CN-121982104-A - Compensation method, compensation device, compensation equipment, compensation medium and compensation product

Abstract

The invention discloses a compensation method, a compensation device, compensation equipment, compensation media and compensation products. The method comprises the steps of receiving position information of continuous multi-frame feature points sent by an optical sensor, determining target directional curvature according to the position information of the continuous multi-frame feature points, and compensating based on the target directional curvature, wherein the continuous multi-frame feature points are the position points of the same cloth surface feature points in continuous multi-frame images.

Inventors

• ZHANG SHEN
• JI JIANGUO
• WU LIBING

Assignees

• 安徽杰羽制鞋机械科技有限公司

Dates

Publication Date

20260505

Application Date

20260206

Claims (13)

1. 1. A compensation method performed by a sewing machine controller in a sewing machine control system, the sewing machine control system further comprising an optical sensor, the compensation method comprising: Receiving position information of continuous multi-frame feature points sent by an optical sensor, wherein the continuous multi-frame feature points are position points of the same cloth surface feature point in continuous multi-frame images; determining the directional curvature of the target according to the position information of the continuous multi-frame feature points; Compensation is performed based on the target directional curvature.
2. 2. The method of claim 1, wherein determining the target directional curvature based on the location information of the successive multiframe feature points comprises: determining the distance between the directed area formed by the continuous multi-frame feature points and the continuous multi-frame feature points according to the position information of the continuous multi-frame feature points; and determining the directional curvature of the target according to the directed area formed by the continuous multi-frame characteristic points and the distance between the continuous multi-frame characteristic points.
3. 3. The method of claim 2, wherein determining the target directional curvature based on the directional area of successive multi-frame feature points and the distance between successive multi-frame feature points comprises: taking the ratio of the product of the distances between the continuous multi-frame characteristic points and the directional area formed by the continuous multi-frame characteristic points of the first multiple as a target curvature radius; And determining the directional curvature of the target according to the target curvature radius and the directional area formed by the continuous multi-frame characteristic points.
4. 4. A method according to claim 3, wherein determining the target directional curvature based on the target radius of curvature and the directed area of successive multiframe feature points comprises: determining the surrounding direction of the continuous multi-frame feature points according to the directed area formed by the continuous multi-frame feature points; and taking the ratio of the surrounding direction of the continuous multi-frame characteristic points to the target curvature radius as the target directional curvature.
5. 5. The method of claim 1, wherein compensating based on the target directional curvature comprises: Determining a target feeding speed and/or a target gauge based on the target directional curvature; And carrying out feeding speed compensation based on the target feeding speed and/or carrying out gauge compensation based on the target gauge.
6. 6. The method of claim 5, wherein determining a target gauge based on the target directional curvature comprises: Acquiring a stitch length compensation coefficient and a current stitch length; and determining the target stitch length according to the stitch length compensation coefficient, the target directional curvature and the current stitch length.
7. 7. The method of claim 5, wherein determining a target feed rate based on the target directional curvature comprises: acquiring a current feeding speed and a feeding speed compensation coefficient; And determining the target feeding speed according to the current feeding speed, the feeding speed compensation coefficient and the target directional curvature.
8. 8. The method of claim 5, wherein performing feed rate compensation based on the target feed rate and stitch length compensation based on the target stitch length comprises: and if the absolute value of the target directional curvature is larger than a target threshold value, carrying out feeding speed compensation based on the target feeding speed, and carrying out stitch length compensation based on the target stitch length.
9. 9. The method of claim 1, wherein the mounting location of the optical sensor comprises any one of: the optical sensor and the needle plate are respectively arranged on the needle plate seat; the optical sensor is arranged on the upper feeding wheel assembly; the optical sensor is arranged on a pressing rod of the pressing rod mechanism.
10. 10. A compensation device, characterized in that it is configured in a sewing machine controller in a sewing machine control system, the sewing machine control system further comprising an optical sensor, the compensation device comprising: The receiving module is used for receiving the position information of the continuous multi-frame characteristic points sent by the optical sensor, wherein the continuous multi-frame characteristic points are the position points of the same cloth surface characteristic points in continuous multi-frame images; The determining module is used for determining the directional curvature of the target according to the position information of the continuous multi-frame feature points; and the compensation module is used for compensating based on the target directional curvature.
11. 11. An electronic device, the electronic device comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the compensation method of any one of claims 1-9.
12. 12. A computer readable storage medium, characterized in that it stores computer instructions for causing a processor to implement the compensation method according to any one of claims 1-9 when executed.
13. 13. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements the compensation method according to any one of claims 1-9.

Description

Compensation method, compensation device, compensation equipment, compensation medium and compensation product Technical Field The embodiment of the invention relates to the technical field of intelligent control of industrial sewing machines, in particular to a compensation method, a compensation device, compensation equipment, compensation media and compensation products. Background In conventional sewing machines, particularly roller or stepper motor controlled feed systems, the material is subject to path compression or elongation in the turning zone. The cloth path of the inward bending region is compressed, the actual needle pitch is shortened, the path of the outward bending region is lengthened, and the actual needle pitch is increased. The prior art mainly relies on manual adjustment or mechanical differential mechanism compensation. The compensation mode has the problems of lag reaction, insufficient precision, manual intervention and the like, and the compensation mode can not accurately distinguish the inward bending and the outward bending, so that the problem of inconsistent needle pitch still exists in the curve sewing process, and the high-precision high-speed automatic sewing requirement is difficult to meet. Disclosure of Invention Embodiments of the present invention provide a compensation method, apparatus, device, medium, and product to solve at least one of the above problems. According to an aspect of the present invention, there is provided a compensation method performed by a sewing machine controller in a sewing machine control system further including an optical sensor, the compensation method including: Receiving position information of continuous multi-frame feature points sent by an optical sensor, wherein the continuous multi-frame feature points are position points of the same cloth surface feature point in continuous multi-frame images; determining the directional curvature of the target according to the position information of the continuous multi-frame feature points; Compensation is performed based on the target directional curvature. Further, determining the directional curvature of the target according to the position information of the continuous multi-frame feature points includes: determining the distance between the directed area formed by the continuous multi-frame feature points and the continuous multi-frame feature points according to the position information of the continuous multi-frame feature points; and determining the directional curvature of the target according to the directed area formed by the continuous multi-frame characteristic points and the distance between the continuous multi-frame characteristic points. Further, determining the directional curvature of the target according to the directional area formed by the continuous multi-frame feature points and the distance between the continuous multi-frame feature points comprises: taking the ratio of the product of the distances between the continuous multi-frame characteristic points and the directional area formed by the continuous multi-frame characteristic points of the first multiple as a target curvature radius; And determining the directional curvature of the target according to the target curvature radius and the directional area formed by the continuous multi-frame characteristic points. Further, determining the target directional curvature according to the target curvature radius and the directional area formed by the continuous multi-frame feature points comprises the following steps: determining the surrounding direction of the continuous multi-frame feature points according to the directed area formed by the continuous multi-frame feature points; and taking the ratio of the surrounding direction of the continuous multi-frame characteristic points to the target curvature radius as the target directional curvature. Further, compensating based on the target directional curvature includes: Determining a target feeding speed and/or a target gauge based on the target directional curvature; And carrying out feeding speed compensation based on the target feeding speed and/or carrying out gauge compensation based on the target gauge. Further, determining a target gauge based on the target directional curvature includes: Acquiring a stitch length compensation coefficient and a current stitch length; and determining the target stitch length according to the stitch length compensation coefficient, the target directional curvature and the current stitch length. Further, determining a target feed rate based on the target directional curvature includes: acquiring a current feeding speed and a feeding speed compensation coefficient; And determining the target feeding speed according to the current feeding speed, the feeding speed compensation coefficient and the target directional curvature. Further, performing feeding speed compensation based on the target feeding speed, performing stitch length compens