阅读说明：本技术 双针车、双针车控制方法及可读存储介质 (Double-needle sewing machine, double-needle sewing machine control method and readable storage medium ) 是由 黄志洪 于 2021-09-29 设计创作，主要内容包括：本发明提供了一种双针车、双针车控制方法及可读存储介质,其中,双针车控制方法通过从标定装置获取位置参数,能够根据该位置参数得到第一标记位置和第二标记位置,通过在第一标记位置与第二标记位置分别按照第一预设针数和第二预设针数进行进针,一方面避免了产生过多线头和针脚,提高了凉鞋的美观程度,另一方面能够对凉鞋鞋带与鞋底之间通过双针车缝接的部分进行加固,使得凉鞋的鞋带与鞋底之间的连接足够稳固,鞋带不易从鞋底上脱落,从而提高了凉鞋的使用寿命。(The invention provides a double-needle sewing machine, a double-needle sewing machine control method and a readable storage medium, wherein the double-needle sewing machine control method can obtain a first mark position and a second mark position according to position parameters by obtaining the position parameters from a calibration device, and can feed needles in the first mark position and the second mark position according to a first preset needle number and a second preset needle number respectively, so that on one hand, excessive thread ends and stitches are avoided, the aesthetic degree of a sandal is improved, on the other hand, the part between a shoelace of the sandal and a sole which is sewn through the double-needle sewing machine can be reinforced, the connection between the shoelace of the sandal and the sole is stable enough, the shoelace is not easy to fall off from the sole, and the service life of the sandal is prolonged.)

1. The double needle car for sew up the sole of sandals with the shoelace of sandals, its characterized in that, the double needle car includes:

a base plate;

the frame is connected with the bottom plate;

the object stage is arranged on the upper surface of the bottom plate and used for placing the shoe sole and driving the shoe sole to move on a horizontal plane;

the sewing device is arranged on the frame, and a machine needle is arranged on the sewing device and is used for sewing the shoelace to the sole;

the cloth feeding devices are arranged on the upper surface of the objective table, and the left side and the right side of the objective table are respectively provided with one cloth feeding device for respectively moving two ends of the shoelace;

the calibration device is arranged on the rack and used for outputting position parameters, and the position parameters are used for representing the position of the sole;

and the control panel is arranged on the rack, is respectively connected with the objective table, the sewing device and the cloth feeding device, and is used for controlling the movement of the objective table according to the position parameters, controlling the work of the cloth feeding device according to the position parameters and controlling the sewing device to sew the shoelace to the sole.

2. The cart of claim 1, further comprising a template for securing the sole, wherein the template is removably attached to the top surface of the stage, and a retaining groove is formed between the template and the top surface of the stage for securing the sole.

3. The double-needle sewing machine control method is characterized by being applied to a double-needle sewing machine, wherein the double-needle sewing machine is used for sewing a shoelace of a sandal to a sole of the sandal; the double-needle sewing machine comprises a bottom plate, a rack and an object stage, wherein the rack and the object stage are arranged on the upper surface of the bottom plate;

the control method comprises the following steps:

acquiring position parameters from the calibration device, and acquiring a first mark position and a second mark position according to the position parameters;

controlling the object stage to move to a first mark position;

when the objective table moves to the first marking position, controlling the cloth feeding device to move one end of the shoelace to be below the machine needle, and controlling the sewing device to feed the needle according to a first preset needle number;

controlling the objective table to move towards the second mark position and controlling the sewing device to continuously insert the needle;

and when the objective table moves to the second mark position, controlling the sewing device to insert the needle according to a second preset needle number.

4. The method according to claim 3, wherein the first preset needle count includes a first needle count and a second needle count; the controlling the sewing device to insert the needle according to a first preset needle number includes:

controlling the objective table to move to the second marking position, and simultaneously controlling the sewing device to insert needles according to the first needle count;

and when the sewing device finishes needle insertion according to the first needle number, controlling the objective table to move to the first mark position, and controlling the sewing device to insert needles according to the second needle number.

5. The method for controlling a double-needle sewing machine according to claim 4, wherein the controlling the stage to move to the first mark position and the sewing device to feed the needle according to the second needle count when the sewing device completes the needle feeding according to the first needle count comprises:

when the sewing device finishes needle insertion according to the first needle number, controlling the objective table to rotate 30 degrees anticlockwise;

controlling the objective table to move to the first marking position, and controlling the sewing device to insert the needle according to a preset second needle number;

and when the sewing device finishes needle insertion according to the second needle number, controlling the objective table to rotate clockwise by 30 degrees.

6. The double-needle sewing machine control method according to claim 3, wherein the second preset number of needles includes a third number of needles and a fourth number of needles, and the controlling the sewing device to feed the needles in accordance with the second preset number of needles includes:

controlling the objective table to move to the first mark position, and controlling the sewing device to insert the needle according to the third needle number;

and when the sewing device finishes needle insertion according to the third needle number, controlling the objective table to move to the second mark position, and controlling the sewing device to insert needles according to the fourth needle number.

7. The method of claim 6, wherein the controlling the stage to move to the first mark position and the sewing device to advance the needle according to the third needle count includes:

and controlling the objective table to rotate 30 degrees anticlockwise and move to the first marking position, and simultaneously controlling the sewing device to insert needles according to the third needle number.

8. The method of claim 6, wherein the controlling the stage to move to the second mark position and the sewing device to feed the needle according to the fourth needle count when the sewing device completes the needle feeding according to the third needle count comprises:

when the sewing device finishes needle insertion according to the third needle number, controlling the objective table to rotate clockwise by 30 degrees;

and controlling the objective table to move to the second mark position, and controlling the sewing device to insert the needle according to the fourth needle number.

9. The method of claim 3, wherein prior to obtaining the position parameter from the calibration device, the method further comprises: and controlling the objective table to move to a preset initial position.

10. Computer-readable storage medium, characterized in that it stores computer-executable instructions for causing a computer to execute the method of controlling a double needle carriage according to any one of claims 3 to 9.

Technical Field

The embodiment of the invention relates to the technical field of but not limited to shoe making equipment, in particular to a double-needle sewing machine, a double-needle sewing machine control method and a readable storage medium.

Background

Sandals are widely used by people because of their advantages of lightness, comfort and breathability. The double-needle sewing machine is an essential device in the production and manufacturing process of sandals, and is mainly used for sewing shoelaces of the sandals and soles of the sandals. The part of sewing through the double needle sewing between sandal shoelace and the sole is main atress region, and the connection between its shoelace of sandal of producing through current double needle sewing machine and the sole is firm inadequately, often leads to the shoelace to drop from the sole because the part of sewing through the double needle sewing between shoelace and the sole is opened a thread or the fracture to lead to the sandal to damage, reduced the life of sandal.

Disclosure of Invention

The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the double-needle sewing machine, the double-needle sewing machine control method and the readable storage medium, which can enhance the stability of the connection of the shoelace and the sole, prevent the shoelace from falling off the sole and prolong the service life of the sandal.

In a first aspect, embodiments of the present invention provide a double needle sewing machine for sewing a lace of a sandal to a sole of the sandal, the double needle sewing machine comprising:

a base plate;

the frame is connected with the bottom plate;

the object stage is arranged on the upper surface of the bottom plate and used for placing the shoe sole and driving the shoe sole to move on a horizontal plane;

the sewing device is arranged on the frame, and a machine needle is arranged on the sewing device and is used for sewing the shoelace to the sole;

the cloth feeding devices are arranged on the upper surface of the objective table, and the left side and the right side of the objective table are respectively provided with one cloth feeding device for respectively moving two ends of the shoelace;

the calibration device is arranged on the rack and used for outputting position parameters, and the position parameters are used for representing the position of the sole;

and the control panel is arranged on the rack, is respectively connected with the objective table, the sewing device and the cloth feeding device, and is used for controlling the movement of the objective table according to the position parameters, controlling the work of the cloth feeding device according to the position parameters and controlling the sewing device to sew the shoelace to the sole.

The double-needle sewing machine according to the embodiment of the first aspect of the invention has at least the following beneficial effects:

the object stage arranged on the upper surface of the bottom plate can drive the sole placed on the object stage to move on a horizontal plane, the cloth feeding device arranged on the upper surface of the bottom plate can move two ends of the shoelace, the calibration device can detect the position of the sole and output position parameters, so that the control panel can control the cloth feeding device to move the shoelace above the object stage according to the position parameters output by the calibration device and control the object stage and the cloth feeding device to synchronously move while controlling the sewing device to work, thereby automatically completing the sewing of the shoelace and the sole of the sandal, realizing the automation of the sewing procedure of the shoelace and the sole of the sandal, improving the sewing precision of the shoelace and the sole of the sandal and the consistency of the sewed part of the shoelace and the sole by the double-needle sewing machine, improving the production efficiency of the sandal and the sewing quality of the sole of the sandal, the stability degree that shoelace and sole are connected has been strengthened, avoids the shoelace to drop from the sole, has improved the life of sandals.

It can be understood that the double-needle sewing machine of the embodiment of the invention further comprises a template for fixing the sole, the template is detachably connected to the upper surface of the object stage, and a limit groove for fixing the sole is formed between the template and the upper surface of the object stage. Form the spacing groove that is used for fixed sole between the upper surface of template and objective table, when the size that needs change the spacing groove is in order to adapt to not unidimensional sole, can change the template of detachably connection at the objective table upper surface to realize the change of spacing groove size, promoted the convenience that the duplex car used.

In a second aspect, an embodiment of the present invention provides a double-needle sewing machine control method, which is applied to a double-needle sewing machine, where the double-needle sewing machine is used to sew a shoelace of a sandal to a sole of the sandal; the double-needle sewing machine comprises a bottom plate, a rack and an object stage, wherein the rack and the object stage are arranged on the upper surface of the bottom plate;

the control method comprises the following steps:

acquiring position parameters from the calibration device, and acquiring a first mark position and a second mark position according to the position parameters;

controlling the object stage to move to a first mark position;

when the objective table moves to the first marking position, controlling the cloth feeding device to move one end of the shoelace to be below the machine needle, and controlling the sewing device to feed the needle according to a first preset needle number;

controlling the objective table to move towards the second mark position and controlling the sewing device to continuously insert the needle;

and when the objective table moves to the second mark position, controlling the sewing device to insert the needle according to a second preset needle number.

According to the double-needle sewing machine control method disclosed by the embodiment of the second aspect of the invention, at least the following beneficial effects are achieved:

according to the double-needle sewing control method, the position parameters are obtained from the calibration device, the first mark position and the second mark position can be obtained according to the position parameters, needle insertion is carried out on the first mark position and the second mark position according to the first preset needle number and the second preset needle number respectively, on one hand, excessive thread ends and stitches are avoided, the attractiveness of the sandal is improved, on the other hand, the part, sewn through the double-needle sewing machine, between the shoelace of the sandal and the sole can be reinforced, the connection between the shoelace of the sandal and the sole is stable enough, the shoelace is not prone to fall off from the sole, and therefore the service life of the sandal is prolonged.

It is understood that the first preset number of needles includes a first number of needles and a second number of needles; the controlling the sewing device to insert the needle according to a first preset needle number includes:

controlling the objective table to move to the second marking position, and simultaneously controlling the sewing device to insert needles according to the first needle count;

and when the sewing device finishes needle insertion according to the first needle number, controlling the objective table to move to the first mark position, and controlling the sewing device to insert needles according to the second needle number.

It is understood that, when the sewing device completes the needle insertion according to the first needle count, controlling the stage to move to the first mark position, and controlling the sewing device to insert the needle according to the second needle count includes:

when the sewing device finishes needle insertion according to the first needle number, controlling the objective table to rotate 30 degrees anticlockwise;

controlling the objective table to move to the first marking position, and controlling the sewing device to insert the needle according to a preset second needle number;

and when the sewing device finishes needle insertion according to the second needle number, controlling the objective table to rotate clockwise by 30 degrees.

Through the control state the objective table to first mark position removal before clockwise rotation 30 degrees to at sewing device according to first stitch number completion after the needle insertion anticlockwise rotation 30 degrees, can make the seam part can form the suture of Z style of calligraphy, thereby can be when promoting aesthetic measure, further promoted the firm degree of being connected between sandals shoelace and the sole, improved the life of sandals.

It is understood that the second preset number of stitches includes a third number of stitches and a fourth number of stitches, and the controlling the sewing device to feed the stitches according to the second preset number of stitches includes:

controlling the objective table to move to the first mark position, and controlling the sewing device to insert the needle according to the third needle number;

and when the sewing device finishes needle insertion according to the third needle number, controlling the objective table to move to the second mark position, and controlling the sewing device to insert needles according to the fourth needle number.

It is understood that the controlling the stage to move to the first mark position and the sewing device to feed the needle according to the third needle count includes:

and controlling the objective table to rotate 30 degrees anticlockwise and move to the first marking position, and simultaneously controlling the sewing device to insert needles according to the third needle number.

It is understood that, when the sewing device completes the needle insertion according to the third needle count, controlling the stage to move to the second mark position, and controlling the sewing device to insert the needle according to the fourth needle count includes:

when the sewing device finishes needle insertion according to the third needle number, controlling the objective table to rotate clockwise by 30 degrees;

and controlling the objective table to move to the second mark position, and controlling the sewing device to insert the needle according to the fourth needle number.

Through the object stage of stating in control before moving anticlockwise rotation 30 degrees to first mark position to clockwise rotation 30 degrees again after sewing device finishes according to the third needle number and advances the needle, can make the seam part can form the suture of Z style of calligraphy, thereby can be when promoting aesthetic measure, further promoted the firm degree of being connected between sandals shoelace and the sole, improved the life of sandals.

It can be understood that, before the position parameter is obtained from the calibration device, the method for controlling a double-needle carriage according to the embodiment of the second aspect of the present invention further includes: and controlling the objective table to move to a preset initial position.

The object stage is controlled to move to the preset initial position before the position parameters are obtained through the calibration device, so that the process of obtaining the first mark position and the second mark position according to the position parameters output by the calibration device can be simplified.

In a third aspect, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the method for controlling a double-needle sewing machine according to the second aspect.

The embodiment of the third aspect of the present invention has all the advantages of the embodiment of the second aspect of the present invention, and is not described herein again.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.

Fig. 1 is a flowchart of a method for controlling a double-needle sewing machine according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating an embodiment of the present invention for controlling a sewing device to insert a needle according to a first predetermined number of stitches;

FIG. 3 is a detailed flowchart of step S320 in FIG. 2;

FIG. 4 is a flowchart illustrating an embodiment of the present invention for controlling a sewing device to perform a stitch insertion according to a second predetermined number of stitches;

fig. 5 is a detailed flowchart of step S520 in fig. 4.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

The embodiment of the invention provides a double-needle vehicle for sewing a shoelace of a sandal to a sole of the sandal, which comprises: the sewing machine comprises a bottom plate, a rack, an objective table, a sewing device, a cloth feeding device, a calibration device and a control panel.

The frame is connected with the bottom plate; the object stage is arranged on the upper surface of the bottom plate and used for placing the sole and driving the sole to move on a horizontal plane; the sewing device is arranged on the frame, and a needle is arranged on the sewing device and is used for sewing the shoelace to the sole; the cloth feeding devices are arranged on the upper surface of the objective table, and the left side and the right side of the objective table are respectively provided with one cloth feeding device for respectively moving two ends of the shoelace; the calibration device is arranged on the frame and used for outputting position parameters, and the position parameters are used for representing the position of the sole; the control panel is arranged on the rack, is respectively connected with the objective table, the sewing device and the cloth feeding device, and is used for controlling the objective table to move according to the position parameters, controlling the cloth feeding device to work according to the position parameters, and controlling the sewing device to sew the shoelace to the sole.

The object stage arranged on the upper surface of the bottom plate can drive the sole placed on the object stage to move on a horizontal plane, the cloth feeding device arranged on the upper surface of the bottom plate can move two ends of the shoelace, the calibration device can detect the position of the sole and output position parameters, so that the control panel can control the cloth feeding device to move the shoelace above the object stage according to the position parameters output by the calibration device and control the object stage and the cloth feeding device to synchronously move while controlling the sewing device to work, thereby automatically completing the sewing of the shoelace and the sole of the sandal, realizing the automation of the sewing procedure of the shoelace and the sole of the sandal, improving the sewing precision of the shoelace and the sole of the sandal and the consistency of the sewed part of the shoelace and the sole by the double-needle sewing machine, improving the production efficiency of the sandal and the sewing quality of the sole of the sandal, the stability degree that shoelace and sole are connected has been strengthened, avoids the shoelace to drop from the sole, has improved the life of sandals.

In one embodiment, the double-needle sewing machine further comprises a template for fixing the sole, the template is detachably connected to the upper surface of the object stage, and a limit groove for fixing the sole is formed between the template and the upper surface of the object stage.

Through setting up the template so that the upper surface of template and objective table forms the spacing groove, can be fixed in the spacing groove with the sole firmly to prevent that the sole from taking place to rock at the in-process of double-needle car needle feeding and leading to the stitch crooked. In addition, template detachable connects in the upper surface of objective table can conveniently change the template of different models to make can obtain the spacing groove of size difference through changing different templates, thereby promoted the convenience degree of use.

The double-needle vehicle and the application scenario described in the embodiment of the present invention are for more clearly illustrating the technical solution of the embodiment of the present invention, and do not constitute a limitation to the technical solution provided in the embodiment of the present invention, and it is known to those skilled in the art that the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems with the evolution of the double-needle vehicle and the occurrence of a new application scenario.

It will be appreciated by those skilled in the art that the above described double needle sewing machine is not intended to be limiting of the embodiments of the present invention and may include more or fewer components or some components in combination or a different arrangement of components.

Based on the above-described double-needle sewing machine, various embodiments of the double-needle sewing machine control method of the present invention are presented below.

The embodiments of the present invention will be further explained with reference to the drawings.

As shown in fig. 1, fig. 1 is a flowchart of a method for controlling a double-needle sewing machine according to an embodiment of the present invention, where the method for controlling a double-needle sewing machine includes, but is not limited to, step S100, step S200, step S300, step S400, and step S500.

Step S100, acquiring position parameters from a calibration device, and obtaining a first mark position and a second mark position according to the position parameters;

step S200, controlling the objective table to move to a first mark position;

step S300, when the objective table moves to a first mark position, controlling the cloth feeding device to move one end of the shoelace to the position below the machine needle, and controlling the sewing device to insert the needle according to a first preset needle number;

step S400, controlling the objective table to move towards the second mark position and controlling the sewing device to continuously insert the needle;

and S500, when the objective table moves to the second mark position, controlling the sewing device to insert the needle according to a second preset needle number.

Through obtaining position parameter from calibration device, can obtain first mark position and second mark position according to this position parameter, through predetermineeing the needle number according to first needle number and second respectively at first mark position and second mark position and predetermineeing the needle number and advance according to the second, avoided producing too much end of a thread and stitch on the one hand, the aesthetic measure of sandals has been improved, on the other hand can consolidate the part through the sewing of two-needle sewing between sandals shoelace and the sole, make being connected between the shoelace of sandals and the sole enough firm, the shoelace is difficult for droing from the sole, thereby the life of sandals has been improved.

It should be noted that the embodiment of the invention can automatically change the needle inserting direction of the double-needle sewing device, and can also change the needle inserting direction in a hand-operated needle returning mode. The change of the needle inserting direction of the double-needle vehicle is to reinforce the part of the edge opening of the shoelace and the upper surface of the sole through sewing in a needle returning mode, thereby improving the production quality of the sandal.

In one embodiment, the needle insertion position of the needle is not coincident with the lace rim. Through the coincidence of the needle inserting position and the shoelace edge opening of avoiding the eedle, can guarantee that the shoelace is sewed firmly on the sole, in addition, can also avoid the edge opening department of shoelace to appear the opening because of inserting the needle, consequently improved the aesthetic measure of the sandals of producing when having improved the production quality of sandals.

As shown in fig. 2, fig. 2 is a detailed flowchart for controlling a sewing device to perform a stitch according to a first preset stitch number according to an embodiment of the present invention, where the first preset stitch number includes a first stitch number and a second stitch number, and the step of controlling the sewing device to perform a stitch according to the first preset stitch number includes, but is not limited to, step S310 and step S320.

Step S310, controlling the objective table to move to a second marking position, and simultaneously controlling the sewing device to insert needles according to the first needle count;

step S320, when the sewing device completes needle insertion according to the first needle count, the objective table is controlled to move to the first mark position, and the sewing device is controlled to insert the needle according to the second needle count.

In one embodiment, when the sewing device finishes needle insertion according to the number of the first needles, the machine needles of the double-needle sewing machine are controlled to slowly advance, and the moving speed of the objective table is reduced, so that the processing precision of needle return of the double-needle sewing machine can be improved, the needle insertion position deviation is avoided, and the production quality of sandals is improved.

As shown in fig. 3, fig. 3 is a detailed flowchart of step S320 in fig. 2, including but not limited to step S321, step S322, and step S323.

Step S321, when the sewing device finishes needle insertion according to the first needle count, controlling the objective table to rotate anticlockwise for 30 degrees;

step S322, controlling the objective table to move to the first marking position, and controlling the sewing device to insert the needle according to a preset second needle number;

in step S323, when the sewing device completes the needle insertion according to the second needle count, the stage is controlled to rotate clockwise by 30 degrees.

Through state objective table clockwise rotation 30 degrees before moving to first mark position in control to at sewing device according to first stitch number completion back anticlockwise rotation 30 degrees, can make the seam part can form the suture of Z style of calligraphy, prevented that the stitch is too intensive or the stitch is criss-cross, thereby can be when promoting aesthetic measure, further promoted the firm degree of being connected between sandals shoelace and the sole, improved the life of sandals.

As shown in fig. 4, fig. 4 is a specific flowchart for controlling the sewing device to perform the needle insertion according to the second preset needle count according to the embodiment of the present invention, where the second preset needle count includes a third needle count and a fourth needle count, and the step of controlling the sewing device to perform the needle insertion according to the second preset needle count includes, but is not limited to, step S510 and step S520.

Step S510, controlling the objective table to move to the first mark position, and controlling the sewing device to insert needles according to a third needle number;

and step S520, when the sewing device completes needle insertion according to the third needle count, controlling the objective table to move to the second mark position, and controlling the sewing device to insert needles according to the fourth needle count.

Specifically, in one embodiment, the stage is controlled to rotate 30 degrees counterclockwise and move to the first marking position, and the sewing device is controlled to feed the needle according to the third needle count.

In one embodiment, when the sewing device completes the needle insertion according to the third needle number, the needle slow insertion of the double-needle sewing machine is controlled, and the moving speed of the objective table is reduced, so that the processing precision of needle return of the double-needle sewing machine can be improved, the needle insertion position deviation is avoided, and the production quality of sandals is improved.

As shown in fig. 5, fig. 5 is a detailed flowchart of step S520 in fig. 4, including but not limited to step S521 and step S522.

Step S521, when the sewing device finishes needle insertion according to the third needle count, controlling the object stage to rotate clockwise by 30 degrees;

in step S522, the stage is controlled to move to the second mark position, and the sewing device is controlled to insert the needle according to the fourth needle count.

Through state objective table anticlockwise rotation 30 degrees before moving to first mark position in control to clockwise rotation 30 degrees again after sewing device finishes inserting according to the third needle number, can make the seam part can form the suture of Z style of calligraphy, prevented that the stitch is too intensive or the stitch is criss-cross, thereby can be when promoting aesthetic measure, further promoted the firm degree of being connected between sandals shoelace and the sole, improved the life of sandals.

In one embodiment, the stage is controlled to move to a predetermined initial position before the position parameters are obtained from the calibration device. By controlling the stage to move to the preset initial position before the calibration device obtains the position parameters, the process of obtaining the first mark position and the second mark position according to the position parameters output by the calibration device can be simplified.

Furthermore, an embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions, which are executed by a processor or a controller, for example, by a processor in the above-mentioned apparatus embodiment or device embodiment, and can make the above-mentioned processor execute the method for controlling a two-needle vehicle in the above-mentioned embodiment, for example, execute the method steps in fig. 1 to 5 described above.

One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.