CN103806225B - Apparatus for sewing - Google Patents
Apparatus for sewing Download PDFInfo
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- CN103806225B CN103806225B CN201310549801.9A CN201310549801A CN103806225B CN 103806225 B CN103806225 B CN 103806225B CN 201310549801 A CN201310549801 A CN 201310549801A CN 103806225 B CN103806225 B CN 103806225B
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- sewing
- sewn object
- ora terminalis
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Abstract
The present invention provides a kind of apparatus for sewing, it passes through in the state of cloth holding frame is good to the retentivity of sewn object, accurately identifying for the periphery ora terminalis position of sewn object can be realized, carries out so as to high accuracy and stably the sewing of the sewn object at the sewing position on the basis of the periphery ora terminalis position.The cloth holding frame of apparatus for sewing（9a）Have：Multiple abutting parts（22）, itself and sewn object（21）End face part abutting, the face direction position of sewn object is determined relative to the cloth holding frame；And multiple rim detection opening portions（24a、24b）, it with abutting part in the state of abutting, expose the end in a manner of can detecting the end of the end face.Shape identification part（4）To being detected in rim detection with the periphery ora terminalis position of the sewn object exposed in opening portion, based on the periphery ora terminalis position that this is detected, the periphery ora terminalis position of the whole periphery of sewn object is identified.
Description
Technical field
The present invention relates to a kind of apparatus for sewing, and it carries out cloth feeding control on the basis of the shape of identification sewn object
System, and the sewn object is sewed.
Background technology
Currently, using apparatus for sewing, it is in the cloth feeding lower plate and cloth for being configured to act in the horizontal plane
Feed housing in clamp sewing object main body, to sewing object main body on sewn object is set, by making its seam along preprogramming
Sewed while the movement of path processed, so as to sewing sewn object in sewing object main body.
In this apparatus for sewing, in order to carry out positioning holding to sewn object, and cloth is fixed on cloth feeding housing
Expect holding frame, the cloth holding frame is formed with the opening such as the corresponding groove in sewing position with sewn object or hole.Also, generally enter
The following location actions of row, i.e. by make the periphery ora terminalis of sewn object and the internal face of the opening formed in cloth holding frame,
Or the internal face of positioning stage portion formed in the inner edge portion of the opening etc. abuts, so as to be positioned to sewn object.
The sewn object of positioning as noted above has the nest side of fixed width relative to the periphery ora terminalis of sewn object and sewed
Situation it is more, therefore, often carry out following actions, i.e. by the basis of the periphery ora terminalis of sewn object assigned position make
Sewed to fall pin target location.
But because position of the operating personnel when sewn object is arranged in cloth holding frame offsets or is sewn
Deviation, the change in size for the sewn object being made up of flexible materials such as leather or textiles of each size when cutting out of thing,
So that the periphery ora terminalis of sewn object not with the internal face of opening that is formed in cloth holding frame or positioning stage portion etc.
Internal face is abutted, and the position of periphery ora terminalis fixed width at a distance of sewn object should be sewed, but to skew after
Position sewed, sometimes as defective work.
In order to solve the above problems, recorded in patent document 1：" marginal position identification device, which has, is arranged on rotation
Smear camera on bearing, the bearing is arranged on sewing machine head, rotated the axis coaxle of above-mentioned camera and suture needle, right
The line to connect with the imaginary circle around the pin penetration in sewing face is scanned ".Also, a kind of apparatus for sewing is recorded,
It is directed to the sewn object being fixed in sewing object main body, using the lighting device installed on smear camera relative to sewing object
Main body protrudes the periphery ora terminalis of sewn object, and the periphery ora terminalis of the sewn object is identified using smear camera, and pre-
The tailoring pattern first programmed is corresponding, sewing path is modified according to the physical location of the sewn object detected, simultaneously
The nest side position of periphery ora terminalis fixed width at a distance of sewn object is sewed.
In order to solve the problem, a kind of apparatus for sewing has been recorded in patent document 2, wherein, before sewing process
One process, the profile that sewn object is carried out using profile identification device is identified, for being fixed on being stitched in sewing object main body
Thing processed, using the lighting device being arranged in the periphery ora terminalis side portion of sewn object, stitched relative to sewing object main body protrusion
The periphery ora terminalis of thing processed, the periphery ora terminalis of the sewn object is identified using CCD camera, from profile identification device to electricity
Sub- sewing machine transfer sewing object, based on the outer shape of the sewn object detected, the periphery ora terminalis at a distance of sewn object is consolidated
The nest side position of fixed width degree is sewed.
Patent document 1：Japanese Patent Publication 7-28962 publications
Patent document 2：Japanese Unexamined Patent Publication 05-225315 publications
But in any one apparatus for sewing described in above-mentioned patent document 1,2, using lighting device relative to
Sewing object main body protrudes the periphery ora terminalis of sewn object, and the periphery ora terminalis of sewn object is identified using camera, therefore,
As shown in the prior art, the inwall of the internal face or positioning stage portion by the periphery ora terminalis of sewn object and opening can not be used
The cloth holding frame that face abuts and positioned.
Reason is, as shown in Figure 13 illustration, using cloth holding frame 9x with defined width to sewing owner's body 19
On the periphery edge of sewn object 21 kept, corresponding with the fabric thickness of sewn object 21, make sewn object 21
Positioning step portion of the periphery ora terminalis with being formed in opening 20x inner edge portion internal face 53 abut in the state of or making
Industry personnel set sewing object when there occurs position offset in the state of, the periphery ora terminalis of sewn object 21 it is some or all
Cloth holding frame 9x downside is hidden in, therefore, it is impossible to which the periphery ora terminalis of sewn object 21 is identified using camera.
In addition, as shown in Figure 14 illustration, due to the periphery ora terminalis of the sewn object 21 in sewing object main body 19 and in cloth
State that the opening 20y formed on material holding frame 9y internal face 52 abuts or sewn object 21 when cutting out it is each greatly
The change in size of the flexible material such as small deviation or leather, textile, sometimes cause sewn object 21 periphery ora terminalis not with it is interior
Wall 52 abuts, and turns into the state with slight gap.In the case, internal face 52 gets too close to the periphery of sewn object 21
Ora terminalis, accordingly, it is difficult to the shade of the periphery ora terminalis of sewn object 21 is protruded relative to sewing object main body using lighting device, can not
Identify the periphery ora terminalis of sewn object 21 exactly using camera.
The content of the invention
Therefore, problem of the invention is the energy by the state of cloth holding frame is good to the retentivity of sewn object
Accurately identifying for the periphery ora terminalis position of sewn object is enough realized, is carried out so as to high accuracy and stably with the periphery ora terminalis position
On the basis of sewing position at sewn object sewing.
The invention that technical scheme 1 is recorded is a kind of apparatus for sewing, and it has：
Sewing machine main body, it is sewed to sewn object；
Cloth feeding portion, it has cloth holding frame, makes the sewn object in the horizontal plane via the cloth holding frame
It is mobile, wherein, the cloth holding frame is formed with the sewing opening for making the sewing region of the sewn object expose with can falling pin
Portion；
Shape identification part, it is using subject detecting unit to the sewn object that is set in the cloth holding frame
Periphery ora terminalis position is identified；And
Sewing machine control unit, it is on the basis of the periphery ora terminalis position identified by the shape identification part, really
Determine sewing position, the sewing machine main body and the cloth feeding portion are controlled, to be sewed using the sewing position
Operation,
The apparatus for sewing is characterised by,
The cloth holding frame has：
Multiple abutting parts, it is abutted with the end face of the sewn object；And
Multiple rim detection opening portions, its be to the cloth holding frame carry out otch and with the sewing opening portion
It is continuously formed, exposes a part for the end of sewn object,
The shape identification part is using the subject detecting unit to the institute exposed in the rim detection opening portion
The periphery ora terminalis position for stating sewn object is detected, based in the rim detection with the periphery ora terminalis detected in opening portion
Position, the periphery ora terminalis position of the whole periphery of the sewn object is identified.
In the invention that technical scheme 2 is recorded, according to the apparatus for sewing described in technical scheme 1, it is characterised in that the shape
Shape identification part, by based on the adjacent rim detection of two in the abutting part with the outer circumference end detected in opening portion
Edge position, a pair periphery ora terminalis position corresponding with the abutting part are augmented, so as to the whole periphery to the sewn object
Periphery ora terminalis position is identified.
In the invention that technical scheme 3 is recorded, according to the apparatus for sewing described in technical scheme 2, it is characterised in that the shape
Shape identification part is configured to, can in the multiple abutting part, respectively selection setting with linear interpolation carry out it is described supplement or
The supplement is carried out with spline interpolation.
In the invention that technical scheme 4 is recorded, the apparatus for sewing according to any one of technical scheme 1 to 3, its feature
It is, the sewing machine control unit is generated for specifying institute based on the periphery ora terminalis position identified by the shape identification part
State the tailoring pattern data of sewing position.
In the invention that technical scheme 5 is recorded, according to the apparatus for sewing described in technical scheme 4, it is characterised in that the seam
Machine control unit of threading is stitched by pair standard to previously generate corresponding with the periphery ora terminalis position of the sewn object in design
Pattern data are corrected, with corresponding with the periphery ora terminalis position identified by the shape identification part, so as to generate
State tailoring pattern data.
In the invention that technical scheme 6 is recorded, according to the apparatus for sewing described in technical scheme 5, it is characterised in that the seam
Thread machine control unit, by being used for the two-dimensional coordinate for defining sewing position in the control for the cloth feeding portion, to put
Greatly, reduce, the in rotary moving or mode that moves in parallel, to according to the sewing position specified by the standard tailoring pattern data
The sewing path shape of determination carries out coordinate transform, so as to be corrected to the standard tailoring pattern data, with by described
The periphery ora terminalis position that shape identification part identifies is corresponding.
In the invention that technical scheme 7 is recorded, the apparatus for sewing according to any one of technical scheme 1 to 3, its feature
It is, calculates the periphery of the periphery ora terminalis position identified by the shape identification part relative to the sewn object in design
The offset of ora terminalis position, in the case where the offset exceedes defined threshold value, the position skew of display output sewn object.
The effect of invention
According to technical scheme 1 record invention, due to above-mentioned cloth holding frame carry out otch and with above-mentioned sewing
Multiple rim detection opening portions that a part for end being continuously formed with opening portion, making sewn object is exposed, so
The object using light and other electromagnetic waves as medium such as camera, laser displacement gauge can be utilized via rim detection opening portion
Detection unit, the edge line of the end is detected well, based on the sewn object in the rim detection opening portion detected
Periphery ora terminalis position, the periphery ora terminalis position of the whole periphery of sewn object is identified, therefore, sewn object can be carried out
Periphery ora terminalis position accurately identify.
Further, since sewing machine control unit is with the outer circumference end for the whole periphery of sewn object identified by shape identification part
Edge determines sewing position on the basis of position, so according to the present invention it is possible to high accuracy and stably carrying out with the outer of sewn object
The sewing of the sewn object at sewing position on the basis of Zhou Duanyuan positions.
The invention recorded according to technical scheme 2, sewn object corresponding with the abutting part of cloth holding frame can be included
The profile of sewn object is identified inside for periphery ora terminalis position, can accurately carry out the outer circumference end with sewn object
The sewing of the sewn object at sewing position on the basis of edge position.
The invention recorded according to technical scheme 3, can be with the edge of the sewn object exposed to rim detection opening portion
Line or with abutting part corresponding to sewn object edge line it is corresponding, and appropriate interpolating method is preset, by appropriate
Interpolation, it can accurately carry out the quilt at the sewing position on the basis of the periphery ora terminalis position of the whole periphery of sewn object
The sewing of sewing object.
The invention recorded according to technical scheme 4, based on the periphery ora terminalis position identified by shape identification part, generates and is used for
The tailoring pattern data of sewing position are specified, can accurately carry out the seam on the basis of the periphery ora terminalis position of sewn object
The sewing of the sewn object of opening position processed.
The invention recorded according to technical scheme 5, due to by being corrected to the standard tailoring pattern data previously generated,
With corresponding with the periphery ora terminalis position identified by shape identification part, so as to generate tailoring pattern data, it is possible to mitigate
Computational load, it can rapidly and accurately carry out the quilt at the sewing position on the basis of the periphery ora terminalis position of sewn object
The sewing of sewing object.
The invention recorded according to technical scheme 6, due to only by with zoom, in rotary moving or move in parallel
Mode, the sewing path shape of the standard tailoring pattern data to previously generating carries out coordinate transform, and generates tailoring pattern number
According to, it is possible to further mitigate computational load, can rapidly and accurately carry out the periphery ora terminalis position with sewn object
On the basis of sewing position at sewn object sewing.
The invention recorded according to technical scheme 7, it can notify to need to be readjusted by operating personnel to be stitched to operating personnel
The obvious sewn object position skew of the position of thing processed, by readjusting position by operating personnel, so as to high accuracy
Ground carries out the sewing of the sewn object at the sewing position on the basis of the periphery ora terminalis position of sewn object.
Brief description of the drawings
Fig. 1 is the oblique view of the apparatus for sewing involved by an embodiment of the invention.
Fig. 2 is the front view of the apparatus for sewing involved by an embodiment of the invention.Wherein, by camera separate and
It is indicated.
Fig. 3 is the control block diagram of the apparatus for sewing involved by an embodiment of the invention.
Fig. 4 is to install cloth in the cloth feeding portion of the apparatus for sewing involved by an embodiment of the invention to keep
The detailed oblique view of the state of frame.
Fig. 5 is the cloth maintaining part of the cloth holding frame involved by an embodiment of the invention and protected by the cloth
Hold the sewn object of portion's holding（Pocket cloth）Top view.
Fig. 6 is the cloth maintaining part of the cloth holding frame involved by an embodiment of the invention and protected by the cloth
Hold the sewn object of portion's holding（Pocket cloth）Top view, it is different from Fig. 5, show that cloth with positioning step portion is kept
Portion.
Fig. 7 is the sewn object recognized in an embodiment of the invention（Pocket cloth）Periphery ora terminalis position
Line chart.
Fig. 8 is the cloth maintaining part of the cloth holding frame involved by an embodiment of the invention and protected by the cloth
Hold the sewn object of portion's holding（Pocket cloth）Top view.Set with showing a case that sewn object skew.
Fig. 9 is the flow for representing the sewing processing involved by the apparatus for sewing involved by an embodiment of the invention
Flow chart.
Figure 10 is the sewn object involved by other embodiment of the present invention（Mark）Top view.
Figure 11 be the present invention other embodiment involved by cloth holding frame cloth maintaining part and by this
The sewn object that cloth maintaining part is kept（Mark）Top view.
Figure 12 is the sewn object identified in other embodiment of the present invention（Mark）Periphery ora terminalis position
The line chart put.
Figure 13 is the cloth maintaining part of the cloth holding frame involved by an example of prior art and protected by the cloth
Hold the sewn object of portion's holding（Pocket cloth）Top view, show the cloth maintaining part with positioning step portion.
Figure 14 is the cloth maintaining part of the cloth holding frame involved by an example of prior art and protected by the cloth
Hold the sewn object of portion's holding（Pocket cloth）Top view.
The explanation of symbol
1 apparatus for sewing
2 sewing machine main bodies
3 cloth feeding portions
4 shape identification parts
5 sewing machine control units
7 lower plates
8 housings
9 cloth holding frames
9a cloth holding frames
9b cloth holding frames
10 pedestals
11 arms
20 sewing opening portions
20a sewings opening portion
20b sewings opening portion
21 sewn objects（Pocket cloth）
22 abutting parts
23 abutting parts
24a, 24b rim detection opening portion
30 sewing opening portions
31 sewn objects（Mark）
32a, 32c abutting part
33a, 33b, 33c rim detection opening portion
41 cameras
42 lighting devices
Embodiment
Below, referring to the drawings, an embodiment of the invention is illustrated.It is one embodiment of the present invention below
Formula, but do not limit the invention.
(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
3rd, shape identification part 4, sewing machine control unit 5, tailoring pattern database 51 and display device 52.
Sewing machine main body 2 has the sewing machine of the sewing machine arm 2a of the action for carrying out suture needle etc., the action for carrying out kettle etc.
Base portion 2b and sewing machine table 2c, is sewed to sewn object.
Shape identification part 4 have camera 41, lighting device 42, image recognition control unit 43, setting input unit 44 and
Setting preserves database 45.Image recognition control unit 43 is controlled to camera 41 and lighting device 42, obtains image letter
Breath, the image procossings such as the edge extracting processing of acquired image are carried out, so as to carry out the shape recognition of sewn object.
Image recognition control unit 43, sewing machine control unit 5, setting input unit 44, setting preserve database 45 and sewing
Pattern database 51, it is the information processing system being made up of information processor, message input device and information-storing device,
And image recognition control unit 43 and sewing machine control unit 5 are acted by same or different IC chip, setting is protected
Deposit data storehouse 45 and tailoring pattern database 51 are implemented in same either different hard disk or IC chip, in sewing owner
The hardware configuration for forming or being formed as external device (ED) in the framework of body 2 etc..
Display device 52 can also arbitrarily carry out sound broadcasting in addition to image is shown.
As shown in figure 4, cloth feeding portion 3 is configured to, there is cloth feeding lower plate 7, cloth feeding housing 8, cloth feeding
Pedestal 10, cloth advancement arm 11 and XY drive divisions（Carried on sewing machine base portion 2b）.Can on cloth feeding housing 8
Removably fix cloth holding frame 9.Cloth feeding housing 8 be fixed on cloth advancement arm 11, cloth advancement arm 11 can on
Under be movably fixed on cloth feeding pedestal 10 on.In addition, cloth feeding lower plate 7 is fixed on cloth feeding pedestal 10.Cloth
Feeding pedestal 10 is configured to, can by the XY drive divisions that are made up of motor (not shown) or timing belt, synchronous pulley etc.,
Horizontal plane（X-Y plane in figure）Inside acted, cloth feeding lower plate 7, cloth feed housing 8 and are fixed on cloth
To the cloth holding frame 9 on the lower surface of housing 8, it is integrally formed with cloth feeding pedestal 10, is acted in the horizontal plane.Seam
Position processed is defined by the two-dimensional coordinate X-Y involved by the control in the cloth feeding portion 3.The sewing of each sewn object
Specified by tailoring pattern data corresponding with each sewn object position.Each tailoring pattern data are stored in tailoring pattern number
According in storehouse 51.
In cloth holding frame 9, formed with the sewing opening portion for making the sewing region of sewn object expose with can falling pin
20.In addition, cloth feeding portion 3 makes sewn object move in the horizontal plane via cloth holding frame.In addition, in this application, will
The Z-direction vertical with X-Y plane illustrates as above-below direction.
Sewn object 21 shown in Fig. 5 is the pocket cloth of jeans etc., and top turns into pocket mouth, is formed in lower end center
Pentagonal profile with summit.
In the cloth holding frame 9a shown in Fig. 5 corresponding thereto, sewing opening portion 20a is formed as channel-shaped, makes edge
The periphery end edge portion of the fixed width on 4 sides in addition to as the top of pocket mouth of sewn object 21 exposes upward.
Sewn object 21 is positioned in the sewing object main bodys such as the twill cloth being held in cloth feeding lower plate 7 and cloth feeding housing 8,
Pressed, to cause in the inboard portion surrounded by sewing opening portion 20a, will not be stuck up at the cloth holding frame 9a back side
Rise.
Sewing is formed along above-mentioned 4 sides respectively with opening portion 20a outside internal face, forms abutting part 22, the abutting part
22 are abutted with the periphery ora terminalis of sewn object 21, and the X-Y plane direction position of sewn object 21 is determined relative to cloth holding frame 9a
Put.Wherein, it is corresponding with 5 corners of sewn object 21 and form rim detection opening portion 24a, 24b.2 sides therein
Edge detection is formed at sewing opening portion 20a upside, 2 angles with the upper avris of sewn object 21 with opening portion 24b, 24b
Portion is corresponding.In addition, 3 corners of remaining 3 rim detection with opening portion 24a, 24a, 24a and the lower avris of sewn object 21
It is corresponding and formed.
It is preferred that the rim detection as more than shown in opening portion 24a, 24b, makes the periphery ora terminalis dew close with sewing position
The rim detection opening portion gone out, continuously it is integrally formed with opening portion with sewing.On the other hand, for such as pocket mouth central portion
The shown rim detection opening portion for exposing the periphery ora terminalis away from sewing position, can also be such as rim detection opening portion
（Dotted line part）Shown in 24c, to be configured relative to sewing with the state of opening portion independence, it is not necessary to necessarily by sewing opening
Portion and rim detection opening portion form the opening being integrated.In the present embodiment, it is not provided with rim detection opening portion
（Dotted line part）24c.In the case where rim detection opening portion and sewing are with opening portion one, rim detection can be used in
Open area and the open area repetition for sewing.Rim detection opening portion set via abutting part 22 it is multiple, to
The both ends of socket part 22 set rim detection opening portion.
That is, rim detection is to carry out otch to cloth holding frame 9a assigned position with opening portion 24a, 24b, is used with sewing
What opening portion 20a was continuously integrally formed, expose the periphery ora terminalis periphery of sewn object.In particular it is preferred to as being sewn
The periphery ora terminalis periphery of thing, exposes corner.
Making rim detection be formed with opening portion 24a, 24b by towards sewing in a manner of opening 20a outside expansion,
So as in the range of the rim openings portion 24a, 24b, widely be set between the periphery ora terminalis and internal face of sewn object 21
Gap is put, the shade of the periphery ora terminalis of sewn object 21 can be protruded relative to sewing object main body, therefore, can easily be passed through
Subject detecting unit carries out the periphery ora terminalis position detection of sewn object 21.In the present embodiment, subject detecting unit is by shining
Camera 41 is formed.
On the other hand, identical sewn object 21 and cloth holding frame 9b corresponding thereto are also showed that in figure 6.But
It is the construction for the positioning stage portion that the cloth holding frame 9b shown in Fig. 6 is illustrated using reference picture 13.
That is, in the cloth holding frame 9b shown in Fig. 6, the internal face of positioning stage portion forms abutting part 23, itself and quilt
The periphery ora terminalis of sewing object 21 is abutted, and the X-Y plane direction position of sewn object 21 is determined relative to cloth holding frame 9b.For
Other aspects, cloth holding frame 9b are identical with Fig. 5 cloth holding frame 9a.In figure 6, sewn object 21 is by cloth holding frame
9b sewing quilt at the periphery end edge portion of the opening portion 20b inboard portion surrounded and the fixed width at abutting part 23
Pressing, not tilted at the cloth holding frame 9b back side.
(flow of sewing processing)
Applied in the cloth holding frame 9a to said structure, when being sewed using apparatus for sewing 1, operating personnel to
Cloth holding frame 9a sewing setting sewn object 21 on the 20a of opening portion（Fig. 9, step S3）.Now, sewn object 21 passes through
The abutting part 22 being made up of the sewing set on cloth holding frame 9a with opening portion 20a internal face, carry out position limitation, phase
Correctly positioned for cloth holding frame 9a.But it is also possible to each size when cutting out due to sewn object 21
Change in size of the flexible material such as deviation or leather, textile etc. so that the He of abutting part 22 being arranged on cloth holding frame 9a
The periphery ora terminalis of sewn object 21 does not abut, and trickle gap be present.
Then, using lighting device 42 to being positioned at cloth holding frame 9a sewn object of the sewing on the 20a of opening portion
21 are irradiated, and the periphery ora terminalis of sewn object 21 is shot using camera 41（Fig. 9, step S4）.Now, setting
In the rim detection on cloth holding frame 9a with opening portion 24a, 24b, between the periphery ora terminalis and internal face of sewn object 21
Gap setting enough to width, therefore, pass through sewn object of the rim detection of lighting device 42 in opening portion 24a, 24b
The shade of 21 periphery ora terminalis is clear.
Then, the image recognition control unit 43 of shape identification part 4, to the image of the sewn object 21 shot by camera 41
Data carry out edge extracting processing.Now, as carry out edge extracting processing position, only to rim detection opening portion 24a,
The periphery ora terminalis of taken sewn object 21 carries out edge extracting processing in 24b.In the case, with carrying out sewn object
The situation of the edge extracting processing of 21 periphery ora terminalis whole circumference is compared, the spent computer processing time of edge extracting processing
Significantly shorten.The periphery ora terminalis position of sewn object 21 extracted is handled by the edge extracting, is as shown in Figure 7 solid
The position that line 25 represents.
That is, shape identification part 4 utilizes camera 41（Subject detecting unit）To the quilt exposed in rim detection opening portion
The periphery ora terminalis position of sewing object 21 is detected, and based on detection, the periphery ora terminalis position of sewn object 21 is identified.
Applied to the cloth holding frame 9b shown in Fig. 6, in the case of being sewed using apparatus for sewing 1, also phase
With ground, sewing setting sewn object 21 on the 20b of opening portion to cloth holding frame 9b（Fig. 9, step S3）, by lighting device
In the state of 42 are illuminated, shot using camera 41（Fig. 9, step S4）.
In the case, the periphery end edge portion of the sewn object 21 of the Rack at abutting part 23, positioned at cloth
Holding frame 9b downside.Therefore, the part can not carry out edge extracting, but identical with the cloth holding frame 9a shown in Fig. 5, only
Edge extracting processing is carried out with the scope in opening portion 24a, 24b to rim detection.
The periphery ora terminalis of sewn object 21 extracted is handled by the edge extracting, also turns into as shown in Figure 7 solid
The position that line 25 represents.
As noted above, shape identification part 4 is using camera 41 to exposing in rim detection opening portion 24a, 24b
The periphery ora terminalis position of sewn object 21（Edge）Detected（Fig. 9, step S5）.
In order to which the edge extracting processing by more than is limited to rim detection with the image-region shot in opening portion, operation
Personnel carry out the setting at edge extracting position in advance（Fig. 9, step S1）.For example, in the edge extracting shown by display device 52
On the setting screen at position, using window to edge extract part（Rim detection is with opening portion 24a, 24b）Divided, from
And set.The setting at the edge extracting position inputs from setting input unit 44 to image recognition control unit 43, with each quilt
Sewing object is stored in setting and preserved in database 45 in association, when calling the stitch data of the sewn object every time, carries out
Call and use, in addition, setting can update.
In addition, it is set as, cloth holding frame 9（9a、9b）Do not enter the inner side of the window at division edge extracting position.Its mesh
Be, will not be mistakenly by cloth holding frame 9（9a、9b）Boundary portion be determined as the periphery ora terminalis of sewn object 21.Thus,
Only to carrying out edge extracting processing with the view data of the scope divided using window in opening portion 24a, 24b in rim detection.
Captured view data carries out edge extracting processing by image recognition control unit 43.Generally, binaryzation is passed through
Processing etc. carries out edge extracting processing to the view data of shooting.Coordinate in obtained image, profit are handled by edge extracting
With the transform calculated according to the relative position of camera 41 and cloth feeding portion 3, it is transformed to by image recognition control unit 43
Two-dimensional coordinate X-Y involved by the control in cloth feeding portion 3.That is, entered with can correctly carry out the cloth based on shooting image
Converted to the mode of the sewing position control in portion 3.When being shot using camera 41, no matter cloth feeding portion 3 is located at
Which coordinate, the coordinate in the cloth feeding portion 3 when shooting is inputted to image recognition control unit 43, using above-mentioned transform just
Really convert.In addition, the setting coordinate of camera 41 is also pre-entered to image recognition control unit 43, no matter camera 41 is set
Which, in position, correctly converted using above-mentioned transform.In fig. 1 it is shown that it is fixed on the photograph on sewing machine arm 2a
Camera 41 and lighting device 42, but can also be by camera 41 and lighting device 42 from sewing machine main body 2（Such as along X side
To）It is remote and set, in the case, cloth holding frame 9 is being configured to the shooting model of camera 41 using cloth feeding portion 3
In enclosing and after being shot, cloth holding frame 9 is moved to the direction of sewing machine main body 2 using cloth feeding portion 3, sewed
Operation.Therefore, can make camera 41 and lighting device 42, comprising their shape identification part 4 etc. also not with sewing
Owner's body 2 integratedly carries, and is made up of relative to sewing machine main body 2 other units, as long as connection each several part is as shown in Figure 3
Can.
Below, rim detection is illustrated with the setting position of opening portion.Such as portion is being sewn as pocket cloth
Shown in 21 periphery ora terminalis, in the case of being made up of multiple line parts, rim detection at least is set at the both ends of each line part
Use opening portion.In the case where line part is shorter, preferably using line part integrally as rim detection opening portion.Can also be straight
The midway in line portion, 1 is set to multiple rim detection opening portions.
It is right by edge extracting processing acquirement and abutting part 22 in the case where using the cloth holding frame 9a shown in Fig. 5
The periphery ora terminalis position for the sewn object 21 answered.On the other hand, in the case where using the cloth holding frame 9b shown in Fig. 6, such as
Shown in Fig. 7, according to the periphery ora terminalis position exposed from rim detection with opening portion 24a, 24 detected by edge extracting i.e.
Heavy line 25, the periphery ora terminalis position that pair sewn object 21 corresponding with abutting part 23 is handled using linear interpolation are identified
（Fig. 9, step S6）.
The interpolation processing method of this non-edge extract part, sets beforehand through the operation of operating personnel.That is, pass through
The operation of operating personnel, inputted from setting input unit 44 to image recognition control unit 43, and be stored in setting and preserve database 45
In（Fig. 9, step S2）.The setting can divide by image recognition control unit 43 in multiple abutting parts 22 or abutting part 23
It Xuan Ze not set and be augmented with linear interpolation or augmented with spline interpolation.Herein, all selection is straight by operating personnel
Line interpolation.
Image recognition control unit 43 makes the linear interpolation process part i.e. double dot dash line 26 so obtained（Fig. 7）And heavy line
25（Fig. 7）Alignment, it is defined as the periphery ora terminalis position of sewn object 21, completes the periphery ora terminalis of the whole periphery of sewn object 21
Position（Edge）Identifying processing（Fig. 9, step S7）.
That is, shape identification part 4 is using the image recognition control unit 43 for forming the shape identification part 4, based in the abutting part
Two adjacent rim detections with the periphery ora terminalis position detected in opening portion, pair sewn object 21 corresponding with abutting part
Periphery ora terminalis position augmented, can select setting the supplement is carried out with linear interpolation or the increasing is carried out with spline interpolation
Mend.
Image recognition control unit 43 is by the periphery ora terminalis position of the whole periphery of the sewn object 21 identified through the above way
The data put are sent to sewing machine control unit 5.
Sewing machine control unit 5 on the basis of the periphery ora terminalis position of the sewn object 21 identified by shape identification part 4, it is determined that
The sewing position in sewing region exposed to sewing opening 20a, 20b.Therefore, sewing machine control unit 5 is based on knowing from image
The data of the periphery ora terminalis position of the whole periphery for the sewn object 21 that other control unit 43 obtains, generate tailoring pattern data（Figure
9, step S8）.
That is, sewing machine control unit 5 is generated for specifying sewing based on the periphery ora terminalis position identified by shape identification part 4
The tailoring pattern data of position.
Tailoring pattern data can also be based on the periphery ora terminalis position of the whole periphery of sewn object data and along quilt
4 sides in addition to as the top of pocket mouth of sewing object 21 at a distance of the inner side of periphery ora terminalis position fixed range to carrying out
The order of sewing（It is not the form of tailoring pattern data）And generate.The order can be shown with operating personnel in display device 52
The mode determined on the coordinate picture shown inputs one by one.
Tailoring pattern data can be by being corrected, with being known by shape to the standard tailoring pattern data logged in advance
The periphery ora terminalis position for the sewn object 21 that other portion 4 identifies is corresponding, so as to efficiently generate.Standard tailoring pattern data entry
In tailoring pattern database 51.Standard tailoring pattern data are relative with the periphery ora terminalis position of the sewn object 21 in design
Answer and previously generate.In other words, standard tailoring pattern data do not have the feelings of error in the periphery ora terminalis position of sewn object 21
It is exactly corresponding tailoring pattern data under condition.Therefore, to cause the periphery ora terminalis by standard tailoring pattern data as benchmark
The difference of position and the periphery ora terminalis position of the sewn object 21 identified by shape identification part 4 converges on fixed permissible range
Interior mode, standard tailoring pattern data are modified by sewing machine control unit 5, as being arranged at cloth holding frame
The tailoring pattern data that sewn object 21 on 9 performs.
Thus, for example, sewing machine control unit 5 in the control for cloth feeding portion 3 by being used to define sewing position
Two-dimensional coordinate X-Y on, to amplify, reduce, in rotary moving or in a manner of moving in parallel, to according to by standard tailoring pattern
The sewing path shape that the sewing position that data are specified determines carries out coordinate transform, so as to carry out school to standard tailoring pattern data
Just, with corresponding with the periphery ora terminalis position identified by shape identification part 4.
Then, sewing machine control unit 5 is based on the tailoring pattern data generated, to sewing machine main body 2 and cloth feeding portion 3
Drive system send control signal, carry out sewing operations.
That is, by the control of sewing machine control unit 5, sewing action is carried out by sewing machine main body 2, while portion is fed by cloth
3 make sewn object 21 be acted in horizontal plane X-Y, to cause the sewing position specified according to tailoring pattern data successively
By needle downing position, the position of the periphery ora terminalis fixed width at a distance of sewn object 21 is sewed exactly（Fig. 9, step
S9）.It is as noted above, because sewn object 21 is maintained at cloth holding frame 9（9a、9b）On, so preventing from being stitched in sewing
Thing processed tilts, and forms the stitching of beauty.
In other words, sewing machine control unit 5 is controlled to sewing machine main body 2 and cloth feeding portion 3, with by shape identification part
Sewing position is determined on the basis of the 4 periphery ora terminalis positions identified, sewing operations are carried out in the sewing position.
In addition, as shown in figure 8, even for operating personnel set sewn object 21 caused by position offset, also with
It is above-mentioned in the same manner, by carrying out the periphery ora terminalis position extraction process in rim detection opening portion 24a, 24b, interpolation processing,
So as to identify the periphery ora terminalis position of the whole periphery of sewn object 21.Now, the quilt in sewn object 21 from design
In the case that the periphery ora terminalis position of sewing object 21 is offset to the scope that can not be allowed, it can also notify to be sewn to operating personnel
The position skew of thing.Therefore, sewing machine control unit 5 calculates the periphery ora terminalis position identified by shape identification part 4 relative to setting
The offset of the periphery ora terminalis position of sewn object 21 on meter.Then, sewing machine control unit 5 exceedes defined in the offset
In the case of threshold value, the position of sewn object is offset into display device 52 and carries out display output.Defined threshold value is set as, energy
Enough distinguish that sewn object 21 as shown in Figure 8 protrudes from abutting part 22 or from can not the allowing of significantly leaving of abutting part 22
Setting state.
In addition, in the present embodiment, camera is used as subject detecting unit, from the image shot by camera
In data, the data of the periphery ora terminalis position of sewn object are obtained by edge extracting processing, but can also for example be used following
Etc. other modes：Obtain and stitched in the elevation information of the sewn object handled etc. from the auto-focusing using camera or pan focus
The mode of the periphery ora terminalis position data of thing processed or obtained by laser displacement gauge etc. from the elevation information of sewn object outer
The mode of the data of Zhou Duanyuan positions.Even if subject detecting unit is changed into various forms, medium is changed to various wavelength
Or light, other electromagnetic waves of polarized light property, as long as make it that the detection at sewn object edge is good via rim detection opening portion
It is good, then possess the meaning using this technology.
In addition, in the present embodiment, by pocket cloth（Sewn object）It is placed in twill cloth（Sewing object main body）
On assigned position after, make cloth holding frame 9a decline, sack cloth material and twill cloth are pressed.In this condition, should
For by pocket cloth to situation about sewing on twill cloth.
On the other hand, present invention could apply to following situations：To cloth（Sewing object main body）Upper sewing mark or label（Quilt
Sewing object）In the case of, the notch more smaller than the outer shape of the mark or label is formed in cloth holding frame, also,
Multiple rim detection opening portions that a part for the end for making sewn object is exposed are formed in the cloth holding frame.The situation
Under work flow be, using cloth holding frame pressing cloth after, will mark or label（Sewn object）Pacify on to notch
Position is set, then the periphery ora terminalis position of sewn object is identified, by pocket cloth to sewing on twill cloth.
(other embodiment)
Below, as other embodiment, the situation that sewn object is the mark 31 shown in Figure 10 is illustrated.Sewing
Device 1 and its process content are roughly the same with above-mentioned content, but mark 31 has curved profile, therefore, sample are set in selection
On this point of bar interpolation, is different.It is specifically described below.
In the case of the sewn object 31 shown in Figure 10, by setting seam as shown in figure 11 on cloth holding frame 9c
System opening portion 30, abutting part 32a, 32c, to be continuously integrally formed and towards sewing opening 30 with opening portion 30 with sewing
Outer expandable and rim detection opening portion 33a, 33b, 33c for being formed, thus allow for the outer circumference end of sewn object 31
The identification of edge position.
With above-mentioned sewn object（Pocket cloth）21 situation in the same manner, using lighting device 42 in cloth holding frame
9c sewing is irradiated with the sewn object 31 positioned on opening portion 30, the outer circumference end using camera 41 to sewn object 31
Edge is shot（Fig. 9, step S4）.At this point it is possible to the rim detection opening portion 33a set on cloth holding frame 9c,
In 33b, 33c, sufficient space is set between the periphery ora terminalis of sewn object 31 and cloth holding frame, therefore, passes through illumination
Device 42 make it that the shade of the periphery ora terminalis of the sewn object 31 exposed in rim detection opening portion 33a, 33b, 33c is clear
It is clear.
Then, the image recognition control unit 43 of shape identification part 4 is to the image of the sewn object 31 shot by camera 41
Data carry out edge extracting processing（Fig. 9, step S5）.Now, for the position of progress edge extracting processing, only at edge
Detection carries out edge extracting processing with the periphery ora terminalis of the sewn object 31 of shooting in opening portion 33a, 33b, 33c.In this situation
Under, compared with the situation of edge extracting processing is carried out to the whole circumference of the periphery ora terminalis of sewn object 31, edge extracting processing
The computer processing time spent is greatly shortened.The periphery ora terminalis of the sewn object 31 extracted is handled by the edge extracting
It is the position that heavy line 34 as shown in Figure 12 represents.
Below, rim detection is illustrated with the setting position of opening portion.Such as it is being sewn the periphery ora terminalis institute in portion 31
Show, in the case of being made up of line part and curve part, for line part, identically with the above-mentioned situation for being sewn portion 21, extremely
It is few that at the both ends of each line part, rim detection opening portion is set.It is preferably that line part is whole in the case where line part is shorter
Body is as rim detection opening portion 33b.1 can also be set to multiple rim detection opening portions in the midway of line part.
The curve part represented with same Radius, edge is set to examine at least near the both ends of each curve part and intermediate point
Opening portion 33c is used in survey.In addition, though not shown, but in the case where the curve part represented with same Radius is shorter, also with straight line
Portion in the same manner, preferably makes curve part integrally expose in rim detection opening portion.Can also be in the midway of curve part, except centre
Outside near point, 1 is also set up to multiple rim detection opening portion 33c.In addition, though not shown, but multiple radiuses or by
Gradually make the curve part of radius change, rim detection opening portion not only is set at the both ends of curve part, but also wherein
Way sets multiple rim detection opening portions.Make in multiple radiuses or little by little the shorter situation of the curve part of radius change
Under, also in the same manner as described above, preferably curve part is integrally exposed in rim detection opening portion.
Abutting part 32a, the 32c couple formed with the sewing by being set on cloth holding frame 9c with the internal face of opening portion 30
The periphery ora terminalis position answered, it is according to the periphery ora terminalis position i.e. heavy line 34 detected by edge extracting（Figure 12）, utilize
Image recognition control unit 43 carries out interpolation processing, so as to what is obtained（Fig. 9, step S6）.Therefore, operating personnel from setting input unit
44 carry out setting for linear interpolation to the input pin pair of image recognition control unit 43 periphery ora terminalis corresponding with linear abutting part 32a
It is fixed, and the setting for periphery ora terminalis corresponding with curvilinear abutting part 32c progress spline interpolation（Fig. 9, step S2）.
Image recognition control unit 43 is by the linear interpolation process part so obtained i.e. double dot dash line 35（Figure 12）, as sample
The double dot dash line 36 of bar interpolation processing part（Figure 12）And heavy line 34（Figure 12）Alignment, it is defined as the outer of sewn object 31
Zhou Duanyuan positions, complete the identifying processing of the periphery ora terminalis position of sewn object 31（Fig. 9, step S7）.
Then, with above-mentioned sewn object（Pocket cloth）21 situation in the same manner, for sewn object（Mark）31 enter
The generation of row tailoring pattern data（Fig. 9, step S8）, sewed（Fig. 9, step S9）.
As described above, according to the apparatus for sewing of above-mentioned embodiment, because cloth holding frame is to sewn object
Retentivity is good, and the periphery ora terminalis position of sewn object can be accurately identified, it is possible in high precision and stably
Ground carries out the sewing of the sewn object at the sewing position on the basis of the periphery ora terminalis position of sewn object.
Claims (7)
1. a kind of apparatus for sewing, it has：
Sewing machine main body, it is sewed to sewn object；
Cloth feeding portion, it has cloth holding frame, the sewn object is moved in the horizontal plane via the cloth holding frame,
Wherein, the cloth holding frame is formed with the sewing opening portion for making the sewing region of the sewn object expose with can falling pin；
Shape identification part, it is using subject detecting unit to the periphery of the sewn object set in the cloth holding frame
Ora terminalis position is identified；And
Sewing machine control unit, it is on the basis of the periphery ora terminalis position identified by the shape identification part, it is determined that seam
Position processed, the sewing machine main body and the cloth feeding portion are controlled, to carry out sewing operations using the sewing position,
The apparatus for sewing is characterised by,
The cloth holding frame has：
Multiple abutting parts, it is abutted with the end face of the sewn object；And
Multiple rim detection opening portions, it is continuous with the sewing opening portion to cloth holding frame progress otch
What ground was formed, expose a part for the end of sewn object,
The shape identification part is using the subject detecting unit to the quilt that exposes in the rim detection opening portion
The periphery ora terminalis position of sewing object is detected, based in the rim detection with the periphery ora terminalis position detected in opening portion
Put, the periphery ora terminalis position of the whole periphery of the sewn object is identified.
2. apparatus for sewing according to claim 1, it is characterised in that
The shape identification part, by based on the adjacent rim detection of two in the abutting part with being detected in opening portion
The periphery ora terminalis position gone out, a pair periphery ora terminalis position corresponding with the abutting part are augmented, so as to the sewn object
The periphery ora terminalis position of whole periphery is identified.
3. apparatus for sewing according to claim 2, it is characterised in that
The shape identification part is configured to, can be in the multiple abutting part, and selection setting respectively carries out institute with linear interpolation
State supplement or the supplement is carried out with spline interpolation.
4. apparatus for sewing according to any one of claim 1 to 3, it is characterised in that
The sewing machine control unit is generated described for specifying based on the periphery ora terminalis position identified by the shape identification part
The tailoring pattern data of sewing position.
5. apparatus for sewing according to claim 4, it is characterised in that
The sewing machine control unit by pair with design on the sewn object periphery ora terminalis position it is corresponding and pre- Mr.
Into standard tailoring pattern data be corrected, with corresponding with the periphery ora terminalis position identified by the shape identification part,
So as to generate the tailoring pattern data.
6. apparatus for sewing according to claim 5, it is characterised in that
The sewing machine control unit, by being sat in the control for the cloth feeding portion to be used to define the two dimension of sewing position
Put on, to amplify, reduce, in rotary moving or in a manner of moving in parallel, to being specified according to by the standard tailoring pattern data
The sewing path shape that determines of sewing position carry out coordinate transform, so as to being corrected to the standard tailoring pattern data,
With corresponding with the periphery ora terminalis position identified by the shape identification part.
7. apparatus for sewing according to any one of claim 1 to 3, it is characterised in that
Calculate the periphery of the periphery ora terminalis position identified by the shape identification part relative to the sewn object in design
The offset of ora terminalis position, in the case where the offset exceedes defined threshold value, the position skew of display output sewn object.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012244957A JP5993283B2 (en) | 2012-11-07 | 2012-11-07 | Sewing device |
| JP2012-244957 | 2012-11-07 |
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|---|---|
| CN103806225A CN103806225A (en) | 2014-05-21 |
| CN103806225B true CN103806225B (en) | 2017-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310549801.9A Active CN103806225B (en) | 2012-11-07 | 2013-11-07 | Apparatus for sewing |
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| CN (1) | CN103806225B (en) |
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| CN103993431B (en) * | 2014-06-12 | 2016-02-03 | 杰克缝纫机股份有限公司 | A kind of vision correction methods for sewing and system |
| JP2016063894A (en) * | 2014-09-24 | 2016-04-28 | Juki株式会社 | Shape recognition device and sewing machine |
| JP2017169760A (en) * | 2016-03-23 | 2017-09-28 | ブラザー工業株式会社 | Conveyance device and conveyance system |
| KR101743997B1 (en) * | 2016-05-26 | 2017-06-07 | 주식회사 비오지엠 | Pattern Sewing machine Controlled automatically and the Method for Controlling thereof |
| WO2018206145A1 (en) * | 2017-05-08 | 2018-11-15 | Pfaff Industriesysteme Und Maschinen Gmbh | Pocket sew-on template, and automatic sewing system and method for producing a cargo pocket |
| JP2019005500A (en) * | 2017-06-28 | 2019-01-17 | ブラザー工業株式会社 | Sewing system |
| JP7045147B2 (en) * | 2017-07-19 | 2022-03-31 | Juki株式会社 | sewing machine |
| JP7108431B2 (en) * | 2018-03-07 | 2022-07-28 | Juki株式会社 | MOTOR CONTROL DEVICE, SEWING MACHINE, AND MOTOR CONTROL METHOD |
| JP7093217B2 (en) * | 2018-04-09 | 2022-06-29 | Juki株式会社 | Sewing system |
| DE102018207931A1 (en) * | 2018-05-18 | 2019-11-21 | Pfaff Industriesysteme Und Maschinen Gmbh | Method for regulating the position of a seam course relative to structures of a sewing material |
| JP7316420B2 (en) * | 2018-06-20 | 2023-07-27 | Juki株式会社 | Sewing machine and sewing method |
| WO2020110281A1 (en) | 2018-11-30 | 2020-06-04 | オリンパス株式会社 | Gripping mechanism |
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| US5584258A (en) * | 1994-12-23 | 1996-12-17 | Ideal Equipment Company, Ltd. | Semi-automatic pocket and pocket flap setter |
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| JP2649540B2 (en) * | 1988-04-28 | 1997-09-03 | 蛇の目ミシン工業株式会社 | Embroidery sewing machine |
| IT1231079B (en) * | 1988-10-20 | 1991-11-12 | Kochs Adler Ag | PROCESS AND DEVICE FOR SEWING A COLLAR ON A BODY OF A CLOTHING GARMENT. |
| JPH0368874U (en) * | 1989-11-10 | 1991-07-08 | ||
| JP2602977B2 (en) * | 1990-04-27 | 1997-04-23 | ジューキ株式会社 | Work supply device for sewing device |
| JPH0489092A (en) * | 1990-07-31 | 1992-03-23 | Juki Corp | Fabric feeder for pattern sewing machine |
| JP3368921B2 (en) * | 1992-10-15 | 2003-01-20 | ジューキ株式会社 | Device for correcting sewing patterns in electronic cycle sewing machines |
| JPH07148370A (en) * | 1993-11-30 | 1995-06-13 | Juki Corp | Automatic sewing machine |
| JP2000271366A (en) * | 1999-03-19 | 2000-10-03 | Aisin Seiki Co Ltd | Manual clamp type fabric holding frame |
| JP2006115910A (en) * | 2004-10-19 | 2006-05-11 | Juki Corp | Sewing machine and sewing data preparation device |
| JP2012179229A (en) * | 2011-03-01 | 2012-09-20 | Brother Ind Ltd | Sewing machine, seam data generation device, and seam data generation program |
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| US5584258A (en) * | 1994-12-23 | 1996-12-17 | Ideal Equipment Company, Ltd. | Semi-automatic pocket and pocket flap setter |
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| JP2014091008A (en) | 2014-05-19 |
| CN103806225A (en) | 2014-05-21 |
| JP5993283B2 (en) | 2016-09-14 |
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