Yarn nozzle avoidance control method, apparatus, device, and storage medium

Abstract

The application discloses a yarn nozzle avoidance control method, device, equipment and storage medium. The control method comprises the following steps: configuring the physical coordinates of a thread clamping needle corresponding to a yarn nozzle on a needle plate to determine a thread clamping position, and configuring a corresponding avoidance offset for the yarn nozzle; obtaining a pattern file, and determining a yarn execution sequence based on the pattern file and the thread clamping position; carrying out knitting based on the yarn execution sequence, and updating the position and state of the yarn nozzle in real time; determining the avoidance of the yarn nozzle and the corresponding avoidance type based on the current row of the thread head process and the position and state of the yarn nozzle, wherein the avoidance type comprises thread winding avoidance, thread cutting avoidance, air suction avoidance, hooking knife thread hooking avoidance and moving scissors avoidance; and performing the corresponding avoidance action based on the avoidance of the yarn nozzle, the avoidance type and the avoidance offset. Through the above method, the problem of lacking unified and automatic judgment and processing mechanism for different types of interference is solved.

Description

Technical Field

[0001] This application relates to the field of knitting technology, and in particular to control methods, apparatus, equipment and storage media for yarn feeder avoidance. Background Technology

[0002] The no-tear yarn process is one of the core technologies for improving product quality in the modern knitting industry. This technology involves multiple steps, including yarn clamping, stretching, cutting, and yarn end collection, with the aim of eliminating exposed yarn ends on the finished fabric and improving wearing comfort and appearance. In the actual operation of existing jacquard glove machines, the no-tear yarn process typically follows a strict preset sequence: first, the clamping needles, in conjunction with the machine head needle selection and the yarn feeder, precisely clamp the target yarn; then, the yarn is cut by the needle plate shears or moving shears under the corresponding cutting action; finally, the negative pressure airflow generated by the suction fan draws the remaining yarn ends into the collection channel. During this process, each yarn feeder must be positioned or moved at a designated location, which may result in spatial overlap with the mechanical structure.

[0003] In the aforementioned process, because each yarn feeder needs to be positioned or moved at a designated location, there is a significant potential for spatial overlap between it and the needle bed, sinker, and various yarn-cutting mechanisms, which can easily lead to multiple interference problems. For example, there is the entanglement of yarn during clamping and stretching (winding interference); mechanical collisions caused by the overlap between the needle plate shears' starting trajectory and the temporary stopping position of the yarn feeder at the moment of yarn cutting (yarn-cutting interference); the deviation or blockage of the yarn end recovery path due to the influence of fabric density on the suction airflow (suction interference); and collisions with other mechanical structures when the moving shears switch trajectories between different workstations (moving shears interference). However, existing equipment lacks a unified and automated judgment and handling mechanism for these various types of interference, relying on manual adjustments, resulting in low production efficiency. Summary of the Invention

[0004] This application mainly provides a control method, device, equipment, and storage medium for yarn nozzle avoidance, which solves the problem that existing equipment lacks a unified and automated judgment and processing mechanism for the above-mentioned various types of interference, relies on manual adjustment, and has low production efficiency.

[0005] This application provides a method for controlling nozzle avoidance, including: Configure the physical coordinates of the clamping needle on the needle plate corresponding to the yarn feeder to determine the clamping position, and configure the corresponding avoidance offset for the yarn feeder; Obtain the pattern file, and determine the yarn feeding sequence based on the pattern file and the clamping position; Weaving is performed based on the yarn output sequence, and the position and status of the yarn feeder are updated in real time; Based on the current wireless head process and the position and state of the yarn mouthpiece, determine the yarn mouthpiece to avoid and the corresponding avoidance type. The avoidance type includes winding avoidance, cutting avoidance, suction avoidance, hook knife hooking avoidance, and moving scissors avoidance. Based on the avoidance yarn nozzle, the avoidance type, and the avoidance offset, the corresponding avoidance action is executed.

[0006] In some embodiments, the step of determining the yarn extrusion sequence based on the pattern file and the clamping position includes: Based on the pattern file, extract and mark the row numbers and yarn feeders that need to perform yarn entry / exit actions; Based on the row number and the yarn feeder, calculate and cache the updated position and status of the yarn feeder; When the pattern file contains multiple yarn feeders that need to perform yarn feeding actions on the same line, the yarn feeding execution order is determined by sequentially sorting them based on the physical coordinates corresponding to the clamping positions of the yarn feeders.

[0007] In some embodiments, the step of determining the avoidance nozzle and the corresponding avoidance type based on the current row's wireless head process and the position and state of the nozzle includes: Based on the current wireless head process and the position and state of the yarn feeder, determine the yarn feeder currently performing the yarn feeding / insertion action and the yarn feeder to be determined; When the yarn feeder to be judged shares the same needle plate as the yarn feeder currently performing the yarn feeding / insertion action, the needle plate includes a front needle plate and a rear needle plate; Furthermore, when the clamping needle corresponding to the yarn feeder to be judged is located on the front needle plate, the number of the yarn feeder to be judged is greater than the number of the yarn feeder currently performing the yarn feeder operation; when the clamping needle corresponding to the yarn feeder to be judged is located on the rear needle plate, the number of the yarn feeder to be judged is less than the number of the yarn feeder currently performing the yarn feeder operation. And the yarn feeder to be judged is currently parked in the right-side clamping area; And the yarn nozzle to be judged is in the yarn-inserted state; Furthermore, when the yarn feeder that is not performing the yarn feeding or inserting action follows the spandex yarn action, the yarn feeder to be determined is identified as the avoidance yarn feeder and the corresponding avoidance type is identified as the winding avoidance.

[0008] In some embodiments, the step of determining the avoidance nozzle and the corresponding avoidance type based on the current row's wireless head process and the position and state of the nozzle includes: Based on the current wireless head process and the position and status of the yarn feeder, determine the placement of the yarn feeder and obtain the position and status of the placement of the yarn feeder; When the yarn feeder is currently positioned in the right-side clamping area; Furthermore, the yarn-stopping nozzle currently does not exhibit any following, yarn-kicking, or other types of avoidance actions. When the main cutting needle or the clamping needle in the clamping area is in the starting state or pre-selection state, the stopping yarn nozzle is determined to be the avoidance yarn nozzle and the corresponding avoidance type is the cutting yarn avoidance.

[0009] In some embodiments, the step of determining the avoidance nozzle and the corresponding avoidance type based on the current row's wireless head process and the position and state of the nozzle includes: Based on the current wireless head process and the position and status of the yarn feeder, determine the placement of the yarn feeder and obtain the position and status of the placement of the yarn feeder; When the yarn feeding nozzle is in the yarn-loaded state; Furthermore, the yarn-stopping nozzle currently does not exhibit any following, yarn-kicking, or other types of avoidance actions. Furthermore, when the suction fan is in operation, the stopping nozzle is determined to be the avoidance nozzle and the corresponding avoidance type is the suction avoidance.

[0010] In some embodiments, the step of determining the avoidance nozzle and the corresponding avoidance type based on the current row's wireless head process and the position and state of the nozzle includes: Based on the current wireless head process and the position and state of the yarn feeder, determine the non-target yarn feeder and obtain the position and state of the non-target yarn feeder; When the yarn corresponding to the non-target yarn nozzle is a non-target yarn; Furthermore, the non-target yarn nozzle follows the movement of the spandex yarn; Furthermore, the non-target yarn nozzle is positioned to the left of the target position of the hook knife; Furthermore, when the non-target yarn feeder is in the yarn-inserted state, the non-target yarn feeder is determined to be the avoidance yarn feeder and the corresponding avoidance type is the hook-knife line avoidance.

[0011] In some embodiments, the step of determining the avoidance nozzle and the corresponding avoidance type based on the current row's wireless head process and the position and state of the nozzle includes: Based on the current wireless head process and the position and state of the yarn feeder, determine the non-target yarn feeder and obtain the position and state of the non-target yarn feeder; When the moving scissor motor is in a low-position motion state; Furthermore, when the distance between the parking position of the non-target yarn feeder and the target position of the moving scissors in the lateral direction is less than the physical width of the moving scissors, the non-target yarn feeder is determined to be the avoidance yarn feeder and the corresponding avoidance type is the moving scissors avoidance.

[0012] In some embodiments, the step of performing the corresponding avoidance action based on the avoidance yarn feeder, the avoidance type, and the avoidance offset includes: When the avoidance type is the winding avoidance, the avoidance yarn tip is moved to a non-starting position in the yarn clamping area or knitting area; When the avoidance type is the thread cutting avoidance, move the avoidance yarn nozzle to the reset stop point; When the avoidance type is the suction avoidance, the avoidance yarn nozzle is moved to a non-starting position within the knitting area; When the avoidance type is the hook knife line avoidance, the avoidance yarn nozzle is moved to the right side of the hook knife target position; When the avoidance type is the moving scissors avoidance, the avoidance yarn nozzle located in the clamping area is moved to the right beyond the physical width range of the moving scissors, and the avoidance yarn nozzle located in the weaving area is moved to the left beyond the physical width range of the moving scissors.

[0013] This application also provides a control device for yarn feeder avoidance, including: The configuration module is used to configure the physical coordinates of the clamping needle on the needle plate corresponding to the yarn feeder, so as to determine the clamping position and configure the corresponding avoidance offset for the yarn feeder; The sequence module is used to obtain the pattern file and determine the yarn execution order based on the pattern file and the clamping position; The update module is used to perform weaving based on the yarn output sequence and update the position and status of the yarn feeder in real time; The determination module is used to determine the avoidance of the yarn nozzle and the corresponding avoidance type based on the current line's wireless head process and the position and state of the yarn nozzle. The avoidance type includes winding avoidance, cutting avoidance, suction avoidance, hook knife hooking avoidance, and moving scissors avoidance. The execution module is used to perform the corresponding avoidance action based on the avoidance yarn nozzle, the avoidance type, and the avoidance offset.

[0014] This application also provides an electronic device, including: at least one processor and a memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the control method as described in any of the preceding claims.

[0015] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the control method described in any of the preceding claims.

[0016] The beneficial effects of this application are as follows: Unlike existing technologies, this application precisely configures the physical coordinates of the clamping needle and introduces avoidance offset, transforming the originally ambiguous physical spatial distance into a precise digital control quantity. This enables the equipment to comprehensively handle various types of interference risks, such as winding avoidance, cutting avoidance, suction avoidance, hook knife thread avoidance, and moving scissors avoidance, based on the same digital model. This solves the problem of lacking a unified and automated judgment and handling mechanism for different types of interference. By parsing the pattern file and pre-determining the yarn execution sequence based on the clamping position, the position and status of the yarn feeder are updated in real time during the weaving process. Combined with the no-head process, the avoidance yarn feeder and avoidance type are determined, and finally, the avoidance action is executed. This solidifies the complex spatial interference judgment logic into a standard control process, effectively replacing the traditional mode of manual adjustment relying on human visual observation and operational experience, and greatly improving production efficiency. Attached Figure Description

[0017] 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 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. Wherein: Figure 1 This is a flowchart illustrating an embodiment of the control method for yarn nozzle avoidance provided in this application; Figure 2 yes Figure 1 A schematic flowchart of one embodiment of step S120; Figure 3 yes Figure 1 A flowchart illustrating the first embodiment of step S140; Figure 4 yes Figure 1 A flowchart illustrating the second embodiment of step S140; Figure 5 yes Figure 1 A flowchart illustrating the third embodiment of step S140; Figure 6 yes Figure 1 A flowchart illustrating the fourth embodiment of step S140; Figure 7 yes Figure 1 A flowchart illustrating the fifth embodiment of step S140; Figure 8 This is a schematic diagram of an embodiment of the control device for yarn feeder avoidance provided in this application; Figure 9 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application; Figure 10 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application. Detailed Implementation

[0018] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[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 pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0020] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the indicated technical features.

[0022] This application provides a control method for yarn feeder avoidance, applicable to flat knitting machines, including but not limited to jacquard glove machines and five-finger sock machines, and particularly suitable for automated knitting equipment that requires the execution of a no-exposed-thread knitting process (also known as no-thread-end knitting). Furthermore, it can be widely applied to knitted fabric production scenarios with high requirements for the appearance quality of thread ends, such as multi-color jacquard knitting and intarsia knitting, including but not limited to the automated knitting production of gloves, five-finger socks, and sports protective equipment.

[0023] See Figure 1 As shown, Figure 1 This is a flowchart illustrating an embodiment of the control method for yarn feeder avoidance provided in this application; the control method for yarn feeder avoidance in this embodiment includes: Step S110: Configure the physical coordinates of the clamping needle corresponding to the yarn feeder on the needle plate to determine the clamping position and configure the corresponding avoidance offset for the yarn feeder.

[0024] Among them, physical coordinates refer to discrete values ​​that characterize the geometric center of the thread clamping needle within a preset rectangular coordinate system on the needle plate plane. This coordinate system is usually based on the endpoint of one edge of the needle plate as the origin, the horizontal arrangement direction of the needle plate as the X-axis, and the direction perpendicular to the surface of the needle plate as the Y-axis. As an immutable static parameter, physical coordinates are used to uniquely identify the absolute spatial position of the thread clamping needle on the mechanical structure of the needle plate and are the data basis for establishing the reference point of the wireless head process.

[0025] The clamping position refers to the process parameter generated by solidifying the physical coordinates of the clamping needles that have a logical mapping relationship with a specific yarn feeder through the software configuration interface. The clamping position is not only the spatial positioning point where the yarn is gripped by the clamping mechanism, but also the benchmark reference point for the system to calculate the yarn feeder running trajectory and determine the interference area. It is used to map the mechanical position in physical space to the control node at the logical level.

[0026] In this embodiment, the location of the clamping thread can be calculated during subsequent yarn feeding and weaving avoidance. This includes identifying the yarn feeder that might experience yarn entanglement during the current yarn feeder's feeding / infeeding action, and the avoidance point for the yarn feeder that needs to be avoided. For example, if the clamping position of yarn feeder #1 is the #1 clamping needle position on the front needle plate, when yarn feeder #1 finishes knitting and feeds out yarn, the yarn feeder temporarily stopped to the right of the #1 clamping needle position on the front needle plate, which has not yet fed out yarn, needs to move to the left of the #1 clamping needle position on the front needle plate to prevent yarn entanglement.

[0027] The avoidance offset refers to the vector displacement parameter preset for different interference types, with the clamping position as the reference origin. This parameter specifies the linear distance and direction that the yarn nozzle needs to deviate from the reference origin when performing specific avoidance actions (such as winding avoidance, cutting avoidance, suction avoidance, hook knife hooking avoidance, or moving scissors avoidance).

[0028] By configuring corresponding avoidance offsets for the yarn feeders, it is ensured that the points of multiple yarn feeders do not overlap when they avoid each other simultaneously, thus preventing mechanical collision interference between the yarn feeders. Optionally, the avoidance point of each yarn feeder is determined based on the avoidance offset. When the yarn feeders avoid each other, there may be a situation where multiple yarn feeders avoid the same point. By setting independent avoidance points, mechanical collision interference between the yarn feeders can be effectively avoided.

[0029] In some embodiments, the system first completes the parameter configuration during the initialization phase, including configuring the physical coordinates of the clamping needles that are mechanically linked to each working yarn feeder in the rectangular coordinate system of the needle plate plane, and fixing the physical coordinates as the clamping position of the yarn feeder when performing the no-head process, which serves as the reference point for subsequent trajectory calculation; then, based on the clamping position, an independent avoidance offset is configured for each yarn feeder, which is a vector parameter with the clamping position as the origin.

[0030] In this embodiment, the yarn feeder is controlled by a yarn feeder motor control system, such as the SmartRun yarn feeder motor control system. Optionally, the SmartRun yarn feeder motor control system is located above the needle bed and is mounted on the guide rail via a yarn feeder slider. Each yarn feeder is connected to its corresponding yarn feeder motor, which drives the yarn feeder to move horizontally back and forth. At this time, the yarn feeder can move synchronously with the head or operate independently of the head. The yarn feeder supports individual control and can move quickly and accurately to a preset position. The yarn feeder motor has a fast response capability and provides real-time feedback on the operating status (position confirmation, abnormal alarm).

[0031] Step S120: Obtain the pattern file and determine the yarn feeding sequence based on the pattern file and the clamping position.

[0032] Among them, the pattern file refers to the set of digital instructions stored in the device controller to describe the fabric structure and weaving logic. It includes at least needle selection data, yarn feeder call instructions, loop weaving method, wireless head process trigger mark and corresponding process parameters (such as loop gathering, loop formation position, etc.).

[0033] In some embodiments, the system parses the loaded pattern file, determines all action instructions involving yarn in the current knitting row based on the pattern file, and determines the yarn output execution sequence by combining the yarn clamping positions configured for each yarn feeder.

[0034] See Figure 2 As shown, Figure 2 yes Figure 1 A flowchart illustrating an embodiment of step S120; step S120 in this embodiment includes the following steps: Step S210: Based on the pattern file, extract and mark the row numbers and yarn feeders for which yarn entry / exit actions need to be performed.

[0035] In some embodiments, after loading the pattern file of the target fabric, the knitting instructions in the pattern file are first parsed and scanned line by line to identify the row number of the target row that needs to perform the yarn entry and exit action, and the corresponding yarn feeder is extracted. Then, the row number and yarn feeder can be marked by a mapping table.

[0036] Step S220: Calculate and cache the position and status of the updated yarn feeder based on the row number and the yarn feeder.

[0037] The position of the yarn feeder refers to a digital dataset generated based on the row number and the yarn feeder using a kinematic look-ahead algorithm, used to describe the dynamic displacement process of the yarn feeder in the coordinate system. Optionally, the position is also called position change information, including but not limited to the yarn feeder's initial target, target coordinates, movement speed curve, acceleration / deceleration curve, etc.

[0038] The status of the yarn feeder, also known as yarn status information, refers to the quantitative representation of the physical properties and logical operating conditions of the yarn segment associated with a specific yarn feeder during the current weaving cycle.

[0039] In some embodiments, the system uses a kinematic look-ahead algorithm to calculate the trajectory based on the marked row number and the yarn feeder. First, for each target row, the system retrieves the real-time coordinates of the yarn feeder at the start of the current row, and calculates the expected intermediate and ending points of the yarn feeder within the row by combining the preset clamping position and avoidance offset of the row. This generates position change information including displacement direction, moving speed, and acceleration / deceleration curves. Simultaneously, the system updates the yarn status information associated with the yarn feeder. Then, the obtained position change information and yarn status information are written to the controller for real-time refresh and overwrite storage.

[0040] Step S230: When multiple yarn feeders that need to perform yarn feeding actions are included on the same line in the pattern file, the yarn feeding execution order is determined by sorting them sequentially based on the physical coordinates corresponding to the yarn clamping positions of the yarn feeders.

[0041] In some embodiments, when multiple yarn feeders on the same knitting row need to perform yarn feeding actions when loading a pattern file, the physical coordinates corresponding to the configured clamping positions of each yarn feeder are retrieved. Using these physical coordinates as sorting keys, each yarn feeder is sorted sequentially according to preset rules (e.g., increasing order along the lateral movement direction of the machine head, or order from near to far based on the origin of the needle plate) to generate the yarn feeding execution order.

[0042] Step S130: Weave according to the yarn output sequence and update the position and status of the yarn feeder in real time.

[0043] In some embodiments, each yarn feeder and the machine head are driven to work together to perform the weaving task according to the generated yarn output execution order; during the execution (weaving) process, the position and status of the yarn feeders are tracked in real time, and the position and status of the yarn feeders are updated over time.

[0044] Optionally, the initial state of the yarn feeder can also be obtained based on the clamping position of each yarn feeder.

[0045] Step S140: Based on the current wireless head process and the position and status of the yarn feeder, determine the yarn feeder to be avoided and the corresponding avoidance type. The avoidance types include winding avoidance, cutting avoidance, suction avoidance, hook knife hooking avoidance, and moving scissors avoidance.

[0046] Among them, the avoidance nozzle refers to the target nozzle object that actually performs the avoidance action.

[0047] In some embodiments, during the weaving process, when the yarn feeder of the machine head reaches the current row (weaving row), the process extension code of that row in the pattern file can be read to identify that the current row has triggered the no-head process. At the same time, the position and status of the yarn feeder are updated in real time and compared with the yarn clamping position. If it is determined that the physical occupation of the yarn feeder is about to invade the execution space of the no-head process of the current row, the corresponding avoidance type is immediately identified.

[0048] See Figure 3 As shown, Figure 3 yes Figure 1 A flowchart illustrating the first embodiment of step S140; step S140 in this embodiment includes the following steps: Step S310: Based on the current wireless head process and the position and status of the yarn feeder, determine the yarn feeder currently performing the yarn feeding / insertion action and the yarn feeder to be judged.

[0049] Step S320: When the yarn feeder to be judged shares the same needle plate as the yarn feeder currently performing the yarn feeder operation, the needle plate includes a front needle plate and a rear needle plate.

[0050] Step S330: When the clamping needle corresponding to the yarn feeder to be judged is located on the front needle plate, the number of the yarn feeder to be judged is greater than the number of the yarn feeder currently performing the yarn feeder operation. When the clamping needle corresponding to the yarn feeder to be judged is located on the rear needle plate, the number of the yarn feeder to be judged is less than the number of the yarn feeder currently performing the yarn feeder operation.

[0051] Step S340: The yarn feeder to be determined is currently positioned in the right-side clamping area.

[0052] Step S350, and the yarn feeder to be determined is in the yarn-loaded state.

[0053] In step S360, when the yarn nozzle that is not performing the yarn feeding action follows the spandex yarn action, it is determined that the yarn nozzle to be judged is an avoidance yarn nozzle and the corresponding avoidance type is winding avoidance.

[0054] Among them, the yarn feeders to be determined refer to the yarn feeders that, in the current row, are not the ones confirmed to be performing yarn feeding or inserting actions, but are otherwise involved in interference risks.

[0055] In some embodiments, based on the current row's wireless head process and the real-time updated position and status of the yarn feeder, the yarn feeders participating in the current row's operation are first divided into yarn feeders currently performing yarn feeding / insertion actions and yarn feeders to be judged. A yarn feeder to be judged triggers a winding avoidance mechanism when the following conditions are met simultaneously: the yarn feeder to be judged shares the same side needle plate as the yarn feeder currently performing yarn feeding / insertion actions, both being either the front or rear needle plate; according to the yarn feeder number corresponding to the clamping position, when the clamping needle corresponding to the yarn feeder to be judged is located on the front needle plate, the number of the yarn feeder to be judged is greater than the number of the yarn feeder currently performing yarn feeding / insertion actions; when the clamping needle corresponding to the yarn feeder to be judged is located on the rear needle plate, the number of the yarn feeder to be judged is less than the number of the yarn feeder currently performing yarn feeding / insertion actions; the yarn feeder to be judged is currently parked in the right-side clamping area; the yarn feeder to be judged is in a yarn-in state; and yarn feeders not performing yarn feeding / insertion actions follow the spandex yarn movement.

[0056] See Figure 4 As shown, Figure 4 yes Figure 1 A flowchart illustrating the second embodiment of step S140; step S140 in this embodiment includes the following steps: Step S410: Based on the current wireless head process and the position and status of the yarn feeder, determine the location of the yarn feeder and obtain its position and status.

[0057] Step S420: When the yarn feeder is currently positioned in the right-side clamping area.

[0058] Step S430, and the yarn feeder is currently not following, kicking, or other types of avoidance actions.

[0059] In step S440, when the main cutting needle or the clamping needle in the clamping area is in the starting state or pre-selection state, the stopping nozzle is determined to be the yarn avoidance nozzle and the corresponding avoidance type is yarn cutting avoidance.

[0060] Among them, the stopped yarn feeder refers to the yarn feeder that is not invoked to perform yarn feeding or feeding operations in the current row and is in a stationary state. The stopped yarn feeder is usually placed in the yarn clamping area on both sides of the needle plate (left yarn clamping area or right yarn clamping area). Although the stopped yarn feeder does not directly participate in the yarn feeding operation of the current row, because the space in the yarn clamping area is compact and close to the execution points of non-heading processes such as yarn cutting and yarn hooking, the stopped yarn feeder may physically interfere with the yarn cutting needle or yarn clamping needle of the needle plate, so avoidance judgment is required.

[0061] In some embodiments, based on the current line's wireless head process and the real-time updated position and status of the yarn feeder, the yarn feeder currently performing the yarn feeding / insertion action and the stopped yarn feeder are first distinguished, and the position and status of the stopped yarn feeder are obtained. When the stopped yarn feeder meets the following conditions simultaneously, the yarn cutting avoidance is triggered: the stopped yarn feeder is currently stopped in the right-side yarn clamping area; the stopped yarn feeder is currently not performing a following action, a yarn kicking action, or other types of avoidance action; the main cutting needle in the yarn clamping area or the yarn clamping needle in the yarn clamping area is in the starting state or the pre-selected state.

[0062] See Figure 5 As shown, Figure 5 yes Figure 1 A flowchart illustrating step S140 of the third embodiment; step S140 of this embodiment includes the following steps: Step S510: Based on the current wireless head process and the position and status of the yarn feeder, determine the location of the yarn feeder and obtain its position and status.

[0063] Step S520: When the yarn feeder is in the yarn-loaded state.

[0064] Step S530, and the yarn feeder is currently not following, kicking, or other types of avoidance actions.

[0065] In step S540, when the suction fan is in operation, determine that the stopping nozzle is a clearance nozzle and the corresponding clearance type is suction clearance.

[0066] Among these, the yarn carried by the yarn nozzle may also block the air intake, so it is necessary to make a judgment on how to avoid it.

[0067] In some embodiments, based on the current wireless head process and the real-time updated position and status of the yarn feeder, the yarn feeder currently performing the yarn feeding / insertion action and the yarn feeder being parked are first distinguished, and the position and status of the parked yarn feeder are obtained. When the parked yarn feeder meets the following conditions simultaneously, suction avoidance is triggered: the parked yarn feeder is in the yarn-feeding state; the parked yarn feeder is currently not performing a following action, a yarn-kicking action, or other types of avoidance action; and the suction fan is in the operating state.

[0068] See Figure 6 As shown, Figure 6 yes Figure 1 A flowchart illustrating step S140 of the fourth embodiment; step S140 of this embodiment includes the following steps: Step S610: Based on the current wireless head process and the position and status of the yarn feeder, determine the non-target yarn feeder and obtain the position and status of the non-target yarn feeder.

[0069] Step S620: When the yarn corresponding to the non-target yarn nozzle is a non-target yarn.

[0070] Step S630, and the non-target yarn nozzle follows the action of the spandex yarn.

[0071] Step S640, and the non-target yarn nozzle is positioned to the left of the target position of the hook knife.

[0072] Step S650: When the non-target yarn feeder is in the yarn-inserted state, determine that the non-target yarn feeder is an avoidance yarn feeder and the corresponding avoidance type is hook knife hook line avoidance.

[0073] Non-target yarn feeders refer to yarn feeders that, while participating in the yarn feeding action (i.e., in the yarn feeding or already fed state) in the current row, carry yarn that is not the target yarn to be picked up by the hook knife mechanism in the current row's no-head process. Non-target yarn feeders are usually linked to the spandex conveyor mechanism, moving synchronously with the spandex yarn within the spandex action window. Their stopping or traveling positions may be close to the hook knife's working path. When the motor-driven hook knife picks up the target yarn, the non-target yarn must actively avoid it; therefore, an avoidance judgment is performed on it.

[0074] In some embodiments, based on the current wireless head process and the real-time updated position and status of the yarn feeder, the target yarn feeder (i.e., the yarn feeder whose clamping needle is configured to be the target yarn of this hook knife) and non-target yarn feeders are first distinguished. The position and status of the non-target yarn feeder are then obtained. The hook knife is triggered to avoid the yarn feeder when the non-target yarn feeder meets the following conditions simultaneously: the yarn corresponding to the non-target yarn feeder is a non-target yarn; the non-target yarn feeder follows the spandex yarn movement; the non-target yarn feeder is positioned to the left of the target position of the hook knife (with the machine head's normal lateral movement direction as a reference, the hook knife swings in from left to right to hook the target yarn); and the non-target yarn feeder is in the yarn-entry state.

[0075] See Figure 7 As shown, Figure 7 yes Figure 1 A flowchart illustrating step S140 of the fifth embodiment; step S140 of this embodiment includes the following steps: Step S710: Based on the current wireless head process and the position and status of the yarn feeder, determine the non-target yarn feeder and obtain the position and status of the non-target yarn feeder.

[0076] Step S720: When the moving scissor motor is in a low-position motion state.

[0077] Step S730: When the distance between the parking position of the non-target yarn feeder and the target position of the moving scissors in the lateral direction is less than the physical width of the moving scissors, the non-target yarn feeder is determined to be an avoidance yarn feeder and the corresponding avoidance type is moving scissors avoidance.

[0078] The low-position movement refers to the scissor mechanism being driven by the moving scissor motor to a low working position close to the needle bed working surface. In jacquard glove machines, the moving scissors typically have two working positions: a high-position return and a low-position cutting. In the high position, the scissor blades are far from the knitting needles and yarn, allowing for unobstructed lateral movement. In the low position, the scissor blades are lowered to the back of the needle or near the clamping needle, performing the actual thread cutting action. The system determines whether it has entered the low position by reading the encoder feedback of the moving scissor motor or the level signal of the multi-segment sensor.

[0079] The target position of the moving scissors refers to the horizontal coordinate point where the moving scissors stop when performing the cutting action in the current row, usually expressed as the absolute value in the horizontal coordinate system of the needle plate.

[0080] The physical width of the moving scissors refers to the body of the moving scissors mechanism, usually a scalar value in millimeters.

[0081] In some embodiments, based on the current row's wireless head process, it is identified whether a moving scissors cutting instruction exists. If it exists, the target position of the moving scissors corresponding to the instruction and the pre-stored physical width of the moving scissors are retrieved. At the same time, the remaining yarn mouths in the current row, except those performing yarn feeding / inserting actions, are regarded as non-target yarn mouths, and their positions and states are obtained. When the non-target yarn mouths simultaneously meet the following conditions, the moving scissors avoidance is triggered: the moving scissors motor is in a low-position movement state; the distance between the stopping position of the non-target yarn mouth and the target position of the moving scissors in the lateral direction is less than the physical width of the moving scissors.

[0082] Step S150: Based on the avoidance yarn feeder, avoidance type, and avoidance offset, execute the corresponding avoidance action.

[0083] In some embodiments, when the avoidance type is a loop avoidance, the avoidance yarn feeder is moved to a non-starting position within the yarn clamping area or the knitting area.

[0084] Specifically, if the yarn feeder is the next row of knitting yarn, it is moved to a non-starting position in the yarn clamping area to wait; if the yarn feeder is followed by spandex yarn, it is moved to a non-starting position in the knitting area near the yarn clamping area; otherwise, in other cases, the yarn feeder is moved to a non-starting position in the knitting area, arranged in order of the yarn feeder's offset, and returned to the yarn clamping area to rest after the yarn feeder operation is completed.

[0085] In some embodiments, when the avoidance type is wire cut-off avoidance, the avoidance yarn nozzle is moved to the reset stop point.

[0086] Specifically, move the yarn feeder to the reset stop point and wait for the yarn cutting action to be completed before restoring it.

[0087] In some embodiments, when the avoidance type is suction avoidance, the avoidance yarn nozzle is moved to a non-starting position within the knitting area.

[0088] Specifically, move the yarn feeder to a non-starting position within the knitting area, and return it to the yarn clamping area after the suction action is completed.

[0089] In some embodiments, when the avoidance type is hook line avoidance, the avoidance yarn nozzle is moved to the right side of the hook target position.

[0090] Specifically, move the abduction nozzle to the right of the hook knife target position, and reset it after the hook knife action is completed.

[0091] In some embodiments, when the avoidance type is moving scissor avoidance, the avoidance yarn nozzle located in the clamping area is moved to the right beyond the physical width range of the moving scissors, and the avoidance yarn nozzle located in the weaving area is moved to the left beyond the physical width range of the moving scissors.

[0092] Unlike existing technologies, this embodiment precisely configures the physical coordinates of the clamping needles and introduces avoidance offsets, transforming the originally ambiguous physical spatial distance into precise digital control quantities. This allows the equipment to comprehensively handle various types of interference risks based on a single digital model, including winding avoidance, cutting avoidance, suction avoidance, hook knife thread avoidance, and moving scissors avoidance. This solves the problem of lacking a unified and automated judgment and handling mechanism for different types of interference. By parsing the pattern file and pre-determining the yarn execution sequence based on the clamping position, the position and status of the yarn feeder are updated in real time during the weaving process. Combined with the no-head process, the avoidance yarn feeder and avoidance type are determined, and finally, the avoidance action is executed. This solidifies the complex spatial interference judgment logic into a standard control process, effectively replacing the traditional mode that relies on manual adjustment based on human visual observation and operational experience, greatly improving production efficiency.

[0093] See Figure 8 As shown, Figure 8 This is a schematic diagram of an embodiment of the control device for yarn feeder avoidance provided in this application; the control device for yarn feeder avoidance in this embodiment includes: Configuration module 801 is used to configure the physical coordinates of the clamping needle on the needle plate corresponding to the yarn feeder, so as to determine the clamping position and configure the corresponding avoidance offset for the yarn feeder; Sequence module 802 is used to acquire the pattern file and determine the yarn extrusion execution order based on the pattern file and the clamping position; The update module 803 is used to perform weaving based on the yarn output sequence and update the position and status of the yarn feeder in real time; The determining module 804 is used to determine the avoidance of the yarn mouth and the corresponding avoidance type based on the current line's wireless head process and the position and state of the yarn mouth. The avoidance type includes winding avoidance, cutting avoidance, suction avoidance, hook knife hooking avoidance, and moving scissors avoidance. The execution module 805 is used to perform a corresponding avoidance action based on the avoidance yarn nozzle, the avoidance type, and the avoidance offset.

[0094] Figure 9 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application. Figure 9 As shown, the electronic device includes a processor 21 and a memory 22 coupled to the processor 21. The memory 22 stores program instructions for implementing the methods of any of the above embodiments; the processor 21 executes the program instructions stored in the memory 22 to implement the steps of the above method embodiments. The processor 21 may also be referred to as a CPU (Central Processing Unit). The processor 21 may be an integrated circuit chip with signal processing capabilities. The processor 21 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor may be a microprocessor or any conventional processor. Figure 10 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium provided in this application. Figure 10 As shown, the computer-readable storage medium 30 of this application embodiment stores program instructions 31, which, when executed, implement the methods provided in the above embodiments of this application. The program instructions 31 can form a program file and be stored in the computer-readable storage medium 30 in the form of a software product, so that a computer device (which may be a personal computer, server, or network device, etc.) or processor can execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned computer-readable storage medium 30 includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or terminal devices such as computers, servers, mobile phones, and tablets.

[0095] 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 modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another device, 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 devices or modules may be electrical, mechanical, or other forms. Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0096] This application also provides a computer program product comprising a computer program that, when executed by a processor, can implement the steps of the methods described in any of the foregoing embodiments. Specifically, the computer program product can be a software or program product containing a computer program, capable of running on a computing device or stored on any available medium.

[0097] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to execute the methods described in the above method embodiments. Specific implementations can be referred to the descriptions of the above method embodiments, which will not be repeated here for brevity. The descriptions of the various embodiments above tend to emphasize the differences between them; their similarities or commonalities can be referred to each other, which will not be repeated here for brevity. In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For example, the division of modules or units is merely a logical functional division; in actual implementation, there may be other division methods. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. Additionally, the functional units in the various embodiments of this application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated unit described above can be implemented in either hardware or software functional units. 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 several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application.

[0098] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling feeder avoidance, characterized in that, include: Configure the physical coordinates of the clamping needle on the needle plate corresponding to the yarn feeder to determine the clamping position, and configure the corresponding avoidance offset for the yarn feeder; Obtain the pattern file, and determine the yarn feeding sequence based on the pattern file and the clamping position; Weaving is performed based on the yarn output sequence, and the position and status of the yarn feeder are updated in real time; Based on the current wireless head process and the position and state of the yarn mouthpiece, determine the yarn mouthpiece to avoid and the corresponding avoidance type. The avoidance type includes winding avoidance, cutting avoidance, suction avoidance, hook knife hooking avoidance, and moving scissors avoidance. Based on the avoidance yarn nozzle, the avoidance type, and the avoidance offset, the corresponding avoidance action is executed.

2. The control method according to claim 1, characterized in that, The step of determining the yarn feeding sequence based on the pattern file and the clamping position includes: Based on the pattern file, extract and mark the row numbers and yarn feeders that need to perform yarn entry / exit actions; Based on the row number and the yarn feeder, calculate and cache the updated position and status of the yarn feeder; When the pattern file contains multiple yarn feeders that need to perform yarn feeding actions on the same line, the yarn feeding execution order is determined by sequentially sorting them based on the physical coordinates corresponding to the clamping positions of the yarn feeders.

3. The control method according to claim 1, characterized in that, The step of determining the avoidance point and corresponding avoidance type based on the current row's wireless head process and the position and state of the yarn feeder includes: Based on the current wireless head process and the position and state of the yarn feeder, determine the yarn feeder currently performing the yarn feeding / insertion action and the yarn feeder to be determined; When the yarn feeder to be judged shares the same needle plate as the yarn feeder currently performing the yarn feeding / insertion action, the needle plate includes a front needle plate and a rear needle plate; Furthermore, when the clamping needle corresponding to the yarn feeder to be judged is located on the front needle plate, the number of the yarn feeder to be judged is greater than the number of the yarn feeder currently performing the yarn feeder operation; when the clamping needle corresponding to the yarn feeder to be judged is located on the rear needle plate, the number of the yarn feeder to be judged is less than the number of the yarn feeder currently performing the yarn feeder operation. And the yarn feeder to be judged is currently parked in the right-side clamping area; And the yarn nozzle to be judged is in the yarn-inserted state; Furthermore, when the yarn feeder that is not performing the yarn feeding or inserting action follows the spandex yarn action, the yarn feeder to be determined is identified as the avoidance yarn feeder and the corresponding avoidance type is identified as the winding avoidance.

4. The control method according to claim 1, characterized in that, The step of determining the avoidance point and corresponding avoidance type based on the current row's wireless head process and the position and state of the yarn feeder includes: Based on the current wireless head process and the position and status of the yarn feeder, determine the placement of the yarn feeder and obtain the position and status of the placement of the yarn feeder; When the yarn feeder is currently positioned in the right-side clamping area; Furthermore, the yarn-stopping nozzle currently does not exhibit any following, yarn-kicking, or other types of avoidance actions. When the main cutting needle or the clamping needle in the clamping area is in the starting state or pre-selection state, the stopping yarn nozzle is determined to be the avoidance yarn nozzle and the corresponding avoidance type is the cutting yarn avoidance.

5. The control method according to claim 1, characterized in that, The step of determining the avoidance point and corresponding avoidance type based on the current row's wireless head process and the position and state of the yarn feeder includes: Based on the current wireless head process and the position and status of the yarn feeder, determine the placement of the yarn feeder and obtain the position and status of the placement of the yarn feeder; When the yarn feeding nozzle is in the yarn-loaded state; Furthermore, the yarn-stopping nozzle currently does not exhibit any following, yarn-kicking, or other types of avoidance actions. Furthermore, when the suction fan is in operation, the stopping nozzle is determined to be the avoidance nozzle and the corresponding avoidance type is the suction avoidance.

6. The control method according to claim 1, characterized in that, The step of determining the avoidance point and corresponding avoidance type based on the current row's wireless head process and the position and state of the yarn feeder includes: Based on the current wireless head process and the position and state of the yarn feeder, determine the non-target yarn feeder and obtain the position and state of the non-target yarn feeder; When the yarn corresponding to the non-target yarn nozzle is a non-target yarn; Furthermore, the non-target yarn nozzle follows the movement of the spandex yarn; Furthermore, the non-target yarn nozzle is positioned to the left of the target position of the hook knife; Furthermore, when the non-target yarn feeder is in the yarn-inserted state, the non-target yarn feeder is determined to be the avoidance yarn feeder and the corresponding avoidance type is the hook-knife line avoidance.

7. The control method according to claim 1, characterized in that, The step of determining the avoidance point and corresponding avoidance type based on the current row's wireless head process and the position and state of the yarn feeder includes: Based on the current wireless head process and the position and state of the yarn feeder, determine the non-target yarn feeder and obtain the position and state of the non-target yarn feeder; When the moving scissor motor is in a low-position motion state; Furthermore, when the distance between the parking position of the non-target yarn feeder and the target position of the moving scissors in the lateral direction is less than the physical width of the moving scissors, the non-target yarn feeder is determined to be the avoidance yarn feeder and the corresponding avoidance type is the moving scissors avoidance.

8. The control method according to claim 1, characterized in that, The step of performing the corresponding avoidance action based on the avoidance yarn feeder, the avoidance type, and the avoidance offset includes: When the avoidance type is the winding avoidance, the avoidance yarn tip is moved to a non-starting position in the yarn clamping area or knitting area; When the avoidance type is the thread cutting avoidance, move the avoidance yarn nozzle to the reset stop point; When the avoidance type is the suction avoidance, the avoidance yarn nozzle is moved to a non-starting position within the knitting area; When the avoidance type is the hook knife line avoidance, the avoidance yarn nozzle is moved to the right side of the hook knife target position; When the avoidance type is the moving scissors avoidance, the avoidance yarn nozzle located in the clamping area is moved to the right beyond the physical width range of the moving scissors, and the avoidance yarn nozzle located in the weaving area is moved to the left beyond the physical width range of the moving scissors.

9. A control device for yarn feeder avoidance, characterized in that, include: The configuration module is used to configure the physical coordinates of the clamping needle on the needle plate corresponding to the yarn feeder, so as to determine the clamping position and configure the corresponding avoidance offset for the yarn feeder; The sequence module is used to obtain the pattern file and determine the yarn execution order based on the pattern file and the clamping position; The update module is used to perform weaving based on the yarn output sequence and update the position and status of the yarn feeder in real time; The determination module is used to determine the avoidance of the yarn nozzle and the corresponding avoidance type based on the current line's wireless head process and the position and state of the yarn nozzle. The avoidance type includes winding avoidance, cutting avoidance, suction avoidance, hook knife hooking avoidance, and moving scissors avoidance. The execution module is used to perform the corresponding avoidance action based on the avoidance yarn nozzle, the avoidance type, and the avoidance offset.

10. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the control method as described in any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the processor, implement the control method as described in any one of claims 1-8.

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