the control quantity at the current moment and the control quantity at the previous moment.

[0117] Preferably, in a specific embodiment, the control quantity increment module adopts an incremental PID control algorithm. The control quantity increment module is configured to perform the calculation of the difference between the control quantity at the current moment and the control quantity at the previous moment, and the formula is:

[0118] Δy(k)=K p [e(k)-e(k - 1)]+K i e(k)+K d [e(k)-2e(k - 1)+e(k - 2)]

[0119] Δy(k) is the control increment of the k-th sampling; K p is the proportionality coefficient; K i is the integral coefficient; K d is the differential coefficient; e(k) is the deviation value at the k-th sampling moment, that is, the difference between the given value and the actual value.

[0120] In a preferred embodiment, for example, when the control quantity is the sewing width, y d (k) represents the current actual signal value (here it is the sewing width), and y(k) represents the current output value (sewing width). e(k) = y d (k)-y(k) represents the output error.

[0121] The glue ejection calculation model unit further includes a network construction module, a sample generation module, a Critic network update module, an Actor network update module, a target network update module, and an iteration module.

[0122] The network construction module is configured to perform: initialize two Actors, and set the parameters w of the current Actor and the parameters w' of the target Actor to the same initial value; initialize two Critic networks, and set the parameters θ of the current Critic network and the parameters θ' of the target Critic network to the same initial value.

[0123] The sample generation module is configured to perform: observe the current state S, input it into the current Actor network, calculate the action a, apply the action a to the laser cutting device, and obtain the state S' and the incentive r at the sampling moment k + 1. Add the quadruple (S, a, r, S') to the experience pool.

[0124] The Critic network update module is configured to perform:

[0125] Take out a sample (S, a, r, S') from the experience pool for training;

[0126] Input S and a in (S, a, r, S') into the current Critic network to obtain the current Q value Q(S, a);

[0127] Input S' in (S, a, r, S') into the target Actor network to obtain the action a';

[0128] And input S' and a' together into the target Critic network to obtain the Q value Q(S', a'), and the calculation formula is as follows:

[0129] Q' = r + γQ(S', a');

[0130] Define the Q value difference L,

[0131] L = (Q(S, a) - Q'); 2 ;

[0132] Use the gradient descent method to minimize L; and

[0133] Obtain the new θ value and update all θ values of the current Critic network.

[0134] The Actor network update module is configured to perform:

[0135] Use the current Actor network to calculate the action a in the S state n , and the Q value Q(S, a n ) given in the current Critic, update the Actor to maximize the absolute value of the Q value output Q(S, a n ), that is:

[0136] |Q(S, a n )|

[0137] Specifically, the gradient of Q(S,a) with respect to w:

[0138]

[0139] Then, update all parameters w of the Actor network using gradient ascent:

[0140]

[0141] Here, 0 ≤ a ≤ 1.

[0142] The target network update module is configured to execute:

[0143] Every time period T d Use the parameters of these two current networks respectively to update the target Actor and target Critic networks. The method for calculating the weights is as follows:

[0144] w′←τw+(1 - τ)w′

[0145] θ′←τθ+(1 - τ)θ′

[0146] Here, τ ∈ (0,1).

[0147] The iteration module is configured to execute: Return the sample generation module, and call the current Actor for sampling and loop update.

[0148] Furthermore, in the glue ejection calculation model of the glue ejection calculation model unit, the action space A is defined as:

[0149] A t ={(K p ,K i ,K d )}

[0150] The state space S t is defined as:

[0151] S t ={(v,θ,w,Δy)}

[0152] Here, v represents the moving speed of the laser cutting head.

[0153] The reward R t is designed as:

[0154] R1=-0.00001

[0155] R2=-5, e(k)≥0.00001

[0156] R3=0, e(k)≥0.00001

[0157] R4 = -100, e(t) > 0.5

[0158] R = R1 + R2 + R3 + R4

[0159] Furthermore, the intelligent glue injection system for the clothing penetration hemming and shaping also includes a safety protection unit to perform safety protection and reminders. The safety protection unit includes a glue capacity protection module, which is configured to perform: real-time monitoring of the glue capacity in the glue container, and when it is detected that the glue is insufficient, automatically issue an alarm and stop spraying. The safety protection unit also includes a nozzle state protection module, which is configured to perform: real-time monitoring of the nozzle state, and when the nozzle is blocked or fails, automatically shut down and prompt the maintenance personnel to check and repair through the human-machine interaction interface.

[0160] In other preferred embodiments of the present invention, the intelligent glue injection system for the clothing penetration hemming and shaping

[0161] According to another aspect of the present invention, the present invention also provides an intelligent glue injection device for clothing penetration hemming and shaping, including a nozzle, a glue container, a hydraulic piston, a hydraulic rod, and a sewing machine motor. The nozzle, the glue container, the hydraulic piston, the hydraulic rod, and the sewing machine motor of the intelligent glue injection system for the clothing penetration hemming and shaping and the intelligent glue injection device for the clothing penetration hemming and shaping are communicatively connected.

[0162] According to another aspect of the present invention, the present invention also provides a clothing penetration hemming and shaping device, and the clothing penetration hemming and shaping device includes the intelligent glue injection device for the clothing penetration hemming and shaping and the intelligent glue injection system for the clothing penetration hemming and shaping.

[0163] For example, in a preferred embodiment, the clothing penetration hemming and shaping device further includes a five-thread overlock sewing machine, which is the main device for hemming and sewing and has the ability to sew multiple threads simultaneously. Through the five-thread overlock sewing machine, a binding strip is sandwiched between the clothing piece and the preset edge line to ensure that the position of the binding strip is accurate and flat. The combination of the five-thread overlock sewing machine and the intelligent glue injection system for the clothing penetration hemming and shaping realizes the synchronous progress of hemming and sewing and glue injection, greatly improving the production efficiency.

[0164] The clothing penetration hemming and shaping device further includes a draw-off cylinder, which is used to seamlessly embed the binding strip between the wireless overlock seam and the clothing piece to form a firm hemming structure.

[0165] The clothing permeable hemming sewing and shaping device further includes a hemming sewing control module. While the intelligent glue spraying system of the clothing permeable hemming sewing and shaping controls the nozzle of the intelligent glue spraying device of the clothing permeable hemming sewing and shaping to spray glue, it controls the five-thread overlock sewing machine to perform hemming sewing. Auxiliary tools such as a draw-off roll seamlessly embed the binding strip between the overlock stitch and the clothing piece.

[0166] Those skilled in the art can understand that the present invention has been described with reference to the flowcharts and / or block diagrams of methods, systems, and computer program products according to the present invention. Each block in the flowchart and / or block diagram, as well as combinations of blocks in the flowchart and / or block diagram, can obviously be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions (the instructions through the processor of the computer or other programmable data processing devices) generate a device for implementing the functions specified in one or more blocks of the flowchart and / or block diagram.

[0167] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the drawings are only examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and described in the embodiments, and without departing from this principle, the embodiments of the present invention can have any deformation or modification.

Claims

1. An intelligent glue spraying method for clothing penetration hemming and shaping, characterized in that, The intelligent glue jetting method for clothing penetration hemming and shaping includes the following steps: Monitor and obtain the current rotational speed of the driving motor of the sewing equipment in real time, call the glue jetting liquid calculation model, and calculate and output the corresponding jetting volume and liquid discharge rate of the shaping glue; Obtain the glue jetting volume and liquid discharge rate required at the current rotational speed calculated and output by the glue jetting liquid calculation model, control the hydraulic piston to start moving under the drive of the hydraulic rod, and increase or decrease the glue supply amount entering the nozzle; and When it is monitored that the needle at the nozzle receives a sufficient amount of glue, perform precise jetting; Among them, the glue jetting liquid calculation model of the intelligent glue jetting method for clothing penetration hemming and shaping further includes the following DDPG design steps: execute network construction; execute sample generation; execute current Critic network update; execute current Actor network update; and execute target network update.

2. The intelligent glue injection method for clothing penetration hemming sewing and shaping as described in claim 1, wherein in the glue injection liquid calculation model, the formula for calculating the difference between the control amount at the current moment and the control amount at the previous moment is: Δy(k) = K p [e(k) - e(k - 1)] + K i e(k) + K d [e(k) - 2e(k - 1) + e(k - 2)], where Δy(k) is the control increment of the k-th sampling; K p is the proportionality coefficient; K i is the integral coefficient; K d is the differential coefficient; e(k) is the deviation value between the given value and the actual value at the k-th sampling moment.

3. The intelligent glue injection method for clothing penetration hemming and shaping according to claim 1, wherein the network construction step further includes the following steps: Initialize two Actors, and set the parameters of the current Actor and the target Actor to the same initial values; initialize two Critic networks, and set the parameters of the current Critic network and the target Critic network to the same initial values.

4. The intelligent glue injection method for clothing penetration hemming and shaping according to claim 3, wherein the sample generation step further includes the following steps: observing The current state S is input into the current Actor network, and the action a is calculated. The action a is applied to the cutting device to obtain the state S at the sampling time k+1. ′ and the incentive r, and the quadruple (S, a, r, S ′ ) is added to the experience pool.

5. The intelligent glue jetting method for clothing penetration hemming and shaping as described in claim 1, wherein the intelligent glue jetting method for clothing penetration hemming and shaping comprises the following steps: When it is monitored that the sewing machine motor starts and begins to run, receive its rotational speed signal in real time.

6. The intelligent glue jetting method for clothing penetration hemming and shaping as claimed in claim 1, wherein the intelligent glue jetting method for clothing penetration hemming and shaping comprises the following steps: Obtain and monitor the jetting angle, jetting pressure and jetting speed of the nozzle in real time, and control the glue to be evenly jetted into the gap between the clothing piece and the edging strip.

7. The intelligent glue injection method for clothing permeable hemming sewing and shaping as claimed in claim 1, wherein the intelligent glue injection method for clothing permeable hemming sewing and shaping comprises the following steps: Monitor the change amount of the rotational speed of the sewing machine motor in real time, generate a rotational speed change curve; obtain the output results of the glue jetting volume and liquid discharge rate of the glue jetting liquid calculation model corresponding to the rotational speed, and record them in the glue jetting volume and liquid discharge rate adjustment database.

8. The intelligent glue jetting method for clothing penetration hemming and shaping as described in claim 1, wherein the intelligent glue jetting method for clothing penetration hemming and shaping comprises the following steps: Monitor the glue volume in the glue container in real time. When it is monitored that the glue is insufficient, automatically issue an alarm and stop jetting.

9. The intelligent glue injection method for clothing penetration hemming and shaping as described in claim 1, wherein the intelligent glue injection method for clothing penetration hemming and shaping comprises the following steps: Monitor the nozzle state in real time. When the nozzle is blocked or fails, automatically stop the machine and prompt the maintenance personnel to check and repair through the human-machine interaction interface.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it executes the steps of the intelligent glue jetting method for clothing penetration hemming and shaping according to any one of claims 1 to 9.

11. An intelligent glue spraying device for clothing penetration hemming sewing and shaping, characterized in that, Including: A memory for storing software application programs, A processor for executing the software application programs, and each program of the software application programs correspondingly executes each step of the intelligent glue jetting method for clothing penetration hemming and shaping according to any one of claims 1 to 9.

12. An intelligent glue spraying system for clothing penetration hemming and shaping, which applies the intelligent glue spraying method for clothing penetration hemming and shaping as described in any one of claims 1 to 9, is characterized in that, The intelligent glue injection system for the clothing penetration hemming sewing and shaping includes a signal receiving unit, a glue injection liquid calculation model unit, a glue supply adjustment control unit, an accurate injection unit, and a dynamic adjustment unit. When the driving motor of the sewing equipment starts and begins to operate, the signal receiving unit receives its rotation speed signal in real time. The glue injection liquid calculation model unit obtains the real-time motor rotation speed, calls the glue injection liquid calculation model, performs data processing, and calculates the required glue injection volume and liquid output rate at the current rotation speed according to the preset algorithms and parameters. The dynamic adjustment unit monitors the change amount of the sewing machine motor rotation speed in real time, responds in real time, and adjusts the glue injection volume and liquid output rate according to the output result of the glue injection liquid calculation model. The glue supply adjustment control unit obtains the required glue injection volume and liquid output rate at the current rotation speed calculated and output by the glue injection liquid calculation model, and controls the hydraulic piston to start acting under the drive of the hydraulic rod. The accurate injection unit performs accurate injection when it monitors that the needle head at the nozzle has received a sufficient amount of glue.

13. The intelligent glue jetting system for clothing penetration hemming sewing and shaping according to claim 12, wherein the glue jetting liquid calculation model unit includes a control quantity increment calculation module, and the control quantity increment module is configured to calculate the difference between the control quantity at the current moment and the control quantity at the previous moment. The formula is: Δy(k) = K p [e(k) - e(k - 1)] + K i e(k) + K d [e(k) - 2e(k - 1) + e(k - 2)], where Δy(k) is the control increment at the k-th sampling; K p is the proportionality coefficient; K i is the integral coefficient; K d is the differential coefficient; e(k) is the deviation value between the given value and the actual value at the k-th sampling moment.

14. The intelligent glue injection system for clothing penetration hemming and shaping as described in claim 13, wherein in the glue injection output calculation model of the glue injection output calculation model unit, the action space A is defined as: A t ={(K p , K i , K d )}.

15. An intelligent glue spraying device for clothing penetration type hemming sewing and shaping, characterized in that, The intelligent glue injection equipment for the clothing penetration hemming sewing and shaping includes a nozzle, a glue container, a hydraulic piston, a hydraulic rod, and a sewing machine motor. The nozzle, the glue container, the hydraulic piston, the hydraulic rod, and the sewing machine motor of the intelligent glue injection system for the clothing penetration hemming sewing and shaping as described in any one of claims 12 to 14 and the intelligent glue injection equipment for the clothing penetration hemming sewing and shaping are communicatively connected.

16. A clothing permeable hemming and shaping device, characterized in that, The clothing penetration hemming sewing and shaping equipment includes the intelligent glue injection equipment for the clothing penetration hemming sewing and shaping as described in claim 15.

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