Compensation method, device, equipment, medium and product

Abstract

The invention discloses a compensation method, device and equipment, a medium and a product. Relates to the technical field of industrial sewing machine intelligent control, and the method comprises the following steps: receiving the position information of continuous multi-frame feature points sent by an optical sensor, the continuous multi-frame feature points being the position points of the same cloth surface feature points in continuous multi-frame images; determining a target directional curvature according to the position information of the continuous multi-frame feature points; compensation is carried out based on the target directional curvature, and by means of the technical scheme, the consistency, uniformity and stability of curve sewing can be improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for industrial sewing machines, and in particular to a compensation method, device, equipment, medium, and product. Background Technology

[0002] In traditional sewing machines, especially in roller-driven or stepper motor-controlled feeding systems, fabric experiences path compression or elongation in turning areas. Inward curves, fabric path compression leads to a shorter actual stitch length; in outward curves, the path elongates, leading to a longer actual stitch length.

[0003] Existing technologies mainly rely on manual adjustment or mechanical differential mechanisms for compensation. These compensation methods suffer from problems such as lag, insufficient accuracy, and the need for manual intervention. Furthermore, these methods cannot accurately distinguish between inward and outward curves, resulting in inconsistent stitch spacing during curved sewing processes, which makes it difficult to meet the requirements of high-precision, high-speed, and automated sewing. Summary of the Invention

[0004] This invention provides a compensation method, apparatus, device, medium, and product to solve at least one of the above-mentioned problems.

[0005] According to one aspect of the present invention, a compensation method is provided, executed by a sewing machine controller in a sewing machine control system, the sewing machine control system further comprising: an optical sensor, the compensation method comprising: Receive position information of feature points in multiple consecutive frames sent by an optical sensor, wherein the feature points in multiple consecutive frames are the position points of the same fabric surface feature points in multiple consecutive frames of images; The directional curvature of the target is determined based on the position information of feature points in multiple consecutive frames; Compensation is performed based on the target directional curvature.

[0006] Furthermore, based on the positional information of feature points across multiple consecutive frames, the directional curvature of the target is determined, including: Based on the positional information of feature points in multiple consecutive frames, determine the directed area formed by feature points in multiple consecutive frames and the distance between feature points in multiple consecutive frames. The directional curvature of the target is determined by the directed area formed by feature points in multiple consecutive frames and the distance between feature points in multiple consecutive frames.

[0007] Furthermore, the target directional curvature is determined based on the directed area formed by feature points from multiple consecutive frames and the distance between feature points from multiple consecutive frames, including: The ratio of the product of the distances between feature points in multiple consecutive frames to the directed area formed by feature points in multiple consecutive frames that are a first multiple is used as the target radius of curvature. The directional curvature of the target is determined based on the radius of curvature of the target and the directed area formed by feature points in multiple consecutive frames.

[0008] Furthermore, based on the target radius of curvature and the directed area formed by feature points across multiple consecutive frames, the target directional curvature is determined, including: The surrounding direction of the feature points in a series of consecutive frames is determined based on the directed area formed by the feature points in a series of consecutive frames. The ratio of the surrounding direction of feature points in multiple consecutive frames to the radius of curvature of the target is used as the target directional curvature.

[0009] Furthermore, compensation based on the target directional curvature includes: Based on the target directional curvature, determine the target feeding speed and / or target needle pitch; Feeding speed compensation is performed based on the target feeding speed, and / or stitch distance compensation is performed based on the target stitch distance.

[0010] Furthermore, based on the target directional curvature, the target needle spacing is determined, including: Get the stitch length compensation coefficient and the current stitch length; The target stitch distance is determined based on the stitch distance compensation coefficient, the target directional curvature, and the current stitch distance.

[0011] Furthermore, determining the target feeding speed based on the target directional curvature includes: Get the current feeding speed and feeding speed compensation coefficient; The target feeding speed is determined based on the current feeding speed, the feeding speed compensation coefficient, and the target directional curvature.

[0012] Furthermore, feeding speed compensation is performed based on the target feeding speed, and stitch distance compensation is performed based on the target stitch distance, including: If the absolute value of the target directional curvature is greater than the target threshold, then feed speed compensation is performed based on the target feed speed, and needle pitch compensation is performed based on the target needle pitch.

[0013] According to another aspect of the present invention, a compensation device is provided, which is disposed in a sewing machine controller in a sewing machine control system, the sewing machine control system further comprising: an optical sensor, the compensation device comprising: The receiving module is used to receive the position information of feature points in multiple consecutive frames sent by the optical sensor, wherein the feature points in multiple consecutive frames are the position points of the same fabric surface feature points in multiple consecutive frames of images; The determination module is used to determine the target directional curvature based on the position information of feature points in multiple consecutive frames; The compensation module is used to perform compensation based on the target directional curvature.

[0014] Furthermore, the module is specifically used for: Based on the positional information of feature points in multiple consecutive frames, determine the directed area formed by feature points in multiple consecutive frames and the distance between feature points in multiple consecutive frames. The directional curvature of the target is determined by the directed area formed by feature points in multiple consecutive frames and the distance between feature points in multiple consecutive frames.

[0015] Furthermore, the module is specifically used for: The ratio of the product of the distances between feature points in multiple consecutive frames to the directed area formed by feature points in multiple consecutive frames that are a first multiple is used as the target radius of curvature. The directional curvature of the target is determined based on the radius of curvature of the target and the directed area formed by feature points in multiple consecutive frames.

[0016] Furthermore, the module is specifically used for: The surrounding direction of the feature points in a series of consecutive frames is determined based on the directed area formed by the feature points in a series of consecutive frames. The ratio of the surrounding direction of feature points in multiple consecutive frames to the radius of curvature of the target is used as the target directional curvature.

[0017] Furthermore, the compensation module is specifically used for: Based on the target directional curvature, determine the target feeding speed and / or target needle pitch; Feeding speed compensation is performed based on the target feeding speed, and / or stitch distance compensation is performed based on the target stitch distance.

[0018] Furthermore, the compensation module is specifically used for: Get the stitch length compensation coefficient and the current stitch length; The target stitch distance is determined based on the stitch distance compensation coefficient, the target directional curvature, and the current stitch distance.

[0019] Furthermore, the compensation module is specifically used for: Get the current feeding speed and feeding speed compensation coefficient; The target feeding speed is determined based on the current feeding speed, the feeding speed compensation coefficient, and the target directional curvature.

[0020] Furthermore, the compensation module is specifically used for: If the absolute value of the target directional curvature is greater than the target threshold, then feed speed compensation is performed based on the target feed speed, and needle pitch compensation is performed based on the target needle pitch.

[0021] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the compensation method described in any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the compensation method described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer program product is provided, which, when executed by a processor, implements the compensation method as described in any of the embodiments of the present invention.

[0024] This invention embodiment receives position information of feature points in multiple consecutive frames sent by an optical sensor, wherein the feature points in multiple consecutive frames are the position points of the same fabric surface feature points in multiple consecutive frames of images; based on the position information of the feature points in multiple consecutive frames, a target directional curvature is determined; compensation is performed based on the target directional curvature, and the stitch length and feed speed are compensated in conjunction with the target directional curvature, increasing the stitch length when bending inward and decreasing the stitch length when bending outward, and reducing the feed speed in sharp bend areas, thereby eliminating stitch length deviation at bends and improving the consistency, uniformity and stability of curved sewing.

[0025] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart of a compensation method in an embodiment of the present invention; Figure 2 This is a schematic diagram of the placement position of an optical flow sensor in an embodiment of the present invention; Figure 3 This is a schematic diagram of the placement position of an optical sensor in an embodiment of the present invention; Figure 4This is a schematic diagram of the placement position of an optical sensor in an embodiment of the present invention; Figure 5 This is a comparison diagram of stitch spacing before and after compensation in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a compensation device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0031] Example 1 Figure 1 This is a flowchart illustrating a compensation method provided in an embodiment of the present invention. This embodiment is applicable to situations requiring compensation of a sewing machine. The method can be executed by the compensation device in this embodiment, which can be implemented in software and / or hardware, such as... Figure 1 As shown, the method specifically includes the following steps: S110 receives position information of feature points from multiple consecutive frames sent by the optical sensor.

[0032] The consecutive multi-frame feature points refer to the location points of the same fabric surface feature points in consecutive multi-frame images.

[0033] Optionally, the mounting location of the optical sensor includes any of the following: The optical sensor and the needle plate are respectively mounted on the needle plate holder; The optical sensor is mounted on the upper feed wheel assembly; The optical sensor is mounted on the pressure bar of the pressure bar mechanism.

[0034] In this embodiment, a sewing machine control system is provided. The sewing machine control system may include: a sewing machine controller, an optical sensor, a needle plate, and a needle plate holder. The optical sensor and the needle plate are respectively mounted on the needle plate holder. The sewing machine controller is connected to the optical sensor. The optical sensor is used to acquire the local movement trajectory of the fabric to be sewn in real time. It should be noted that the optical sensor is a detection component and is detachably mounted on the needle plate holder. The optical sensor is a non-contact optical sensor.

[0035] In this embodiment, the optical sensor is configured with the same or similar mounting interface as the sewing machine needle plate, allowing it to be mounted on the needle plate holder by replacing the needle plate. The detection area of ​​the optical sensor is located in the area to be sewn, in front of the needle's point of contact, to acquire information about the fabric's movement before sewing. This allows the optical sensor to detect changes in the fabric's direction or path of movement before it enters the needle area. For example, the detection area of ​​the optical sensor could be located within 5-30mm in front of the needle's point of contact.

[0036] In this embodiment, an optical sensor with the same or similar mounting method as the needle plate is used, so that the optical sensor is naturally located in the sewing machine at the position where the fabric path is most stable and closest to the actual sewing trajectory, thereby avoiding detection errors caused by frame vibration and gaps in the feeding structure.

[0037] In this embodiment, the optical sensor is mounted in a manner that establishes a fixed relative geometric relationship between the optical sensor, the needle bar, and the feeding mechanism, ensuring consistency between the detection results and the actual sewing path. The fabric movement information collected by the optical sensor is used to generate stitch length or feeding control commands in the next stitch cycle.

[0038] In this embodiment, the optical sensor includes at least one of the following: an optical flow sensor, a pixel array optical flow sensor, a miniature camera, and a laser optical displacement sensor. The optical flow sensor is positioned as follows: Figure 2As shown. The optical sensor and needle plate are respectively mounted on the needle plate holder. This mounting method does not require changes to the main structure of the sewing machine, making it easy to quickly deploy or replace between different models of sewing machines, significantly improving the system's versatility, maintenance convenience, and industrial feasibility.

[0039] In this embodiment, as Figure 3 As shown, by utilizing the pre-set threaded mounting holes on the existing upper feeding wheel assembly, the optical sensor is mounted on the upper feeding wheel assembly through the sensor mounting base, so that the optical sensor and the upper feeding wheel assembly form a fixed relative mounting relationship.

[0040] During the sewing process, when the fabric thickness changes and causes the upper feed wheel assembly to float up and down, the optical sensor can move synchronously in the Z direction with the upper feed wheel assembly, thereby automatically maintaining a constant detection distance between the optical sensor and the fabric surface, avoiding detection distance deviation caused by changes in fabric thickness, and improving the stability and consistency of fabric displacement detection.

[0041] In this embodiment, as Figure 4 As shown, the optical sensor is mounted on the pressure bar of the pressure bar mechanism through the sensor mounting bracket, so that the optical sensor and the pressure bar mechanism form a fixed relative position relationship.

[0042] During the sewing process, when the fabric thickness changes and causes the pressure bar mechanism to move up and down, the optical sensor can move synchronously along the Z direction with the pressure bar mechanism, thereby maintaining a constant detection distance between the optical sensor and the fabric surface, reducing optical detection errors caused by changes in fabric thickness, and improving the reliability of displacement detection.

[0043] The optical sensor is mounted on the upper feed roller assembly or the pressure bar mechanism, which can avoid interference from oil, thread shavings and dust in the needle plate area, thus improving the long-term reliability of the sensor. It does not occupy needle plate space or change the needle plate structure, which is conducive to quick transplantation and modification on different sewing machine models. In addition, only the sensor assembly (sensor mount and sensor) needs to be added, without changing the existing machine parts, which facilitates maintenance, replacement and debugging, reduces the sensor installation and after-sales maintenance costs, and improves the feasibility of industrialization.

[0044] In this embodiment, during the sewing process, at least one non-contact optical sensor is used to acquire the continuous movement trajectory information of the fabric in the area to be sewn in real time.

[0045] In this embodiment, the sewing machine needle moves up and down reciprocatingly, the fabric is driven forward by the upper and lower feed rollers, and the turning direction of the fabric is changed manually or by an external mechanism.

[0046] In this embodiment, the method for receiving the position information of multiple consecutive frames of feature points sent by the optical sensor can be as follows: real-time acquisition of fabric image frames by the optical sensor, extraction and tracking of texture feature points, and obtaining the position information of multiple consecutive frames of feature points.

[0047] S120 determines the directional curvature of the target based on the position information of feature points in multiple consecutive frames.

[0048] In this embodiment, the target directional curvature can reflect the degree and direction of the fabric path curvature. For example, the target directional curvature can be used to distinguish between inward and outward bends.

[0049] It should be noted that the target directional bending amount is a signed quantity that can simultaneously reflect the degree of bending of the fabric path and the direction of inward and outward bending.

[0050] In this embodiment, the target directional curvature is calculated based on at least three trajectory feature points continuously acquired along the fabric movement direction.

[0051] In this embodiment, the target directional curvature can be calculated using at least one of the three-point circle curvature model, the local trajectory fitting curvature model, and the curve differential geometric curvature model.

[0052] In this embodiment, the target directional curvature can be calculated by the difference in movement speed between the left and right sides of the fabric, satisfying the following: ≈(VR-VL) / W, where VR and VL are the movement velocities of the right and left fabric respectively, and W is the distance between the detection positions of the two fabric velocities. The target directional curvature can also be obtained by predicting the fabric movement trajectory in equal-length segments and estimating it based on a multi-segment line or arc approximation method.

[0053] In this embodiment, the method for determining the target directional curvature based on the position information of feature points in multiple consecutive frames can be as follows: determine the directed area formed by the feature points in multiple consecutive frames and the distance between the feature points in multiple consecutive frames based on the position information of the feature points in multiple consecutive frames; determine the target directional curvature based on the directed area formed by the feature points in multiple consecutive frames and the distance between the feature points in multiple consecutive frames.

[0054] In a specific example, an optical sensor acquires the displacement vectors (u,v) of the texture points on the fabric surface to be sewn in real time across two adjacent frames and reconstructs the fabric's motion path. By tracking the positional changes of the fabric surface feature points in consecutive frames, the local trajectory of the area to be sewn can be obtained, and the target directional curvature can be calculated using the three-point circle method.

[0055] In another specific example, continuous motion information of fabric surface texture or feature points is acquired through optical sensors. Based on this continuous motion information, the position information of feature points across multiple consecutive frames is determined. Then, based on the position information of these feature points, a target directional curvature is determined. The target feeding speed and target stitch pitch are determined based on the target directional curvature. A feeding actuator is driven based on the target feeding speed, and a stitch pitch actuator is driven based on the target stitch pitch. The stitch pitch actuator includes a oscillating needle stepper motor, a stitch pitch adjustment component, or a combination thereof. The feeding actuator includes an upper feeding roller, a lower feeding roller, and their corresponding independent drive motors.

[0056] Optionally, the target directional curvature is determined based on the positional information of feature points across multiple consecutive frames, including: Based on the positional information of feature points in multiple consecutive frames, the directed area formed by the feature points in multiple consecutive frames and the distance between the feature points in multiple consecutive frames are determined.

[0057] In this embodiment, the method for determining the directed area formed by feature points in multiple consecutive frames based on their position information can be as follows: The directed area is determined based on the position information of feature points in at least three frames. For example, it can be based on the formula... Determine the directed area, where, Let P1, P2, and P3 form the directed area, where P1(x1,y1), P2(x2,y2), and P3(x3,y3) are the positional information of feature points in three consecutive frames.

[0058] It should be noted that: S0>0: the trajectory is locally counterclockwise (inward curve), and the target directional curvature is >0; S0<0: the trajectory is locally clockwise (outward curve), and the target directional curvature is <0; S0=0: the three points are collinear, and the target directional curvature is =0. When the target directional curvature is zero, the stitch length and feed speed remain as linear sewing parameters.

[0059] In this embodiment, the method for determining the distance between feature points in consecutive frames based on their position information can be as follows: If the position information of feature points in three consecutive frames are P1(x1,y1), P2(x2,y2), and P3(x3,y3), the distance between P2 and P3 is determined as follows: The distance between P1 and P3 The distance between P1 and P2 .

[0060] The directional curvature of the target is determined by the directed area formed by feature points in multiple consecutive frames and the distance between feature points in multiple consecutive frames.

[0061] In this embodiment, the method for determining the target directional curvature based on the directed area formed by consecutive feature points of multiple frames and the distance between consecutive feature points can be as follows: the ratio of the product of the distances between consecutive feature points of multiple frames to the directed area formed by consecutive feature points of multiple frames (a first multiple) is used as the target curvature radius; the target directional curvature is determined based on the target curvature radius and the directed area formed by consecutive feature points of multiple frames.

[0062] In this embodiment, the sign of the target directional curvature is determined by the directed area, rotation direction, or cross product sign formed by feature points in multiple consecutive frames, in order to distinguish between inner and outer curves.

[0063] Optionally, the target directional curvature is determined based on the directed area formed by feature points in multiple consecutive frames and the distance between feature points in multiple consecutive frames, including: The target radius of curvature is the ratio of the product of the distances between feature points in multiple consecutive frames to the directed area formed by feature points in multiple consecutive frames that are a first multiple of the product.

[0064] In this embodiment, the first multiple can be 4.

[0065] In this embodiment, based on the formula: Determine the target radius of curvature, where, The target radius of curvature.

[0066] The directional curvature of the target is determined based on the radius of curvature of the target and the directed area formed by feature points in multiple consecutive frames.

[0067] In this embodiment, the method for determining the target directional curvature based on the target radius of curvature and the directed area formed by feature points of multiple consecutive frames can be as follows: determine the surrounding direction of the feature points of multiple consecutive frames based on the directed area formed by the feature points of multiple consecutive frames; and use the ratio of the surrounding direction of the feature points of multiple consecutive frames to the target radius of curvature as the target directional curvature.

[0068] Optionally, the directional curvature of the target is determined based on the target radius of curvature and the directed area formed by feature points from multiple consecutive frames, including: The surrounding direction of the feature points in a series of consecutive frames is determined by the directional area formed by the feature points in the series of consecutive frames.

[0069] In this embodiment, based on the formula Determine the wrap-around direction of feature points across multiple consecutive frames. It is the directed area formed by feature points from multiple consecutive frames.

[0070] The ratio of the surrounding direction of feature points in multiple consecutive frames to the radius of curvature of the target is used as the target directional curvature.

[0071] In this embodiment, based on the formula Determine the target directional curvature, where R is the target radius of curvature. The surrounding direction of feature points in multiple consecutive frames. The directional curvature is the target.

[0072] It should be noted that when the target directional curvature is greater than zero (inward curve), the fabric path is compressed, and the actual stitch length is shortened; when the target directional curvature is less than zero (outward curve), the path is lengthened, and the actual stitch length is increased.

[0073] It should be noted that, in order to quantify the curvature of the fabric trajectory and distinguish the direction of curvature, this embodiment of the invention uses target directional curvature as the core variable. Target directional curvature not only reflects the curvature of the trajectory but also distinguishes the left and right deflection directions of the fabric movement path.

[0074] S130, compensation is performed based on the target directional curvature.

[0075] In this embodiment, compensation based on the target directional curvature can be performed as follows: feed speed compensation and / or stitch pitch compensation based on the target directional curvature. Alternatively, compensation based on the target directional curvature can be performed as follows: if the absolute value of the target directional curvature is greater than a target threshold, feed speed compensation is performed based on the target feed speed, and stitch pitch compensation is performed based on the target stitch pitch; if the absolute value of the target directional curvature is less than or equal to the target threshold, stitch pitch compensation is performed based on the target stitch pitch.

[0076] In this embodiment, the curvature change of the path is monitored in real time, and the working parameters of the sewing machine (stitch pitch or feed speed) are dynamically adjusted to ensure that the stitch pitch when turning is consistent with that when straight.

[0077] This invention distinguishes between inward and outward curves by using target directional curvature, ensuring the compensation direction aligns with the actual turning direction of the fabric. This avoids the error in compensation direction caused by the inability to differentiate between inward and outward curves in existing technologies. Furthermore, this embodiment directly uses the local curvature of the fabric as the basis for compensation. Compared to compensation methods based on angle or displacement, target directional curvature more accurately reflects the degree of curvature in the fabric path, thus achieving a stitch length compensation effect highly consistent with the actual sewing path. Additionally, while dynamically compensating for the stitch length, this invention also coordinates the feed speed according to curvature changes, reducing the feed speed in sharp bend areas to effectively suppress compensation lag and overshoot, improving the stability and consistency of the turning sewing process.

[0078] It should be noted that the compensation calculation is completed between adjacent needle cycles, forming a high-speed closed-loop control. The compensation method provided in this embodiment is applicable to curved sewing of leather, fabric, and multi-layer composite materials.

[0079] Optionally, compensating based on the target directional curvature includes: Determining a target feeding speed and / or a target stitch pitch based on the target directional curvature.

[0080] In this embodiment, the target directional curvature is any physical or mathematical quantity that can equivalently reflect the degree of compression or stretching of the fabric path.

[0081] In this embodiment, the method for determining the target feeding speed based on the target directional curvature may be: obtaining the current feeding speed and the feeding speed compensation coefficient; and determining the target feeding speed according to the current feeding speed, the feeding speed compensation coefficient, and the target directional curvature.

[0082] In this embodiment, the method for determining the target stitch pitch based on the target directional curvature may be: obtaining the stitch pitch compensation coefficient and the current stitch pitch; and determining the target stitch pitch according to the stitch pitch compensation coefficient, the target directional curvature, and the current stitch pitch.

[0083] In this embodiment, after determining the target stitch pitch based on the target directional curvature, the target stitch pitch is pre-checked. For example, if > 0, then > L, it is determined whether the calculated target stitch pitch is greater than the current stitch pitch. If the target stitch pitch is greater than the current stitch pitch, the target stitch pitch check passes; < 0, then < L, it is determined whether the calculated target stitch pitch is less than the current stitch pitch. If the target stitch pitch is less than the current stitch pitch, if the target stitch pitch check passes.

[0084] Performing feeding speed compensation based on the target feeding speed, and / or performing stitch pitch compensation based on the target stitch pitch.

[0085] In this embodiment, the method for performing feeding speed compensation based on the target feeding speed may be: adjusting the current feeding speed to the target feeding speed.

[0086] In this embodiment, the method for performing stitch pitch compensation based on the target stitch pitch may be: adjusting the current stitch pitch to the target stitch pitch.

[0087] In this embodiment, dynamic compensation is performed based on the target stitch pitch, such that the compensated stitch pitch in the inner bend region is greater than the straight stitch pitch, and the compensated stitch pitch in the outer bend region is less than the straight stitch pitch.

[0088] In this embodiment, the compensated stitch pitch control instruction is sent to the stitch pitch actuator to ensure that the stitch pitch during the turning sewing process is the same as that during the straight sewing process. For example, the stitch pitch actuator may include a swing needle stepper motor driver and a swing needle stepper motor. In a specific example, the compensated stitch pitch control instruction is sent to the swing needle stepper motor driver, so that the swing needle stepper motor driver controls the swing needle stepper motor to adjust the current stitch pitch to the compensated stitch pitch, that is, the target stitch pitch.

[0089] Optionally, determining the target stitch pitch based on the target directional curvature includes: Obtaining a stitch pitch compensation coefficient and the current stitch pitch.

[0090] In this embodiment, the stitch pitch compensation coefficient may be a preset value or a stitch pitch compensation coefficient obtained by querying a correspondence table based on the target directional curvature. The correspondence table includes the correspondence between the directional curvature and the stitch pitch compensation coefficient.

[0091] Determine the target stitch pitch according to the stitch pitch compensation coefficient, the target directional curvature, and the current stitch pitch.

[0092] In this embodiment, the method for determining the target stitch pitch according to the stitch pitch compensation coefficient, the target directional curvature, and the current stitch pitch may be: based on the formula: Lc = Determine the target stitch pitch, where Lc is the target stitch pitch, is the stitch pitch compensation coefficient, is the target directional curvature.

[0093] In this embodiment, to ensure that the unit stitch arc length during the curved path sewing is the same as that in the straight sewing state, the present invention embodiment introduces stitch pitch compensation. Unit stitch arc length conservation constraint: , where is the actual stitch pitch in the turning state; is the unit stitch arc length deviation. The relationship between Δs and the directional curvature is established by the calibration experiment method: ; Substitute into the unit stitch arc length conservation constraint: L = , .

[0094] In this embodiment, for the inner bend: the actual stitch pitch decreases, and the stitch pitch needs to be increased → > 0, > L, and Lc is close to the ideal arc. For the outer bend: the actual stitch pitch increases, and the stitch pitch needs to be decreased → [[ID=​​​​

[0095] Optionally, determining the target feeding speed based on the target directional curvature includes: Get the current feeding speed and feeding speed compensation coefficient.

[0096] In this embodiment, the feeding speed compensation coefficient can be a preset value or a feeding speed compensation coefficient obtained by querying a correspondence table based on the target directional curvature. The correspondence table includes the correspondence between directional curvature and feeding speed compensation coefficient.

[0097] The target feeding speed is determined based on the current feeding speed, the feeding speed compensation coefficient, and the target directional curvature.

[0098] In this embodiment, the target feeding speed is determined based on the current feeding speed, the feeding speed compensation coefficient, and the target directional curvature, using the following formula: Determine the target feeding speed. For the target feeding speed, This is the current feeding speed. This is the feeding speed compensation coefficient. The directional curvature is the target.

[0099] It should be noted that the sharper the turn, the slower the speed; the gentler the turn, the slighter the deceleration; and for straight lines, no compensation is needed.

[0100] Optionally, feeding speed compensation is performed based on the target feeding speed, and stitch distance compensation is performed based on the target stitch distance, including: If the absolute value of the target directional curvature is greater than the target threshold, then feed speed compensation is performed based on the target feed speed, and needle pitch compensation is performed based on the target needle pitch.

[0101] It should be noted that the stepper motor completes the adjustment within the next needle cycle; in this embodiment, it is executed once at a set interval to achieve high-speed dynamic compensation, for example, the set interval can be 5–20ms.

[0102] In this embodiment, in addition to adjusting the stitch length, the feed speed can also be adjusted to compensate for curve changes. For example, in the inward curve region with a large curvature, the sewing machine can appropriately reduce the sewing speed to compensate for the stitch length change caused by the path change. For stepping roller carriages, the stitch length compensation can be further optimized by adjusting the speed of the upper and lower feed rollers in conjunction with the stitch length adjustment.

[0103] In this embodiment, the stitch distance compensation based on the target stitch distance can be achieved by sending the target stitch distance to the oscillating needle stepper motor, so that the oscillating needle stepper motor adjusts the current stitch distance to the target stitch distance.

[0104] In this embodiment, the feeding speed compensation based on the target feeding speed can be achieved by sending the target feeding speed to the upper / lower feeding stepper motor driver, so that the upper / lower feeding stepper motor driver drives the upper / lower feeding stepper motor to adjust the current feeding speed to the target feeding speed.

[0105] It should be noted that the execution module of the compensation method provided in this embodiment can be at least one of the following: a oscillating pin stepper motor, an upper / lower feeding stepper motor, and an electronic control component.

[0106] In this embodiment, the fabric feeding speed is compensated in a coordinated manner according to the directional curvature. The feeding speed is reduced in areas with greater curvature, while the baseline feeding speed is maintained or restored in areas with less curvature or straight lines, thereby improving the stability of the stitch length compensation.

[0107] In a specific example, the stitch spacing without compensation is as follows: Figure 5 As shown on the left, the stitch length after compensation is as follows: Figure 5 As shown on the right. Without compensation, the stitch spacing is inconsistent; after compensation, the stitch spacing is consistent.

[0108] The technical solution provided in this embodiment uses directional curvature, which can simultaneously characterize the degree and direction of fabric path curvature, as the compensation driving quantity to establish a deterministic mapping relationship between internal and external curvature recognition and stitch length consistency compensation. This sewing machine control method can measure the curvature of the fabric movement trajectory in real time, identify internal and external curvature directions, automatically compensate stitch length and feed speed, and form a high-speed closed-loop control, thereby achieving stitch length consistency in both curved and straight sewing.

[0109] The technical solution of this embodiment receives position information of feature points in multiple consecutive frames sent by an optical sensor, wherein the feature points in multiple consecutive frames are the position points of the same fabric surface feature points in multiple consecutive frames of images; a target directional curvature is determined based on the position information of the feature points in multiple consecutive frames; compensation is performed based on the target directional curvature, and the stitch length and feed speed are compensated in conjunction with the target directional curvature, increasing the stitch length when bending inward and decreasing the stitch length when bending outward, and reducing the feed speed in the sharp bend area, thereby eliminating the stitch length deviation at the bend and improving the consistency, uniformity and stability of curved sewing.

[0110] Example 2 Figure 6 This is a schematic diagram of a compensation device provided in an embodiment of the present invention. This embodiment is applicable to compensation situations. The device can be implemented using software and / or hardware. The device can be configured in the sewing machine controller of a sewing machine control system. The sewing machine control system further includes: an optical sensor, such as... Figure 6As shown, the compensation device specifically includes: a receiving module 610, a determining module 620, and a compensation module 630.

[0111] The receiving module is used to receive the position information of feature points in multiple consecutive frames sent by the optical sensor, wherein the feature points in multiple consecutive frames are the position points of the same fabric surface feature points in multiple consecutive frames of images. The determination module is used to determine the target directional curvature based on the position information of feature points in multiple consecutive frames; The compensation module is used to perform compensation based on the target directional curvature.

[0112] The above-described products can perform the methods provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects for performing the methods.

[0113] Example 3 Figure 7 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0114] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0115] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0116] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as compensation methods.

[0117] In some embodiments, the compensation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the compensation method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the compensation method by any other suitable means (e.g., by means of firmware).

[0118] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0119] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0120] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0121] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0122] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0123] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0124] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0125] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the compensation method according to any embodiment of the invention.

[0126] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0127] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A compensation method, characterized in that, The compensation method is executed by the sewing machine controller in the sewing machine control system, which further includes an optical sensor. Receive position information of feature points in multiple consecutive frames sent by an optical sensor, wherein the feature points in multiple consecutive frames are the position points of the same fabric surface feature points in multiple consecutive frames of images; The directional curvature of the target is determined based on the position information of feature points in multiple consecutive frames; Compensation is performed based on the target directional curvature.

2. The method according to claim 1, characterized in that, Based on the positional information of feature points across multiple consecutive frames, the directional curvature of the target is determined, including: Based on the positional information of feature points in multiple consecutive frames, determine the directed area formed by feature points in multiple consecutive frames and the distance between feature points in multiple consecutive frames. The directional curvature of the target is determined by the directed area formed by feature points in multiple consecutive frames and the distance between feature points in multiple consecutive frames.

3. The method according to claim 2, characterized in that, The directional curvature of the target is determined based on the directed area formed by feature points from multiple consecutive frames and the distance between feature points from multiple consecutive frames, including: The ratio of the product of the distances between feature points in multiple consecutive frames to the directed area formed by feature points in multiple consecutive frames that are a first multiple is used as the target radius of curvature. The directional curvature of the target is determined based on the radius of curvature of the target and the directed area formed by feature points in multiple consecutive frames.

4. The method according to claim 3, characterized in that, The directional curvature of the target is determined based on the target radius of curvature and the directed area formed by feature points from multiple consecutive frames, including: The surrounding direction of the feature points in a series of consecutive frames is determined based on the directed area formed by the feature points in a series of consecutive frames. The ratio of the surrounding direction of feature points in multiple consecutive frames to the radius of curvature of the target is used as the target directional curvature.

5. The method according to claim 1, characterized in that, Compensation based on the target directional curvature includes: Based on the target directional curvature, determine the target feeding speed and / or target needle pitch; Feeding speed compensation is performed based on the target feeding speed, and / or stitch distance compensation is performed based on the target stitch distance.

6. The method according to claim 5, characterized in that, Based on the target directional curvature, the target needle spacing is determined, including: Get the stitch length compensation coefficient and the current stitch length; The target stitch distance is determined based on the stitch distance compensation coefficient, the target directional curvature, and the current stitch distance.

7. The method according to claim 5, characterized in that, Determining the target feeding speed based on the target directional curvature includes: Get the current feeding speed and feeding speed compensation coefficient; The target feeding speed is determined based on the current feeding speed, the feeding speed compensation coefficient, and the target directional curvature.

8. The method according to claim 5, characterized in that, Feed speed compensation based on the target feed speed and stitch pitch compensation based on the target stitch pitch include: If the absolute value of the target directional curvature is greater than the target threshold, then feed speed compensation is performed based on the target feed speed, and needle pitch compensation is performed based on the target needle pitch.

9. The method according to claim 1, characterized in that, The mounting location of the optical sensor includes any of the following: The optical sensor and the needle plate are respectively mounted on the needle plate holder; The optical sensor is mounted on the upper feed wheel assembly; The optical sensor is mounted on the pressure bar of the pressure bar mechanism.

10. A compensation device, characterized in that, The sewing machine controller, configured in the sewing machine control system, further includes: an optical sensor, and the compensation device includes: The receiving module is used to receive the position information of feature points in multiple consecutive frames sent by the optical sensor, wherein the feature points in multiple consecutive frames are the position points of the same fabric surface feature points in multiple consecutive frames of images; The determination module is used to determine the target directional curvature based on the position information of feature points in multiple consecutive frames; The compensation module is used to perform compensation based on the target directional curvature.

11. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the compensation method according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the compensation method according to any one of claims 1-9.

13. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the compensation method according to any one of claims 1-9.

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