Control method, device, equipment, system and medium of cloth changing device of embroidery machine

Abstract

The application provides a control method, device, equipment, system and medium of a cloth changing device of an embroidery machine, and relates to the technical field of embroidery machines. The cloth changing device of the embroidery machine comprises a cloth pulling mechanism and a cloth feeding mechanism. The method comprises the following steps: in response to a cloth changing instruction sent by an embroidery machine control system, the cloth feeding mechanism is controlled to actively feed the cloth, so as to cooperate with the cloth pulling mechanism to pull the cloth to be embroidered out of a cloth roll and horizontally lay the cloth on an embroidery frame, and then the embroidery frame is controlled to hold and fix the cloth to be embroidered, so as to realize cloth changing processing and complete embroidery. During the embroidery process, the cloth pulling mechanism and the cloth feeding mechanism are controlled to move along with the movement of the embroidery frame. Through the above method, the problem that the cloth to be embroidered is pulled due to the movement of the embroidery frame is effectively solved, the cloth changing efficiency is improved, and the embroidery efficiency and the embroidery quality are improved.

Description

Technical Field

[0001] This application relates to the field of embroidery technology, and in particular to a control method, device, equipment, system and medium for a fabric changing device of an embroidery machine. Background Technology

[0002] Embroidery machines are widely used in the textile, garment manufacturing and handicraft production fields. In the continuous embroidery process of mass production of embroidered products by embroidery machines, the current fabric needs to be replaced with a new fabric in time after the embroidery is completed to ensure that production is not interrupted.

[0003] Current embroidery machine fabric changing technology largely relies on manual operation. Specifically, during the processing of rolled fabric, after one frame of embroidery is completed, the operator must manually pull out the finished fabric from the embroidery frame and replace it with new fabric. This process requires the operator to climb onto the machine table, which is time-consuming and labor-intensive. Furthermore, during the embroidery process after fabric change, the movement of the embroidery frame pulls on the fabric on both sides, damaging the structure of the embroidery.

[0004] In conclusion, how to improve the efficiency of fabric changing and avoid the fabric being stretched during the embroidery process, thereby improving embroidery efficiency and quality, is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a control method, device, equipment, system, and medium for a fabric changing device on an embroidery machine, which aims to improve fabric changing efficiency and prevent the fabric from being pulled during embroidery, thereby improving embroidery efficiency and embroidery quality.

[0006] In a first aspect, embodiments of this application provide a control method for a fabric changing device of an embroidery machine, the fabric changing device comprising a fabric pulling mechanism and a fabric feeding mechanism, the method comprising:

[0007] In response to the fabric change command sent by the embroidery machine control system, the fabric feeding mechanism is controlled to actively feed the fabric, so as to cooperate with the fabric pulling mechanism to pull the fabric to be embroidered out of the fabric roll and lay it horizontally on the embroidery frame.

[0008] The embroidery frame is controlled to hold and fix the fabric to be embroidered, so as to realize the fabric replacement process and complete the embroidery work;

[0009] During the embroidery process, the fabric pulling mechanism and the fabric feeding mechanism are controlled to move in accordance with the movement of the embroidery frame.

[0010] In one possible implementation, the fabric spreading mechanism includes a first roller assembly and a fabric spreading motor, wherein the first roller assembly is drive-connected to the fabric spreading motor;

[0011] And / or,

[0012] The fabric feeding mechanism includes a second roller assembly and a fabric feeding motor, wherein the second roller assembly is drively connected to the fabric feeding motor.

[0013] In one possible implementation, controlling the fabric pulling mechanism and the fabric feeding mechanism to move in accordance with the movement of the embroidery frame includes:

[0014] If the embroidery frame moves along the X-axis, then the first grinding wheel assembly and the second grinding wheel assembly are controlled to move synchronously with the embroidery frame along the X-axis.

[0015] or,

[0016] If the embroidery frame moves along the Y-axis, the fabric pulling mechanism and the fabric feeding mechanism are controlled to follow the embroidery frame along the Y-axis via the slide rail.

[0017] In one possible implementation, the embroidery machine fabric changing device further includes a fabric taking-up mechanism, and the method further includes:

[0018] In response to a user operation, the embroidery mode of the fabric to be embroidered is obtained, wherein the embroidery mode includes flat embroidery mode and / or special embroidery mode;

[0019] Based on the embroidery mode, the fabric pulling mechanism and / or the fabric taking-up mechanism are controlled to pull out the fabric that has been embroidered, wherein the fabric that has been embroidered is the fabric formed after the embroidery machine has embroidered the fabric to be embroidered;

[0020] The fabric receiving mechanism is controlled to retrieve the fabric after the embroidery is completed.

[0021] In one possible implementation, controlling the fabric pulling mechanism and / or the fabric taking-up mechanism to pull out the completed embroidery fabric based on the embroidery pattern includes:

[0022] If the embroidery pattern is determined to be a special embroidery pattern, the fabric with the completed embroidery is pulled out by the fabric receiving mechanism.

[0023] or,

[0024] If the embroidery mode is determined to be flat embroidery mode, the fabric with the completed embroidery is pulled out through the first roller assembly and the fabric take-up mechanism.

[0025] or,

[0026] If the embroidery mode is determined to be a special mode or a flat embroidery mode, the fabric with the completed embroidery is pulled out by the fabric receiving mechanism.

[0027] In one possible implementation, the method further includes:

[0028] During the embroidery process, the displacement of the embroidery frame along the Y-axis is acquired in real time;

[0029] If the displacement is greater than a preset following distance threshold, the fabric pulling mechanism and the fabric feeding mechanism are controlled to follow the embroidery frame in a lagging manner via the slide rail.

[0030] Secondly, embodiments of this application provide a control device for an embroidery machine fabric changing device, the fabric changing device including a fabric pulling mechanism and a fabric feeding mechanism, the device comprising:

[0031] The first processing module is used to respond to the cloth change command sent by the embroidery machine control system, and control the cloth feeding mechanism to actively feed the cloth so as to cooperate with the cloth pulling mechanism to pull the cloth to be embroidered out of the cloth roll and lay it horizontally on the embroidery frame.

[0032] The second processing module is used to control the embroidery frame to hold and fix the fabric to be embroidered, so as to realize the fabric replacement process and complete the embroidery.

[0033] During the embroidery process, the fabric pulling mechanism and the fabric feeding mechanism are controlled to move in accordance with the movement of the embroidery frame.

[0034] In one possible implementation, the fabric spreading mechanism includes a first roller assembly and a fabric spreading motor, wherein the first roller assembly is drive-connected to the fabric spreading motor;

[0035] And / or,

[0036] The fabric feeding mechanism includes a second roller assembly and a fabric feeding motor, wherein the second roller assembly is drively connected to the fabric feeding motor.

[0037] In one possible implementation, the second processing module is specifically used for:

[0038] If the embroidery frame moves along the X-axis, then the first grinding wheel assembly and the second grinding wheel assembly are controlled to move synchronously with the embroidery frame along the X-axis.

[0039] or,

[0040] If the embroidery frame moves along the Y-axis, the fabric pulling mechanism and the fabric feeding mechanism are controlled to follow the embroidery frame along the Y-axis via the slide rail.

[0041] In one possible implementation, the embroidery machine fabric changing device further includes a fabric taking-up mechanism, and the device further includes a third processing module for:

[0042] In response to a user operation, the embroidery mode of the fabric to be embroidered is obtained, wherein the embroidery mode includes flat embroidery mode and / or special embroidery mode;

[0043] Based on the embroidery mode, the fabric pulling mechanism and / or the fabric taking-up mechanism are controlled to pull out the fabric that has been embroidered, wherein the fabric that has been embroidered is the fabric formed after the embroidery machine has embroidered the fabric to be embroidered;

[0044] The fabric receiving mechanism is controlled to retrieve the fabric after the embroidery is completed.

[0045] In one possible implementation, the third processing module is specifically used for:

[0046] If the embroidery pattern is determined to be a special embroidery pattern, the fabric with the completed embroidery is pulled out by the fabric receiving mechanism.

[0047] or,

[0048] If the embroidery mode is determined to be flat embroidery mode, the fabric with the completed embroidery is pulled out through the first roller assembly and the fabric take-up mechanism.

[0049] or,

[0050] If the embroidery mode is determined to be a special mode or a flat embroidery mode, the fabric with the completed embroidery is pulled out by the fabric receiving mechanism.

[0051] In one possible implementation, the device further includes a fourth processing module for:

[0052] During the embroidery process, the displacement of the embroidery frame along the Y-axis is acquired in real time;

[0053] If the displacement is greater than a preset following distance threshold, the fabric pulling mechanism and the fabric feeding mechanism are controlled to follow the embroidery frame in a lagging manner via the slide rail.

[0054] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0055] The memory stores computer-executed instructions;

[0056] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0057] Fourthly, embodiments of this application provide a control system for an embroidery machine fabric changing device, including the embroidery machine fabric changing device and the electronic equipment as described in the third aspect.

[0058] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0059] This application provides a control method, device, equipment, system, and medium for a fabric changing device on an embroidery machine. By responding to a fabric changing command, the device controls a fabric feeding mechanism to actively feed the fabric. This, in conjunction with a fabric pulling mechanism, pulls the fabric to be embroidered from the roll and lays it flat on the embroidery frame. The embroidery frame then fixes the fabric for embroidery. During the embroidery process, the fabric pulling and feeding mechanisms move along with the embroidery frame. This method avoids additional stress on the fabric caused by frame movement during embroidery, preventing wrinkles, deformation, or shifting of the fabric, and improving both fabric changing efficiency and embroidery quality. Attached Figure Description

[0060] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0061] Figure 1 A flowchart illustrating the control method for a fabric changing device for an embroidery machine provided in this application. Figure 1 ;

[0062] Figure 2 A schematic diagram of a cloth-pulling mechanism is provided for this application;

[0063] Figure 3 A schematic diagram of a fabric feeding mechanism provided in this application;

[0064] Figure 4 A flowchart illustrating the control method for a fabric changing device for an embroidery machine provided in this application. Figure 2 ;

[0065] Figure 5 A schematic diagram of the control device for an embroidery machine fabric changing device provided in this application;

[0066] Figure 6 A schematic diagram of the structure of an electronic device provided in this application;

[0067] Figure 7 This application provides a schematic diagram of the control system for a fabric changing device on an embroidery machine.

[0068] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0069] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0070] The application background of this application is explained as follows:

[0071] Embroidery machines, as highly automated textile processing equipment, have been widely used in the production of textiles, garments, and various handicrafts. Their efficient and precise embroidery capabilities significantly improve the production efficiency and quality stability of embroidered products. In the continuous embroidery process of mass-producing embroidered products using embroidery machines, once the current fabric has been embroidered, it needs to be promptly replaced with a new fabric to be embroidered, thus ensuring that the embroidery machine can continuously and uninterruptedly proceed to the next stage of processing.

[0072] Existing embroidery machine fabric changing technology largely relies on manual operation. Specifically, in actual production, after the embroidery machine completes its task on the current fabric, the operator usually needs to stop the machine promptly, manually remove the finished fabric from the embroidery frame, lay the new fabric to be embroidered flat in place, and perform a series of operations such as positioning, tensioning, and securing it before the embroidery machine can be restarted to continue production. This manual operation process requires operators to have a certain level of experience and skill, and is time-consuming and labor-intensive. It not only increases labor costs but may also lead to inconsistent fabric changing quality due to differences in operators' operating habits and skill levels, thus affecting the consistency and pass rate of embroidered products.

[0073] In addition, existing automatic fabric changing technologies for embroidery machines mainly include:

[0074] (1) Instead of using a separately set fabric feeding mechanism, the fabric is changed by relying on the Y-axis movement of the embroidery frame itself. During the fabric change process, the embroidery frame first moves downward and presses the edge of the fabric, and then the reciprocating motion of the embroidery frame in the Y-axis pulls the fabric from the feeding area to the embroidery area or the receiving area. However, this method is only applicable to machines where the X-axis travel of the embroidery frame does not exceed the width of the fabric roll. For lace machines currently on the market (usually larger than 15 yards, about 13.7 meters), this fabric change method relying on the Y-axis movement of the embroidery frame is not applicable.

[0075] (2) The existing embroidery machine cloth changing technology usually applies force through the roller assembly during the cloth pulling process, which may damage the three-dimensional structure of special embroidery or decorative elements such as sequins and towel embroidery. In other words, the existing embroidery machine cloth changing technology cannot be adapted to special embroidery process.

[0076] (3) During the embroidery process after changing the fabric, the embroidery frame moves and the fabric is pulled on both sides of the frame, which will damage the structure of the embroidery and affect the quality of the embroidery.

[0077] Therefore, providing an automatic fabric changing solution for embroidery machines that can avoid fabric tearing and damage and adapt to special embroidery techniques is an urgent technical problem to be solved.

[0078] Based on the aforementioned technical problems, the inventors, in the process of researching how to achieve automatic fabric changing in embroidery machines, discovered that replacing the traditional Y-axis movement of the embroidery frame with an independent fabric feeding mechanism can solve the compatibility problem of large-size machines. Furthermore, by introducing follow-up control of the fabric feeding mechanism—that is, controlling the fabric feeding mechanism to move with the embroidery frame—the problem of the fabric being pulled by the sides of the embroidery frame during embroidery can be avoided. In addition, for special embroidery techniques, the working state of the roller assembly of the fabric feeding mechanism is determined by judging whether the current embroidery mode is a special embroidery, thus avoiding damage to the embroidery structure. Based on this, this application provides a control method, device, equipment, system, and medium for an embroidery machine fabric changing device.

[0079] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0080] Figure 1 A flowchart illustrating the control method for a fabric changing device for an embroidery machine provided in this application. Figure 1 The fabric changing device of an embroidery machine includes a fabric pulling mechanism and a fabric feeding mechanism, such as... Figure 1 As shown, the method includes:

[0081] S101: In response to the fabric change command sent by the embroidery machine control system, control the fabric feeding mechanism to actively feed the fabric, so as to cooperate with the fabric pulling mechanism to pull the fabric to be embroidered out of the fabric roll and lay it horizontally on the embroidery frame.

[0082] In this step, the fabric change instruction is a control signal issued by the embroidery machine control system after the current fabric has been embroidered, which is used to trigger the start of the entire fabric change process.

[0083] The fabric feeding mechanism is a key functional component in the fabric changing device of an embroidery machine, used to automatically complete the fabric feeding and laying. It is usually set on one side of the embroidery frame along the X-axis direction. It is used to automatically pull out the fabric to be embroidered from the fabric roll and lay the pulled-out fabric flat, taut and horizontally on the embroidery frame so that the embroidery frame can clamp and fix the fabric for subsequent embroidery processing.

[0084] An embroidery frame is a framework structure on an embroidery machine used to fix and tension the fabric to be embroidered. It usually consists of an inner frame and an outer frame, which keep the fabric flat and stable by clamping or stretching it, so that the embroidery needle can accurately embroider on the fabric. Understandably, the size and shape of the embroidery frame can be adjusted according to the size and shape of the embroidery pattern.

[0085] The fabric roll is a whole roll of fabric to be embroidered, stored in a wound manner and placed on a fabric frame. It usually consists of the fabric body and the core. The fabric to be embroidered is rolled into a cylindrical shape before processing, which facilitates storage, transportation and continuous feeding. When the fabric changing device of the embroidery machine is working, the fabric pulling mechanism can pull the fabric to be embroidered out of the roll and lay it horizontally on the embroidery frame. After the embroidery frame holds and fixes the fabric to be embroidered, the embroidery machine starts working.

[0086] The fabric feeding mechanism is usually located on the opposite side of the embroidery frame along the X-axis, opposite to the fabric pulling mechanism. It serves as an auxiliary device, providing active conveying power during the process of the fabric pulling mechanism pulling the fabric to be embroidered out of the roll. This allows the fabric to be embroidered to be subjected to bidirectional traction, thereby reducing the resistance of the fabric pulling and preventing the fabric to be embroidered from being deformed, wrinkled, or even damaged due to excessive force on one side (only the fabric pulling mechanism applies force), which would affect the flatness of the fabric on the embroidery frame.

[0087] By controlling the fabric feeding mechanism to actively feed the fabric, in conjunction with the fabric pulling mechanism, the fabric to be embroidered is pulled out of the roll and laid horizontally on the embroidery frame. This effectively reduces the resistance of the fabric pulling, thereby improving the flatness and positioning accuracy of the fabric on the embroidery frame, providing stable and reliable fabric support for subsequent embroidery operations, and improving embroidery quality and fabric changing efficiency.

[0088] S102: Control the embroidery frame to hold and fix the fabric to be embroidered, so as to realize the fabric change and complete the embroidery. During the embroidery process, control the fabric pulling mechanism and the fabric feeding mechanism to move with the movement of the embroidery frame.

[0089] In this step, the clamping and fixing refers to the use of the clamping mechanism of the embroidery frame to firmly hold the fabric to be embroidered, which has been transported to the position by the fabric pulling mechanism and the fabric feeding mechanism, within the working area of ​​the embroidery frame. This prevents the fabric from shifting or loosening during the embroidery process, thereby ensuring the accuracy of the embroidery position and the quality of the embroidery, and successfully completing the fabric change process and entering the next embroidery stage.

[0090] For example, the edges of the fabric to be embroidered are pressed and tensioned by the mechanical structure of the embroidery frame (such as pneumatic grippers, screw clamping mechanisms or elastic pressure strips), so that the fabric to be embroidered is kept flat, wrinkle-free and with uniform tension on the embroidery frame, so as to realize the fabric replacement process and complete the embroidery.

[0091] Understandably, during the embroidery process, the embroidery needle and shuttle of the embroidery machine are fixed in the machine head and do not move, only making up-and-down piercing movements. However, the embroidery pattern is composed of thousands of stitches, each with a different position. In order to ensure that each stitch falls in the correct position on the fabric to be embroidered, the embroidery frame needs to move the fabric back-and-forth and left-and-right to control the coordinates of the fabric, so that the embroidery needle can be placed in the correct position, that is, to move the fabric relative to the embroidery needle to the correct coordinate point.

[0092] However, since the fabric to be embroidered is held in place by the embroidery frame, the frame's movement exerts a continuous pulling force and displacement tendency on the fabric, while the two ends of the fabric remain connected to the fabric-pulling and feeding mechanisms. If the fabric-pulling and feeding mechanisms remain stationary, the fabric will be subjected to additional tension or compression during the frame's movement, leading to wrinkles, shifts, stretching deformation, or even edge tearing, affecting embroidery precision and product quality. Therefore, to avoid this, during the embroidery process, the fabric-pulling and feeding mechanisms are controlled to move synchronously with the embroidery frame. That is, when the frame moves in a certain direction, the fabric-pulling and feeding mechanisms also move accordingly, ensuring that the fabric maintains appropriate tension and a flat state throughout the embroidery process. This prevents unnecessary pulling or resistance on the fabric when the frame moves, thus guaranteeing the accuracy and stability of the embroidery pattern.

[0093] The control method for the fabric changing device of the embroidery machine provided in this application embodiment responds to the fabric changing command sent by the embroidery machine control system. It controls the fabric feeding mechanism to actively feed the fabric, cooperating with the fabric pulling mechanism to pull the fabric to be embroidered from the fabric roll and lay it horizontally on the embroidery frame. Then, it controls the embroidery frame to hold and fix the fabric to be embroidered, thereby realizing the fabric changing process and completing the embroidery. During the embroidery process, the fabric pulling mechanism and the fabric feeding mechanism move synchronously with the embroidery frame. This method effectively solves the problem of fabric being pulled due to the movement of the embroidery frame, avoids the additional stress on the fabric caused by the movement of the embroidery frame, improves the efficiency of fabric changing, and fundamentally ensures the stability of the fabric during the embroidery process, ultimately achieving an overall improvement in embroidery quality.

[0094] Figure 2 A schematic diagram of a fabric-laying mechanism provided in this application is shown below. Figure 2 As shown, the fabric-laying mechanism includes a first grinding wheel assembly and a fabric-laying motor, wherein the first grinding wheel assembly is drive-connected to the fabric-laying motor. A protective cover is used to protect the first grinding wheel assembly inside.

[0095] Specifically, the first roller assembly refers to the actuating component that directly contacts the fabric to be embroidered and achieves fabric traction. It typically consists of a driving roller and a driven roller. The driving roller is connected to the fabric-pulling motor, while the driven roller maintains contact with the driving roller through elastic pressing or a fixed gap, ensuring that the fabric to be embroidered is stably held between the driving and driven rollers. The fabric-pulling motor is the driving device that provides power in the fabric-pulling mechanism. It is usually a servo motor or a stepper motor, which can precisely control the speed and rotation angle. Power is transmitted to the driving roller through synchronous belts, gears, or couplings, causing it to rotate. This rotational motion, in turn, pulls the fabric to be embroidered from the fabric roll and transports it to the embroidery frame area through friction.

[0096] Furthermore, the slide rail of the fabric pulling mechanism is a guide structure used to support and guide the entire fabric pulling mechanism in the linear reciprocating motion of the embroidery frame. Its main function is to ensure that the fabric pulling mechanism can move synchronously with the embroidery frame, thereby maintaining stable fabric tension during the embroidery process. The slide rail usually consists of a fixed guide rail and a sliding slider, with the fabric pulling mechanism mounted on the slider. The slide rail generally uses a high-precision linear guide rail, which features low friction, smooth movement, high positioning accuracy, and strong load-bearing capacity. This ensures that the fabric pulling mechanism remains stable and reliable during high-speed, frequent following movements, thereby improving the smoothness of fabric delivery and the quality of the embroidery process.

[0097] Figure 3 A schematic diagram of a fabric feeding mechanism provided in this application is shown below. Figure 3 As shown, the fabric feeding mechanism includes a second roller assembly and a fabric feeding motor, wherein the second roller assembly is drivenly connected to the fabric feeding motor. The fabric feeding mechanism also includes: a protective cover for protecting the second internal roller assembly, a fabric roll, a slide rail, and a fabric feeding frame, wherein the fabric roll is mounted on the fabric feeding frame, and the fabric feeding frame serves as a load-bearing structure to support the fabric roll to achieve stable placement and initial positioning of the fabric during conveying.

[0098] Similar to the fabric feeding mechanism, the second roller assembly is the actuator that provides the active power for feeding the fabric. It typically consists of an active roller and a driven roller. The active roller is connected to the fabric feeding motor, while the driven roller maintains contact with the active roller through elastic pressing or a fixed gap, ensuring the fabric to be embroidered is stably held between the two rollers. The fabric feeding motor is the power source driving the second roller assembly. It is usually a servo motor or stepper motor, capable of precisely controlling the speed and rotation angle. Power is transmitted to the active roller via a synchronous belt, gears, or couplings, causing it to rotate. This rotation, through friction, pushes the fabric forward, working in conjunction with the fabric feeding mechanism to reduce feeding resistance and ensure a smooth and even tension during fabric feeding.

[0099] Furthermore, the structure and working principle of the slide rail of the fabric feeding mechanism are similar to those of the slide rail of the fabric pulling mechanism. Please refer to the previous explanation of the slide rail of the fabric pulling mechanism, which will not be repeated here.

[0100] Based on the above embodiments, in S101: in response to the fabric change command sent by the embroidery machine control system, the fabric feeding mechanism is controlled to actively feed the fabric, so as to cooperate with the fabric pulling mechanism to pull the fabric to be embroidered out of the fabric roll and lay it horizontally on the embroidery frame. Specifically, this may include:

[0101] For example, in response to a fabric change command sent by the embroidery machine control system, the fabric feeding mechanism immediately starts the fabric feeding motor. The fabric feeding motor drives the second roller assembly to rotate via a synchronous belt or gear transmission. A clamping force is formed between the driving and driven rollers of the second roller assembly, smoothly pushing the fabric to be embroidered forward from the output end of the fabric roll. At the same time, the fabric pulling mechanism located on the other side of the embroidery frame also responds to the fabric change command synchronously. The first roller assembly starts to rotate under the drive of the fabric pulling motor, applying traction force from the other side of the fabric roll to pull the fabric to be embroidered out of the fabric roll. Because the fabric feeding mechanism provides an active feeding force, the winding resistance and friction when pulling the fabric to be embroidered out of the fabric roll are effectively offset. Under the synergistic action of the two mechanisms, the fabric to be embroidered is conveyed forward at a uniform speed and with stable tension, maintaining a straight-line movement, and is finally laid horizontally and flat on the clamping area of ​​the embroidery frame so that the embroidery frame can then clamp the fabric to be embroidered, thereby completing the fabric change preparation and entering the next stage of embroidery work.

[0102] Based on the above embodiments, in S102: during the embroidery process, controlling the fabric pulling mechanism and the fabric feeding mechanism to move along with the embroidery frame specifically includes:

[0103] In one possible implementation, if the embroidery frame moves along the X-axis, the first and second roller assemblies are controlled to move synchronously with the embroidery frame along the X-axis.

[0104] When an embroidery machine is embroidering, the embroidery frame shifts horizontally (X-axis) according to the coordinates of the embroidery pattern, moving the fabric to be embroidered relative to the needle to the correct embroidery position. Since the two ends of the fabric are held by the fabric pulling mechanism and the fabric feeding mechanism respectively, they must move with the embroidery frame to avoid additional pulling or compressing forces on the fabric caused by the frame's movement. Figure 2 and Figure 3 As shown, the fabric pulling mechanism and the fabric feeding mechanism are set on the slide rail along the Y-axis. Therefore, when the embroidery frame moves along the X-axis during the embroidery process, the fabric pulling mechanism and the fabric feeding mechanism cannot follow the position change of the embroidery frame by overall translation.

[0105] For example, if the embroidery frame moves along the X-axis, the first grinding wheel assembly and the second grinding wheel assembly are controlled to slide through the linear guide structure along the X-axis provided on their mounting bases. At the same time, the fabric pulling motor and the fabric feeding motor provide power, so that the fabric pulling mechanism and the fabric feeding mechanism can move the same distance in the same direction in real time according to the movement of the embroidery frame along the X-axis.

[0106] In another possible implementation, if the embroidery frame moves along the Y-axis, the control fabric pulling mechanism and the fabric feeding mechanism follow the embroidery frame along the Y-axis via a slide rail.

[0107] When an embroidery machine is performing embroidery, the embroidery frame is displaced in the longitudinal direction (Y-axis) according to the coordinate requirements of the embroidery pattern, thereby moving the fabric to be embroidered relative to the embroidery needle to the correct embroidery position. The fabric pulling mechanism and the fabric feeding mechanism are set on a slide rail along the Y-axis. When the embroidery frame moves along the Y-axis, the fabric pulling mechanism and the fabric feeding mechanism are driven to move the same distance along the Y-axis slide rail as a whole, so that the relative positions of the fabric pulling mechanism, the fabric feeding mechanism and the embroidery frame in the Y-axis direction remain basically constant.

[0108] The process of controlling the fabric pulling mechanism and the fabric feeding mechanism to follow the embroidery frame along the Y-axis via the slide rail specifically includes:

[0109] During the embroidery process, the displacement of the embroidery frame along the Y-axis is acquired in real time.

[0110] Specifically, during the process of the fabric pulling mechanism and the fabric feeding mechanism following the embroidery frame along the Y-axis via the slide rail, the following drivers of the fabric pulling and feeding mechanisms receive position pulse signals from the movement of the embroidery frame along the Y-axis in real time. These position pulse signals can accurately reflect the distance, speed, and direction of the embroidery frame's movement along the Y-axis. By counting and analyzing the pulse signals, the displacement of the embroidery frame along the Y-axis can be calculated in real time, providing a basis for subsequent control of the fabric pulling and feeding mechanisms to achieve precise following.

[0111] If the displacement is greater than the preset following distance threshold, the control of the fabric pulling mechanism and the fabric feeding mechanism will follow the movement of the embroidery frame in a hysteretic manner via the slide rail.

[0112] The following distance threshold refers to a pre-set displacement threshold for the embroidery frame to move along the Y-axis. For example, this following distance threshold can be set to 5cm.

[0113] When the real-time detected displacement difference is less than or equal to the following distance threshold, the fabric pulling mechanism and the fabric feeding mechanism remain stationary. However, when the displacement difference exceeds the following distance threshold, it indicates that the displacement of the embroidery frame is already significant. In this case, the fabric pulling mechanism and the fabric feeding mechanism are controlled to follow the embroidery frame in a lagging manner via the slide rail. This is because if the fabric pulling mechanism and the fabric feeding mechanism follow the embroidery frame synchronously in real time and at high speed, the significant mechanical impact and vibration generated by the large mass and inertia of the fabric pulling mechanism and the fabric feeding mechanism will not only affect the stability and lifespan of the fabric pulling mechanism and the fabric feeding mechanism, but the mechanical impact and vibration may also be transmitted to the fabric, causing sudden changes in fabric tension, stitch deformation, or a decrease in the quality of the embroidery.

[0114] Therefore, when the displacement is greater than the preset following distance threshold, the fabric pulling mechanism and the fabric feeding mechanism are controlled to follow the embroidery frame movement in a lag manner via the slide rail. That is, after a preset time / displacement after the embroidery frame has moved, the fabric pulling mechanism and the fabric feeding mechanism are controlled to move the same distance in the same direction to ensure stable fabric tension and smooth operation of the fabric pulling mechanism and the fabric feeding mechanism.

[0115] By using the aforementioned synchronous / lagging follow-up motion, additional pulling or tension changes in the fabric to be embroidered can be avoided when the embroidery frame moves, ensuring that the fabric always remains flat, taut, and stable, thereby guaranteeing the positional accuracy of the embroidery stitches and the quality of the embroidery.

[0116] Figure 4 A flowchart illustrating the control method for a fabric changing device for an embroidery machine provided in this application. Figure 2 The embroidery machine's fabric changing device also includes a fabric take-up mechanism, such as... Figure 4 As shown, the method also includes:

[0117] S401: In response to a user operation, obtain the embroidery mode of the fabric to be embroidered, wherein the embroidery mode includes flat embroidery mode and / or special embroidery mode.

[0118] In this step, flat embroidery is the basic stitch pattern. It involves using a needle and a single thread to create continuous stitches on the fabric surface to form a pattern. It is characterized by its flatness, clear lines, and simple visual layers, making it suitable for most conventional embroidery needs. Specialty embroidery patterns include various special techniques such as towel stitch, chain stitch, appliqué, water-soluble stitch, wrap stitch, 3D stitch, and sequins. Each specialty embroidery pattern has a unique stitch structure and processing effect, enabling richer textures, multi-layered and three-dimensional effects, resulting in a stronger visual impact.

[0119] For example, users can select or confirm the embroidery mode of the fabric to be embroidered in the current embroidery frame through the embroidery machine's operating interface, control panel, or host computer software, to ensure that the subsequent embroidery process can proceed smoothly according to the user's expected process requirements.

[0120] S402: Based on the embroidery mode, control the fabric pulling mechanism and / or fabric taking mechanism to pull out the fabric that has been embroidered, wherein the fabric that has been embroidered is the fabric formed after the embroidery machine has processed the fabric to be embroidered.

[0121] Understandably, once the embroidery machine finishes embroidering the fabric in the current embroidery frame, it obtains the finished embroidered fabric. To avoid affecting the transport and embroidery of the next section of fabric and to ensure the continuity of the embroidery operation, the finished embroidered fabric needs to be removed from the embroidery work area. This is achieved by controlling the fabric pulling mechanism to pull the finished embroidered fabric out of the embroidery area.

[0122] Optionally, based on the embroidery mode, the fabric pulling mechanism and / or fabric taking-up mechanism are controlled to pull out the fabric after the embroidery is completed, specifically including the following three cases:

[0123] (1) If the embroidery pattern is determined to be a special embroidery pattern, the fabric that has been embroidered will be pulled out by the fabric receiving mechanism.

[0124] (2) If the embroidery pattern is determined to be a special pattern or a flat embroidery pattern, the fabric that has been embroidered will be pulled out by the fabric receiving mechanism.

[0125] Understandably, if the embroidery pattern includes a special embroidery pattern, the surface of the embroidered piece typically features raised, three-dimensional stitches, towel-like loops, appliqué structures, or other special textures. These structures are more fragile than ordinary flat embroidery and are easily deformed, broken, or damaged by the pressure, friction, or pulling of the roller assembly. Therefore, when it is determined that the embroidery pattern includes a special embroidery pattern (either a special embroidery pattern or a flat embroidery pattern), the clutch of the first roller assembly is disengaged (the first roller assembly stops working). That is, the driving roller of the first roller assembly no longer rotates, and the driven roller remains loose or without clamping force, preventing the roller from contacting or applying pressure to the surface of the finished embroidered fabric. At this time, the fabric pulling action no longer relies on the friction of the first roller assembly but is directly powered by the fabric take-up mechanism (fabric take-up motor) to smoothly pull the finished embroidered fabric out of the embroidery frame area. This allows the fabric to be pulled out without pressure or friction, effectively protecting the structural integrity and surface quality of the special embroidery, ensuring that the embroidery is not damaged and maintains a good three-dimensional effect.

[0126] (3) If the embroidery mode is determined to be flat embroidery mode, the fabric to be embroidered is pulled out through the first roller assembly and the fabric collection mechanism.

[0127] Understandably, if the embroidery mode is flat embroidery, the surface of the embroidered fabric is mainly composed of ordinary flat stitches, resulting in a relatively flat and sturdy structure that is not easily damaged by the clamping or friction of the roller assembly. Therefore, when it is determined that the embroidery mode only includes flat embroidery, the clutch of the first roller assembly is engaged (the first roller assembly is in operation), meaning the driven roller maintains appropriate pressure on the driving roller, ensuring that the fabric being embroidered is stably clamped between the two rollers. Simultaneously, the take-up mechanism operates synchronously, relying on the clamping and conveying force of the first roller assembly and the pulling force of the take-up mechanism (take-up motor) to achieve a smooth pull-out of the fabric. Because the surface of flat embroidery fabric is flat, using the roller assembly in conjunction with the take-up mechanism to pull the fabric provides more reliable traction, preventing slippage, wrinkles, or tension fluctuations during the pulling process, thus ensuring the surface quality of the embroidery and the neatness of the subsequent take-up.

[0128] S403: Controls the fabric receiving mechanism to retrieve the fabric after embroidery.

[0129] In this step, the fabric take-up mechanism refers to the mechanical structure used to take back the fabric that has been embroidered. It is set on one side of the embroidery frame along the X-axis (on the same side as the fabric pulling mechanism) and includes a take-up roller, a take-up motor, etc. The take-up motor is used to provide stable winding power. By driving the take-up roller to rotate, the fabric that has been embroidered is evenly wound on the take-up roller, thereby realizing the automatic winding and sorting of the embroidery.

[0130] The control method for the fabric changing device of the embroidery machine provided in this application embodiment determines the specific embroidery mode (flat embroidery or special embroidery) of the fabric to be embroidered and selects different fabric pulling power strategies to pull out the completed embroidery fabric. Specifically, in response to user operation, the embroidery mode of the fabric to be embroidered is obtained. If the embroidery mode is determined to be a special embroidery mode, or if the embroidery mode is determined to be a special mode or a flat embroidery mode, the completed embroidery fabric is pulled out through the fabric receiving mechanism. If the embroidery mode is determined to be a flat embroidery mode, the completed embroidery fabric is pulled out through the first roller assembly and the fabric receiving mechanism. Finally, the fabric receiving mechanism is controlled to retrieve the completed embroidery fabric pulled out by the fabric pulling mechanism. Through the above method, the problem that the traditional single fabric pulling method may cause physical damage to special embroidery products is solved, and differentiated and refined processing of embroidery products with different processes is realized. While ensuring the structural integrity and surface quality of special embroidery products, it also takes into account the stable and efficient winding of flat embroidery products, thereby significantly improving the embroidery yield, automation level and overall production efficiency.

[0131] Figure 5 This application provides a schematic diagram of the control device for a fabric changing apparatus on an embroidery machine. Figure 5 As shown, the control device 50 of the embroidery machine fabric changing device provided in this embodiment includes:

[0132] The first processing module 501 is used to respond to the cloth changing command sent by the embroidery machine control system, control the cloth feeding mechanism to actively feed the cloth, so as to cooperate with the cloth pulling mechanism to pull the cloth to be embroidered out of the cloth roll and lay it horizontally on the embroidery frame.

[0133] The second processing module 502 is used to control the embroidery frame to hold and fix the fabric to be embroidered, so as to realize the fabric replacement process and complete the embroidery.

[0134] During the embroidery process, the fabric pulling mechanism and the fabric feeding mechanism move along with the embroidery frame.

[0135] In one possible implementation, the fabric spreading mechanism includes a first roller assembly and a fabric spreading motor, wherein the first roller assembly is drive-connected to the fabric spreading motor.

[0136] And / or,

[0137] The fabric feeding mechanism includes a second roller assembly and a fabric feeding motor, wherein the second roller assembly is drivenly connected to the fabric feeding motor.

[0138] In one possible implementation, the second processing module 502 is specifically used for:

[0139] If the embroidery frame moves along the X-axis, the first and second roller assemblies are controlled to move synchronously with the embroidery frame along the X-axis.

[0140] or,

[0141] If the embroidery frame moves along the Y-axis, the control cloth pulling mechanism and the cloth feeding mechanism will follow the embroidery frame along the Y-axis via the slide rail.

[0142] In one possible implementation, the embroidery machine fabric changing device further includes a fabric taking-up mechanism, and the control device 50 of the embroidery machine fabric changing device further includes a third processing module 503, used for:

[0143] In response to user operation, obtain the embroidery mode of the fabric to be embroidered, wherein the embroidery mode includes flat embroidery mode and / or special embroidery mode;

[0144] Based on the embroidery mode, the control of the fabric pulling mechanism and / or fabric taking mechanism will pull out the fabric that has been embroidered. The fabric that has been embroidered is the fabric formed after the embroidery machine has embroidered the fabric to be embroidered.

[0145] Control the fabric receiving mechanism to retrieve the fabric after the embroidery is completed.

[0146] In one possible implementation, the third processing module 503 is specifically used for:

[0147] If the embroidery pattern is determined to be a special embroidery pattern, the fabric that has been embroidered will be pulled out through the fabric collection mechanism;

[0148] or,

[0149] If the embroidery pattern is determined to be flat embroidery, the fabric with the completed embroidery is pulled out through the first roller assembly and the fabric take-up mechanism.

[0150] or,

[0151] If the embroidery pattern is determined to be a special pattern or a flat embroidery pattern, the fabric that has been embroidered will be pulled out by the fabric receiving mechanism.

[0152] In one possible implementation, the control device 50 of the embroidery machine fabric changing device further includes a fourth processing module 504, used for:

[0153] During the embroidery process, the displacement of the embroidery frame along the Y-axis is acquired in real time;

[0154] If the displacement is greater than the preset following distance threshold, the control of the fabric pulling mechanism and the fabric feeding mechanism will follow the movement of the embroidery frame in a hysteretic manner via the slide rail.

[0155] The control device for the embroidery machine fabric changing device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0156] Figure 6 A schematic diagram of the structure of an electronic device provided in this application, such as... Figure 6 As shown, the electronic device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the electronic device 60 further includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 604.

[0157] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0158] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0159] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0160] The memory may include random access memory (RAM) in high-speed memory, and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0161] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0162] Figure 7 A schematic diagram of the control system of an embroidery machine fabric changing device provided in this application is shown below. Figure 7 As shown, the control system including the embroidery machine fabric changing device includes: the embroidery machine fabric changing device and, as shown, the control system including ... Figure 6 The electronic device mentioned in the embodiments.

[0163] The embroidery machine fabric changing device includes a fabric feeding mechanism, a fabric pulling mechanism, and a fabric taking mechanism. This electronic device is used to execute the method mentioned in the above embodiments. For the specific implementation process, please refer to the above method embodiments. The implementation principle and technical effect are similar, and will not be repeated here.

[0164] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0165] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0166] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside within an ASIC. Alternatively, the processor and the readable storage medium can exist as discrete components in a device.

[0167] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0168] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0169] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0170] If a function 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 invention, or the part that contributes to the prior art, or a 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.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0171] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0172] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A control method for a fabric changing device of an embroidery machine, characterized in that, The embroidery machine fabric changing device includes a fabric pulling mechanism and a fabric feeding mechanism, and the method includes: In response to the fabric change command sent by the embroidery machine control system, the fabric feeding mechanism is controlled to actively feed the fabric, so as to cooperate with the fabric pulling mechanism to pull the fabric to be embroidered out of the fabric roll and lay it horizontally on the embroidery frame. The embroidery frame is controlled to hold and fix the fabric to be embroidered, so as to realize the fabric replacement and complete the embroidery work; During the embroidery process, the fabric pulling mechanism and the fabric feeding mechanism are controlled to move in accordance with the movement of the embroidery frame.

2. The method according to claim 1, characterized in that, The fabric spreading mechanism includes a first grinding wheel assembly and a fabric spreading motor, wherein the first grinding wheel assembly is connected to the fabric spreading motor in a driving connection. And / or, The fabric feeding mechanism includes a second roller assembly and a fabric feeding motor, wherein the second roller assembly is drively connected to the fabric feeding motor.

3. The method according to claim 2, characterized in that, Controlling the fabric pulling mechanism and the fabric feeding mechanism to move in accordance with the movement of the embroidery frame includes: If the embroidery frame moves along the X-axis, then the first grinding wheel assembly and the second grinding wheel assembly are controlled to move synchronously with the embroidery frame along the X-axis. or, If the embroidery frame moves along the Y-axis, the fabric pulling mechanism and the fabric feeding mechanism are controlled to follow the embroidery frame along the Y-axis via the slide rail.

4. The method according to claim 2 or 3, characterized in that, The embroidery machine fabric changing device further includes a fabric taking-up mechanism, and the method further includes: In response to a user operation, the embroidery mode of the fabric to be embroidered is obtained, wherein the embroidery mode includes flat embroidery mode and / or special embroidery mode; Based on the embroidery mode, the fabric pulling mechanism and / or the fabric taking-up mechanism are controlled to pull out the fabric that has been embroidered, wherein the fabric that has been embroidered is the fabric formed after the embroidery machine has embroidered the fabric to be embroidered; The fabric receiving mechanism is controlled to retrieve the fabric after the embroidery is completed.

5. The method according to claim 4, characterized in that, Based on the embroidery mode, controlling the fabric pulling mechanism and / or the fabric taking-up mechanism to pull out the fabric after embroidery includes: If the embroidery pattern is determined to be a special embroidery pattern, the fabric with the completed embroidery is pulled out by the fabric receiving mechanism. or, If the embroidery mode is determined to be flat embroidery mode, the fabric with the completed embroidery is pulled out through the first roller assembly and the fabric take-up mechanism. or, If the embroidery mode is determined to be a special mode or a flat embroidery mode, the fabric with the completed embroidery is pulled out by the fabric receiving mechanism.

6. The method according to claim 3, characterized in that, The method further includes: During the embroidery process, the displacement of the embroidery frame along the Y-axis is acquired in real time; If the displacement is greater than a preset following distance threshold, the fabric pulling mechanism and the fabric feeding mechanism are controlled to follow the embroidery frame in a lagging manner via the slide rail.

7. A control device for a fabric changing device of an embroidery machine, characterized in that, The embroidery machine fabric changing device includes a fabric pulling mechanism and a fabric feeding mechanism. The device includes: The first processing module is used to respond to the cloth change command sent by the embroidery machine control system, and control the cloth feeding mechanism to actively feed the cloth so as to cooperate with the cloth pulling mechanism to pull the cloth to be embroidered out of the cloth roll and lay it horizontally on the embroidery frame. The second processing module is used to control the embroidery frame to hold and fix the fabric to be embroidered, so as to realize the fabric replacement process and complete the embroidery. During the embroidery process, the fabric pulling mechanism and the fabric feeding mechanism are controlled to move in accordance with the movement of the embroidery frame.

8. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1 to 6.

9. A control system for a fabric changing device on an embroidery machine, characterized in that, It includes an embroidery machine fabric changing device and the electronic device as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 6.

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