A method of making a three-dimensional embroidery, a three-dimensional embroidery product, an upper and an article of footwear

Abstract

This application provides a method for preparing three-dimensional embroidery, a three-dimensional embroidery product, a shoe upper, and footwear products. The method includes attaching a three-dimensional padding material to a predetermined area of ​​a substrate according to an embroidery file, wherein the embroidery file corresponds to the pattern to be embroidered, and the three-dimensional padding material matches the three-dimensional pattern in the pattern to be embroidered; acquiring the actual position of the three-dimensional padding material on the substrate through a visual acquisition device; and performing embroidery operations on the surface and periphery of the three-dimensional padding material according to the actual position and the embroidery file to form an embroidery layer to obtain a three-dimensional embroidery product. This application significantly improves the precision and design flexibility of the three-dimensional effect, greatly reduces material waste, lowers production costs, effectively improves product quality, reduces the risk of defects, simplifies the process flow, greatly improves production efficiency, and is easily automated.

Description

Technical Field

[0001] This application relates to the field of embroidery technology, and in particular to a method for preparing three-dimensional embroidery, three-dimensional embroidery products, shoe uppers and footwear products. Background Technology

[0002] Embroidery is a traditional handicraft. With the development of computer embroidery technology, three-dimensional embroidery, due to its outstanding visual effect and pleasant feel, is widely used in clothing, shoes, bags, and home decoration. Three-dimensional embroidery enhances the expressiveness and artistic value of embroidered products by creating raised, three-dimensional patterns on the surface.

[0003] Currently, the common method for achieving three-dimensional embroidery in existing technologies is to lay EVA (ethylene-vinyl acetate copolymer) foam or other foamed materials as a padding layer on the substrate before embroidery, and then use a computerized embroidery machine to perform high-density embroidery in the padding area, completely wrapping and covering the padding material with embroidery thread. After the embroidery is completed, the excess padding material is removed to form an embroidery pattern with a three-dimensional effect.

[0004] However, existing three-dimensional embroidery techniques still have the following shortcomings in practical applications: 1. The controllability of the 3D height is poor, resulting in a rather monotonous 3D effect. In traditional EVA foam padding processes, the 3D height mainly depends on the thickness of the padding layer. Laying one layer of material results in the height of that layer, and laying two layers results in the height of the two layers stacked together. It is difficult to achieve gradual or subtle variations in height in different parts of the same 3D area. Although multi-layered embroidery can create a multi-dimensional effect, the operation is complex and requires a large amount of embroidery thread.

[0005] 2. Significant material waste. Current processes require laying a base layer of material over a large area or even the entire surface. After embroidery is completed, areas not covered by the thread need to be manually torn or trimmed, generating a large amount of scrap material. This not only increases material costs but also wastes resources.

[0006] 3. Risk of quality defects. Since the padding material needs to be removed later, some padding material that is not completely covered may remain on the edges and sides of the 3D pattern, or the embroidery thread may be damaged during the removal process, resulting in defects that affect the product's appearance and yield rate.

[0007] 4. The process is cumbersome and production efficiency is low. In existing technologies, if a single embroidery piece needs to include both three-dimensional and non-three-dimensional embroidery areas, it typically requires a multi-step process: first, the non-three-dimensional areas are embroidered, then padding material is manually laid, and finally, the three-dimensional areas are embroidered. After the embroidery is completed, an additional step of manually removing excess padding is required. Especially for three-dimensional designs with complex angles or multi-layered structures, it often requires layered padding, layered embroidery, and layered material removal, making the process extremely cumbersome, involving numerous manual operations, and hindering continuous automated production, severely limiting production efficiency.

[0008] 5. Limited design flexibility. Because the laying of the subfloor material relies on manual positioning and fixing, it is difficult to accurately control the shape and thickness of the subfloor for intricate three-dimensional patterns or three-dimensional structures with varying heights, thus limiting the designer's creative space in three-dimensional modeling. Summary of the Invention

[0009] In order to solve one or more of the technical problems existing in the prior art, this application provides a method for preparing three-dimensional embroidery, three-dimensional embroidery products, shoe uppers and footwear products, so as to simplify the process flow, improve the controllability of the three-dimensional effect, reduce material waste and improve product quality.

[0010] To achieve the above objectives, the technical solution adopted by this application to solve its technical problem is as follows: In a first aspect, this application provides a method for preparing three-dimensional embroidery, the method comprising: The three-dimensional padding material is attached to a predetermined area of ​​the substrate according to the embroidery file, wherein the embroidery file corresponds to the pattern to be embroidered, and the three-dimensional padding material matches the three-dimensional pattern in the pattern to be embroidered. The actual position of the three-dimensional pad material on the substrate is obtained through a visual acquisition device; Based on the actual location and the embroidery file, embroidery operations are performed on the surface and surrounding area of ​​the three-dimensional padding material to form a three-dimensional embroidery product.

[0011] This application significantly improves the precision and design flexibility of the 3D effect, greatly reduces material waste, lowers production costs, effectively improves product quality, reduces the risk of defects, simplifies the process flow, greatly improves production efficiency, and is easy to automate.

[0012] In one specific embodiment, attaching the three-dimensional padding material to a predetermined area of ​​the substrate according to the embroidery file includes: The sample position of the three-dimensional pattern on the three-dimensional embroidery sample corresponding to the three-dimensional embroidery product to be prepared is acquired by a visual acquisition device. The sample position is matched with the predetermined area where the corresponding three-dimensional pattern is located in the embroidery file to obtain the matching result; The three-dimensional padding material is attached to a predetermined area of ​​the substrate according to the matching result.

[0013] This application proposes a solution that introduces a visually guided attachment method based on 3D embroidery samples. This method enables the accurate replication of complex 3D patterns and ensures consistency in mass production, significantly reducing the difficulty of manual alignment, greatly improving the yield rate, simplifying the process of new product prototyping and mass production conversion, and increasing production efficiency.

[0014] In one specific embodiment, the step of performing embroidery operations on the surface and periphery of the three-dimensional padding material according to the actual position and the embroidery file to form a three-dimensional embroidery product includes: Adjust the preset stitch coordinates in the embroidery file according to the actual position to obtain the updated stitch coordinates; Embroidery is performed on the surface and periphery of the three-dimensional padding material according to the updated stitch coordinates to form a three-dimensional embroidery product.

[0015] This application proposes a solution that adjusts the stitch coordinates based on the actual position, thereby achieving a perfect dynamic match between the embroidery thread and the padding material. This completely eliminates embroidery defects caused by positional deviations, significantly reduces the stringent requirements for the initial padding material adhesion precision, and improves the process tolerance and production efficiency.

[0016] In a specific embodiment, adjusting the preset stitch coordinates in the embroidery file according to the actual position to obtain the updated stitch coordinates includes: Calculate the deviation between the actual position and the predetermined area; The preset stitch coordinates in the embroidery file are adjusted according to the deviation to obtain the updated stitch coordinates.

[0017] This application proposes a solution that calculates deviations to adjust needle coordinates, thereby achieving quantitative and precise compensation for the embroidery thread trajectory, ensuring the geometric fidelity of the three-dimensional pattern, establishing a systematic coordinate mapping relationship, realizing coordinated correction of the whole and the parts, enhancing the adaptive capability of the intelligent embroidery system, and providing algorithmic support for fully automated production.

[0018] In one specific embodiment, the number of the three-dimensional padding materials includes multiple components, and the embroidery operation performed on the surface and periphery of the three-dimensional padding materials according to the actual position and the embroidery file to form a three-dimensional embroidery product includes: Based on the current first actual position of the three-dimensional padding material and the embroidery file, the corresponding embroidery operation is completed on the surface and surrounding area of ​​the three-dimensional padding material. The second actual position of the next three-dimensional pad on the substrate is obtained by a visual acquisition device, and embroidery operation is performed on the surface and periphery of the next three-dimensional pad according to the second actual position and the embroidery file.

[0019] This application's solution addresses the issue of discontinuous distribution of three-dimensional matting materials by employing an iterative workflow of "embroidering one, collecting data, calibrating, and then embroidering the next." This effectively eliminates cumulative errors and interference from substrate deformation, ensuring the overall accuracy of multi-point three-dimensional patterns, achieving segmented precision embroidery, improving the yield rate of long-process or multi-unit products, and intelligently adapting to the "thread cutting-moving operation" process characteristics to achieve automated continuous production.

[0020] In one specific embodiment, attaching the three-dimensional padding material to a predetermined area of ​​the substrate according to the embroidery file includes: The three-dimensional padding material is formed on a predetermined area of ​​the substrate using a dispensing machine according to the embroidery file. The shape and height of the three-dimensional padding material are controlled by controlling the amount of glue dispensed by the dispensing machine and the number of times glue is dispensed in the same area.

[0021] This application proposes a solution that uses a dispensing machine to directly form a three-dimensional pad, achieving continuous gradation of the three-dimensional height and free shaping of the three-dimensional structure. This breaks through the limitations of monotonous three-dimensional effects, achieves zero material waste, and completely eliminates edge and corner waste.

[0022] In one specific embodiment, the three-dimensional padding material is a transparent material, and during the embroidery operation, the embroidery thread passes through the transparent three-dimensional padding material to form a densely and sparsely distributed embroidery thread body on the surface and inside of the padding material.

[0023] This application proposes a solution that uses transparent materials as a three-dimensional backing material. During the embroidery process, the embroidery thread both covers the surface and penetrates the interior, forming a three-dimensional structure with varying density and an integration of interior and exterior elements. This completely liberates the limitations of embroidery thread density, constructs a three-dimensional embroidery with varying density, and achieves a three-dimensional nested structure between the embroidery thread and the backing material, thereby enhancing the visual sense of depth.

[0024] In one specific embodiment, the three-dimensional padding material matching the three-dimensional pattern in the pattern to be embroidered includes at least one of the following: The three-dimensional padding material matches the three-dimensional shape of the three-dimensional pattern; The dimensions of the three-dimensional padding material are matched with the dimensions of the three-dimensional pattern. The position of the three-dimensional padding material matches that of the three-dimensional pattern; The three-dimensional padding material matches the structure of the three-dimensional pattern.

[0025] This application solution achieves a precise correspondence between the three-dimensional padding material and the design intent by separately or in combination of four dimensions: three-dimensional shape, size, position, and structure. This ensures a high degree of fidelity in the final product, significantly reduces the shaping burden of the embroidery layer, and improves embroidery efficiency and thread utilization.

[0026] In one specific embodiment, the method further includes: The embroidery operation is performed simultaneously on the surface and periphery of the three-dimensional padding material on the same or multiple substrates by multiple embroidery heads.

[0027] This application proposes a solution that uses multiple embroidery heads to perform embroidery operations simultaneously, thereby achieving parallel operation in three-dimensional embroidery production, improving production efficiency, ensuring high consistency of batch products, increasing the yield rate of large-scale production, and enabling zoned collaborative operation of large-format complex patterns.

[0028] Secondly, this application also provides a three-dimensional embroidery product, including: Substrate; A three-dimensional padding material is attached to a predetermined area of ​​the substrate, and the three-dimensional padding material matches the three-dimensional pattern in the pattern to be embroidered. An embroidered layer covers the surface and periphery of the three-dimensional padding material.

[0029] In one specific embodiment, the number of the three-dimensional padding materials includes multiple types.

[0030] In one specific embodiment, the three-dimensional padding material is a transparent material, and during the embroidery operation, the embroidery thread passes through the transparent three-dimensional padding material to form a densely and sparsely distributed embroidery thread body on the surface and inside of the padding material.

[0031] Thirdly, this application also provides a shoe upper, which is prepared by the three-dimensional embroidery preparation method as described in any one of the first aspects; Alternatively, the shoe upper may be prepared using a three-dimensional embroidery product as described in the second aspect.

[0032] Fourthly, this application also provides a footwear product, the footwear product including a sole and an upper connected to the sole; The upper includes the upper as described in the third aspect. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart of a method for preparing three-dimensional embroidery provided in some embodiments of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] As described in the background section, existing 3D embroidery techniques based on EVA foam padding suffer from limitations due to issues such as singular control over 3D height, significant material waste, high risk of quality defects, cumbersome processes, and limited design flexibility. These limitations make it difficult to meet the diverse demands of the modern textile industry for refined, green, efficient, and personalized production. This traditional model, reliant on manual installation and subsequent removal, not only restricts breakthroughs in the artistic expression of 3D embroidery products but also becomes a bottleneck hindering their continuous automated production and large-scale innovative applications.

[0037] To address one or more of the aforementioned problems, this application proposes a novel method for preparing three-dimensional embroidery, three-dimensional embroidery products, shoe uppers, and footwear products, which can significantly improve the precision and design flexibility of the three-dimensional effect, greatly reduce material waste, lower production costs, effectively improve product quality, reduce the risk of defects, simplify the process flow, greatly improve production efficiency, and facilitate automation.

[0038] The solution of this application will now be described in detail with reference to the accompanying drawings and various embodiments.

[0039] Example 1 To achieve the solution of this application, an embodiment of this application provides a method for preparing three-dimensional embroidery, referring to... Figure 1 As shown, the method includes the following steps: S100: Attach a three-dimensional padding material to a predetermined area of ​​a substrate according to an embroidery file, wherein the embroidery file corresponds to the pattern to be embroidered, and the three-dimensional padding material matches the three-dimensional pattern in the pattern to be embroidered.

[0040] Specifically, the first step is to obtain or generate an embroidery file corresponding to the pattern to be embroidered. This embroidery file contains stitch data and color information for the embroidery pattern, and can be recognized and executed by the embroidery machine. Common formats include DST, DSB, and EMB. The embroidery file contains all the motion parameters and process instructions required for the embroidery machine to complete the entire pattern. It includes not only data such as stitch coordinates, stitch sequence, and thread cutting points, but also the location information, shape outline, and height parameters of the three-dimensional pattern. The core of this step is that, unlike traditional processes where a padding material is laid extensively on the substrate, the three-dimensional padding material is only attached to a predetermined area that matches the three-dimensional pattern in the pattern to be embroidered, strictly following the instructions in the embroidery file.

[0041] In this embodiment, the pattern to be embroidered refers to the complete embroidery pattern to be formed on the substrate. It includes not only conventional planar embroidery elements but also three-dimensional embroidery portions that require a three-dimensional effect. Planar embroidery elements refer to conventional embroidery portions that do not require a three-dimensional effect and where the embroidery thread is directly attached to the substrate surface, such as background filling, line outlining, and planar color blocks. Three-dimensional embroidery elements refer to pattern portions that require a raised, three-dimensional effect, such as three-dimensional flowers, three-dimensional letters, three-dimensional logos, and three-dimensional decorative patterns. Three-dimensional embroidery elements are the focus of this invention, and they require cooperation with a three-dimensional padding material to achieve the three-dimensional effect.

[0042] It should be noted that, in this embodiment, the matching of the three-dimensional padding material with the three-dimensional pattern in the embroidery design does not merely refer to a simple correspondence between the two on a planar projection, but rather encompasses multiple dimensions required to achieve a precise three-dimensional effect in the three-dimensional embroidery process. Specifically, it includes at least one of the following four matching forms, and in practical applications, one or more combinations can be selected to achieve this based on the complexity of the three-dimensional pattern and design requirements: 1. The three-dimensional padding material matches the three-dimensional shape of the three-dimensional pattern. In this embodiment, three-dimensional shape matching means that the three-dimensional geometric shape of the three-dimensional padding material itself is consistent with the outline of the final three-dimensional pattern to be presented. In traditional processes, the three-dimensional padding material is mostly flat EVA foam, which does not have a three-dimensional shape itself, and the three-dimensional effect depends entirely on the subsequent embroidery stacking. In this solution, the three-dimensional padding material can be pre-formed or formed online, so that it itself has three-dimensional features such as curved surfaces, arcs, and edges consistent with the design pattern. For example, for a three-dimensional pattern that needs to present a hemispherical protrusion, the three-dimensional padding material can be pre-formed into a hemispherical shell shape; for a three-dimensional shape that needs to present animal facial features, the padding material can be pre-formed into the corresponding three-dimensional outline.

[0043] 2. The dimensions of the 3D padding material match the dimensions of the 3D pattern. In this embodiment, dimension matching means that the geometric dimensions such as the length, width, and height of the 3D padding material meet the preset proportional relationship and tolerance requirements with the design parameters of the 3D pattern. Dimension matching includes two aspects: planar dimension matching (X / Y axis) and height dimension matching (Z axis). Planar dimension matching means that the projection range of the padding material on the substrate is consistent with the base outline of the 3D pattern; height dimension matching means that the thickness or protrusion height of the padding material corresponds to the required 3D layer level of the 3D pattern. For 3D areas requiring gradual height changes, dimension matching also requires that the padding material have continuously varying height parameters at different locations.

[0044] 3. The position of the 3D padding material matches the 3D pattern. In this embodiment, position matching means that the actual spatial coordinates of the 3D padding material when it is attached to the substrate are consistent with the coordinates of the 3D area defined in the embroidery file. Position matching emphasizes the positioning accuracy of the 3D padding material on the substrate. For patterns containing multiple independent 3D units, position matching also requires that the relative positional relationship between each unit conforms to the design intent. Position matching is a prerequisite for subsequent visual calibration and precise embroidery.

[0045] 4. The structure of the three-dimensional padding material matches the structure of the three-dimensional pattern. In this embodiment, structural matching refers to the requirement that the construction method of the three-dimensional padding material is compatible with the internal structural design of the three-dimensional pattern for three-dimensional patterns with complex structures such as multi-layered, composite, hollow, or functionally graded structures. Structural matching includes two aspects: hierarchical structure matching and material structure matching. Hierarchical structure matching means that for three-dimensional patterns that require multiple layers, the padding material can form a hierarchical system consistent with the design through multi-layer combination; material structure matching means that padding materials with different hardness, elasticity, density, and transparency can be selected according to the functional requirements of different layers to achieve the unity of structure and function.

[0046] S200: Obtain the actual position of the three-dimensional pad material on the substrate through a vision acquisition device.

[0047] This step aims to accurately collect the positional information of the three-dimensional padding material already attached to the substrate, providing a real-time and accurate spatial reference for subsequent embroidery operations. In step S100, although the three-dimensional padding material has been attached to the predetermined area of ​​the substrate according to the embroidery file, in actual production, factors such as mechanical vibration or positioning errors during the attachment process, shrinkage or stretching of the substrate due to tension changes, temperature and humidity effects, cumulative errors generated by the embroidery equipment during long-term operation, and deformation of the three-dimensional padding material itself during cutting, shaping, or handling may cause deviations between the actual and theoretical positions of the padding material. If these deviations are ignored and the preset embroidery program is executed directly, it will lead to misalignment of the embroidery thread and the three-dimensional padding material, resulting in quality defects such as exposed padding material and pattern deformation. Therefore, this step introduces a visual acquisition device to actively obtain the true positional information of the padding material, laying the foundation for subsequent precise embroidery.

[0048] In some embodiments, the actual position obtained in this step may include one or more of the following information, depending on the complexity of the 3D pattern and the needs of subsequent embroidery: Planar coordinate information: The X-axis and Y-axis coordinates of the three-dimensional pad material on the substrate plane are usually obtained by identifying the geometric center, corner points or preset positioning marks of the pad material; Angle and orientation information: The rotation angle of the three-dimensional padding material relative to the design direction is especially important for asymmetrical padding materials (such as letters and animal outlines); Outline shape information: The actual edge outline point cloud data of the three-dimensional padding material is used to verify its shape integrity or to dynamically adapt the embroidery trajectory when the padding material deforms. Height distribution information: For solutions using a three-dimensional vision system, height distribution data of the three-dimensional pad material surface can be obtained, providing a basis for subsequent needle depth control in embroidery; Relative position information of multiple padding materials: When there are multiple three-dimensional padding materials, the actual relative distance and angle relationship between each padding material is collected to ensure the overall coordination of the combined pattern.

[0049] In some embodiments, depending on the process accuracy requirements and production scenario, the vision acquisition device may optionally be configured to include an image acquisition unit, an optical illumination unit, an image processing unit, and a calibration module, etc.

[0050] The image acquisition unit can use an industrial-grade digital camera, such as a CCD or CMOS camera. The resolution is selected according to the accuracy requirements; for high-precision 3D embroidery, an industrial camera with 5 megapixels or higher can be used. The camera can be fixedly mounted on the side of the embroidery machine head or mounted on an independent moving crossbeam to achieve full coverage of the working area. The optical illumination unit can be configured with adjustable-angle LED light sources, including ring lights, strip lights, and coaxial lights, to adapt to the imaging needs of different 3D padding materials. For transparent or highly reflective padding materials, a low-angle ring light source can be used to highlight edge features; for dark padding materials on dark substrates, a high-brightness coaxial light source can be used to enhance contrast. The image processing unit can use an embedded image processor or industrial control computer to run image recognition algorithms, perform preprocessing, feature extraction, edge detection, coordinate calculation, and other operations on the acquired images, and output the position information of the 3D padding material in real time. The calibration module is configured to establish the transformation relationship between the image coordinate system and the embroidery machine's mechanical coordinate system, ensuring that the visual acquisition results can be accurately understood and applied by the embroidery execution system. Calibration is usually completed during the equipment installation and commissioning phase and can be periodically checked to maintain accuracy. For example, in one specific embodiment, the process by which the visual acquisition device obtains the actual position of the three-dimensional padding material on the substrate can be as follows: an industrial camera captures an image of the substrate containing the three-dimensional padding material; an image processing unit executes an edge detection algorithm to extract the contour of the three-dimensional padding material and calculates the pixel coordinates of its geometric center in the image coordinate system. Using a pre-calibrated mapping matrix between the pixel coordinates and the mechanical coordinates of the embroidery machine, the pixel coordinates of the geometric center are converted into spatial coordinates executable by the embroidery machine, thereby completing the acquisition of the actual position. For three-dimensional padding materials with asymmetrical shapes, their angular orientation can also be determined by calculating the principal direction of their contour.

[0051] S300: Based on the actual position and the embroidery file, perform embroidery operations on the surface and periphery of the three-dimensional padding material to form a three-dimensional embroidery product.

[0052] The core task of this step is to precisely align the embroidery trajectory preset in the embroidery file with the actual position of the three-dimensional padding material before performing the embroidery, so that the embroidery thread accurately covers the surface of the three-dimensional padding material and its surrounding predetermined area, ultimately forming a three-dimensional embroidery product with a full three-dimensional effect, combining the embroidery thread and the three-dimensional padding material.

[0053] It should be noted that embroidery on the surface of the three-dimensional padding material refers to the covering layer formed by embroidery thread on the exposed surfaces such as the top and sides of the padding material. Surface embroidery is the main carrier for realizing the visual expression of three-dimensional patterns. Through the combination of embroidery threads with different stitches, colors, and densities, the three-dimensional padding material is given rich texture and color effects. For transparent padding materials, surface embroidery, together with internal embroidery threads, creates a rich visual effect. Embroidery around the perimeter of the three-dimensional padding material refers to the fixing and transition layer formed by embroidery thread at the edge of the padding material where it meets the substrate. Perimeter embroidery has a dual function: firstly, it firmly fixes the edge of the three-dimensional padding material to the substrate, preventing it from curling or peeling during use; secondly, it achieves a smooth transition between the three-dimensional and flat areas, allowing the three-dimensional pattern to blend naturally with the background pattern and avoiding a harsh sense of boundary. On the side areas of the three-dimensional padding material, the surface embroidery and perimeter embroidery work together to form a complete wrap around the edge of the three-dimensional padding material, ensuring that the padding material is not exposed from any angle, maintaining the integrity of the three-dimensional pattern.

[0054] In some embodiments, attaching the three-dimensional padding material to a predetermined area of ​​the substrate according to the embroidery file includes: acquiring the sample position of the three-dimensional pattern on the three-dimensional embroidery sample corresponding to the three-dimensional embroidery product to be prepared using a visual acquisition device; matching the sample position with the predetermined area where the corresponding three-dimensional pattern is located in the embroidery file to obtain a matching result; and attaching the three-dimensional padding material to the predetermined area of ​​the substrate according to the matching result.

[0055] Specifically, the process begins with a comprehensive scan of the 3D pattern on the embroidery sample using a visual acquisition device. This scan captures information such as the planar coordinates, edge contours, geometric dimensions, and relative positions of the various 3D units, creating standardized sample position data. Next, using the theoretical positions of the 3D pattern defined in the embroidery file as a benchmark, a multi-dimensional matching analysis is performed on the acquired sample positions. This includes calculating positional deviations, comparing shape fit, and verifying dimensional proportions, outputting quantified matching results. For example, the translational deviation of the center coordinates can be calculated, the shape fit of the contour moments can be compared, and the dimensional proportions of corresponding side lengths can be verified. The final result output includes translation, rotation, and / or scaling. Finally, the matching results guide the attachment of the 3D padding material. For instance, when the sample position matches the height of the embroidery file, attachment is performed directly according to the sample position; when systematic deviations exist, the predetermined areas in the embroidery file are compensated and corrected before attachment; and when the sample exhibits local fine-tuning features, these features are extracted as correction parameters for subsequent production.

[0056] This application's solution introduces a visually guided attachment method based on 3D embroidery samples, achieving precise replication of complex 3D patterns and consistency in mass production. Compared to traditional processes that rely on manual visual inspection and experience-based replication, this solution transforms the sample effect, which embodies the essence of the design, into quantifiable production data. This ensures that every batch of products can reproduce the 3D effect of the sample, completely solving the pain point of "exquisite samples, but inconsistent mass production." Simultaneously, the visual guidance mechanism significantly reduces the experience requirements for operators, effectively avoiding padding material misalignment caused by human fatigue and experience differences, and significantly improving product yield and production stability. Furthermore, during the new product development stage, designers only need to create a standard 3D embroidery sample, from which the system can quickly extract positional information and guide production. This eliminates the tedious process of repeated adjustments and positioning in traditional processes, greatly simplifying the new product sampling and mass production conversion process, and improving the flexibility and efficiency of production organization.

[0057] In some embodiments, the step of performing embroidery operations on the surface and periphery of the three-dimensional padding material according to the actual position and the embroidery file to form a three-dimensional embroidery product includes: adjusting the preset stitch coordinates in the embroidery file according to the actual position to obtain updated stitch coordinates; and performing embroidery operations on the surface and periphery of the three-dimensional padding material according to the updated stitch coordinates to form a three-dimensional embroidery product.

[0058] In the production process of 3D embroidery, although step S200 obtains the actual position of the 3D padding material through a visual acquisition device, the key to achieving high-quality 3D embroidery lies in how to fully utilize this positional information at the embroidery execution level and transform the perceived results into precise mechanical movements. In traditional processes, embroidery machines can only mechanically execute preset embroidery files without considering the actual position of the padding material; even if the operator discovers a shift in the padding material, they cannot adjust the embroidery trajectory without reprogramming. This embodiment addresses this problem by allowing the embroidery control system to actively and dynamically correct the stitch coordinates in the embroidery file based on the actual positional information acquired visually, generating an updated embroidery trajectory that matches the actual state of the padding material before executing the embroidery operation.

[0059] This application solution achieves perfect dynamic matching between the embroidery thread and the three-dimensional backing material by adjusting the stitch coordinates based on the actual position, fundamentally eliminating embroidery defects caused by positional deviations. Regardless of any displacement of the three-dimensional backing material during attachment due to material expansion and contraction, mechanical vibration, or manual operation, the updated stitch coordinates ensure that the embroidery thread accurately covers the backing material surface and perfectly wraps its edges, completely avoiding quality problems such as exposed three-dimensional backing material and pattern deformation. Simultaneously, this dynamic adjustment mechanism significantly reduces the stringent requirements for the initial three-dimensional backing material attachment precision. That is, the attachment process no longer requires absolute precision, allowing for a certain degree of tolerance. The vision system and stitch adjustment mechanism automatically absorb these deviations, greatly simplifying the operational difficulty and time cost of backing material attachment, and improving the process error tolerance and overall production efficiency of the entire production process.

[0060] In some embodiments, adjusting the preset stitch coordinates in the embroidery file according to the actual position to obtain the updated stitch coordinates includes: calculating the deviation between the actual position and the predetermined area; and adjusting the preset stitch coordinates in the embroidery file according to the deviation to obtain the updated stitch coordinates.

[0061] Specifically, the actual position of the three-dimensional pad material obtained in step S200 is first compared with the predetermined area position defined in the embroidery file to calculate multi-dimensional deviation data. This deviation data can include translational deviations ΔX and ΔY along the X-axis and Y-axis, as well as angular rotation deviations Δθ, etc. For deformed three-dimensional pad materials, non-uniform scaling ratios or local distortion parameters can also be calculated. These deviation values ​​are output in quantified form, providing a precise mathematical basis for subsequent stitch adjustments. Subsequently, based on the calculated deviation data, a unified coordinate transformation is performed on each preset stitch coordinate in the embroidery file. For example, translational transformations eliminate positional deviations, rotational transformations correct angular deviations, and affine transformations are used when necessary to adapt to the non-uniform deformation of the pad material. This adjustment process is not simply moving the embroidery starting point, but rather performing a systematic mathematical mapping of all stitch coordinates to ensure that the updated stitch coordinates accurately correspond to the actual position and posture of the pad material across the entire domain.

[0062] This application's solution achieves precise quantitative compensation for the embroidery thread trajectory by calculating deviations and adjusting the stitch coordinates, fundamentally ensuring the geometric fidelity of the three-dimensional pattern. Because deviation calculations provide accurate mathematical basis, the adjusted embroidery trajectory not only matches the actual position of the padding material in its overall location but also maintains a high degree of consistency with the original design in its internal structure and outline shape, avoiding the pattern distortion problems caused by traditional coarse adjustments. Simultaneously, based on a unified deviation amount, a comprehensive coordinate transformation of the embroidery file ensures that the line direction, edge contours, and density variations within the three-dimensional pattern can be adjusted in tandem with the actual position of the padding material, guaranteeing that the relative positional relationships between different parts remain unchanged and avoiding the risk of local adjustments disrupting the overall structural balance.

[0063] In some embodiments, the number of three-dimensional pads includes multiple types. The step of performing embroidery operations on the surface and periphery of the three-dimensional pads according to the actual position and the embroidery file to form a three-dimensional embroidery product includes: completing corresponding embroidery operations on the surface and periphery of the three-dimensional pads according to the first actual position of the current three-dimensional pads and the embroidery file; obtaining the second actual position of the next three-dimensional pad on the substrate through a visual acquisition device, and performing embroidery operations on the surface and periphery of the next three-dimensional pad according to the second actual position and the embroidery file.

[0064] In the production of complex embroidery patterns involving multiple three-dimensional backing materials, a common scenario arises: the pattern consists of multiple discontinuously distributed three-dimensional units, such as scattered flower stamens, multiple independent three-dimensional letters, or combined three-dimensional logos. In traditional processes, regardless of the amount of backing material, all embroidery actions are performed based on an initial, one-time positioning. However, during computer embroidery, frequent needle punctures, thread tension, and changes in ambient temperature and humidity can easily cause wrinkles or localized stretching deformation of the substrate. This deformation causes unpredictable shifts in the actual position of subsequent embroidery units relative to the initial positioning, and the error accumulates as the embroidery progresses, ultimately leading to a significant deviation of the subsequent three-dimensional units from the design coordinates, rendering the entire product unusable. This embodiment addresses this problem by proposing an iterative workflow of "embroider one, collect data, calibrate, then embroider the next."

[0065] Specifically, when multiple three-dimensional pads are attached to the substrate, the embroidery system does not rely on a one-time global positioning, but instead adopts a step-by-step processing approach: First, based on the first actual position of the first three-dimensional pad, the embroidery operation is performed on that pad, completing the embroidery thread coverage on its surface and surrounding area; after the first pad is embroidered and before moving to the second pad area, the system automatically triggers the visual acquisition device to re-acquire the second actual position of the second three-dimensional pad on the substrate; then, based on the acquired second actual position, the stitch coordinates corresponding to the second three-dimensional pad in the embroidery file are dynamically adjusted, and the embroidery operation is performed on the second three-dimensional pad again; this process continues until all three-dimensional pads are embroidered. In this process, each three-dimensional pad has an independent "visual acquisition-position calibration-embroidery execution" closed loop, without interfering with each other.

[0066] In some embodiments, attaching the three-dimensional padding material to a predetermined area of ​​a substrate according to an embroidery file includes: forming the three-dimensional padding material in the predetermined area of ​​the substrate using a dispensing machine according to the embroidery file, and controlling the shape and height of the three-dimensional padding material by controlling the amount of glue dispensed by the dispensing machine and the number of times glue is dispensed in the same area.

[0067] In traditional 3D embroidery, the 3D padding material typically uses pre-made EVA foam sheets, which are manually cut, laid, and fixed to the substrate. This process has several inherent drawbacks: the padding thickness is limited by the specifications of commercially available foam, allowing only a stepped height change of "one layer at a time," and cannot create smooth slopes or gradual protrusions within the same 3D area; the shape of the padding material depends on mold cutting, which is costly and cumbersome for small-batch, multi-variety production; and the padding material laying relies on manual positioning, which is difficult to guarantee in terms of accuracy and efficiency. This embodiment addresses these problems by abandoning the traditional pre-made solid padding material and instead using a dispensing machine to directly print the 3D padding material onto the substrate, and digitally controlling its three-dimensional shape precisely.

[0068] Specifically, in this embodiment, the adhesion of the three-dimensional padding material no longer relies on externally formed materials. Instead, a dispensing machine applies adhesive material to a predetermined area of ​​the substrate according to the instructions in the embroidery file, causing it to be formed in situ into a three-dimensional padding material on the substrate. The dispensing machine is precisely controlled by the embroidery file, and its working path is completely consistent with the outline of the three-dimensional pattern defined in the embroidery file, ensuring that the planar shape of the formed three-dimensional padding material accurately corresponds to the design pattern. More importantly, this embodiment achieves free adjustment of the three-dimensional shape of the three-dimensional padding material through digital control of the dispensing volume and the number of dispensing times in the same area: on the one hand, by controlling the amount of adhesive dispensed at one time, the spreading diameter and local thickness of the adhesive dots on the substrate can be adjusted; on the other hand, by controlling the number of repeated dispensing times in the same area, the height of the three-dimensional padding material can be accumulated layer by layer. When it is necessary to create a height gradient effect in the same three-dimensional area, a smooth transition from low to high three-dimensional curved surface can be achieved by continuously changing the dispensing parameters or increasing the number of dispensing times in a specific area.

[0069] Furthermore, the dispensing process achieves precise, zero-waste material delivery, with the adhesive deposited only in the designated area specified in the embroidery file, its shape and extent precisely matching the three-dimensional pattern. This fundamentally eliminates the generation of waste materials, significantly reducing material costs; it also eliminates the need for manual removal of waste materials, simplifying the production process and aligning with the concept of green and environmentally friendly intelligent manufacturing. In addition, the adhesive extruded by the dispensing machine adheres directly to the substrate in liquid or semi-solid form, forming excellent wetting and bonding with the substrate fibers. After curing, it forms a seamless whole, fundamentally avoiding the risk of quality defects such as exposed padding, curling edges, and peeling, significantly improving the structural stability and aesthetics of the three-dimensional embroidery product.

[0070] In some embodiments, the three-dimensional padding material is a transparent material, and during the embroidery operation, the embroidery thread passes through the transparent three-dimensional padding material to form a densely and sparsely distributed embroidery thread body on the surface and inside of the padding material.

[0071] In traditional three-dimensional embroidery, the padding material is typically opaque EVA foam. Because the uncovered edges need to be removed after embroidery, the embroidery must be done at an extremely high density to ensure the thread completely covers the padding layer, leaving no exposed areas. This process results in the thread being completely "airtight," preventing variations in density and severely limiting artistic expression. This embodiment addresses this problem by proposing an innovative combination of "transparent padding material + penetrating embroidery." Through synergistic innovation of material properties and embroidery techniques, it completely liberates the thread density limitations.

[0072] Specifically, this embodiment first selects transparent materials as the three-dimensional padding material, such as transparent silicone, transparent thermoplastic elastomer, and transparent resin. These materials have good light transmittance and embroidery versatility, allowing the embroidery needle to penetrate smoothly during the embroidery process, and after penetration, the material can form a stable bond with the embroidery thread. During the embroidery execution stage, the operation is not limited to the surface of the padding material, but rather the embroidery thread actively passes through the transparent three-dimensional padding material during the piercing process, forming a distribution on both the surface and inside of the padding material. By controlling parameters such as embroidery stitch, stitch length, and thread tension, the embroidery thread can form a variable distribution state inside the transparent padding material—in some areas, the embroidery thread penetrates densely, forming a thick internal embroidery thread layer; in some areas, the embroidery thread is sparsely distributed, allowing the crystalline texture of the transparent padding material to be displayed; in some areas, the embroidery thread is only shallowly embedded in the surface, forming a hazy visual effect. This dual distribution on the surface and inside ultimately forms a three-dimensional embroidery thread body with varying density in three-dimensional space.

[0073] This application utilizes a transparent material as a three-dimensional backing, allowing the embroidery thread to both cover the surface and penetrate the interior during the embroidery process. This creates a three-dimensional structure with varying density and a harmonious blend of interior and exterior elements, achieving multiple breakthroughs in traditional three-dimensional embroidery techniques. Firstly, the introduction of the transparent backing completely liberates the limitations of thread density. Since there's no need for forced high-density embroidery to cover the opaque backing, the density of the thread can be freely designed according to artistic effect. It can create a dense, substantial feel in specific areas, or a sparser application that allows the transparent backing to peek through, creating an artistic style unattainable by traditional three-dimensional embroidery. Secondly, the dual distribution of the thread on the surface and inside the transparent backing constructs a three-dimensional nested structure: the surface thread is clear and sharp, while the thread embedded inside the backing presents a hazy, soft visual effect. The optical properties of the transparent medium itself further enrich this visual layering, giving the embroidery a profound three-dimensionality and rich variations in texture. In addition, the embroidery thread penetrates the padding material and forms a distribution inside, which essentially creates a physical interlocking structure between the embroidery thread and the padding material. The embroidery thread is thus fixed inside the padding material, forming an integral composite structure with the three-dimensional padding material. This greatly enhances the mechanical stability of the three-dimensional pattern, making the product more resistant to washing, abrasion, and tension, and significantly improving the service life and practical value of the three-dimensional embroidery product.

[0074] In some embodiments, the method further includes: simultaneously performing the embroidery operation on the surface and periphery of the three-dimensional padding material on the same or multiple substrates using multiple embroidery heads.

[0075] Specifically, this embodiment can configure two or more embroidery heads on the embroidery equipment, and these embroidery heads can work synchronously under the coordination of the same control system. Depending on the production scenario, the multiple embroidery heads can be configured into various operating modes: a collaborative operation mode for different areas on the same substrate, where multiple embroidery heads are responsible for different sections of a large-format three-dimensional pattern, embroidering synchronously to complete a complete product; or a repetitive operation mode for the same pattern on the same substrate, where multiple embroidery heads simultaneously perform the same three-dimensional pattern embroidery, suitable for scenarios where multiple identical three-dimensional units need to be repeatedly arranged on a single substrate; or a parallel operation mode on multiple substrates, where multiple embroidery heads simultaneously perform embroidery on different substrates, producing multiple identical or different three-dimensional embroidery products at the same time. Regardless of the mode used, each embroidery head is coordinated by a unified control system to ensure synchronized actions and consistent parameters, and can independently adjust the stitch coordinates based on the actual position information of each three-dimensional pad obtained in step S200 to achieve precise embroidery in its respective area.

[0076] This application's solution achieves parallel operation in 3D embroidery production by employing multiple embroidery heads to simultaneously execute embroidery operations. Whether it's multiple independent 3D units on the same substrate or the same 3D pattern on multiple substrates, both can be completed simultaneously, multiplying output per unit time and significantly improving production efficiency and equipment utilization. This provides key technical support for the large-scale industrialization of 3D embroidery. Secondly, in multi-substrate parallel production scenarios, multiple embroidery heads simultaneously execute embroidery operations, ensuring that all products processed concurrently are embroidered within the same timeframe and under the same environmental conditions. This minimizes batch variations caused by time spans, temperature and humidity changes, etc. Simultaneously, each embroidery head is coordinated by a unified control system, executing the same embroidery parameters to ensure that every product achieves a highly consistent 3D effect, significantly improving the yield rate and product consistency in large-scale production. Furthermore, for ultra-large format three-dimensional embroidery products in the fields of clothing and home textiles, multiple embroidery heads work collaboratively in different areas of the large format substrate, dividing the large format pattern into multiple sub-areas that can be processed in parallel. The synchronous work of each embroidery head greatly shortens the total embroidery time for a single product. At the same time, the substrate does not need to be moved frequently to complete the embroidery of the entire area, avoiding the cumulative error caused by multiple positioning, and ensuring the overall accuracy and coordination of the large format three-dimensional pattern.

[0077] Example 2 Corresponding to Embodiment 1 above, this application also provides a three-dimensional embroidery product, comprising: a substrate; a three-dimensional padding material attached to a predetermined area of ​​the substrate, the three-dimensional padding material matching a three-dimensional pattern in the pattern to be embroidered; and an embroidery layer covering the surface and periphery of the three-dimensional padding material. This three-dimensional embroidery product is prepared using the three-dimensional embroidery preparation method described in Embodiment 1. In this embodiment, content that is the same as or similar to that in Embodiment 1 can be referred to the above description, and will not be repeated hereafter.

[0078] Specifically, this 3D embroidery product mainly consists of three parts: a base material as the supporting foundation, a 3D padding material as the core of the 3D design, and an embroidery layer as the decorative surface. The base material is the bottom layer of the 3D embroidery product and can be various embroiderable materials such as textiles, leather, non-woven fabrics, and synthetic leather, bearing the weight and structure of the entire 3D pattern. The 3D padding material is attached to a predetermined area of ​​the base material, and its core feature is its matching with the 3D pattern in the design to be embroidered. This matching relationship can be reflected in multiple dimensions: in terms of shape, the geometric contour of the 3D padding material matches the design shape of the 3D pattern, which can be a rounded arc, sharp edges, or a complex curved surface; in terms of size, the length, width, and height parameters of the 3D padding material precisely correspond to the scale requirements of the 3D pattern, including a continuously varying height distribution; in terms of position, the 3D padding material is attached to the coordinate area specified in the design on the base material; in terms of structure, for multi-layered composite 3D patterns, the 3D padding material can have a corresponding layered structure. The embroidered layer, made of embroidery thread, covers the surface and perimeter of the three-dimensional padding material. It not only gives the three-dimensional padding material rich colors and textures, but also firmly fixes the three-dimensional padding material to the base material through the coverage of the surrounding area, forming a three-in-one composite structure.

[0079] In some embodiments, the three-dimensional padding material and the embroidery layer form an organic whole. The three-dimensional padding material provides skeletal support for the three-dimensional shape, while the embroidery thread provides surface decoration and edge fixation. The two work together to create a full and three-dimensional visual effect. Moreover, the three-dimensional padding material is only present in the predetermined area where a three-dimensional effect is needed, rather than being laid across the entire surface. The back of the product is flat, while the front is raised, resulting in a simple and efficient structure.

[0080] In some embodiments, the number of the three-dimensional padding materials includes multiple materials. In practical applications of three-dimensional embroidery products, the three-dimensional pattern is often not a single isolated protrusion, but a composite pattern composed of multiple three-dimensional units. This embodiment addresses this common need by further defining the quantity characteristic of the three-dimensional padding materials, that is, multiple independent three-dimensional padding materials are simultaneously attached to the same substrate, each corresponding to a specific three-dimensional unit in the pattern to be embroidered.

[0081] Specifically, when the pattern to be embroidered contains multiple parts that require a three-dimensional effect, such as a group of scattered flower stamens, multiple rows of three-dimensional letters, a combined logo composed of multiple independent protrusions, or a decorative painting containing multiple three-dimensional elements, this embodiment achieves this design by attaching multiple three-dimensional pads to corresponding predetermined areas of the substrate. Each three-dimensional pad is independently attached to the substrate, and each matches its corresponding three-dimensional pattern part. For example, it can be a repeating unit of the same shape and size, or a differentiated unit of different shapes and heights; it can be distributed in a regular array, or it can be distributed freely; it can all be located on the same plane, or it can be located at different heights to form a superimposed effect.

[0082] In some embodiments, the three-dimensional padding material is transparent. During the embroidery operation, the embroidery thread passes through the transparent three-dimensional padding material, forming a densely and sparsely distributed embroidery thread body on the surface and inside of the padding material. By using a transparent material as the three-dimensional padding material, and allowing the embroidery thread to both cover the surface and penetrate the interior during the embroidery process, a three-dimensional structure with varying density and internal and external integration is formed, completely freeing the limitation of embroidery thread density, constructing a three-dimensional embroidery with varying density, realizing a three-dimensional nested structure of embroidery thread and padding material, and enhancing the visual sense of layering.

[0083] In another specific embodiment, the formation and embroidery process of the transparent three-dimensional padding material adopts an alternating process of "applying glue - embroidery - applying glue," which encapsulates the embroidery thread inside and on the surface of the transparent material, thereby forming a densely and sparsely distributed embroidery thread body on the surface and inside of the transparent material. Through this step of "applying glue first, then embroidering, and then applying glue again," a three-dimensional nested structure is formed between the embroidery thread and the transparent padding material, further enhancing the structural stability and visual hierarchy of the three-dimensional embroidery product.

[0084] Example 3 This application also provides a shoe upper, which is prepared by the three-dimensional embroidery preparation method as described in any one of Embodiment 1; or, the shoe upper is prepared by the three-dimensional embroidery product as described in the second aspect. In this embodiment, the content that is the same as or similar to Embodiment 1 or 2 above can be referred to the above description, and will not be repeated here.

[0085] Example 4 This application also provides a footwear product, which includes a sole and an upper connected to the sole, the upper comprising the features described in Embodiment 3. In this embodiment, the same or similar content as in Embodiment 3 can be referred to the above description, and will not be repeated here.

[0086] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0087] The technical solution provided by this invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A method for preparing three-dimensional embroidery, characterized in that, The method includes: The three-dimensional padding material is attached to a predetermined area of ​​the substrate according to the embroidery file, wherein the embroidery file corresponds to the pattern to be embroidered, and the three-dimensional padding material matches the three-dimensional pattern in the pattern to be embroidered. The actual position of the three-dimensional pad material on the substrate is obtained through a visual acquisition device; Based on the actual location and the embroidery file, embroidery operations are performed on the surface and periphery of the three-dimensional padding material to form an embroidery layer, thereby obtaining a three-dimensional embroidery product.

2. The method for preparing three-dimensional embroidery according to claim 1, characterized in that, The process of attaching the three-dimensional padding material to a predetermined area of ​​the substrate according to the embroidery file includes: The sample position of the three-dimensional pattern on the three-dimensional embroidery sample corresponding to the three-dimensional embroidery product to be prepared is acquired by a visual acquisition device. The sample position is matched with the predetermined area where the corresponding three-dimensional pattern is located in the embroidery file to obtain the matching result; The three-dimensional padding material is attached to a predetermined area of ​​the substrate according to the matching result.

3. The method for preparing three-dimensional embroidery according to claim 1, characterized in that, The step of performing embroidery operations on the surface and periphery of the three-dimensional padding material according to the actual position and the embroidery file to form an embroidery layer to obtain a three-dimensional embroidery product includes: Adjust the preset stitch coordinates in the embroidery file according to the actual position to obtain the updated stitch coordinates; Based on the updated stitch coordinates, embroidery is performed on the surface and periphery of the three-dimensional pad to form an embroidery layer, thereby obtaining a three-dimensional embroidery product.

4. The method for preparing three-dimensional embroidery according to claim 3, characterized in that, The step of adjusting the preset stitch coordinates in the embroidery file according to the actual position to obtain the updated stitch coordinates includes: Calculate the deviation between the actual position and the predetermined area; The preset stitch coordinates in the embroidery file are adjusted according to the deviation to obtain the updated stitch coordinates.

5. The method for preparing three-dimensional embroidery according to claim 1, characterized in that, The number of the three-dimensional padding materials includes multiple types, and the step of performing embroidery operations on the surface and periphery of the three-dimensional padding materials according to the actual position and the embroidery file to form an embroidery layer to obtain a three-dimensional embroidery product includes: Based on the current first actual position of the three-dimensional padding material and the embroidery file, the corresponding embroidery operation is completed on the surface and surrounding area of ​​the three-dimensional padding material. The second actual position of the next three-dimensional pad on the substrate is obtained by a visual acquisition device, and embroidery operation is performed on the surface and periphery of the next three-dimensional pad according to the second actual position and the embroidery file.

6. The method for preparing three-dimensional embroidery according to any one of claims 1 to 5, characterized in that, The process of attaching the three-dimensional padding material to a predetermined area of ​​the substrate according to the embroidery file includes: The three-dimensional padding material is formed on a predetermined area of ​​the substrate using a dispensing machine according to the embroidery file. The shape and height of the three-dimensional padding material are controlled by controlling the amount of glue dispensed by the dispensing machine and the number of times glue is dispensed in the same area.

7. The method for preparing three-dimensional embroidery according to any one of claims 1 to 5, characterized in that, The three-dimensional padding material is a transparent material. During the embroidery operation, the embroidery thread passes through the transparent three-dimensional padding material and forms a densely and sparsely distributed embroidery thread body on the surface and inside of the padding material.

8. The method for preparing three-dimensional embroidery according to any one of claims 1 to 5, characterized in that, The three-dimensional padding material that matches the three-dimensional pattern in the pattern to be embroidered includes at least one of the following: The three-dimensional padding material matches the three-dimensional shape of the three-dimensional pattern; The dimensions of the three-dimensional padding material are matched with the dimensions of the three-dimensional pattern. The position of the three-dimensional padding material matches that of the three-dimensional pattern; The three-dimensional padding material matches the structure of the three-dimensional pattern.

9. The method for preparing three-dimensional embroidery according to any one of claims 1 to 5, characterized in that, The method further includes: The embroidery operation is performed simultaneously on the surface and periphery of the three-dimensional padding material on the same or multiple substrates by multiple embroidery heads.

10. A three-dimensional embroidery product, characterized in that, include: Substrate; A three-dimensional padding material is attached to a predetermined area of ​​the substrate, and the three-dimensional padding material matches the three-dimensional pattern in the pattern to be embroidered. An embroidered layer covers the surface and periphery of the three-dimensional padding material.

11. The three-dimensional embroidery product according to claim 10, characterized in that, The number of the three-dimensional padding materials includes multiple types.

12. The three-dimensional embroidery product according to claim 10, characterized in that, The three-dimensional padding material is a transparent material. During the embroidery operation, the embroidery thread passes through the transparent three-dimensional padding material and forms a densely and sparsely distributed embroidery thread body on the surface and inside of the padding material.

13. A shoe upper, characterized in that, The shoe upper is prepared by the method of preparing three-dimensional embroidery as described in any one of claims 1 to 9; Alternatively, the shoe upper may be prepared using a three-dimensional embroidery product as described in any one of claims 10 to 12.

14. A footwear product, characterized in that, The footwear product includes a sole and an upper attached to the sole; The upper includes the upper as described in claim 13.

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