Sewing equipment control methods and devices, electronic equipment and storage media

Abstract

This application provides a sewing equipment control method and apparatus, electronic device, and storage medium, belonging to the field of sewing technology. The method includes: determining a sewing start point position data sequence based on sewing start point position data, the number of starting stitches, and the starting stitch length; determining a sewing end point position data sequence based on sewing end point position data, the number of ending stitches, and the ending stitch length; determining intermediate first point position data and intermediate last point position data based on the sewing start point position data sequence and the sewing end point position data sequence; determining a sewing intermediate point position data sequence based on the intermediate first point position data, at least one sewing inflection point position data, the intermediate last point position data, and the intermediate stitch length; determining target sewing trajectory data based on the sewing start point position data sequence, the sewing intermediate point position data sequence, and the sewing end point position data sequence; and controlling the sewing equipment based on the target sewing trajectory data. This application can improve the accuracy and efficiency of sewing equipment control.

Description

Technical Field

[0001] This application relates to the field of sewing technology, and in particular to a sewing equipment control method and apparatus, electronic equipment and storage medium. Background Technology

[0002] In the field of sewing technology, operators manually determine the sewing trajectory data based on the drawings or samples corresponding to the sewing products, thereby controlling the operation of the sewing equipment. However, this control method relies on human operating experience, and differences in operator experience directly affect the accuracy and consistency of the sewing points, thus limiting its accuracy and efficiency.

[0003] Currently, some methods in the industry have improved the control of sewing equipment by introducing computer-aided design (CAD) files and parsing the stored graphic contours to obtain the location data of key sewing points, such as the start point, end point, and inflection points between them. These points are then used as a reference frame for operators to manually determine the sewing trajectory data. However, this method still requires operators to manually control the sewing equipment between key points based on experience. This makes the planning and execution quality of the sewing path highly dependent on human judgment, leading to difficulties in ensuring consistent sewing quality across different batches or under different operators. Furthermore, it fails to achieve fully automated control from graphic to finished product, thus extending production preparation time, increasing the risk of human error, and ultimately reducing the efficiency and accuracy of sewing equipment control. Therefore, how to achieve automated control of sewing equipment to improve its accuracy and efficiency is a pressing technical problem that the industry needs to solve. Summary of the Invention

[0004] The main objective of this application is to provide a sewing equipment control method and apparatus, electronic device and storage medium, which aims to realize the automated control of sewing equipment, thereby improving the accuracy and efficiency of sewing equipment control.

[0005] To achieve the above objectives, a first aspect of this application provides a sewing equipment control method, the method comprising: Obtain the starting stitch count, starting stitch length, ending stitch count, ending stitch length, and middle stitch length of the target sewing object; Determine the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object; Based on the sewing start point position data, the starting stitch count, and the starting stitch distance, a sewing point is generated to obtain a sewing start point position data sequence; Based on the sewing termination point position data, the number of termination stitches, and the termination stitch distance, a sewing point is generated to obtain a sewing termination point position data sequence; The intermediate first point position data is determined based on the sewing start point position data sequence, and the intermediate end point position data is determined based on the sewing end point position data sequence. Based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate last point position data, and the intermediate stitch distance, sewing points are generated to obtain a sewing intermediate point position data sequence; Sewing trajectory data is generated based on the sewing start point position data sequence, the sewing mid point position data sequence, and the sewing end point position data sequence to obtain target sewing trajectory data; The sewing equipment is controlled based on the target sewing trajectory data.

[0006] In some embodiments, generating sewing points based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate last point position data, and the intermediate stitch length to obtain a sewing midpoint position data sequence includes: Based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate last point position data, and the intermediate stitch distance, sewing point interpolation processing is performed to obtain multiple candidate sewing point position data; For each candidate sewing point position data, a sewing spacing analysis is performed based on the candidate sewing point position data and at least one sewing inflection point position data to obtain at least one inflection point spacing data. Furthermore, a sewing spacing analysis is performed based on the candidate sewing point position data and the middle tail point position data to obtain tail point spacing data. Perform spacing tolerance verification on at least one of the inflection point spacing data and the tail point spacing data to obtain a first spacing tolerance verification result; If the first spacing tolerance verification result does not meet the preset spacing tolerance condition, the candidate sewing point position data is determined as the target sewing point position data; The sewing midpoint position data sequence is obtained by integrating all the target sewing point position data and at least one sewing inflection point position data.

[0007] In some embodiments, the step of integrating all the target sewing point position data and at least one sewing inflection point position data to obtain the sewing midpoint position data sequence includes: The number of target sewing points is determined based on all the target sewing point location data; If the number of target sewing points is less than or equal to a preset sewing stitch count threshold, the data is integrated based on all the target sewing point position data and at least one sewing inflection point position data to obtain the sewing midpoint position data sequence; If the number of target sewing points is greater than the preset sewing stitch count threshold, the intermediate stitch distance is adjusted to obtain the adjusted intermediate stitch distance, and the sewing point interpolation is performed again based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate last point position data, and the adjusted intermediate stitch distance.

[0008] In some embodiments, generating sewing points based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate last point position data, and the intermediate stitch length to obtain a sewing midpoint position data sequence includes: The data is integrated based on the intermediate first point position data, at least one of the sewing inflection point position data, and the intermediate last point position data to obtain a sewing point position data sequence; wherein, the sewing point position data sequence includes multiple sewing point position data arranged in sequence; From the sewing point position data sequence, any two adjacent sewing point position data are determined as the adjacent sewing point position data set; For each set of adjacent sewing point positions, sewing point interpolation is performed based on the intermediate stitch distance and the set of adjacent sewing point positions to obtain an interpolated set of sewing point positions. The sewing midpoint position data sequence is obtained by integrating all the interpolated sewing point position data sets and at least one sewing inflection point position data.

[0009] In some embodiments, the step of performing sewing point interpolation processing based on the intermediate stitch length and the adjacent sewing point position data set to obtain an interpolated sewing point position data set includes: Based on the intermediate stitch length and the adjacent sewing point position data set, sewing point interpolation processing is performed to obtain an initial interpolated sewing point position data set; The last sewing point position data is determined from the initial set of interpolated sewing point position data as the target sewing point position data; The second sewing point position data included in the adjacent sewing point position data set is determined as the adjacent sewing end point position data, and the sewing spacing is analyzed based on the target sewing point position data and the adjacent sewing end point position data to obtain the end spacing data; The spacing tolerance data at the ends is subjected to spacing tolerance verification to obtain a second spacing tolerance verification result; If the second spacing tolerance verification result does not meet the preset spacing tolerance condition, the initial interpolated sewing point position data set is determined as the interpolated sewing point position data set. If the second spacing tolerance verification result meets the preset spacing tolerance condition, the initial interpolated sewing point position data set is filtered according to the target sewing point position data to obtain the filtered sewing point position data set, and the filtered sewing point position data set is determined as the interpolated sewing point position data set.

[0010] In some embodiments, determining the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object includes: Obtain the plotter file of the target sewing object; The plotter file is parsed to obtain the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object.

[0011] In some embodiments, parsing the plotter file to obtain the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object includes: The plotter file is parsed to obtain multiple original path point position data arranged in sequence; Among the multiple original path point position data, the first original path point position data is determined as the sewing start point position data of the target sewing object, and the last original path point position data is determined as the sewing end point position data of the target sewing object; At least one candidate inflection point location data is determined based on the sewing start point location data, the sewing end point location data, and the multiple original path point location data; For each candidate inflection point location data, the two original path point location data that are adjacent to the candidate inflection point location data among the plurality of original path point location data are determined as the first adjacent point location data and the second adjacent point location data. Based on the position data of the first adjacent point, the position data of the candidate inflection point, and the position data of the second adjacent point, curvature change analysis is performed to obtain the curvature change value; If the curvature change value meets the preset curvature change condition, the candidate inflection point position data is determined as the sewing inflection point position data; All the sewing inflection point position data are determined as at least one sewing inflection point position data of the target sewing object.

[0012] To achieve the above objectives, a second aspect of this application provides a sewing equipment control device, the device comprising: The sewing parameter acquisition unit is used to acquire the starting stitch count, starting stitch distance, ending stitch count, ending stitch distance, and intermediate stitch distance of the target sewing object. A sewing point data determination unit is used to determine the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object; The starting sewing point generation unit is used to generate a sewing point based on the sewing starting point position data, the starting stitch count, and the starting stitch distance, to obtain a sewing starting point position data sequence; The sewing termination point generation unit is used to generate a sewing termination point based on the sewing termination point position data, the number of termination stitches, and the termination stitch distance, to obtain a sewing termination point position data sequence. The intermediate boundary determination unit is used to determine the intermediate first point position data according to the sewing start point position data sequence, and to determine the intermediate end point position data according to the sewing end point position data sequence. The intermediate sewing point generation unit is used to generate sewing points based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate tail point position data, and the intermediate stitch distance, to obtain a sewing intermediate point position data sequence. A sewing trajectory generation unit is used to generate a sewing trajectory based on the sewing start point position data sequence, the sewing midpoint position data sequence, and the sewing end point position data sequence to obtain target sewing trajectory data; The control unit is used to control the sewing equipment based on the target sewing trajectory data.

[0013] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0014] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0015] The sewing equipment control method, apparatus, electronic device, and storage medium proposed in this application acquire the starting stitch count, starting stitch distance, ending stitch count, ending stitch distance, and intermediate stitch distance of the target sewing object; then determine the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object; next, generate sewing points based on the sewing start point position data, starting stitch count, and starting stitch distance to obtain a sewing start point position data sequence; further, generate sewing points based on the sewing end point position data, ending stitch count, and ending stitch distance to obtain the sewing end point position. The process involves: setting a data sequence; determining the intermediate first point position data based on the sewing start point position data sequence, and determining the intermediate last point position data based on the sewing end point position data sequence; then generating sewing points based on the intermediate first point position data, at least one sewing inflection point position data, the intermediate last point position data, and the intermediate stitch length, resulting in a sewing midpoint position data sequence; finally, generating a sewing trajectory based on the sewing start point position data sequence, the sewing midpoint position data sequence, and the sewing end point position data sequence, to obtain target sewing trajectory data, which is then used to control the sewing equipment. Thus, this embodiment of the application can generate independent sewing points for the starting, middle, and ending segments of the sewing trajectory, allowing the starting and ending segments to be sewn with different stitch length parameters than the middle segment. This satisfies the differentiated needs of the sewing process, where the starting and ending segments require dense reinforcement while the middle segment is sewn with a conventional stitch length. Simultaneously, by automatically determining the calculation boundary of the middle segment from the starting and ending segment sequences, and generating the middle segment sewing point sequence based on the sewing inflection point position data and the middle stitch length, a complete sewing trajectory is finally synthesized. This achieves fully automated processing from sewing parameters and trajectory key points to equipment control commands, eliminating the need for manual intervention in point calculation and trajectory programming. In other words, this embodiment of the application can realize automated control of sewing equipment, improving the accuracy and efficiency of sewing equipment control. Attached Figure Description

[0016] Figure 1 This is a flowchart of the sewing equipment control method provided in the embodiments of this application; Figure 2 yes Figure 1 A flowchart of step S106 in the process; Figure 3 yes Figure 2 The flowchart of step S205 in the text; Figure 4 yes Figure 1 Another flowchart of step S106 in the process; Figure 5 yes Figure 4 The flowchart of step S403 in the process; Figure 6 yes Figure 1 The flowchart of step S102 in the document; Figure 7 yes Figure 6 The flowchart of step S602 in the document; Figure 8 This is a schematic diagram of the structure of the sewing equipment control device provided in the embodiments of this application; Figure 9 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0020] First, let's analyze some of the terms used in this application: Sewing equipment: refers to industrial sewing machinery used to perform sewing operations. It can receive and analyze control commands, and based on the position coordinates, movement sequence, and sewing parameters contained in the control commands, drive the needle and feeding mechanism to work together to form continuous and orderly stitches on the sewing object according to a predetermined path. For example, sewing equipment can be a flatbed sewing machine, overlock sewing machine, pattern sewing machine, or electronic embroidery machine, etc., and the specific type is not limited.

[0021] Stitch count: This refers to the number of times the sewing needle passes through the object being sewn during the sewing process to form a stitch. Each stitch corresponds to a sewing point. For example, the stitch count can be 3 stitches, 5 stitches, or 10 stitches, etc. The specific value can be set according to the requirements of the sewing process for thread strength or stitch density.

[0022] Stitch pitch: This refers to the distance between two adjacent sewing points during the sewing process. For example, the stitch pitch can be 1.0 mm, 2.0 mm, or 3.0 mm, etc. The specific value can be set according to the material characteristics of the object being sewn, the required stitch density, or the sewing efficiency requirements.

[0023] Computer-aided design (CAD) files: These can refer to digital file formats used to store geometric information and design data of sewing objects. The files contain structured information such as entity definitions, layers, and coordinates that describe the outline of the sewing object. For example, CAD files can be in DXF, DWG, or DGN format, etc., with no specific format limitation.

[0024] Sewing key point location data: This refers to the location information of key geometric features in the sewing trajectory corresponding to the sewing object. For example, sewing key point location data may include the location data of the sewing start point and the sewing end point; or, it may also include the location data of the sewing start point, the location data of the sewing end point, and the location data of the sewing inflection point located between the sewing start point and the sewing end point. The specific content can be adjusted according to actual needs.

[0025] Sewing trajectory data: This refers to the complete path information used to control the sewing equipment to perform sewing operations. It consists of multiple sewing points arranged in sequence, which the sewing equipment uses to form continuous stitches on the sewing object.

[0026] The widespread application of sewing equipment in garment and home textile manufacturing provides crucial hardware support for efficient and standardized sewing operations, effectively improving production efficiency. However, existing sewing equipment control methods still have limitations in generating and executing sewing paths. For example, related technologies typically require operators to manually determine sewing points based on drawings or sample garments before controlling the sewing equipment to complete the sewing. This method heavily relies on human experience, and differences in operator experience directly affect the accuracy and consistency of sewing points, making it difficult to guarantee sewing quality across different batches or under different operators. Alternatively, related technologies may introduce computer-aided design files, parsing the stored graphic contours to obtain key sewing point location data for the sewing product. However, operators still need to manually control the sewing equipment between these key points based on experience and manually control the density of the stitches. While this method partially achieves the digital import of graphic information, it fails to automate the control from graphic contours to equipment commands. Production preparation time is long, the risk of human error is high, and the planning and execution quality of the sewing path still heavily depends on human judgment, limiting the improvement of the efficiency and accuracy of sewing equipment control.

[0027] Furthermore, parsing computer-aided design files typically requires significant computing resources; for example, DXF format files require sewing equipment to include additional parsing libraries. However, sewing equipment usually has limited computing resources. This imbalance between the demand for computing resources and the equipment's own capabilities directly causes data processing delays, further reducing the efficiency of sewing equipment control. Therefore, embodiments of this application provide a sewing equipment control method and apparatus, electronic device, and storage medium, aiming to achieve automated control of sewing equipment and improve the accuracy and efficiency of sewing equipment control.

[0028] The sewing equipment control method provided in this application relates to the field of sewing technology. This method can be applied to a terminal, a server, or software running on either a terminal or a server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing the sewing equipment control method, but is not limited to the above forms.

[0029] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0030] Figure 1 This is an optional flowchart of the sewing equipment control method provided in the embodiments of this application. Figure 1 The method may include, but is not limited to, steps S101 to S108: Step S101: Obtain the starting stitch count, starting stitch length, ending stitch count, ending stitch length, and intermediate stitch length of the target sewing object; Step S102: Determine the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object; Step S103: Generate sewing points based on the sewing start point position data, the number of starting stitches, and the starting stitch distance to obtain a sewing start point position data sequence; Step S104: Generate sewing points based on sewing termination point position data, number of termination stitches, and termination stitch distance to obtain a sewing termination point position data sequence; Step S105: Determine the intermediate first point position data based on the sewing start point position data sequence, and determine the intermediate end point position data based on the sewing end point position data sequence; Step S106: Based on the intermediate first point position data, at least one sewing inflection point position data, intermediate tail point position data, and intermediate stitch length, a sewing point is generated to obtain a sewing intermediate point position data sequence. Step S107: Generate the sewing trajectory based on the sewing start point position data sequence, the sewing mid point position data sequence, and the sewing end point position data sequence to obtain the target sewing trajectory data; Step S108: Control the sewing equipment according to the target sewing trajectory data.

[0031] Steps S101 to S108 as shown in this embodiment involve obtaining the starting stitch count, starting stitch length, ending stitch count, ending stitch length, and intermediate stitch length of the target sewing object; then determining the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object; next, generating sewing points based on the sewing start point position data, starting stitch count, and starting stitch length to obtain a sewing start point position data sequence; and further generating sewing points based on the sewing end point position data, ending stitch count, and ending stitch length to obtain sewing end point position data. The process involves several steps: first, determining the intermediate first point position data based on the sewing start point position data sequence; second, determining the intermediate last point position data based on the sewing end point position data sequence; third, generating sewing points based on the intermediate first point position data, at least one sewing inflection point position data, the intermediate last point position data, and the intermediate stitch length, resulting in a sewing midpoint position data sequence; and finally, generating a sewing trajectory based on the sewing start point position data sequence, the sewing midpoint position data sequence, and the sewing end point position data sequence, to obtain target sewing trajectory data, which is then used to control the sewing equipment. Thus, this embodiment of the application can generate independent sewing points for the starting, middle, and ending segments of the sewing trajectory, allowing the starting and ending segments to be sewn with different stitch length parameters than the middle segment. This satisfies the differentiated needs of the sewing process, where the starting and ending segments require dense reinforcement while the middle segment is sewn with a conventional stitch length. Simultaneously, by automatically determining the calculation boundary of the middle segment from the starting and ending segment sequences, and generating the middle segment sewing point sequence based on the sewing inflection point position data and the middle stitch length, a complete sewing trajectory is finally synthesized. This achieves fully automated processing from sewing parameters and trajectory key points to equipment control commands, eliminating the need for manual intervention in point calculation and trajectory programming. In other words, this embodiment of the application can realize automated control of sewing equipment, improving the accuracy and efficiency of sewing equipment control.

[0032] In step S101 of some embodiments, the target sewing object can refer to the product to be sewn. For example, the target sewing object can be a garment piece, an embroidered pattern, a shoe upper component, or a home textile fabric, etc., and the specific type is not limited. The starting stitch count can refer to the number of sewing points planned to be generated in the target sewing object at the beginning of the sewing stage. For example, the starting stitch count can be 3 stitches, 4 stitches, or 5 stitches, respectively, representing the generation of 3, 4, or 5 sewing points, and the specific value is not limited. The starting stitch distance can refer to the planned interval distance between adjacent sewing points in the target sewing object at the beginning of the sewing stage. For example, the starting stitch distance can be 0.8 mm, 1.0 mm, or 1.2 mm, etc., and the specific value is not limited. The ending stitch count can refer to the number of sewing points planned to be generated in the target sewing object at the end of the sewing stage. For example, the ending stitch count can be 3 stitches, 4 stitches, or 5 stitches, etc., and the specific value is not limited. The ending stitch distance can refer to the planned interval distance between adjacent sewing points in the target sewing object at the end of the sewing stage. For example, the ending stitch distance can be 0.8 mm, 1.0 mm, or 1.2 mm, etc., with no specific limit on the value. The intermediate stitch distance refers to the planned interval between adjacent sewing points in the middle stage of the sewing process. For example, the intermediate stitch distance can be 2.0 mm, 2.5 mm, or 3.0 mm, etc., with no specific limit on the value. It is understood that the starting and ending stitch distances are usually smaller than the intermediate stitch distance to meet the process requirements of dense reinforcement at the beginning and end of the sewing stages, while the intermediate stages are sewn with a standard stitch distance.

[0033] In step S102 of some embodiments, the sewing start point position data can refer to a data structure used to indicate the spatial position of the first planned sewing point and its sewing direction on the target sewing object at the beginning of the sewing stage. For example, the sewing start point position data can be a data structure containing the two-dimensional plane coordinates and direction angle of the first sewing point; or, the sewing start point position data can also be a data structure containing the two-dimensional plane coordinates and direction vector of the first sewing point. The sewing end point position data can refer to the spatial position of the last planned sewing point on the target sewing object at the end of the sewing stage and the vector information of the indicated sewing reverse direction. For example, the sewing end point position data can be a data structure containing the two-dimensional plane coordinates and direction angle of the last sewing point; or, the sewing end point position data can also be a data structure containing the two-dimensional plane coordinates and direction vector of the last sewing point. The sewing inflection point position data can refer to the spatial position of the turning point on the target sewing object located between the sewing start point and the sewing end point, where the sewing direction changes, and the vector information of the sewing direction after the turning point. For example, the sewing inflection point position data can be a data structure containing the two-dimensional plane coordinates of the inflection point and the direction angle of the sewing direction after the inflection; or, the sewing inflection point position data can also be a data structure containing the two-dimensional plane coordinates of the inflection point and the direction vector of the sewing direction after the inflection. It is understood that the specific data formats of the sewing start point position data, sewing end point position data, and sewing inflection point position data can be adjusted according to actual needs, but the data formats of the three must remain the same, and the number of sewing inflection point position data can also be adjusted according to actual needs.

[0034] It should be noted that, in the embodiments of this application, the sewing start point position data, sewing end point position data, and sewing inflection point position data of the target sewing object can be determined in various ways. For example, the sewing start point position data, sewing end point position data, and sewing inflection point position data of the target sewing object can be obtained by parsing the graphic entity definition in the computer-aided design file of the target sewing object and extracting the coordinate data corresponding to the endpoints and corner points of the graphic contour; or, the sewing start point position data, sewing end point position data, and sewing inflection point position data of the target sewing object can also be directly retrieved from a preset sewing process template, and the specific determination method is not limited.

[0035] In step S103 of some embodiments, sewing point generation can refer to the process of recursively calculating the position data of each sewing point along the sewing direction and according to the sewing direction and the sewing direction, the planned number of sewing points to be generated, and the interval distance between adjacent sewing points, based on the spatial position and sewing direction indicated by the sewing point position data, the planned number of sewing points to be generated, and the interval distance between adjacent sewing points, and then combining all the obtained sewing point position data into a sequence according to the calculation order. The sewing start point position data sequence can refer to the set of position data of multiple sewing points arranged in the sewing order after the sewing points are generated. For example, the sewing start point position data sequence can refer to the set of position data of multiple sewing points arranged in the sewing direction indicated by the sewing point position data after the sewing points are generated based on the sewing start point position data, the number of starting stitches, and the starting stitch distance. For example, taking the XY two-dimensional Cartesian coordinate system as an example, if the starting number of stitches is 3, the starting stitch distance is 1.0 mm, and the sewing starting point position data is a data structure containing the coordinate (0, 0) and the direction angle of zero degrees along the positive X-axis, then the sewing starting point position data sequence can be [(0, 0), (1.0, 0), (2.0, 0)]; or, if the starting number of stitches is 4, the starting stitch distance is 1.2 mm, and the sewing starting point position data is a data structure containing the coordinate (10, 20) and the direction vector (0, -1) along the negative Y-axis, then the sewing starting point position data sequence can be [(10, 20), (10, 18.8), (10, 17.6), (10, 16.4)].

[0036] In step S104 of some embodiments, the sewing termination point position data sequence may refer to the set of position data of multiple sewing points arranged in the opposite sewing direction indicated by the sewing termination point position data after the sewing point is generated according to the sewing termination point position data, the number of termination stitches and the termination stitch distance. For example, taking the XY two-dimensional Cartesian coordinate system as an example, if the number of ending stitches is 3, the ending stitch distance is 1.0 mm, and the sewing termination point position data is a data structure containing coordinates (10, 0) and a direction angle of 180 degrees pointing to the negative X-axis, then the sewing termination point position data sequence calculated recursively along the negative X-axis can be [(10, 0), (9.0, 0), (8.0, 0)]; or, if the number of ending stitches is 4, the ending stitch distance is 1.2 mm, and the sewing termination point position data is a data structure containing coordinates (10, 20) and a direction vector (0, 1) pointing to the positive Y-axis, then the sewing termination point position data sequence calculated recursively along the positive Y-axis can be [(10, 20), (10, 21.2), (10, 22.4), (10, 23.6)].

[0037] In step S105 of some embodiments, the intermediate first point position data may refer to the position coordinate data determined according to the sewing start point position data sequence, used to mark the position of the first sewing point in the middle section of the sewing. For example, if the sewing start point position data sequence is [(0, 0), (1.0, 0), (2.0, 0)], then the intermediate first point position data may be (2.0, 0) or (1.0, 0). It is understood that the intermediate first point position data may be the last sewing point position data in the sewing start point position data sequence, or it may be any sewing point position data in the sequence other than the first sewing point position data, which can be adjusted according to actual needs. The intermediate end point position data may refer to the position coordinate data determined according to the sewing end point position data sequence, used to mark the position of the last sewing point in the middle section of the sewing. For example, if the sewing termination point position data sequence is [(10, 0), (9.0, 0), (8.0, 0)], then the middle tail point position data can be (8.0, 0) or (9.0, 0). It can be understood that the middle tail point position data can be the last sewing point position data in the sewing termination point position data sequence, or it can be any sewing point position data in the sequence except for the first sewing point position data; the specific choice can be adjusted according to actual needs.

[0038] It should be noted that, in the embodiments of this application, the intermediate first point position data and the intermediate last point position data can be selected simultaneously from the last sewing point position data in their respective position data sequences, so that the sewing start segment, the sewing middle segment and the sewing end segment can be seamlessly connected at the junction, ensuring that the subsequently generated sewing trajectory has continuity and integrity, and reducing the risk of uneven stitches or sewing interruption caused by overlapping or gaps in the points.

[0039] In step S106 of some embodiments, the sewing midpoint position data sequence can refer to the set of position data of multiple sewing points arranged along the defined sewing direction after sewing points are generated based on the midpoint first point position data, at least one sewing inflection point position data, the midpoint end point position data and the midpoint stitch distance. For example, if the first intermediate point position data is (1, 0), the sewing inflection point position data is (3.0, 4.0) and (6.0, 0), the last intermediate point position data is (9.0, 0), and the middle stitch length is 2.0 mm, then the resulting sewing intermediate point position data sequence can be [(1.9, 1.8), (2.8, 3.6), (3.0, 4.0), (3.9, 2.8), (5.1, 1.2), (6.0, 0), (6.5, 0), (8.5, 0)]; or, if the first intermediate point position data is (2.0, 0), the sewing inflection point position data is (5.0, 0), the last intermediate point position data is (8.0, 0), and the middle stitch length is 2.0 mm, then the resulting sewing intermediate point position data sequence can be [(4.0, 0), (5.0, 0), (7.0, 0)].

[0040] It should be noted that the sewing midpoint position data sequence does not include the midpoint start point position data and the midpoint end point position data. The sewing midpoint position data sequence can be obtained by defining the change in sewing direction based on the sewing inflection point position data, starting from the midpoint start point position data and continuously iterating to the midpoint end point position data with the midpoint stitch length as the step size. The step size remains continuous when crossing sewing inflection points, and the sewing inflection point position data is retained. Alternatively, the sewing direction change can be defined based on the sewing inflection point position data and used as the starting point for segmented sewing point generation. Sewing points are generated independently between each adjacent sewing inflection point or between a sewing inflection point and the midpoint end point, with the step size reset at the start of each segment, and the sewing inflection point position data retained. This application embodiment does not limit the specific generation method of the sewing midpoint position data sequence and can be adjusted according to actual needs.

[0041] In step S107 of some embodiments, sewing trajectory generation can refer to the process of sequentially concatenating the position data of each sewing point in the sewing start point position data sequence, the position data of each sewing point in the sewing intermediate point position data sequence, and the position data of each sewing point in the sewing end point position data sequence after reverse sorting, into a complete set of position data. Target sewing trajectory data can refer to the set of position data corresponding to the complete path of the sewing equipment performing sewing operations, obtained after generating the sewing trajectory based on the sewing start point position data sequence, the sewing intermediate point position data sequence, and the sewing end point position data sequence. For example, if the sewing start point position data sequence is [(0,0), (1.0,0), (2.0,0)], the sewing midpoint position data sequence is [(4.0,0), (5.0,0), (7.0,0)], the sewing end point position data sequence is [(10.0,0), (9.0,0), (8.0,0)], and the sewing end point position data sequence after reverse sorting is [(8.0,0), (9.0,0), (10.0,0)], then the target sewing trajectory data can be [(0,0), (1.0,0), (2.0,0), (4.0,0), (5.0,0), (7.0,0), (8.0,0), (9.0,0), (10.0,0)].

[0042] In step S108 of some embodiments, controlling the sewing equipment may refer to converting the target sewing trajectory data into control instructions that the sewing equipment can recognize, and sending the control instructions to the sewing equipment so that the sewing equipment drives the needle and the feeding mechanism to work together to form a continuous stitch on the target sewing object along a predetermined path, according to the position data of each sewing point contained in the control instructions and their arrangement order.

[0043] It should be noted that, in this embodiment of the application, the actual sewing trajectory can also be displayed in real time by a display component configured on the sewing equipment. For example, the sewing trajectory and sewing direction can be indicated by green dots and arrows through the display component.

[0044] Please see Figure 2 In some embodiments, step S106 may include, but is not limited to, steps S201 to S205: Step S201: Perform sewing point interpolation processing based on the middle first point position data, at least one sewing inflection point position data, the middle tail point position data, and the middle stitch distance to obtain multiple candidate sewing point position data; Step S202: For each candidate sewing point position data, perform sewing spacing analysis based on the candidate sewing point position data and at least one sewing inflection point position data to obtain at least one inflection point spacing data, and perform sewing spacing analysis based on the candidate sewing point position data and the middle tail point position data to obtain tail point spacing data; Step S203: Perform spacing tolerance verification on at least one inflection point spacing data and tail point spacing data to obtain the first spacing tolerance verification result; Step S204: If the first spacing tolerance verification result does not meet the preset spacing tolerance condition, the candidate sewing point position data is determined as the target sewing point position data. Step S205: Integrate all target sewing point position data and at least one sewing inflection point position data to obtain a sewing midpoint position data sequence.

[0045] In step S201 of some embodiments, the sewing point interpolation process can refer to the process of starting from the intermediate first point position data, sequentially connecting the defined sewing direction along the intermediate first point, each sewing inflection point, and the intermediate end point, and continuously recursively calculating the position data of each sewing point along the way with the intermediate stitch length as the step size. It should be noted that in the embodiments of this application, the sewing inflection point position data is only used as a reference point for changes in the sewing direction, and the step size remains continuous, uninterrupted, and unreset when crossing the sewing inflection point. Candidate sewing point position data can refer to the position data corresponding to the sewing point to be further verified after the sewing point interpolation process. For example, if the first middle point position data is (1, 0), the sewing inflection point position data is (3.0, 4.0) and (6.0, 0), the last middle point position data is (9.0, 0), and the middle stitch distance is 2.0 mm, then the candidate sewing point position data can be any one of the sequences [(1.9, 1.8), (2.8, 3.6), (3.9, 2.8), (5.1, 1.2), (6.5, 0), (8.5, 0)].

[0046] In step S202 of some embodiments, the sewing distance analysis can refer to the process of calculating the distance between candidate sewing point position data and a specific sewing point position data. The inflection point distance data can refer to the data obtained after the sewing distance analysis, used to quantify the straight-line distance between a candidate sewing point and a specific sewing inflection point. For example, if the candidate sewing point position data is (2.8, 3.6), and the sewing inflection point position data is (3.0, 4.0) and (6.0, 0), then the two inflection point distance data can be 0.4 mm and 4.8 mm, respectively. It is understood that the number of inflection point distance data is determined based on the number of candidate sewing point position data. The tail point distance data can refer to the data obtained after the sewing distance analysis, used to quantify the straight-line distance between a candidate sewing point and an intermediate tail point. For example, if the candidate sewing point position data is (6.5, 0), and the intermediate tail point position data is (9.0, 0), then the tail point distance data can be 2.5 mm.

[0047] In step S203 of some embodiments, the spacing tolerance verification can refer to the process of performing distance analysis on the inflection point spacing data and the tail point spacing data according to a preset spacing tolerance value or a preset spacing tolerance range, in order to determine whether the candidate sewing point position data meets the spacing error tolerance range. The first spacing tolerance verification result can refer to the judgment output obtained after the spacing tolerance verification. For example, the first spacing tolerance verification result can be a Boolean value of "satisfied" or "not satisfied" (such as "1" or "0"); where, when the result is "satisfied" ("1"), it means that the distance between the candidate sewing point and the nearest sewing key point among all sewing key points (sewing inflection points or intermediate tail points) is less than or equal to the preset spacing tolerance value; when the result is "not satisfied" (or "0"), it means that the distance between the candidate sewing point and all sewing key points is greater than the preset spacing tolerance value. The preset spacing tolerance value can refer to a pre-set distance threshold used to determine whether the candidate sewing point is too close to the sewing key point, and the specific value can be adjusted according to actual needs. Alternatively, the first spacing tolerance verification result can also be a specific "verification pass flag" or "verification failure flag" (such as "true" or "false"); where, when the result is "verification pass flag" (true), it means that the distance between the candidate sewing point and the nearest sewing key point among all sewing key points is within the preset spacing tolerance range; when the result is "verification failure flag" (false), it means that the distance between the candidate sewing point and all sewing key points is outside the preset spacing tolerance range. It is understood that the implementation method of spacing tolerance verification in the embodiments of this application can be adjusted as needed.

[0048] In step S204 of some embodiments, the preset spacing tolerance condition can refer to the criteria used to determine whether a candidate sewing point should be retained or eliminated. For example, if the first spacing tolerance verification result can be a Boolean value of "satisfied" or "not satisfied" (such as "1" or "0"), then the preset spacing tolerance condition can be set as follows: when the first spacing tolerance verification result is "satisfied" (or "1"), it is considered that the condition is satisfied. If the first spacing tolerance verification result does not satisfy the preset spacing tolerance condition, it means that the distance between the candidate sewing point and all sewing key points is greater than the preset spacing tolerance value, and the candidate sewing point position data can be determined as the target sewing point position data; wherein, the target sewing point position data can refer to the position data corresponding to the sewing point that is confirmed to be retained and used for subsequent data integration after sewing point interpolation processing and spacing tolerance verification. If the first spacing tolerance verification result satisfies the preset spacing tolerance condition, it means that the distance between the candidate sewing point and a certain sewing key point is less than or equal to the preset spacing tolerance value, and the candidate sewing point position data should be eliminated.

[0049] It should be noted that, in this embodiment, when a candidate sewing point is too close to the nearest key point among all sewing key points (sewing inflection points or intermediate end points), retaining this candidate sewing point in the sewing trajectory would cause the sewing equipment to repeatedly drop needles within a very small range, resulting in overlapping stitches, fabric damage, or decreased sewing efficiency. Therefore, by setting a spacing tolerance verification, candidate sewing points that meet the preset spacing tolerance conditions are discarded, and only candidate sewing points that do not meet the preset spacing tolerance conditions are retained. This can reduce the occurrence of the above problems, ensuring sewing quality while optimizing the sewing path.

[0050] In step S205 of some embodiments, data integration can refer to the process of merging and sorting all target sewing point position data with at least one sewing inflection point position data according to the front-to-back order of the sewing path to form an ordered point sequence. The sewing intermediate point position data sequence can refer to the set of position data of multiple sewing points arranged along the defined sewing direction, connected sequentially along the intermediate starting point, each sewing inflection point, and the intermediate ending point, obtained after data integration. For example, if the intermediate starting point position data is (1, 0), the sewing inflection point position data are (3.0, 4.0) and (6.0, 0), the intermediate ending point position data is (9.0, 0), and the intermediate stitch distance is 2.0 mm, the candidate sewing point position data obtained after sewing point interpolation processing includes (1.9, 1.8), (2.8, 3.6), (3.9, 2.8), (5.1, 1.2), (6.5, 0), and (8.5, 0). After the spacing tolerance verification, assuming that the candidate point (2.8, 3.6) is eliminated because it is too close to the sewing inflection point (3.0, 4.0), the final determined target sewing point position data is (1.9, 1.8), (3.9, 2.8), (5.1, 1.2), (6.5, 0), (8.5, 0). The above target sewing point position data and the sewing inflection point position data (3.0, 4.0) and (6.0, 0) are merged and sorted according to the front and back order of the sewing path. The resulting sewing intermediate point position data sequence can be [(1.9, 1.8), (3.0, 4.0), (3.9, 2.8), (5.1, 1.2), (6.0, 0), (6.5, 0), (8.5, 0)].

[0051] It is understood that, in this embodiment of the application, sewing point interpolation is performed based on the intermediate first point position data, at least one sewing inflection point position data, intermediate last point position data, and intermediate stitch length to obtain multiple candidate sewing point position data. For each candidate sewing point position data, sewing spacing analysis is performed based on the candidate sewing point position data and at least one sewing inflection point position data to obtain at least one inflection point spacing data. Sewing spacing analysis is also performed based on the candidate sewing point position data and the intermediate last point position data to obtain last point spacing data. Then, spacing tolerance verification is performed based on at least one inflection point spacing data, last point spacing data, and a preset spacing tolerance value to obtain a first spacing tolerance verification result. If the first spacing tolerance verification result does not meet the preset spacing tolerance condition, the candidate sewing point position data is determined as the target sewing point position data. Finally, all target sewing point position data and at least one sewing inflection point position data are integrated to obtain a sewing intermediate point position data sequence. In this way, candidate sewing points that are too close to the sewing key points can be eliminated through spacing tolerance verification, and only sewing points that maintain a sufficient distance from all sewing key points can be retained. This reduces stitch overlap, fabric damage or sewing efficiency caused by repeated needle drops in a very small area of ​​the sewing equipment, and optimizes the sewing path while ensuring sewing quality.

[0052] Please see Figure 3 In some embodiments, step S205 may include, but is not limited to, steps S301 to S303: Step S301: Determine the number of target sewing points based on all target sewing point position data; Step S302: If the number of target sewing points is less than or equal to the preset sewing stitch count threshold, integrate all target sewing point position data and at least one sewing inflection point position data to obtain a sewing midpoint position data sequence. Step S303: If the number of target sewing points is greater than the preset sewing stitch count threshold, adjust the parameters of the intermediate stitch distance to obtain the adjusted intermediate stitch distance, and re-perform the sewing point interpolation process based on the intermediate first point position data, at least one sewing inflection point position data, the intermediate end point position data, and the adjusted intermediate stitch distance.

[0053] In step S301 of some embodiments, the number of target sewing points may refer to the number of target sewing point position data finally determined after sewing point interpolation processing and spacing tolerance verification.

[0054] In steps S302 to S303 of some embodiments, the preset stitch count threshold can refer to a pre-set reference value used to determine whether the number of currently generated stitch points meets the expected value. For example, the preset stitch count threshold can be 5 stitches, 10 stitches, or 20 stitches, etc., and the specific value can be set according to the requirements of the sewing process for the density of stitch points in the middle section. If the target stitch count is less than or equal to the preset stitch count threshold, it means that the number of currently generated stitch points is within a reasonable range, and all target stitch point position data can be directly integrated with at least one sewing inflection point position data to obtain a sewing middle point position data sequence. If the target stitch count is greater than the preset stitch count threshold, it means that the number of currently generated stitch points is too large, which may lead to an overly dense sewing trajectory, and the middle stitch distance needs to be adjusted to control the number of stitch points. At this point, the intermediate stitch distance can be adjusted, for example, by increasing it. Then, based on the initial stitch position data, at least one sewing inflection point position data, the final stitch position data, and the adjusted intermediate stitch distance, the sewing point interpolation process is repeated until the number of target sewing points meets the preset sewing stitch count threshold. It is understandable that the intermediate stitch distance parameter adjustment can be done by gradually increasing a fixed step size, or by dynamically calculating the difference between the target number of sewing points and the threshold. The specific adjustment strategy can be determined according to actual needs.

[0055] It is understood that, in this embodiment, the number of target sewing points is determined based on all target sewing point position data, and this number is compared with a preset sewing stitch count threshold. If the number of target sewing points is less than or equal to the preset sewing stitch count threshold, all target sewing point position data are integrated with at least one sewing inflection point position data to obtain a sewing midpoint position data sequence. If the number of target sewing points is greater than the preset sewing stitch count threshold, the intermediate stitch distance is adjusted to obtain an adjusted intermediate stitch distance, and sewing point interpolation processing is re-executed based on the adjusted intermediate stitch distance until the number of generated target sewing points meets the threshold requirement. In this way, the number of sewing points in the middle section of the sewing can be automatically controlled by dynamically adjusting the intermediate stitch distance, reducing stitch overlap and fabric damage caused by excessively dense sewing points, preventing a decrease in sewing efficiency, and ensuring that the sewing trajectory can accurately describe the sewing contour, thereby optimizing sewing quality and efficiency while meeting process requirements.

[0056] Please see Figure 4 In some embodiments, step S106 may include, but is not limited to, steps S401 to S404: Step S401: Integrate the data based on the intermediate first point position data, at least one sewing inflection point position data and the intermediate last point position data to obtain a sewing point position data sequence; Step S402: Determine any two adjacent sewing point position data from the sewing point position data sequence as the adjacent sewing point position data set; Step S403: For each set of adjacent sewing point positions, perform sewing point interpolation processing based on the intermediate stitch distance and the set of adjacent sewing point positions to obtain the interpolated sewing point position data set; Step S404: Integrate all the interpolated sewing point position data sets and at least one sewing inflection point position data to obtain a sewing midpoint position data sequence.

[0057] In step S401 of some embodiments, data integration can refer to the process of merging and sorting the intermediate starting point position data, at least one sewing inflection point position data, and intermediate ending point position data according to the sewing direction defined by connecting the intermediate starting point, each sewing inflection point, and the intermediate ending point in sequence, to form an ordered point sequence. The sewing point position data sequence can refer to the set of position data obtained after data integration, which consists of the intermediate starting point, each sewing inflection point, and the intermediate ending point arranged in the sewing order. For example, if the first intermediate point position data is (1, 0), the sewing inflection point position data is (3.0, 4.0) and (6.0, 0), and the last intermediate point position data is (9.0, 0), then the resulting sewing point position data sequence can be [(1, 0), (3.0, 4.0), (6.0, 0), (9.0, 0)]; or, if the first intermediate point position data is (2.0, 0), the sewing inflection point position data is (5.0, 0), and the last intermediate point position data is (8.0, 0), then the resulting sewing point position data sequence can be [(2.0, 0), (5.0, 0), (8.0, 0)].

[0058] In step S402 of some embodiments, the adjacent sewing point position data set may refer to the position data pairs corresponding to two sewing points that are adjacent in the sewing order in the sewing point position data sequence. For example, if the sewing point position data sequence is [(1,0), (3.0,4.0), (6.0,0), (9.0,0)], the adjacent sewing point position data set may include [(1,0), (3.0,4.0)], [(3.0,4.0), (6.0,0)] and [(6.0,0), (9.0,0)]; or, if the sewing point position data sequence is [(2.0,0), (5.0,0), (8.0,0)], the adjacent sewing point position data set may include [(2.0,0), (5.0,0)] and [(5.0,0), (8.0,0)].

[0059] In step S403 of some embodiments, the interpolated sewing point position data set can refer to the position data set corresponding to all interpolated sewing points located between two adjacent sewing points after performing sewing point interpolation processing on a certain adjacent sewing point position data set. For example, if the middle stitch distance is 2.0 mm, the interpolated sewing point position data set obtained from the adjacent sewing point position data set [(1, 0), (3.0, 4.0)] can be [(1.9, 1.8), (2.8, 3.6)]; or, if the adjacent sewing point position data set [(3.0, 4.0), (6.0, 0)], the interpolated sewing point position data set obtained can be [(4.2, 2.4), (5.4, 0.8)]; or, if the adjacent sewing point position data set [(6.0, 0), (9.0, 0)], the interpolated sewing point position data set obtained can be [(8.0, 0)].

[0060] In step S404 of some embodiments, the sewing midpoint position data sequence can refer to the position data set of multiple sewing points arranged along the defined sewing direction after data integration based on all interpolated sewing point position data sets and at least one sewing inflection point position data. For example, if the starting point position data is (1, 0), the sewing inflection point position data is (3.0, 4.0) and (6.0, 0), the ending point position data is (9.0, 0), and the stitch length is 2.0 mm, then the sewing midpoint position data sequence can be [(1.9, 1.8), (2.8, 3.6), (3.0, 4.0), (4.2, 2.4), (5.4, 0.8), (6.0, 0), (8.0, 0)]; or, if the starting point position data is (2.0, 0), the sewing inflection point position data is (5.0, 0), the ending point position data is (8.0, 0), and the stitch length is 2.0 mm, then the sewing midpoint position data sequence can be [(4.0, 0), (5.0, 0), (7.0, 0)].

[0061] It is understood that the embodiments of this application can use the intermediate starting point, each sewing inflection point, and the intermediate ending point as the basic sewing point position data sequence, and perform sewing point interpolation processing independently between each pair of adjacent basic sewing points. Then, the sewing points obtained from each segment of interpolation are merged and sorted with the sewing inflection points to finally obtain a complete sewing intermediate point position data sequence. In this way, by taking advantage of segmented interpolation, the complex multi-segment path can be decomposed into multiple independent straight line segments for interpolation calculation, reducing the complexity of a single interpolation process. At the same time, it ensures that the sewing inflection points, as key position points, are completely preserved in the final trajectory, enabling the sewing equipment to accurately complete the direction change at the inflection points, reducing the cumulative error or point offset that may be caused by continuous segmented recursion, thereby improving the accuracy of the sewing contour and the consistency of the process.

[0062] Please see Figure 5 In some embodiments, step S403 may also include, but is not limited to, steps S501 to S506: Step S501: Perform sewing point interpolation processing based on the intermediate stitch distance and adjacent sewing point position data set to obtain the initial interpolated sewing point position data set; Step S502: Determine the last sewing point position data from the initial interpolated sewing point position data set as the target sewing point position data; Step S503: Determine the second sewing point position data included in the adjacent sewing point position data set as the adjacent sewing end point position data, and perform sewing spacing analysis based on the target sewing point position data and the adjacent sewing end point position data to obtain the end spacing data; Step S504: Perform spacing tolerance verification on the end spacing data to obtain the second spacing tolerance verification result; Step S505: If the second spacing tolerance verification result does not meet the preset spacing tolerance condition, the initial interpolation sewing point position data set is determined as the interpolation sewing point position data set. Step S506: If the second spacing tolerance verification result meets the preset spacing tolerance condition, perform data filtering on the initial interpolated sewing point position data set according to the target sewing point position data to obtain the filtered sewing point position data set, and determine the filtered sewing point position data set as the interpolated sewing point position data set.

[0063] In step S501 of some embodiments, the initial interpolated sewing point position data set may refer to the position data set corresponding to all initial interpolated sewing points directly obtained after sewing point interpolation processing based on the intermediate stitch distance and the adjacent sewing point position data set. For example, if the adjacent sewing point position data set is [(1, 0), (3.0, 4.0)], then the initial interpolated sewing point position data set may be [(1.9, 1.8), (2.8, 3.6)]; or, if the adjacent sewing point position data set is [(3.0, 4.0), (6.0, 0)], then the initial interpolated sewing point position data set may be [(4.2, 2.4), (5.4, 0.8)].

[0064] In step S502 of some embodiments, the target sewing point position data may refer to the position data corresponding to the last sewing point determined from the initial interpolated sewing point position data set. For example, if the initial interpolated sewing point position data set is [(1.9, 1.8), (2.8, 3.6)], then the target sewing point position data may be (2.8, 3.6); or, if the initial interpolated sewing point position data set is [(4.2, 2.4), (5.4, 0.8)], then the target sewing point position data may be (5.4, 0.8).

[0065] In step S503 of some embodiments, the adjacent sewing end point position data can refer to the position data corresponding to the sewing point located in the next position according to the sewing sequence in the adjacent sewing point position data set. The end distance data can refer to the distance value obtained after performing sewing distance analysis on the target sewing point position data and the adjacent sewing end point position data. For example, if the adjacent sewing point position data set is [(1, 0), (3.0, 4.0)], the adjacent sewing end point position data is (3.0, 4.0), and the target sewing point position data is (2.8, 3.6), then the end distance data can be 0.4 mm; or, if the adjacent sewing point position data set is [(3.0, 4.0), (6.0, 0)], the adjacent sewing end point position data is (6.0, 0), and the target sewing point position data is (5.4, 0.8), then the end distance data can be 1.0 mm.

[0066] In step S504 of some embodiments, the spacing tolerance verification may refer to the process of performing distance analysis on the end spacing data according to a preset spacing tolerance value or a preset spacing tolerance range to determine whether the target sewing point position data meets the spacing error tolerance range. The second spacing tolerance verification result may refer to the judgment output obtained after the spacing tolerance verification. It is understood that the calculation principle of the second spacing tolerance verification result in the embodiments of this application is the same as that of the first spacing tolerance verification result.

[0067] In steps S505 to S506 of some embodiments, if the second spacing tolerance verification result does not meet the preset spacing tolerance condition, it indicates that the distance between the target sewing point position data and the adjacent sewing tail point position data is far enough, and no adjustment is needed. The initial interpolated sewing point position data set is directly determined as the interpolated sewing point position data set. If the second spacing tolerance verification result meets the preset spacing tolerance condition, it indicates that the distance between the target sewing point position data and the adjacent sewing tail point position data is too close. Data filtering processing needs to be performed on the initial interpolated sewing point position data set, that is, the target sewing point position data is removed, and all remaining interpolated sewing point position data is used as the filtered sewing point position data set, which is then determined as the interpolated sewing point position data set. For example, if the initial set of interpolated sewing point positions is [(1.9, 1.8), (2.8, 3.6)], and the end spacing data of 0.4 mm is less than the preset spacing tolerance value of 0.5 mm, then data filtering is performed to obtain the filtered sewing point position data set as [(1.9, 1.8)], and this is determined as the set of interpolated sewing point positions.

[0068] It is understood that, in this embodiment of the application, an initial interpolated sewing point position data set is obtained by performing sewing point interpolation processing based on the intermediate stitch distance and adjacent sewing point position data sets. The last sewing point in the initial set is determined as the target sewing point position data. Then, the sewing distance is analyzed by comparing the target sewing point position data with the adjacent sewing end point position data to obtain the end distance data. The distance tolerance is verified based on the end distance data and a preset distance tolerance value to obtain a second distance tolerance verification result. If the second distance tolerance verification result does not meet the preset distance tolerance condition, the initial set is directly determined as the interpolated sewing point position data set. If the preset distance tolerance condition is met, the target sewing point position data is removed to obtain a filtered sewing point position data set, and the filtered sewing point position data set is determined as the interpolated sewing point position data set. In this way, during the interpolation process between each adjacent sewing point, the interpolation sewing point closest to the end point can be verified by distance and selectively eliminated. This reduces unnecessary repeated stitches near critical positions caused by the end point being too close to the adjacent sewing tail point, thereby further optimizing the uniformity of the sewing path and sewing efficiency while ensuring the accuracy of the sewing outline.

[0069] Please see Figure 6 In some embodiments, step S102 may include, but is not limited to, steps S601 to S602: Step S601: Obtain the plotter file of the target sewing object; Step S602: Parse the plotter file to obtain the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object.

[0070] In step S601 of some embodiments, the plotter file may refer to an instruction-type file used to record the graphic trajectory of the sewing object. For example, the plotter file may be a PLT format file; or, the plotter file may also be an HPGL format file. It is understood that the specific type of the plotter file can be adjusted according to actual needs.

[0071] In step S602 of some embodiments, file parsing can refer to the process of reading and analyzing plotter files, identifying and extracting the sequence of coordinate points constituting the sewing trajectory based on the pen state and coordinate information in the instructions, and determining the sewing start point, sewing end point, and sewing inflection point position data from it. For example, for a PLT format plotter file, file parsing can be achieved by reading instructions line by line, recording the coordinate points in subsequent absolute coordinate movement instructions PA after recognizing the pen-down instruction PD, until the pen-up instruction PU is encountered, using the first recorded coordinate point as the sewing start point position data, the last coordinate point as the sewing end point position data, and all intermediate coordinate points as sewing inflection point position data; or, for an HPGL format plotter file, file parsing can also extract trajectory key points by recognizing PD and PU instructions, and the specific parsing method can be processed accordingly based on the actual instruction set of the file format. It is understood that the specific implementation method of file parsing can be adaptively adjusted according to the format type of the plotter file.

[0072] Understandably, because plotter files (such as PLT format) use a lightweight storage method based on plotting instructions, compared to computer-aided design (CAD) files (such as DXF format) which contain complex graphic entity definitions and structured information, their parsing process does not rely on a large parsing library, significantly reducing the consumption of computing resources. Therefore, the embodiments of this application can directly extract the sewing start point, sewing inflection point, and sewing end point position data from the instruction sequence by acquiring and parsing the plotter file. In this way, the extraction of key points of the sewing trajectory can be quickly completed on resource-constrained embedded devices, providing a more reliable data foundation for subsequent automated control.

[0073] Please see Figure 7 In some embodiments, step S602 may include, but is not limited to, steps S701 to S707: Step S701: Parse the plotter file to obtain multiple original path point position data arranged in sequence; Step S702: Among the multiple original path point position data, the first original path point position data is determined as the sewing start point position data of the target sewing object, and the last original path point position data is determined as the sewing end point position data of the target sewing object. Step S703: Determine at least one candidate inflection point position data based on the sewing start point position data, the sewing end point position data, and multiple original path point position data; Step S704: For each candidate inflection point location data, determine the two original path point location data that are adjacent to the candidate inflection point location data from the multiple original path point location data as the first adjacent point location data and the second adjacent point location data. Step S705: Perform curvature change analysis based on the position data of the first adjacent point, the position data of the candidate inflection point, and the position data of the second adjacent point to obtain the curvature change value; Step S706: If the curvature change value meets the preset curvature change condition, the candidate inflection point position data is determined as the sewing inflection point position data. Step S707: Determine all sewing inflection point position data as at least one sewing inflection point position data of the target sewing object.

[0074] In step S701 of some embodiments, the original path point location data may refer to the location data corresponding to all coordinate points directly extracted according to the instruction sequence after parsing the plotter file. For example, the original path point location data obtained by parsing a plotter file may be [(12, 35), (18, 42), (25, 40), (33, 45), (40, 38), (48, 50), (55, 46)]; or, for another plotter file, the original path point location data may be [(8, 20), (15, 18), (22, 25), (30, 22), (38, 30), (45, 28)].

[0075] In step S702 of some embodiments, the sewing start point position data may refer to the position data corresponding to the first point in the original path point position data sequence; the sewing end point position data may refer to the position data corresponding to the last point in the sequence. For example, if the original path point position data is [(12, 35), (18, 42), (25, 40), (33, 45), (40, 38), (48, 50), (55, 46)], then the sewing start point position data is (12, 35) and the sewing end point position data is (55, 46).

[0076] In step S703 of some embodiments, the candidate inflection point position data may refer to the position data corresponding to all internal points in the original path point position data sequence, excluding the sewing start point and the sewing end point. For example, if the original path point position data is [(12, 35), (18, 42), (25, 40), (33, 45), (40, 38), (48, 50), (55, 46)], then the candidate inflection point position data can be any one of (18, 42), (25, 40), (33, 45), (40, 38), and (48, 50).

[0077] In step S704 of some embodiments, the first adjacent point location data may refer to the location data corresponding to the point immediately preceding a candidate inflection point location data in the original path point location data sequence; the second adjacent point location data may refer to the location data corresponding to the point immediately following a candidate inflection point location data in the original path point location data sequence. For example, if the original path point location data is [(12, 35), (18, 42), (25, 40), (33, 45), (40, 38), (48, 50), (55, 46)], and the candidate inflection point location data is (25, 40), then the first adjacent point location data is (18, 42), and the second adjacent point location data is (33, 45).

[0078] In step S705 of some embodiments, curvature change analysis can refer to the process of calculating the degree of path curvature at a candidate inflection point based on the candidate inflection point position data, its first adjacent point position data, and its second adjacent point position data. The curvature change value can refer to the numerical value obtained after curvature change analysis, used to quantify the degree of path curvature at the candidate inflection point. For example, if the candidate inflection point position data is (25, 40), the first adjacent point position data is (18, 42), and the second adjacent point position data is (33, 45), the curvature change value can be calculated as 0.10 using the three-point circumcircle method; or, if the candidate inflection point position data is (40, 38), the first adjacent point position data is (33, 45), and the second adjacent point position data is (48, 50), the curvature change value can be calculated as 0.15 using the three-point parametric equation fitting method. It is understood that the specific calculation method for the curvature change value can be adjusted according to actual needs.

[0079] In step S706 of some embodiments, the preset curvature change condition may refer to a pre-set judgment condition used for comparison with the curvature change value. For example, the preset curvature change condition may be a curvature change value greater than or equal to 0.4; or, the preset curvature change condition may also be a curvature change value in the range of 0.38 to 0.6. It is understood that the specific form of the preset curvature change condition can be adjusted according to actual needs. If the curvature change value meets the preset curvature change condition, it indicates that the path curvature corresponding to the candidate inflection point position data meets the preset requirement, and the candidate inflection point position data is determined as sewing inflection point position data. For example, if the preset curvature change condition is a curvature change value greater than or equal to 0.4, and the curvature change value of the candidate inflection point position data (30, 22) is 0.53, then the preset curvature change condition is met, and it is determined as sewing inflection point position data. If the curvature change value does not meet the preset curvature change condition, it indicates that the path curvature corresponding to the candidate inflection point position data does not meet the preset requirement, and it is not determined as sewing inflection point position data.

[0080] In step S707 of some embodiments, at least one sewing inflection point position data may refer to the position data corresponding to all sewing inflection points determined after filtering by curvature change conditions. For example, if the candidate inflection point position data can be (18, 42), (25, 40), (33, 45), (40, 38), and (48, 50), and the candidate inflection point position data that satisfy the preset curvature change conditions are only (25, 40), (33, 45), and (40, 38), then at least one sewing inflection point position data is (25, 40), (33, 45), and (40, 38).

[0081] It is understood that this application embodiment obtains original path point location data, determines candidate inflection points from it, and performs curvature change analysis based on the candidate inflection points and their first and second adjacent point location data to obtain curvature change values ​​that quantify the degree of path curvature. Then, it filters out sewing inflection point location data that meet the requirements according to preset curvature change conditions. In this way, it is possible to effectively identify inflection points that have a substantial impact on the shape of the sewing trajectory from dense original path points, eliminate redundant or non-critical points, and reduce sewing path jitter or sewing efficiency reduction caused by too many small inflections. This improves the smoothness and consistency of the sewing process while ensuring the accuracy of the sewing contour, and provides better sewing inflection point location data for subsequent segmented sewing point generation.

[0082] Please see Figure 8 This application also provides a sewing equipment control device that can implement the above-described sewing equipment control method. The device includes: The sewing parameter acquisition unit 801 is used to acquire the starting stitch count, starting stitch distance, ending stitch count, ending stitch distance, and intermediate stitch distance of the target sewing object; The sewing point data determination unit 802 is used to determine the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object; The starting sewing point generation unit 803 is used to generate sewing points based on the sewing starting point position data, the starting number of stitches, and the starting stitch distance, to obtain a sewing starting point position data sequence; The termination sewing point generation unit 804 is used to generate sewing points based on the sewing termination point position data, the number of termination stitches, and the termination stitch distance, to obtain a sewing termination point position data sequence. The intermediate boundary determination unit 805 is used to determine the intermediate first point position data according to the sewing start point position data sequence, and to determine the intermediate end point position data according to the sewing end point position data sequence. The intermediate sewing point generation unit 806 is used to generate sewing points based on the intermediate first point position data, at least one sewing inflection point position data, the intermediate tail point position data, and the intermediate stitch distance, to obtain a sewing intermediate point position data sequence. The sewing trajectory generation unit 807 is used to generate a sewing trajectory based on the sewing start point position data sequence, the sewing middle point position data sequence, and the sewing end point position data sequence, so as to obtain the target sewing trajectory data. The control unit 808 is used to control the sewing equipment based on the target sewing trajectory data.

[0083] The specific implementation of this sewing equipment control device is basically the same as the specific embodiment of the sewing equipment control method described above, and will not be repeated here.

[0084] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described sewing equipment control method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0085] Please see Figure 9 , Figure 9 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 901 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 902 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 902 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 to execute the sewing equipment control method of the embodiments of this application. The 903 input / output interface is used to implement information input and output. The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 905 transmits information between various components of the device (e.g., processor 901, memory 902, input / output interface 903, and communication interface 904); The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0086] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described sewing equipment control method.

[0087] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0088] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0089] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0090] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0091] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0092] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application 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 this application 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 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.

[0093] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0094] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0095] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0096] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0097] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0098] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A sewing equipment control method, characterized in that, The method includes: Obtain the starting stitch count, starting stitch length, ending stitch count, ending stitch length, and middle stitch length of the target sewing object; Determine the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object; Sewing points are generated based on the sewing start point position data, the starting stitch count, and the starting stitch distance to obtain a sewing start point position data sequence. The sewing start point position data sequence refers to a set of position data of multiple sewing points arranged according to the sewing direction indicated by the sewing start point position data. Based on the sewing termination point position data, the number of termination stitches, and the termination stitch distance, sewing points are generated to obtain a sewing termination point position data sequence. The sewing termination point position data sequence refers to a set of position data of multiple sewing points arranged in the opposite direction of sewing as indicated by the sewing termination point position data. The intermediate first point position data is determined based on the sewing start point position data sequence, and the intermediate last point position data is determined based on the sewing end point position data sequence; wherein, the intermediate first point position data refers to the position coordinate data determined based on the sewing start point position data sequence, used to mark the position corresponding to the first sewing point in the intermediate sewing segment; the intermediate last point position data refers to the position coordinate data determined based on the sewing end point position data sequence, used to mark the position corresponding to the last sewing point in the intermediate sewing segment; Based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate tail point position data, and the intermediate stitch length, sewing points are generated to obtain a sewing intermediate point position data sequence. The sewing intermediate point position data sequence refers to a set of position data arranged along the defined sewing direction, which includes the position data of each sewing inflection point and the generated multiple sewing point position data, and is connected sequentially along the intermediate first point position data, each sewing inflection point position data, and the intermediate tail point position data. Based on the sewing start point position data sequence, the sewing intermediate point position data sequence, and the sewing end point position data sequence, a sewing trajectory is generated to obtain target sewing trajectory data. The target sewing trajectory data refers to the set of position data corresponding to the complete path used to indicate the sewing equipment to perform sewing operations, obtained by sequentially splicing together the position data of each sewing point in the sewing start point position data sequence, the position data of each sewing point in the sewing intermediate point position data sequence, and the position data of each sewing point in the sewing end point position data sequence after reverse sorting. The sewing equipment is controlled based on the target sewing trajectory data.

2. The method according to claim 1, characterized in that, The step of generating sewing points based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate last point position data, and the intermediate stitch length, to obtain a sewing intermediate point position data sequence, includes: Based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate last point position data, and the intermediate stitch distance, sewing point interpolation processing is performed to obtain multiple candidate sewing point position data; For each candidate sewing point position data, a sewing spacing analysis is performed based on the candidate sewing point position data and at least one sewing inflection point position data to obtain at least one inflection point spacing data. Furthermore, a sewing spacing analysis is performed based on the candidate sewing point position data and the middle tail point position data to obtain tail point spacing data. Perform spacing tolerance verification on at least one of the inflection point spacing data and the tail point spacing data to obtain a first spacing tolerance verification result; If the first spacing tolerance verification result does not meet the preset spacing tolerance condition, the candidate sewing point position data is determined as the target sewing point position data; The sewing midpoint position data sequence is obtained by integrating all the target sewing point position data and at least one sewing inflection point position data.

3. The method according to claim 2, characterized in that, The step of integrating all the target sewing point position data and at least one sewing inflection point position data to obtain the sewing midpoint position data sequence includes: The number of target sewing points is determined based on all the target sewing point location data; If the number of target sewing points is less than or equal to a preset sewing stitch count threshold, the data is integrated based on all the target sewing point position data and at least one sewing inflection point position data to obtain the sewing midpoint position data sequence; If the number of target sewing points is greater than the preset sewing stitch count threshold, the intermediate stitch distance is adjusted to obtain the adjusted intermediate stitch distance, and the sewing point interpolation is performed again based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate last point position data, and the adjusted intermediate stitch distance.

4. The method according to claim 1, characterized in that, The step of generating sewing points based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate last point position data, and the intermediate stitch length, to obtain a sewing intermediate point position data sequence, includes: The data is integrated based on the intermediate first point position data, at least one of the sewing inflection point position data, and the intermediate last point position data to obtain a sewing point position data sequence; wherein, the sewing point position data sequence includes multiple sewing point position data arranged in sequence; From the sewing point position data sequence, any two adjacent sewing point position data are determined as the adjacent sewing point position data set; For each set of adjacent sewing point positions, sewing point interpolation is performed based on the intermediate stitch distance and the set of adjacent sewing point positions to obtain an interpolated set of sewing point positions. The sewing midpoint position data sequence is obtained by integrating all the interpolated sewing point position data sets and at least one sewing inflection point position data.

5. The method according to claim 4, characterized in that, The step of performing sewing point interpolation processing based on the intermediate stitch distance and the adjacent sewing point position data set to obtain the interpolated sewing point position data set includes: Based on the intermediate stitch length and the adjacent sewing point position data set, sewing point interpolation processing is performed to obtain an initial interpolated sewing point position data set; The last sewing point position data is determined from the initial set of interpolated sewing point position data as the target sewing point position data; The second sewing point position data included in the adjacent sewing point position data set is determined as the adjacent sewing end point position data, and the sewing spacing is analyzed based on the target sewing point position data and the adjacent sewing end point position data to obtain the end spacing data; The spacing tolerance data at the ends is subjected to spacing tolerance verification to obtain a second spacing tolerance verification result; If the second spacing tolerance verification result does not meet the preset spacing tolerance condition, the initial interpolated sewing point position data set is determined as the interpolated sewing point position data set. If the second spacing tolerance verification result meets the preset spacing tolerance condition, the initial interpolated sewing point position data set is filtered according to the target sewing point position data to obtain the filtered sewing point position data set, and the filtered sewing point position data set is determined as the interpolated sewing point position data set.

6. The method according to claim 1, characterized in that, The process of determining the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object includes: Obtain the plotter file of the target sewing object; The plotter file is parsed to obtain the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object.

7. The method according to claim 6, characterized in that, The step of parsing the plotter file to obtain the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object includes: The plotter file is parsed to obtain multiple original path point position data arranged in sequence; Among the multiple original path point position data, the first original path point position data is determined as the sewing start point position data of the target sewing object, and the last original path point position data is determined as the sewing end point position data of the target sewing object; At least one candidate inflection point location data is determined based on the sewing start point location data, the sewing end point location data, and the multiple original path point location data; For each candidate inflection point location data, the two original path point location data that are adjacent to the candidate inflection point location data among the plurality of original path point location data are determined as the first adjacent point location data and the second adjacent point location data. Based on the position data of the first adjacent point, the position data of the candidate inflection point, and the position data of the second adjacent point, curvature change analysis is performed to obtain the curvature change value; If the curvature change value meets the preset curvature change condition, the candidate inflection point position data is determined as the sewing inflection point position data; All the sewing inflection point position data are determined as at least one sewing inflection point position data of the target sewing object.

8. A sewing equipment control device, characterized in that, The device includes: The sewing parameter acquisition unit is used to acquire the starting stitch count, starting stitch distance, ending stitch count, ending stitch distance, and intermediate stitch distance of the target sewing object. A sewing point data determination unit is used to determine the sewing start point position data, sewing end point position data, and at least one sewing inflection point position data of the target sewing object; The starting sewing point generation unit is used to generate sewing points based on the sewing starting point position data, the starting stitch count, and the starting stitch distance to obtain a sewing starting point position data sequence. The sewing starting point position data sequence refers to a set of position data of multiple sewing points arranged according to the sewing direction indicated by the sewing starting point position data. The termination sewing point generation unit is used to generate sewing points based on the sewing termination point position data, the number of termination stitches, and the termination stitch distance, to obtain a sewing termination point position data sequence. The sewing termination point position data sequence refers to a set of position data of multiple sewing points arranged in the opposite direction of sewing as indicated by the sewing termination point position data. The intermediate boundary determination unit is used to determine the intermediate first point position data based on the sewing start point position data sequence, and to determine the intermediate end point position data based on the sewing end point position data sequence; wherein, the intermediate first point position data refers to the position coordinate data determined based on the sewing start point position data sequence, used to mark the position corresponding to the first sewing point in the intermediate sewing segment; the intermediate end point position data refers to the position coordinate data determined based on the sewing end point position data sequence, used to mark the position corresponding to the last sewing point in the intermediate sewing segment; The intermediate sewing point generation unit is used to generate sewing points based on the intermediate first point position data, at least one of the sewing inflection point position data, the intermediate tail point position data, and the intermediate stitch distance, to obtain a sewing intermediate point position data sequence. The sewing intermediate point position data sequence refers to a set of position data including the sewing inflection point position data and the generated multiple sewing point position data, arranged along the defined sewing direction by sequentially connecting the intermediate first point position data, each sewing inflection point position data, and the intermediate tail point position data. A sewing trajectory generation unit is used to generate a sewing trajectory based on the sewing start point position data sequence, the sewing intermediate point position data sequence, and the sewing end point position data sequence to obtain target sewing trajectory data. The target sewing trajectory data refers to the set of position data corresponding to the complete path used to indicate the sewing equipment to perform sewing operations, obtained by sequentially splicing together the position data of each sewing point in the sewing start point position data sequence, the position data of each sewing point in the sewing intermediate point position data sequence, and the position data of each sewing point in the sewing end point position data sequence after reverse sorting. The control unit is used to control the sewing equipment based on the target sewing trajectory data.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the sewing equipment control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the sewing equipment control method according to any one of claims 1 to 7.

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