CN103806225A - Sewing device - Google Patents
Sewing device Download PDFInfo
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- CN103806225A CN103806225A CN201310549801.9A CN201310549801A CN103806225A CN 103806225 A CN103806225 A CN 103806225A CN 201310549801 A CN201310549801 A CN 201310549801A CN 103806225 A CN103806225 A CN 103806225A
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- sewn object
- sewing
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Abstract
The invention provides a sewing device, which can achieve accurate recognition of the peripheral end edge position of the object to be sewed under the state that a cloth retaining frame has good retaining performance to the object to be sewed, so that the sewing of object at the sewing position with the peripheral end edge as the standard can be conducted in a manner of high precision and stability. The cloth retaining frame (9a) of the sewing device comprises a plurality of abutting parts (22), which abut against a part of the end face of the object to be sewed (21) and determine the position of the object to be sewed with respect to the cloth retaining frame; a plurality of opening parts for edge detection (24a, 24b), which enable the end part to expose in a manner that the end part of the end face can be detected under the state that the opening part abuts against the abutting part. A shape identifying part (4) detects the position of the peripheral edge of the object to be sewed, which exposes from the opening parts for edge detection, and identifies the position of the peripheral edge of the object based on the detected position of the peripheral end edge.
Description
Technical field
The present invention relates to a kind of apparatus for sewing, it carries out cloth feeding control on the basis of the shape of identification sewn object, and this sewn object is made.
Background technology
Current, use apparatus for sewing, it makes owner's body being configured to clamping in the cloth feeding lower plate that can move and cloth feeding housing in horizontal plane, to making on owner's body, sewn object is set, by make its along in advance programming make path movement in make, thereby make sewn object to making on owner's body.
In this apparatus for sewing, for sewn object is positioned to maintenance, and on cloth feeding housing, fix cloth holding frame, this cloth holding frame be formed with sewn object make the opening such as groove or hole corresponding to position.And, conventionally carry out following location action,, by make the internal face butt of the periphery ora terminalis of sewn object and internal face or the location stage portion forming etc. of the opening that forms in cloth holding frame in the inner edge portion of this opening, thereby sewn object is positioned.The sewn object of location as noted above has the nest limit of fixed width with respect to the periphery ora terminalis of sewn object and the situation of making is more, therefore, often carry out following actions, that is, the periphery ora terminalis using sewn object is made as the pin target location that falls as the assigned position of benchmark.
But, the change in size of each the big or small deviation during due to the cutting out of the skew of the position of operating personnel in the time sewn object being arranged in cloth holding frame or sewn object, the sewn object being formed by the flexible material such as leather or textiles, the periphery ora terminalis that makes sewn object not with the internal face butt of internal face or location stage portion etc. that is formed at the opening in cloth holding frame, should make the position of the periphery ora terminalis fixed width at a distance of sewn object, but the position after skew is made, sometimes become defective work.
In order to address the above problem, in patent documentation 1, record: " marginal position recognition device has the smear camera being arranged on swivel bearing; this bearing is arranged on sewing machine head; the rotation of the axis coaxle of above-mentioned camera and suture needle ground, and the line joining with the imaginary circle of surrounding of making the pin penetration in face is scanned ".And, record a kind of apparatus for sewing, it is for being fixed on the sewn object of making on owner's body, utilize the lighting device of installing on smear camera with respect to the periphery ora terminalis of making the outstanding sewn object of owner's body, utilize smear camera to identify the periphery ora terminalis of this sewn object, corresponding with the tailoring pattern of programming in advance, revise making path according to the physical location of the sewn object detecting, the position, nest limit of the periphery ora terminalis fixed width at a distance of sewn object is made simultaneously.
In order to address this problem, in patent documentation 2, record a kind of apparatus for sewing, wherein, as the previous operation of making operation, utilize profile recognition device to carry out the profile identification of sewn object, for being fixed on the sewn object of making on owner's body, utilization is arranged on the lighting device in the periphery ora terminalis side portion of sewn object, with respect to the periphery ora terminalis of making the outstanding sewn object of owner's body, utilize CCD camera to identify the periphery ora terminalis of this sewn object, make thing from profile recognition device to electronic sewing machine transfer, the outer shape of the sewn object based on detecting, make position, nest limit to the periphery ora terminalis fixed width at a distance of sewn object.
Patent documentation 1: Japanese Patent Publication 7-28962 communique
Patent documentation 2: Japanese kokai publication hei 05-225315 communique
But, in any one apparatus for sewing of recording at above-mentioned patent documentation 1,2, utilize lighting device with respect to the periphery ora terminalis of making the outstanding sewn object of owner's body, utilize camera to identify the periphery ora terminalis of sewn object, therefore, as shown in the prior art, cannot use the internal face of the periphery ora terminalis of sewn object and opening or locate the cloth holding frame of locating with the internal face butt of stage portion.
Reason is, as shown in the illustration of Figure 13, utilize cloth holding frame 9x with the width of regulation, the periphery edge of making the sewn object 21 on owner's body 19 to be kept, corresponding with the fabric thickness of sewn object 21, under the state of internal face 53 butts of the positioning step portion that makes the periphery ora terminalis of sewn object 21 and form in the inner edge portion of opening 20x, or in the time that making thing, operating personnel's setting occurs under the state of position skew, part or all of the periphery ora terminalis of sewn object 21 is hidden in the downside of cloth holding frame 9x, therefore, cannot utilize camera to identify the periphery ora terminalis of sewn object 21.
In addition, as shown in the illustration of Figure 14, the change in size of each the big or small flexible material such as deviation or leather, textiles owing to make the cutting out of the state of the periphery ora terminalis of the sewn object 21 on owner's body 19 and internal face 52 butts of the opening 20y that forms or sewn object 21 on cloth holding frame 9y time, sometimes the periphery ora terminalis that makes sewn object 21 not with internal face 52 butts, become the state with slight gap.In the case, internal face 52 too approaches the periphery ora terminalis of sewn object 21, therefore, be difficult to utilize lighting device with respect to the shade of the periphery ora terminalis of the outstanding sewn object 21 of making owner's body, cannot utilize camera to identify exactly the periphery ora terminalis of sewn object 21.
Summary of the invention
Therefore, problem of the present invention be by cloth holding frame to the good state of the retentivity of sewn object under, can realize the accurate identification of the periphery ora terminalis position of sewn object, thus high accuracy and stably carry out take this periphery ora terminalis position making as the sewn object at the sewing position place of benchmark.
The invention that technical scheme 1 is recorded is a kind of apparatus for sewing, and it has:
Sewing machine main body, it is made sewn object;
Cloth feeding portion, it has cloth holding frame, via this cloth holding frame, described sewn object is moved in horizontal plane, and wherein, this cloth holding frame is formed with the making with peristome that region can fall pin and expose of making that makes described sewn object;
Shape recognition portion, it uses subject detecting unit to identify the periphery ora terminalis position of the described sewn object arranging in described cloth holding frame; And
Sewing machines control part, it,, take the described periphery ora terminalis position identified by described shape recognition portion as benchmark, determines sewing position, described sewing machine main body and described cloth feeding portion is controlled, to utilize this sewing position to make operation,
This apparatus for sewing is characterised in that,
Described cloth holding frame has:
Multiple abutting parts, the end face butt of itself and described sewn object; And
Multiple rim detection peristomes, it carries out otch to described cloth holding frame and forms continuously with peristome with described making, and a part for the end of sewn object is exposed,
Described shape recognition portion utilizes described subject detecting unit to detect the periphery ora terminalis position of the described sewn object exposing in peristome in described rim detection, based on the periphery ora terminalis position detecting in peristome in described rim detection, the periphery ora terminalis position of the whole periphery to described sewn object is identified.
In the invention of recording in technical scheme 2, according to the apparatus for sewing described in technical scheme 1, it is characterized in that, described shape recognition portion, by the periphery ora terminalis position based on detecting in peristome two of described abutting part adjacent described rim detection, the periphery ora terminalis position corresponding with this abutting part augmented, thereby the periphery ora terminalis position of the whole periphery to described sewn object is identified.
In the invention of recording in technical scheme 3, according to the apparatus for sewing described in technical scheme 2, it is characterized in that, described shape recognition portion is configured to, can be in described multiple abutting parts, select respectively to set augment described in carrying out with linear interpolation or carry out with spline interpolation described in augment.
In the invention of recording in technical scheme 4, according to the apparatus for sewing described in any one in technical scheme 1 to 3, it is characterized in that, the periphery ora terminalis position of described Sewing machines control part based on being identified by described shape recognition portion, generates the tailoring pattern data that are used to specify described sewing position.
In the invention of recording in technical scheme 5, according to the apparatus for sewing described in technical scheme 4, it is characterized in that, described Sewing machines control part is proofreaied and correct by the periphery ora terminalis position standard tailoring pattern data corresponding and that generate in advance to the described sewn object designing, with corresponding with the periphery ora terminalis position of being identified by described shape recognition portion, thereby generate described tailoring pattern data.
In the invention of recording in technical scheme 6, according to the apparatus for sewing described in technical scheme 5, it is characterized in that, described Sewing machines control part, by the control for described cloth feeding portion and for defining the two-dimensional coordinate of sewing position, amplifying, to dwindle, the mode of in rotary moving or parallel, the path shape of making of determining according to the sewing position of being specified by described standard tailoring pattern data is carried out to coordinate transform, thereby described standard tailoring pattern data are proofreaied and correct, with corresponding with the periphery ora terminalis position of being identified by described shape recognition portion.
In the invention of recording in technical scheme 7, according to the apparatus for sewing described in any one in technical scheme 1 to 3, it is characterized in that, calculate the periphery ora terminalis position identified by the described shape recognition portion side-play amount with respect to the periphery ora terminalis position of the described sewn object in design, the threshold value that exceedes regulation in this side-play amount, show the position skew of output sewn object.
The effect of invention
The invention of recording according to technical scheme 1, owing to having, above-mentioned cloth holding frame is carried out otch and formed continuously with peristome with above-mentioned making, multiple rim detection peristomes that a part for the end of sewn object is exposed, so can be via rim detection peristome, utilize camera, the subject detecting unit take light and other electromagnetic waves as medium such as laser displacement gauge, detect well the edge line of this end, use the periphery ora terminalis position of the sewn object in peristome based on the rim detection detecting, the periphery ora terminalis position of the whole periphery to sewn object is identified, therefore, can carry out the accurate identification of the periphery ora terminalis position of sewn object.
In addition, because Sewing machines control part is take the periphery ora terminalis position of the whole periphery of the sewn object that identified by shape recognition portion as benchmark is determined sewing position, so according to the present invention, can high accuracy and stably carry out take the periphery ora terminalis position of sewn object making as the sewn object at the sewing position place of benchmark.
The invention of recording according to technical scheme 2, the periphery ora terminalis position that can comprise the sewn object corresponding with the abutting part of cloth holding frame is interior and the profile of sewn object is identified, and can carry out accurately take the periphery ora terminalis position of sewn object making as the sewn object at the sewing position place of benchmark.
The invention of recording according to technical scheme 3, can with the edge line of the sewn object exposing with peristome to rim detection or corresponding with the edge line of sewn object corresponding to abutting part, and preset suitable interpolating method, through suitable interpolation, can carry out accurately take the periphery ora terminalis position of the whole periphery of sewn object making as the sewn object at the sewing position place of benchmark.
The invention of recording according to technical scheme 4, periphery ora terminalis position based on being identified by shape recognition portion, generation is used to specify the tailoring pattern data of sewing position, can carry out accurately take the periphery ora terminalis position of sewn object making as the sewn object at the sewing position place of benchmark.
The invention of recording according to technical scheme 5, due to by advance generate standard tailoring pattern data proofread and correct, with corresponding with the periphery ora terminalis position of being identified by shape recognition portion, thereby generate tailoring pattern data, so can alleviate computational load, can carry out rapidly and accurately take the periphery ora terminalis position of sewn object making as the sewn object at the sewing position place of benchmark.
The invention of recording according to technical scheme 6, due to only by dwindling to amplify, the mode of in rotary moving or parallel, the path shape of making to the standard tailoring pattern data that generate in advance carries out coordinate transform, and generation tailoring pattern data, so can further alleviate computational load, can carry out rapidly and accurately take the periphery ora terminalis position of sewn object making as the sewn object at the sewing position place of benchmark.
The invention of recording according to technical scheme 7, obvious sewn object position from operating personnel to operating personnel notice that can need to readjust the position of sewn object by is offset, by readjusting position by operating personnel, thereby can carry out accurately take the periphery ora terminalis position of sewn object making as the sewn object at the sewing position place of benchmark.
Accompanying drawing explanation
Fig. 1 is the oblique view of the related apparatus for sewing of an embodiment of the invention.
Fig. 2 is the front view of the related apparatus for sewing of an embodiment of the invention.Wherein, camera separated and represent.
Fig. 3 is the control block diagram of the related apparatus for sewing of an embodiment of the invention.
Fig. 4 is the detailed oblique view that the state of cloth holding frame is installed in the cloth feeding portion of the apparatus for sewing related in an embodiment of the invention.
Fig. 5 is the top view of the cloth maintaining part of the related cloth holding frame of an embodiment of the invention and the sewn object (pocket cloth) that kept by this cloth maintaining part.
Fig. 6 is the top view of the cloth maintaining part of the related cloth holding frame of an embodiment of the invention and the sewn object (pocket cloth) that kept by this cloth maintaining part, different from Fig. 5, shows the cloth maintaining part with positioning step portion.
Fig. 7 is the line chart of the periphery ora terminalis position of the sewn object (pocket cloth) that recognizes in an embodiment of the invention.
Fig. 8 is the top view of the cloth maintaining part of the related cloth holding frame of an embodiment of the invention and the sewn object (pocket cloth) that kept by this cloth maintaining part.Show sewn object and be offset situation about arranging.
Fig. 9 is the flow chart that represents the related flow process of making processing of the related apparatus for sewing of an embodiment of the invention.
Figure 10 is the top view of the related sewn object (mark) of other embodiment of the present invention.
Figure 11 is the top view of the cloth maintaining part of the related cloth holding frame of other embodiment of the present invention and the sewn object (mark) that kept by this cloth maintaining part.
Figure 12 is the line chart of the periphery ora terminalis position of the sewn object (mark) that identifies in other embodiment of the present invention.
Figure 13 is the top view of the cloth maintaining part of the related cloth holding frame of an example of prior art and the sewn object (pocket cloth) that kept by this cloth maintaining part, shows the cloth maintaining part with positioning step portion.
Figure 14 is the top view of the cloth maintaining part of the related cloth holding frame of an example of prior art and the sewn object (pocket cloth) that kept by this cloth maintaining part.
The explanation of symbol
1 apparatus for sewing
2 sewing machine main bodies
3 cloth feeding portions
4 shape recognition portions
5 Sewing machines control parts
7 lower plates
8 housings
9 cloth holding frames
9a cloth holding frame
9b cloth holding frame
10 pedestals
11 arms
20 make and use peristome
20a makes and uses peristome
20b makes and uses peristome
21 sewn objects (pocket cloth)
22 abutting parts
23 abutting parts
24a, 24b rim detection peristome
30 make and use peristome
31 sewn objects (mark)
32a, 32c abutting part
33a, 33b, 33c rim detection peristome
41 cameras
42 lighting devices
The specific embodiment
Below, with reference to accompanying drawing, an embodiment of the invention are described.Be below an embodiment of the invention, but the present invention do not limited.
(summary of apparatus for sewing)
As shown in Figure 1 to Figure 3, the apparatus for sewing 1 of present embodiment is configured to, and has sewing machine main body 2, cloth feeding portion 3, shape recognition portion 4, Sewing machines control part 5, tailoring pattern database 51 and display unit 52.
Sewing machine main body 2 has and carries out the Sewing machines arm 2a of action of suture needle etc., the 2b of sewing machine base portion and the sewing machine table 2c that carries out action of still etc., and sewn object is made.
Shape recognition portion 4 has camera 41, lighting device 42, image recognition control part 43, sets input part 44 and sets save data storehouse 45.Image recognition control part 43 is controlled camera 41 and lighting device 42, obtains image information, carries out the image processing such as the edge extracting processing of obtained image, thereby carries out the shape recognition of sewn object.
Image recognition control part 43, Sewing machines control part 5, set input part 44, set save data storehouse 45 and tailoring pattern database 51, by information processor, the information processing system that message input device and information-storing device form, and image recognition control part 43 and Sewing machines control part 5 move by same or different IC chips, setting save data storehouse 45 and tailoring pattern database 51 is implemented in same or different hard disks or IC chip, in the framework of sewing machine main body 2, form or as external device (ED) and the hardware configuration of formation etc. all can.
Display unit 52, except image shows, can also at random be carried out sound broadcasting.
As shown in Figure 4, cloth feeding portion 3 is configured to, and has cloth feeding lower plate 7, cloth feeding housing 8, cloth feeding pedestal 10, cloth advancement arm 11 and XY drive division (on the 2b of sewing machine base portion, carrying).On cloth feeding housing 8, fix cloth holding frame 9 detachable.Cloth feeding housing 8 is fixed on cloth advancement arm 11, and cloth advancement arm 11 can be fixed on cloth feeding pedestal 10 up or down.In addition, cloth feeding lower plate 7 is fixed on cloth feeding pedestal 10.Cloth feeding pedestal 10 is configured to, can be by the XY drive division being formed by not shown motor or Timing Belt, synchronous pulley etc., in horizontal plane (X-Y plane in figure), move, cloth feeding lower plate 7, cloth feeding housing 8 and be fixed on the cloth holding frame 9 on the lower surface of cloth feeding housing 8, become one with cloth feeding pedestal 10, in horizontal plane, move.Sewing position defines by the related two-dimensional coordinate X-Y of the control of this cloth feeding portion 3.The sewing position of each sewn object is specified by the tailoring pattern data corresponding with each sewn object.Each tailoring pattern data are kept in tailoring pattern database 51.
In cloth holding frame 9, be formed with the making with peristome 20 that region can fall pin and expose of making that makes sewn object.In addition, cloth feeding portion 3 moves sewn object via cloth holding frame in horizontal plane.In addition in this application, the Z direction vertical with X-Y plane described as above-below direction.
Sewn object 21 shown in Fig. 5 is pocket clothes of jeans etc., and top becomes pocket mouth, and in lower end, central authorities form the pentagonal profile with summit.
In the cloth holding frame 9a shown in Fig. 5 corresponding thereto, make and be formed as groove shape with peristome 20a, make to expose upward along the outer circumference end edge of the fixed width on 4 limits except becoming the top of pocket mouth of sewn object 21.Sewn object 21 is positioned in the twill cloth that is held in cloth feeding lower plate 7 and cloth feeding housing 8 etc. and makes on owner's body, presses, and to make by making in the inner side part of surrounding with peristome 20a, can perk at the back side of cloth holding frame 9a.
Make and form along above-mentioned 4 limits respectively with the outside internal face of peristome 20a, form abutting part 22, the periphery ora terminalis butt of this abutting part 22 and sewn object 21, determines the X-Y plane direction position of sewn object 21 with respect to cloth holding frame 9a.Wherein, corresponding with 5 bights of sewn object 21 and form rim detection peristome 24a, 24b.Wherein 2 for rim detection peristome 24b, 24b be formed on the upside made from peristome 20a, corresponding with 2 bights of the upper avris of sewn object 21.In addition, 3 bights of remaining 3 peristome 24a, 24a for rim detection, 24a and the lower avris of sewn object 21 are corresponding and form.
Preferably as shown in peristome 24a, 24b for above rim detection, the rim detection peristome that the periphery ora terminalis approaching with sewing position exposed, is integrally formed with peristome continuously with making.On the other hand, for the rim detection peristome that makes to expose away from the periphery ora terminalis of sewing position as shown in pocket mouth central portion, also can be as shown in peristome for rim detection (dotted line part) 24c, with with respect to make with peristome independently state arrange, do not need necessarily will to make the opening forming as one with peristome by peristome and rim detection.In the present embodiment, peristome for rim detection (dotted line part) 24c is not set.Rim detection with peristome with make by peristome one in the situation that, can be used in the open area of rim detection and repeat for the open area of making.Rim detection arranges multiple via abutting part 22 with peristome, at the two ends of abutting part 22, rim detection peristome is set.
That is, for rim detection, peristome 24a, 24b carry out otch to the assigned position of cloth holding frame 9a, are integrally formed continuously with making with peristome 20a, and the periphery ora terminalis periphery of sewn object exposed.Especially, preferably, as the periphery ora terminalis periphery of sewn object, bight is exposed.
By making rim detection peristome 24a, 24b to form towards the mode made from the outside of opening 20a expands, thereby in the scope of the 24a of this rim openings portion, 24b, between the periphery ora terminalis of sewn object 21 and internal face, gap is widely set, can be with respect to the shade of periphery ora terminalis of making the outstanding sewn object 21 of owner's body, therefore, can easily carry out the periphery ora terminalis position probing of sewn object 21 by subject detecting unit.In the present embodiment, subject detecting unit is made up of camera 41.
On the other hand, identical sewn object 21 and cloth holding frame 9b corresponding thereto are also shown in Fig. 6.But the cloth holding frame 9b shown in Fig. 6 adopts the structure with reference to the location stage portion of Figure 13 explanation.
That is, in the cloth holding frame 9b shown in Fig. 6, location forms abutting part 23 with the internal face of stage portion, and the periphery ora terminalis butt of itself and sewn object 21 is determined the X-Y plane direction position of sewn object 21 with respect to cloth holding frame 9b.For other aspects, cloth holding frame 9b is identical with the cloth holding frame 9a of Fig. 5.In Fig. 6, sewn object 21 by cloth holding frame 9b make the inner side part of surrounding with peristome 20b and the outer circumference end edge place that is positioned at the fixed width at abutting part 23 places is pressed, with the not perk of the back side at cloth holding frame 9b.
(making the flow process of processing)
Apply at the cloth holding frame 9a to said structure, while using apparatus for sewing 1 to make, operating personnel makes with sewn object 21(Fig. 9, step S3 are set on peristome 20a to cloth holding frame 9a's).Now, sewn object 21, by the abutting part 22 forming with the internal face of peristome 20a of making by arranging on cloth holding frame 9a, carries out position limitation, and with respect to cloth holding frame, 9a correctly positions.But, change in size of each the big or small flexible material such as deviation or leather, textiles also may be due to the cutting out of sewn object 21 time etc., make to be arranged at abutting part 22 on cloth holding frame 9a and the not butt of periphery ora terminalis of sewn object 21, have trickle gap.
Then, utilize lighting device 42 to irradiate with the sewn object 21 on peristome 20a being positioned making of cloth holding frame 9a, utilize camera 41 to take (Fig. 9, step S4) to the periphery ora terminalis of sewn object 21.Now, in the rim detection peristome 24a, the 24b that are arranged on cloth holding frame 9a, gap between periphery ora terminalis and the internal face of sewn object 21 arranges enough widely, therefore, make the shade of periphery ora terminalis of the sewn object 21 in rim detection peristome 24a, 24b clear by lighting device 42.
Then, the image recognition control part 43 of shape recognition portion 4, carries out edge extracting processing to the view data of the sewn object 21 of being taken by camera 41.Now, as the position of carrying out edge extracting processing, only edge detection is carried out edge extracting processing with the periphery ora terminalis of sewn object 21 taken in peristome 24a, 24b.In the case, compared with carrying out the situation of edge extracting processing of the whole circumference of periphery ora terminalis of sewn object 21, edge extracting is processed the calculation process time spending and is significantly shortened.The periphery ora terminalis position of the sewn object 21 extracting by this edge extracting processing is positions that heavy line 25 as shown in Figure 7 represents.
That is, shape recognition portion 4 utilizes camera 41(subject detecting unit) the periphery ora terminalis position of the sewn object 21 exposing with peristome in rim detection is detected, based on detection, the periphery ora terminalis position of sewn object 21 is identified.
Apply at the cloth holding frame 9b to shown in Fig. 6, in the situation that use apparatus for sewing 1 is made, also in the same manner, to making with sewn object 21(Fig. 9 is set on peristome 20b of cloth holding frame 9b, step S3), under the state being thrown light on by lighting device 42, utilize camera 41 to take (Fig. 9, step S4).
In the case, be positioned at the outer circumference end edge of the sewn object 21 of the Rack at abutting part 23 places, be positioned at the downside of cloth holding frame 9b.Therefore, this part cannot be carried out edge extracting, but with the cloth holding frame 9a shown in Fig. 5 in the same manner, only edge detects and carries out edge extracting processing by the scope in peristome 24a, 24b.
The periphery ora terminalis of the sewn object 21 extracting by this edge extracting processing, also becomes the position that heavy line 25 as shown in Figure 7 represents.
As noted above, shape recognition portion 4 utilizes camera 41 to detect (Fig. 9, step S5) to the periphery ora terminalis position (edge) of the sewn object 21 exposing in rim detection peristome 24a, 24b.
For above edge extracting processing is limited to rim detection with in the image-region of taking in peristome, operating personnel carries out the setting (Fig. 9, step S1) at edge extracting position in advance.For example, on the setting picture at the shown edge extracting position of display unit 52, utilize window edge extract part (in rim detection peristome 24a, 24b) to divide, thereby set.The setting at this edge extracting position is inputted to image recognition control part 43 from setting input part 44, be kept at explicitly and set in save data storehouse 45 with each sewn object, when calling the stitch data of this sewn object at every turn, call and use, in addition, setting can be upgraded.
In addition, be set as cloth holding frame 9(9a, 9b) do not enter the inner side of window of dividing edge extracting position.Its object is, can be mistakenly by cloth holding frame 9(9a, 9b) boundary portion be judged to be the periphery ora terminalis of sewn object 21.Thus, only the view data of the scope of utilizing window division in peristome 24a, 24b for rim detection is carried out to edge extracting processing.
Captured view data is carried out edge extracting processing by image recognition control part 43.Conventionally, by binary conversion treatment etc., the view data of taking is carried out to edge extracting processing.Coordinate in the image obtaining by edge extracting processing, utilizes the transform calculating according to the relative position of camera 41 and cloth feeding portion 3, is transformed to the related two-dimensional coordinate X-Y of control of cloth feeding portion 3 by image recognition control part 43., with can correctly carry out the cloth feeding portion 3 based on photographic images sewing position control mode and convert.In the time utilizing camera 41 to take, no matter which coordinate cloth feeding portion 3 is positioned at, and the coordinate of the cloth feeding portion 3 during all by shooting inputs to image recognition control part 43, utilizes above-mentioned transform correctly to convert.In addition, the coordinate that arranges of camera 41 also pre-enters to image recognition control part 43, and no matter which position camera 41 is arranged at, and all utilizes above-mentioned transform correctly to convert.In Fig. 1, show the camera 41 and the lighting device 42 that are fixed on Sewing machines arm 2a, but also can be by camera 41 and lighting device 42 from sewing machine main body 2(for example along directions X) away from and arrange, in the case, utilizing cloth feeding portion 3 cloth holding frame 9 to be disposed in the coverage of camera 41 and after taking, utilize cloth feeding portion 3 that cloth holding frame 9 is moved to the direction of sewing machine main body 2, make operation.Therefore, the shape recognition portion 4 that can make camera 41 and lighting device 42, comprises them etc. does not also carry with sewing machine main body 2 integratedly,, needs only and connects as shown in Figure 3 each several part by other cell formation with respect to sewing machine main body 2.
Below, edge detection describes with the position that arranges of peristome.As shown in the periphery ora terminalis of the portion that is sewn 21 as pocket cloth, in situation about being formed by multiple line parts, at least at the both ends of each line part, rim detection peristome is set.In the situation that line part is shorter, preferably using line part entirety as rim detection peristome.Also can be at line part midway, arrange 1 to multiple rim detection peristomes.
In the case of using the cloth holding frame 9a shown in Fig. 5, obtain the periphery ora terminalis position of the sewn object corresponding with abutting part 22 21 by edge extracting processing.On the other hand, in the case of using the cloth holding frame 9b shown in Fig. 6, as shown in Figure 7, be heavy line 25 according to the periphery ora terminalis position of exposing from rim detection peristome 24a, 24 detecting by edge extracting, utilize linear interpolation to process (Fig. 9, step S6) identified in the periphery ora terminalis position of the sewn object corresponding with abutting part 23 21.
The interpolation processing method at this non-edge extracting position, sets by operating personnel's operation in advance.,, by operating personnel's operation, input to image recognition control part 43 from setting input part 44, and be kept in setting save data storehouse 45 (Fig. 9, step S2).This setting can be by image recognition control part 43 in multiple abutting parts 22 or abutting part 23, selects respectively to set to augment or augment with spline interpolation with linear interpolation.Here, operating personnel all selects linear interpolation.
It is double dot dash line 26(Fig. 7 that image recognition control part 43 makes the linear interpolation processing section obtaining like this) and heavy line 25(Fig. 7) alignment, be defined as the periphery ora terminalis position of sewn object 21, complete the identifying processing (Fig. 9, step S7) of the periphery ora terminalis position (edge) of the whole periphery of sewn object 21.
; shape recognition portion 4 utilizes the image recognition control part 43 that forms this shape recognition portion 4; based on the periphery ora terminalis position detecting in peristome two of this abutting part adjacent rim detection; periphery ora terminalis position to the sewn object corresponding with abutting part 21 is augmented, and can select setting to carry out this with linear interpolation and augments or carry out this with spline interpolation and augment.
Image recognition control part 43 sends the data of the periphery ora terminalis position of the whole periphery of the sewn object 21 of identifying by the way to Sewing machines control part 5.
Sewing machines control part 5, take the periphery ora terminalis position of the sewn object 21 identified by shape recognition portion 4 as benchmark, is determined the sewing position in region of making exposing with opening 20a, 20b to making.Therefore, the data of the periphery ora terminalis position of the whole periphery of the sewn object 21 of Sewing machines control part 5 based on obtaining from image recognition control part 43, generate tailoring pattern data (Fig. 9, step S8).
, the periphery ora terminalis position of Sewing machines control part 5 based on being identified by shape recognition portion 4, generates the tailoring pattern data that are used to specify sewing position.
Tailoring pattern data also can be based on sewn object whole periphery periphery ora terminalis position data and along 4 limits except becoming the top of pocket mouth of sewn object 21, the order (not being the form of tailoring pattern data) of making at a distance of the inner side of periphery ora terminalis position fixed range is generated.This order can be inputted one by one in operating personnel's definite mode on the shown coordinate picture of display unit 52.
Tailoring pattern data can by advance login standard tailoring pattern data proofread and correct, corresponding with the periphery ora terminalis position with the sewn object 21 of being identified by shape recognition portion 4, thus efficiently generate.Standard tailoring pattern data entry is in tailoring pattern database 51.Standard tailoring pattern data are corresponding with the periphery ora terminalis position of sewn object 21 in design and generate in advance.In other words, standard tailoring pattern data do not have error in the periphery ora terminalis position of sewn object 21, are exactly corresponding tailoring pattern data.Therefore, to make that standard tailoring pattern data are converged on to the mode in fixing permissible range as the difference of the periphery ora terminalis position of the periphery ora terminalis position of benchmark and the sewn object 21 that identified by shape recognition portion 4, by Sewing machines control part 5, standard tailoring pattern data are revised, as the tailoring pattern data of carrying out for the sewn object 21 being arranged in cloth holding frame 9.
Therefore, for example, Sewing machines control part 5 by the control for cloth feeding portion 3 for defining the two-dimensional coordinate X-Y of sewing position, amplifying, to dwindle, the mode of in rotary moving or parallel, the path shape of making of determining according to the sewing position of being specified by standard tailoring pattern data is carried out to coordinate transform, thereby standard tailoring pattern data are proofreaied and correct, with corresponding with the periphery ora terminalis position of being identified by shape recognition portion 4.
Then, the tailoring pattern data of Sewing machines control part 5 based on generated, transmit control signal to the drive system of sewing machine main body 2 and cloth feeding portion 3, make operation.
; by the control of Sewing machines control part 5; make action by sewing machine main body 2; by cloth feeding portion 3, sewn object 21 is moved in horizontal plane X-Y simultaneously; to make the sewing position of specifying according to tailoring pattern data pass through successively needle downing position; exactly (Fig. 9, step S9) made in the position of the periphery ora terminalis fixed width at a distance of sewn object 21.As noted above, because sewn object 21 remains on cloth holding frame 9(9a, 9b) upper, so prevent sewn object perk in the time making, form beautiful stitching.
In other words, Sewing machines control part 5 is controlled sewing machine main body 2 and cloth feeding portion 3, determines sewing position take the periphery ora terminalis position of being identified by shape recognition portion 4 as benchmark, makes operation at this sewing position.
In addition, as shown in Figure 8, even for the position skew producing in the time that operating personnel arranges sewn object 21, also in the same manner as described above, by carrying out periphery ora terminalis position extraction process, the interpolation processing in rim detection peristome 24a, 24b, thereby can identify the periphery ora terminalis position of the whole periphery of sewn object 21.Now, the periphery ora terminalis position of the sewn object 21 at sewn object 21 from design is offset to the scope that cannot allow, also can notify to operating personnel the position skew of sewn object.Therefore, Sewing machines control part 5 calculates the periphery ora terminalis position identified by shape recognition portion 4 side-play amount with respect to the periphery ora terminalis position of the sewn object 21 in design.Then,, the threshold value that Sewing machines control part 5 exceedes regulation in this side-play amount, the position of sewn object is offset to display unit 52 and show output.The Threshold of regulation is to distinguish the state that arranges that cannot allow that sewn object 21 protrudes or significantly leaves from abutting part 22 from abutting part 22 as shown in Figure 8.
In addition, in the present embodiment, use camera as subject detecting unit, from the view data by camera, obtain the data of the periphery ora terminalis position of sewn object by edge extracting processing, but for example also can use following other modes such as grade: from use the elevation information of sewn object of automatic focusing or pan focus processing etc. of camera, obtain sewn object periphery ora terminalis position data mode or from the elevation information of sewn object, obtain the mode of the data of periphery ora terminalis position by laser displacement gauge etc.Even subject detecting unit is changed to various forms, medium is changed to light, other electromagnetic waves of various wavelength or polarized light property, as long as make the detection at sewn object edge good via rim detection with peristome, possess the meaning of this technology of application.
In addition, in the present embodiment, pocket cloth (sewn object) is being loaded after the assigned position on twill cloth (making owner's body), cloth holding frame 9a is declined, sack cloth material and twill cloth are being pressed.Under this state, be applied to pocket cloth to the situation of making on twill cloth.
To this, the present invention can be applied to following situation: make mark or label (sewn object) on cloth (making owner's body) in the situation that, in cloth holding frame, form the notch more smaller than the outer shape of this mark or label, and formation makes multiple rim detection peristomes that a part for the end of sewn object is exposed in this cloth holding frame.Work flow in this situation is, utilizing cloth holding frame to press after cloth, will indicate or label (sewn object) is installed location on notch, then the periphery ora terminalis position of sewn object identified, and pocket cloth is made on twill cloth.
(other embodiments)
Below, as other embodiments, the situation that is the mark 31 shown in Figure 10 to sewn object describes.Apparatus for sewing 1 and contents processing thereof and above-mentioned content are roughly the same, but mark 31 has curved profile, therefore, select to set in spline interpolation this point different.Be elaborated below.
In the case of the sewn object 31 shown in Figure 10, by making with peristome 30, abutting part 32a, 32c, to be integrally formed continuously and to expand the rim detection use peristome 33a, 33b, the 33c that form towards the outside of making use opening 30 with peristome 30 with making is as shown in figure 11 set on cloth holding frame 9c, thereby can carry out the identification of the periphery ora terminalis position of sewn object 31.
With the situation of above-mentioned sewn object (pocket cloth) 21 in the same manner, utilize lighting device 42 to cloth holding frame 9c make with on peristome 30 location sewn object 31 irradiate, utilize camera 41 to take (Fig. 9, step S4) to the periphery ora terminalis of sewn object 31.Now, in the rim detection that can arrange on cloth holding frame 9c peristome 33a, 33b, 33c, between the periphery ora terminalis of sewn object 31 and cloth holding frame, sufficient space is set, therefore, make the shade of periphery ora terminalis of the sewn object 31 exposing in rim detection peristome 33a, 33b, 33c clear by lighting device 42.
Then, the image recognition control part 43 of shape recognition portion 4 carries out edge extracting processing (Fig. 9, step S5) to the view data of the sewn object 31 of being taken by camera 41.Now, for the position of carrying out edge extracting processing, only carry out edge extracting processing for the periphery ora terminalis of the sewn object 31 of taking in peristome 33a, 33b, 33c for rim detection.In the case, compared with the situation of carrying out edge extracting processing with the whole circumference of the periphery ora terminalis to sewn object 31, edge extracting is processed the calculation process time spending and is significantly shortened.The periphery ora terminalis of the sewn object 31 extracting by this edge extracting processing is positions that heavy line 34 as shown in Figure 12 represents.
Below, edge detection describes with the position that arranges of peristome.As shown in the periphery ora terminalis that is sewn portion 31, in situation about being formed by line part and curve part, for line part, with the situation of the above-mentioned portion that is sewn 21 in the same manner, at least at the both ends of each line part, rim detection peristome is set.In the situation that line part is shorter, preferably use peristome 33b using line part entirety as rim detection.Also can be at line part midway, arrange 1 to multiple rim detection peristomes.
The curve part representing with same Radius at least arranges rim detection peristome 33c near the both ends of each curve part and intermediate point.In addition, although not shown, in the case of the curve part that represents with same Radius is shorter, also with line part in the same manner, preferably with peristome, curve part entirety is exposed in rim detection.Also can be at curve part midway, near intermediate point, also arrange 1 to multiple rim detection peristome 33c.In addition, although not shown, multiple radiuses or little by little make the curve part of change in radius, not only at the both ends of curve part, rim detection peristome is set, but also way arrange multiple rim detection peristomes therein.In the case of multiple radiuses or little by little make the curve part of change in radius shorter, also in the same manner as described above, preferably with peristome, curve part entirety is exposed in rim detection.
The periphery ora terminalis position corresponding with the abutting part 32a, the 32c that are formed with the internal face of peristome 30 by making of arranging on cloth holding frame 9c, to be heavy line 34(Figure 12 according to the periphery ora terminalis position detecting by edge extracting), utilize image recognition control part 43 to carry out interpolation processing, (Fig. 9, the step S6) thereby that obtain.Therefore, operating personnel inputs for the periphery ora terminalis corresponding with the abutting part 32a of linearity and carries out the setting of linear interpolation to image recognition control part 43 from setting input part 44, and carry out the setting (Fig. 9, step S2) of spline interpolation for the periphery ora terminalis corresponding with curvilinear abutting part 32c.
Image recognition control part 43 is double dot dash line 35(Figure 12 using the linear interpolation processing section obtaining like this), as double dot dash line 36(Figure 12 of spline interpolation processing section) and heavy line 34(Figure 12) alignment, be defined as the periphery ora terminalis position of sewn object 31, complete the identifying processing (Fig. 9, step S7) of the periphery ora terminalis position of sewn object 31.
Then, with the situation of above-mentioned sewn object (pocket cloth) 21 in the same manner, carry out the generation (Fig. 9, step S8) of tailoring pattern data for sewn object (mark) 31, make (Fig. 9, step S9).
As described above, according to the apparatus for sewing of above-mentioned embodiment, because cloth holding frame is good to the retentivity of sewn object, and can accurately identify the periphery ora terminalis position of sewn object, so can high accuracy and stably carry out take the periphery ora terminalis position of sewn object making as the sewn object at the sewing position place of benchmark.
Claims (7)
1. an apparatus for sewing, it has:
Sewing machine main body, it is made sewn object;
Cloth feeding portion, it has cloth holding frame, via this cloth holding frame, described sewn object is moved in horizontal plane, and wherein, this cloth holding frame is formed with the making with peristome that region can fall pin and expose of making that makes described sewn object;
Shape recognition portion, it uses subject detecting unit to identify the periphery ora terminalis position of the described sewn object arranging in described cloth holding frame; And
Sewing machines control part, it,, take the described periphery ora terminalis position identified by described shape recognition portion as benchmark, determines sewing position, described sewing machine main body and described cloth feeding portion is controlled, to utilize this sewing position to make operation,
This apparatus for sewing is characterised in that,
Described cloth holding frame has:
Multiple abutting parts, the end face butt of itself and described sewn object; And
Multiple rim detection peristomes, it carries out otch to described cloth holding frame and forms continuously with peristome with described making, and a part for the end of sewn object is exposed,
Described shape recognition portion utilizes described subject detecting unit to detect the periphery ora terminalis position of the described sewn object exposing in peristome in described rim detection, based on the periphery ora terminalis position detecting in peristome in described rim detection, the periphery ora terminalis position of the whole periphery to described sewn object is identified.
2. apparatus for sewing according to claim 1, is characterized in that,
Described shape recognition portion, by the periphery ora terminalis position based on detecting in peristome two of described abutting part adjacent described rim detection, the periphery ora terminalis position corresponding with this abutting part augmented, thereby the periphery ora terminalis position of the whole periphery to described sewn object is identified.
3. apparatus for sewing according to claim 2, is characterized in that,
Described shape recognition portion is configured to, can be in described multiple abutting parts, select respectively to set augment described in carrying out with linear interpolation or carry out with spline interpolation described in augment.
4. according to the apparatus for sewing described in any one in claims 1 to 3, it is characterized in that,
The periphery ora terminalis position of described Sewing machines control part based on being identified by described shape recognition portion, generates the tailoring pattern data that are used to specify described sewing position.
5. apparatus for sewing according to claim 4, is characterized in that,
Described Sewing machines control part is proofreaied and correct by the periphery ora terminalis position standard tailoring pattern data corresponding and that generate in advance to the described sewn object designing, with corresponding with the periphery ora terminalis position of being identified by described shape recognition portion, thereby generate described tailoring pattern data.
6. apparatus for sewing according to claim 5, is characterized in that,
Described Sewing machines control part, by the control for described cloth feeding portion and for defining the two-dimensional coordinate of sewing position, amplifying, to dwindle, the mode of in rotary moving or parallel, the path shape of making of determining according to the sewing position of being specified by described standard tailoring pattern data is carried out to coordinate transform, thereby described standard tailoring pattern data are proofreaied and correct, with corresponding with the periphery ora terminalis position of being identified by described shape recognition portion.
7. according to the apparatus for sewing described in any one in claims 1 to 3, it is characterized in that,
Calculate the periphery ora terminalis position identified by the described shape recognition portion side-play amount with respect to the periphery ora terminalis position of the described sewn object in design, the threshold value that exceedes regulation in this side-play amount, show the position skew of output sewn object.
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| JP2012-244957 | 2012-11-07 | ||
| JP2012244957A JP5993283B2 (en) | 2012-11-07 | 2012-11-07 | Sewing device |
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| CN103806225A true CN103806225A (en) | 2014-05-21 |
| CN103806225B CN103806225B (en) | 2017-12-26 |
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| CN201310549801.9A Active CN103806225B (en) | 2012-11-07 | 2013-11-07 | Apparatus for sewing |
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| CN103993431A (en) * | 2014-06-12 | 2014-08-20 | 新杰克缝纫机股份有限公司 | Vision correction method and system used for sewing |
| CN105447847A (en) * | 2014-09-24 | 2016-03-30 | Juki株式会社 | Form detection means and sewing machine |
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| CN109137289A (en) * | 2017-06-28 | 2019-01-04 | 兄弟工业株式会社 | Sewing system and cloth detection system |
| CN109154118A (en) * | 2016-05-26 | 2019-01-04 | 宝金株式会社 | The coordinate of automatic detection sewing workpiece and the automatically controlled pattern sewing machine and its control method being programmed |
| CN109281077A (en) * | 2017-07-19 | 2019-01-29 | Juki株式会社 | Sewing machine |
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| CN109281077A (en) * | 2017-07-19 | 2019-01-29 | Juki株式会社 | Sewing machine |
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Also Published As
| Publication number | Publication date |
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| JP2014091008A (en) | 2014-05-19 |
| CN103806225B (en) | 2017-12-26 |
| JP5993283B2 (en) | 2016-09-14 |
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