CN108691101A - Benchmark image generates system and sewing system - Google Patents

Benchmark image generates system and sewing system Download PDF

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Publication number
CN108691101A
CN108691101A CN201810271355.2A CN201810271355A CN108691101A CN 108691101 A CN108691101 A CN 108691101A CN 201810271355 A CN201810271355 A CN 201810271355A CN 108691101 A CN108691101 A CN 108691101A
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CN
China
Prior art keywords
sewing
cloth
image
arm
posture
Prior art date
Application number
CN201810271355.2A
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Chinese (zh)
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CN108691101B (en
Inventor
山浦宏贵
广瀬香澄
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兄弟工业株式会社
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Priority to JP2017-072434 priority Critical
Priority to JP2017072434A priority patent/JP2018171342A/en
Application filed by 兄弟工业株式会社 filed Critical 兄弟工业株式会社
Publication of CN108691101A publication Critical patent/CN108691101A/en
Application granted granted Critical
Publication of CN108691101B publication Critical patent/CN108691101B/en

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Classifications

    • DTEXTILES; PAPER
    • D05SEWING; EMBROIDERING; TUFTING
    • D05BSEWING
    • D05B19/00Programme-controlled sewing machines
    • D05B19/02Sewing machines having electronic memory or microprocessor control unit
    • D05B19/04Sewing machines having electronic memory or microprocessor control unit characterised by memory aspects
    • DTEXTILES; PAPER
    • D05SEWING; EMBROIDERING; TUFTING
    • D05BSEWING
    • D05B27/00Work-feeding means
    • DTEXTILES; PAPER
    • D05SEWING; EMBROIDERING; TUFTING
    • D05BSEWING
    • D05B69/00Driving-gear; Control devices

Abstract

The present invention relates to benchmark images to generate system and sewing system.Benchmark image, which generates system, has shooting control part, display control unit, changing unit and benchmark image generating unit.Shooting control part sews object using filming apparatus shooting, and using shooting result as sewing object images.Display control unit shows sewing object images and standard picture in display unit.The position of sewing object of the standard picture with the sewing content based on sewing machine when delivery position joins sewing object to sewing machine and posture are corresponding.Changing unit to sewing object images in sewing object position and posture change, be allowed to in standard picture position and posture it is corresponding.Benchmark image generating unit stores the sewing object obtained behind position and posture changing change image to storage part as reference image data.

Description

Benchmark image generates system and sewing system

Technical field

The present invention relates to benchmark images to generate system and sewing system.

Background technology

There is known a kind of technology, which holds manipulating object by using manipulator, manipulator is made to be moved to target position It sets, to configure manipulating object in target location.System of robot described in Japanese Unexamined Patent Publication No. 013589 bulletin in 2016 System makes manipulator be moved to camera site after holding manipulating object using manipulator.Shoot part is in shooting in manipulator Manipulator is shot when position, and manipulating object is detected from shooting image.Robot system is based on testing result, right Control point target location posture is calculated, and manipulator is made to move, so that control point target location posture and target location appearance Gesture is consistent.Robot system makes manipulator move, makes work after calculating control point target location posture using teaching apparatus The posture of industry object is consistent with aiming spot posture.

Above-mentioned robot system makes manipulator movement make the posture and mesh of manipulating object by using teaching apparatus Punctuate posture is consistent.For example, in order to implement processing to the manipulating object for being configured in target location, by manipulating object Configuration needs the correct sets such as the direction of manipulating object at target location.Above-mentioned robot system is made using teaching apparatus When manipulator moves, it is not clear that posture of the manipulating object at target location, accordingly, it is difficult to make the posture of manipulating object It is consistent with aiming spot posture.

Invention content

It is an object of the present invention to provide benchmark images to generate system and sewing system, which generates system and seam System processed can easily produce the benchmark image for manipulating object to be transported to target location.

The benchmark image of technical solution 1 generates system and is characterized in that, which generates system and indicated for generating The reference image data of the reference position of sewing object in sewing system, can be based on the reference image data of the sewing object It is controlled and the conveying arm in the sewing system is transported to defined delivery position, the sewing system has:Maintaining part, It can keep the sewing object;The maintaining part can be transported to institute by the conveying arm from defined holding position State delivery position;And sewing machine, the sewing object that the delivery position is transported to by the conveying arm can be carried out It keeps, and defined sewing processing is executed to the sewing object by the lifting action of eedle, which generates system Have:Filming apparatus, with comprising in the prescribed limit including the sewing object in the holding position for shooting model It encloses;Storage part is stored with the standard picture as standard image data, the standard picture and the sewing based on the sewing machine The position of the sewing object of the content when the delivery position joins the sewing object to the sewing machine and posture phase It is corresponding;Shooting control part, when the maintaining part is in the holding position in the state of remain the sewing object, The sewing object is shot using the filming apparatus, and using shooting result as sewing object images;Changing unit, To it is described sewing object images in the sewing object position and posture change, be allowed to in the standard picture The position and posture it is corresponding;And benchmark image generating unit, will utilize the changing unit to the position and posture into The image of the sewing object obtained after row change sew object change image as the reference image data store to The storage part.

The filming apparatus of the system with comprising being in the prescribed limit including the sewing object in defined holding position Coverage sewing object is shot.Storage part is stored with the standard picture as standard image data, the standard drawing As corresponding with the position of the sewing object based on sewing content when delivery position joins sewing object to sewing machine and posture. Benchmark image, which generates system, can utilize sewing object images and standard picture, and to sewing the position of object, posture changes, To be allowed to corresponding with the position in standard picture, posture.Therefore, benchmark image generates system by using standard picture, energy Enough sewing contents with sewing object correspondingly easily produce the base for being accurately transported to delivery position for that will sew object Quasi- image.

Can also be that the benchmark image of technical solution 2, which generates system, to be had:Display unit can be shown by the shooting The shooting image for the coverage that device photographed;And display control unit, show the standard picture in the display unit With the sewing object images photographed by the shooting control part, the changing unit is to utilizing the display control unit described The position of the sewing object in the sewing object images that display unit is shown and posture change, be allowed to it is described The position and posture in standard picture is corresponding.Display unit is using the image of the sewing object photographed by filming apparatus as seam Object images processed are shown, therefore, for operator, enable to sewing the position of object, posture change with It is allowed to be easier to the position in standard picture, corresponding operate of posture.

It can also be the standard image data stored in the storage part of the benchmark image generation system of technical solution 3 It is and the tailoring pattern image data as the corresponding stitching image of the sewing tailoring pattern of content.Due to will be with sewing The corresponding stitching image of pattern is shown in display unit as standard picture, and therefore, operator is in the position to sewing object, appearance When gesture is changed to be allowed to corresponding with the position in standard picture, posture, it is easy to confirm the position for being used as target by naked eyes It sets, posture.Therefore, benchmark image, which generates system, can more easily generate benchmark image.

It can also be the standard image data stored in the storage part of the benchmark image generation system of technical solution 4 Including the initial needle downing position for being denoted as the eedle of the sewing content falls needle marked image data.Due to by eedle Initial needle downing position be shown in display unit as standard picture, therefore, operator to sewing the position of object, posture carries out When change is to be allowed to stitch corresponding with the position in standard picture, posture, it is easy to hold sewing content.Therefore, benchmark image is given birth to Benchmark image can be more easily generated at system.

The sewing system of technical solution 5 has:Maintaining part can keep sewing object;Conveying arm, can will be described Maintaining part is transported to defined delivery position from defined holding position;And sewing machine, it can be to being conveyed by the conveying arm The sewing object to the delivery position is kept, and executes rule to the sewing object by the lifting action of eedle Fixed sewing processing, the sewing system are characterized in that the sewing system has:Filming apparatus, with comprising in the guarantor Hold in the prescribed limit including the sewing object of position is coverage;Storage part is stored with described defeated comprising controlling Send arm to the control program that is conveyed of sewing object and by the benchmark image described in any one of technical solution 1~4 The reference image data that generation system generates;Generating unit, according to the outer of the sewing object photographed by the filming apparatus Shape parses the position of the sewing object in the prescribed limit, posture, and generates relatively count based on analysis result According to;Comparing section, to the relatively data generated by the generating unit and the benchmark image stored in the storage part Data are compared, and calculating difference;Determination unit, after being compared through the comparing section, to it is described relatively data with Judged with the presence or absence of difference between the reference image data;Correction unit, after being judged through the determination unit, It is judged between the comparison data and the reference image data, there are when difference, the difference being based on, to the conveying arm Drive control data be corrected, to correct the mobile destination of the maintaining part;And moving portion, based on through the correction The drive control data for the conveying arm that portion obtains after being corrected, makes the maintaining part be moved to the delivery position.It should The filming apparatus of system with comprising in defined holding position sewing object including prescribed limit in for coverage Sewing object is shot.Storage part is stored with the standard picture as standard image data, the standard picture with based on seam The position of sewing object of the content processed when delivery position joins sewing object to sewing machine and posture are corresponding.Storage part will be through The sewing object change image obtained after position, posture changing is stored as reference image data.It is right that sewing system passes through The comparison data of reference image data and position, posture based on the sewing object photographed by filming apparatus are compared, to count Difference is calculated, and is based on the difference, the drive control data of conveying arm is corrected, to correct the mobile purpose of the maintaining part Ground, and maintaining part is made to be moved to delivery position.Therefore, sewing system keeps the maintaining part in holding position in process When sewing object is determined to have difference after being compared with reference image data, the difference can be easily based on and carry out school Just, so as to reliably maintaining part being made to be moved to delivery position.

Description of the drawings

Fig. 1 is the stereogram of sewing system.

Fig. 2 is the stereogram of sewing machine.

Fig. 3 is the stereogram of horicontal motion mechanism.

Fig. 4 is the stereogram of conveying device.

Fig. 5 is the block diagram for the electrical structure for indicating sewing machine.

Fig. 6 is the block diagram for the electrical structure for indicating conveying device.

Fig. 7 is the block diagram for the electrical structure for indicating control terminal.

Fig. 8 is the definition graph for the schematic construction for indicating sewing system.

Fig. 9 is the definition graph for the relationship for indicating sewing object images or sewing object change image and standard picture.

Figure 10 is the flow chart that benchmark image generates processing.

Figure 11 is the flow chart of sewing processing.

Specific implementation mode

With reference to attached drawing, illustrate one embodiment of the present invention.Illustrate the schematic construction of transport system 300.Following explanation It is middle using the attached left and right being indicated by arrows in Fig., it is front and back, upper and lower.

As shown in Figure 1, transport system 300 has sewing machine 1A, sewing machine 1B, conveying device 100A, conveying device 100B With control device 200.Sewing machine 1A and sewing machine 1B is same structure.In the following, by sewing machine 1A and sewing machine 1B systems Referred to as sewing machine 1.Conveying device 100A and conveying device 100B is same structure.In the following, by conveying device 100A and Conveying device 100B is referred to as conveying device 100.

Transport system 300 has frame 301 and a frame 302, and the frame 301 and frame 302 are by by iron or aluminum Bar is barricaded as what rectangle was made.Frame 301 configures on the right side of frame 302.Frame 301, frame 302 have frame plate in stage casing 305.Sewing machine 1A is fixed on the upper surface of the frame plate 305 of frame 301.Conveying device 100A is fixed on the right of sewing machine 1A. Sewing machine 1B is fixed on the upper surface of the frame plate 305 of frame 302.Conveying device 100B is located at the right of sewing machine 1B.

Conveying device 100A has conveying arm 120A and cloth grasping device 150A.Conveying arm 120A is located at sewing machine 1A's Right, and it is fixed on the upper surface of frame plate 305.Cloth grasping device 150A is located at the right front of sewing machine 1A, cloth magazine 102A Configuration is in the left of cloth grasping device 150A.By as machine 1A to be sewed sew sewing object polylith cloth 105A with The mode that pile is got up is contained in cloth magazine 102A.Cloth grasping device 150A and cloth magazine 102A is fixed on the auxiliary of sewing machine 1A The upper surface of plate 5.

Conveying device 100B has conveying arm 120B, cloth grasping device 150B and cloth grasping device 150C.Conveying arm 120B is located at the right of sewing machine 1B, and is fixed on the upper surface of frame plate 305.Cloth grasping device 150B is located at sewing machine 1B's Right front, the 102B configurations of cloth magazine are in the left of cloth grasping device 150B.The sewing pair that will be sewed as machine 1B to be sewed The polylith cloth 105B of elephant is contained in cloth magazine 102B in a manner of piling up.Cloth grasping device 150B and cloth magazine 102B is solid It is scheduled on the upper surface of the accessory plate 5 of sewing machine 1B.Cloth grasping device 150C is located at the left front of sewing machine 1B, cloth magazine 102C Configuration is in the front of cloth grasping device 150C.The cloth 105C that the machine 1B of being sewed has been sewed is piled up in order and is accommodated with getting up In cloth magazine 102C.Cloth grasping device 150C and cloth magazine 102C is fixed on the upper surface of the accessory plate 5 of sewing machine 1B.Frame 301 height and position roughly the same with accessory plate 5 in the left and right sides of sewing machine 1A is equipped with plate 306, and frame 302 is in sewing machine The height and position roughly the same with accessory plate 5 of the left and right sides of 1B is equipped with plate 306.

Conveying arm 120A and conveying arm 120B is same structure.In the following, by conveying arm 120A and conveying arm 120B It is referred to as conveying arm 120.Cloth grasping device 150A, cloth grasping device 150B and cloth grasping device 150C are roughly the same Structure.In the following, cloth grasping device 150A, cloth grasping device 150B and cloth grasping device 150C are referred to as cloth handle Hold device 150.Cloth magazine 102A, cloth magazine 102B and cloth magazine 102C are same structure.In the following, by cloth magazine 102A, cloth magazine 102B and cloth magazine 102C are referred to as cloth magazine 102.Cloth 105A, cloth 105B and cloth 105C are referred to as For cloth 105.

Sewing system 300 has the control unit of the control unit 50 (with reference to Fig. 5) and conveying device 100 that contain sewing machine 1 The control cabinet 307 of 110 (with reference to Fig. 6).Control cabinet 307 is configured in the lower section of frame 301,302 respective frame plate 305 of frame.

Frame 302 has frame plate 308 in hypomere.Control device 200 is configured in the upper surface of frame plate 308.Control device 200 It is electrically connected with the control unit 110 of the control unit 50 of sewing machine 1 and conveying device 100.Control device 200 is, for example, notebook electricity Brain, the action for controlling sewing machine 1 and conveying device 100 make sewing machine 1 mutually be interlocked with the action of conveying device 100.

With reference to Fig. 2, illustrate the mechanical structure of sewing machine 1.Sewing machine 1 has engine base portion 2, column sections 3 and horn portion 4.Machine Portions 2 are configured in the upper surface of frame plate 305 (referring to Fig.1).Engine base portion 2 extends along the longitudinal direction, has vertical shuttle in inside Deng.Column sections 3 extend upward from the rear section in engine base portion 2.Column sections 3 have motor of sewing machine 31 (with reference to figure in inside 5) etc..Horn portion 4 is extended from the upper end of column sections 3 in a manner of opposite with the upper surface in engine base portion 2 forwards, is had in front end Front end 7.Horn portion 4 has main shaft, needle bar drive device etc. in inside.Shank 10 extends downwards from the lower end of front end 7. Eedle 11 is assemblied in the lower end of shank 10.

Sewing machine 1 has accessory plate 5 and horicontal motion mechanism 6 in the top in engine base portion 2.Accessory plate 5 is located at shank 10 Lower section has horizontally extending upper surface.Accessory plate 5 has needle plate 12.The upper surface of needle plate 12 and accessory plate 5 it is upper Surface is in roughly the same height.Needle plate 12 has in the underface for the eedle 11 for being assemblied in shank 10 holds pin hole 13, eedle 11 can pass through from the appearance pin hole 13.

As shown in Figures 2 and 3, horicontal motion mechanism 6 has pressure arm 65, X-axis moving plate, Y-axis moving arm 66, cylinder 69, X Axis mobile mechanism, Y-axis moving mechanism and keeping body 70.X-axis mobile mechanism is located at the inside in engine base portion 2.X-axis mobile mechanism is in X Make X-axis moving plate mobile along X-direction (left and right directions) under the action of axis motor 32 (with reference to Fig. 5).The upper surface of X-axis moving plate With the guide rail extended along the longitudinal direction.Pressure arm 65 is located on guide rail.The side that guide rail can be moved along the longitudinal direction with pressure arm 65 Formula supports the pressure arm 65.Pressure arm 65 is in the top of accessory plate 5.Pressure arm 65 moves together with X-axis moving plate along X-direction.

Y-axis moving arm 66 has supporting part 67 and arm 68.Supporting part 67 extends in left-right direction.Supporting part 67 is with pressure arm 65 can support the rear portion of the pressure arm 65 along the mode that X-direction moves.Arm 68 and the rear section of supporting part 67 are connected, Arm 68 extends along the longitudinal direction.Arm 68 is connected with Y-axis moving mechanism.Y-axis moving mechanism is located at the inside in engine base portion 2, Y Axis mobile mechanism makes arm 68 mobile along Y direction (front-rear direction) under the action of Y-axis motor 34 (with reference to Fig. 5).Supporting part 67 move along with the movement of arm 68 along Y direction.Pressure arm 65 is moved along Y direction together with Y-axis moving arm 66.

Keeping body 70 is mounted on the front end of pressure arm 65.Keeping body 70 has lifter plate 71, cylinder 72, presser feet 73, compress Frame 74, guide rail 75 and sliding block 76, wherein fabric pressing frame 74, guide rail 75 and sliding block 76 play a role as compress portion.Pressure arm 65 has Pairs of a pair of of the cylinder 69 in left and right.The bar of cylinder 69 is connected with elevating lever.Lifter plate 71 is connected with elevating lever, lifter plate 71 Driving with cylinder 69 correspondingly moves up and down.Cylinder 72 and sliding block 76 configure the front surface in lifter plate 71.The bar of cylinder 72 It can stretch out and can retract after stretching to the left.Presser feet 73 is in letter L shapes in side view, is connected with the left part of the bar of cylinder 72 Knot.The driving correspondingly side-to-side movement of presser feet 73 and cylinder 72.Guide rail 75 extends in left-right direction, configures the rear table in presser feet 73 Face.Sliding block 76 fastens with guide rail 75, and sliding block 76 can support the presser feet 73 by presser feet 73 in a manner of side-to-side movement.

Fabric pressing frame 74 is configured in the lower end of presser feet 73.Fabric pressing frame 74 is, for example, made of metal.Fabric pressing frame 74 is along level side To the board member of configuration, there is when overlooking the opening of shape in the form of a substantially rectangular.Carrying out driving in cylinder 69 makes lifter plate 71 decline When, cloth 105 is clipped in from upper and lower both sides and keeps the cloth between the fabric pressing frame 74 and accessory plate 5 by fabric pressing frame 74 and accessory plate 5 Material 105.When rising under driving of the lifter plate 71 in cylinder 69, fabric pressing frame 74 leaves accessory plate 5 upward, releases to cloth 105 holding.As shown in the double dot dash line in Fig. 3, fabric pressing frame 74 can rise the configuration of presser feet 73 under the driving of cylinder 72 The left of plate 71 drops.

With reference to Fig. 4 and Fig. 8, illustrate the mechanical structure of conveying device 100.Conveying device 100 has conveying arm 120, absorption Mechanism 130, cloth grasping device 150, filming apparatus 117 and attracting mechanism 140.Conveying arm 120 in inside there are multiple arms to drive Dynamic motor 121A~arm drive motor 121D (with reference to Fig. 6).Conveying arm 120 has support column portion 131, the first arm 132, second Arm 133 and third arm 134.Support column portion 131 vertically extends, and the lower end in support column portion 131 is fixed on frame plate 305 upper surface.The upper end in support column portion 131 and the one end of the first arm 132 are connected, and support column portion 131 is with first The mode that arm 132 can rotate horizontally supports first arm 132.Support column portion 131 in upper end there is arm to drive horse Up to 121A, arm drive motor 121A can be such that the first arm 132 is rotated.First arm 132 is horizontally extending.First The other end of arm 132 and the one end of the second arm 133 are connected, and the other end of the first arm 132 is with the second arm 133 modes that can be rotated horizontally support second arm 133.Second arm 133 is horizontally extending, and its other end It vertically extends.There is in portion second arm 133 arm drive motor 121B, the second arm 133 can be driven in arm at one end It is rotated relative to the first arm 132 under the action of dynamic motor 121B.

Third arm 134 be vertically extend it is rodlike.The other end of second arm 133 is with third arm 134 It can move up and down and the mode that can be rotated around the shaft centre line of third arm 134 keeps the third arm 134.Second arm 133 have arm drive motor 121C and arm drive motor 121D the two motors in the other end.Third arm 134 drives in arm It moves up and down and is rotated under the action of dynamic motor 121C, arm drive motor 121D.The lower end of third arm 134 and absorption The mounting base 124 of mechanism 130 is connected.

Adsorbing mechanism 130 has mounting base 124 and Charging system 135.Mounting base 124 is shape in the form of a substantially rectangular when overlooking Board member.Charging system 135 realizes electrification by being powered.Charging system 135 is plate when overlooking in the form of a substantially rectangular, Gu It is scheduled on the lower part of mounting base 124.The lower surface of Charging system 135 is adsorption plane 136.Charging system 135 is quiet by charging carrying Electricity, so as to which cloth 105 is adsorbed on adsorption plane 136.The control unit 110 of conveying device 100 is used for control arm (with reference to Fig. 6) The driving of drive motor 121A~arm drive motor 121D.Control unit 110 can make Charging system 135 in the upper table of accessory plate 5 It is moved in the movable range of conveying arm 120 on face.

Cloth grasping device 150 can take out from the polylith cloth 105 that pile is got up and be in uppermost cloth 105.Cloth Expect that grasping device 150 has rotating mechanism 160, up-down mechanism 170 and handle sturcture 180.Rotating mechanism 160 has pedestal Portion 161, cylinder 162, support column 163 and cursor 164.Base portion 161 is box shaped, and bottom is fixed on the upper table of accessory plate 5 Face.Support column 163 be vertically extend it is rodlike.Base portion 161 supports the branch in such a way that support column 163 can rotate Platen 163.The lower end of support column 163 is in the inside of base portion 161.Cylinder 162 is set to the side of base portion 161.Cylinder 162 bar 165 extends to the inside of base portion 161, and bar 165 can in left-right direction stretch in the side of support column 163.Support column 163 lower end has pinion gear.There is the bar 165 of cylinder 162 rack, the rack to be meshed with pinion gear.Cylinder 162 carries out When driving, support column 163 is rotated.The one end of cursor 164 is fixed on the upper end of support column 163.164 edge of cursor Horizontal direction extends, and up-down mechanism 170 is fixed in the other end of cursor 164.Handle sturcture 180 and up and down motion The lower end of mechanism 170 is connected.Up-down mechanism 170 is cylinder, and handle sturcture 180 can be made to move up and down.

As shown in figure 4, accessory plate 5 has circular window portion 101 than the part of base portion 161 rearward.Window portion 101 is set There are strengthened glass or transparent acrylic board.Frame 301, frame 302 (referring to Fig.1) are fixed with shooting in the lower section of window portion 101 Device 117.Filming apparatus 117 can shoot the top of accessory plate 5 through window portion 101.Make Charging system in conveying arm 120 135 when being moved to the holding position of the top of window portion 101, filming apparatus 117 can to the adsorption plane 136 of Charging system 135 with And the cloth 105 being attracted on adsorption plane 136 is shot.

Cloth 105 is in generally rectangular shape, and cloth 105 is housed in cloth with the state that long side extends in left-right direction The inside of box 102.When handle sturcture 180 will hold cloth 105 from cloth magazine 102, rotating mechanism 160 makes to transport up and down What motivation structure 170 and handle sturcture 180 were moved to the top of cloth magazine 102 receives position.As shown in the double dot dash line in Fig. 4, The rotating mechanism 160 of cloth grasping device 150A makes up-down mechanism 170 and handle sturcture 180 from the top of cloth magazine 102A Substantially 90 degree of rotation, moves them to the top of window portion 101, and the rotating mechanism 160 of cloth grasping device 150B makes to transport up and down Motivation structure 170 and handle sturcture 180 move them to the upper of window portion 101 from substantially 90 degree of the top of cloth magazine 102B rotation Side.The rotating mechanism 160 of cloth grasping device 150C (referring to Fig.1) makes up-down mechanism 170 and handle sturcture 180 from cloth The top rotation substantially 180 degree of box 102C.The position near window portion 101 of the upper surface of accessory plate 5 is allocation position.Cloth Grasping device 150 configures the cloth 105 taken out from cloth magazine 102 in allocation position.Conveying arm 120 makes Charging system 135 are moved to allocation position, to receive cloth 105.

Accessory plate 5 has opening portion 19 than the part of cloth magazine 102 rearward.Opening portion 19 is when looking down in substantially square Shape shape, left and right directions length are more than front-rear direction length.Attracting mechanism 140 is set to opening portion 19, and attracting mechanism 140 is fixed In the downside of accessory plate 5.Attracting mechanism 140 has can be using the aspirating valve 145 that air is driven (with reference to Fig. 6).Attract Mechanism 140 keeps cloth 105 to being attracted in the cloth 105 of delivery position by the configuration of conveying arm 120, until having joined At.Delivery position is that the cloth 105 being adsorbed on adsorption plane 136 is transferred to horizontal movement by the Charging system 135 of conveying arm 120 The position of the fabric pressing frame 74 of mechanism 6.

Cylinder 69, cylinder 72, the cylinder 162 of cloth grasping device 150, up-down mechanism 170 and the suction of sewing machine 1 The aspirating valve 145 for drawing mechanism 140 is connected by pipe with compressor.

With reference to Fig. 5, illustrate the electrical structure of sewing machine 1.The control unit 50 of sewing machine 1 have CPU51, ROM52, RAM53, Storage device 54, communication interface (I/F) 55, input/output interface 56 and 57~driving circuit of driving circuit 59.CPU51, ROM52, RAM53, storage device 54 and communication interface 55 are electrically connected by bus with input/output interface 56.CPU51 is responsible for control Machine for sewing 1, CPU51 execute according to the various programs stored in ROM52 and sew relevant various operations and processing. ROM52 is stored with various programs, various initial setting parameters etc..RAM53 for the operation result of interim storage CPU51, pointer, Count value etc..Storage device 54 is the various set informations etc. for storing the stitch data of multiple styles, being inputted by operator Non-volatile storage device.Stitch data is fallen thereby using in sewing the multiple of style for making keeping body 70 move Pin mark is located at the data of the underface of eedle 11 in order.Needle falling point is the cloth that eedle 11 is pierced into when shank 10 moves downwards Precalculated position on material 105.The coordinate of needle falling point is on the basis of the origin position of fabric pressing frame 74.The origin position example of fabric pressing frame 74 Position of the center of fabric pressing frame 74 in this way when the underface of eedle 11 where fabric pressing frame 74.Origin position can also be pressure Position when other positions in cloth frame 74 are in the underface of eedle 11 where fabric pressing frame 74.

Communication interface 55 is, for example, the interface of serial communication.The communication interface 210 of communication interface 55 and control device 200 (with reference to Fig. 7) is connected.57~driving circuit of driving circuit 59 is electrically connected with input/output interface 56.Driving circuit 57 and sewing Machine motor 31 is electrically connected.CPU51 can control driving circuit 57, and motor of sewing machine 31 is made to be driven.Motor of sewing machine 31 can make Main shaft rotates.Driving circuit 58 is electrically connected with X-axis motor 32.Driving circuit 59 is electrically connected with Y-axis motor 34.CPU51 can be controlled Driving circuit 58 makes X-axis motor 32 be driven, and CPU51 can control driving circuit 59, and Y-axis motor 34 is made to be driven.X-axis Motor 32, Y-axis motor 34 are stepper motor.X-axis motor 32 is for driving X-axis mobile mechanism, and Y-axis motor 34 is for driving Y Axis mobile mechanism, keeping body 70 can be moved along X-direction and Y direction.X-axis motor 32 has X-axis encoder 33 in output shaft, Y-axis motor 34 has Y-axis encoder 35 in output shaft.X-axis encoder 33 and Y-axis encoder 35 respectively with input/output interface 56 Electrical connection.X-axis encoder 33 can detect value corresponding with the rotation angle of the output shaft of X-axis motor 32, and by input Output interface 56 exports the value to CPU51, and Y-axis encoder 35 can detect the rotation angle phase with the output shaft of Y-axis motor 34 Corresponding value, and by input/output interface 56 value is exported to CPU51.CPU51 can based on these values working as to keeping body 70 The coordinate of front position carries out operation, and the coordinate is stored to RAM53.In sewing, CPU51 makes motor of sewing machine 31 be driven It moves to make main shaft rotate, to control the up and down motion of shank 10 and the driving to vertical shuttle.At the same time, CPU51 is based on Stitch data makes X-axis motor 32 and Y-axis motor 34 be driven, to control the driving to horicontal motion mechanism 6.At this point, sewing Machine 1 sews the cloth 105 kept by the fabric pressing frame 74 of keeping body 70.

X-direction origin sensor 36, Y-direction origin sensor 37, solenoid valve 38 and solenoid valve 39 and input/output interface 56 electrical connections.X-direction origin sensor 36 is set to X-axis mobile mechanism.X-direction origin sensor 36 is for setting fabric pressing frame 74 Origin.Y-direction origin sensor 37 is set to Y-axis moving mechanism.Y-direction origin sensor 37 is used to set the origin of fabric pressing frame 74 Position.CPU51 can control the driving of X-axis motor 32 based on the testing result of X-direction origin sensor 36, and CPU51 can be based on Y The testing result of direction origin sensor 37 controls the driving of Y-axis motor 34.Before sewing starts, CPU51 makes fabric pressing frame 74 It is moved to origin position.The configuration of solenoid valve 38 supplies the air feed path of air in compressor to cylinder 69.CPU51 is by making Solenoid valve 38 is opened and closed to control the driving of cylinder 69, and fabric pressing frame 74 is made to lift.The configuration of solenoid valve 39 is supplied in compressor to cylinder 72 To the air feed path of air.CPU51 controls the driving of cylinder 72 by making the opening and closing of solenoid valve 39, makes fabric pressing frame 74 along a left side Right direction moves.

With reference to Fig. 6, illustrate the electrical structure of conveying device 100.The control unit 110 of conveying device 100 have CPU111, ROM112, RAM113, communication interface 114, input/output interface 115 and driving circuit 116A~driving circuit 116D.CPU111, ROM112, RAM113 and communication interface are electrically connected by bus with input/output interface 115.CPU111 is responsible for controlling conveying device 100, CPU111 execute processing according to the various programs stored in ROM112.ROM112 is stored with various programs, various initial Setup parameter etc..RAM113 is used for operation result, the various data etc. of interim storage CPU111.Communication interface 114 is, for example, to go here and there The interface of row communication.Communication interface 114 is connected with the communication interface 210 of control device 200.Driving circuit 116A~driving Circuit 116D is electrically connected with input/output interface 115.Driving circuit 116A is connected with arm drive motor 121A, driving circuit 116B is connected with arm drive motor 121B, and driving circuit 116C is connected with arm drive motor 121C, driving circuit 116D with Arm drive motor 121D is connected.Arm drive motor 121A~arm drive motor 121D is stepper motor.CPU111 can control drive Dynamic circuit 116A, makes arm drive motor 121A be driven, CPU111 can control driving circuit 116B, make arm drive motor 121B It is driven, CPU111 can control driving circuit 116C, and arm drive motor 121C is made to be driven, and CPU111 can control driving electricity Road 116D makes arm drive motor 121D be driven.Arm drive motor 121A is used to drive the first arm 132 of conveying arm 120, Arm drive motor 121B is used to drive the second arm 133 of conveying arm 120, arm drive motor 121C and arm drive motor 121D to use In the third arm 134 of driving conveying arm 120, is driven by arm drive motor 121A~arm drive motor 121D, make band Electric installation 135 moves.Arm drive motor 121A in output shaft there is arm encoder 122A, arm drive motor 121B to have in output shaft There are arm encoder 122B, arm drive motor 121C that there is arm encoder 122C in output shaft, arm drive motor 121D is in output shaft With arm encoder 122D.Arm encoder 122A~arm encoder 122D is electrically connected with input/output interface 115.Arm encoder 122A can detect value corresponding with the rotation angle of the output shaft of arm drive motor 121A, and by input/output interface 115 export the value to CPU111, and arm encoder 122B can detect the rotation angle phase with the output shaft of arm drive motor 121B Corresponding value, and the value is exported to CPU111 by input/output interface 115, arm encoder 122C can be detected drives horse with arm The value is exported to CPU111 up to the corresponding value of rotation angle of the output shaft of 121C, and by input/output interface 115, arm is compiled Code device 122D can detect value corresponding with the rotation angle of the output shaft of arm drive motor 121D, and be connect by input and output Mouth 115 exports the value to CPU111.CPU111 can be based on these value pair first arms 132, the second arm 133, third arm 134 Current location carry out operation, and operation result is stored to RAM113.CPU111 is by controlling arm drive motor 121A~arm The driving of drive motor 121D makes Charging system 135 via holding position be moved between allocation position and delivery position It is dynamic.The holding position of Charging system 135 is used as measuring position by CPU111 in order to confirm the relative position of sewing machine 1.It is sewing Before beginning, CPU111 makes Charging system 135 be moved to holding position.

Input/output interface 115 is electrically connected with Charging system 135, multiple arm origin sensors 123.Multiple arm origin sensings Device 123 is configured in the upper of the first arm 132, the second arm 133,134 respective rotary shaft of third arm and third arm 134 End position.Arm origin sensor 123 is for pattern when conveying arm 120 is set as standby.CPU111 is not carried out in conveying arm 120 When action, based on the testing result of arm origin sensor 123, the drive of control arm drive motor 121A~arm drive motor 121D It is dynamic, pattern when conveying arm 120 is set as standby.Pattern is that the pattern of conveying arm 120 does not affect other devices when standby The pattern acted.There is Charging system 135 driving circuit, Charging system 135 to be charged under the control of CPU111.

Input/output interface 115 is electrically connected with filming apparatus 117, solenoid valve 118, solenoid valve 151, solenoid valve 152.Shooting Device 117 carries out adsorption plane 136 when cloth 105 is adsorbed on adsorption plane 136 by conveying arm 120 using Charging system 135 Shooting.When filming apparatus 117 shoots adsorption plane 136, Charging system 135 is located at holding position.CPU111 is to shooting The image that device 117 photographed is parsed, and detects the position of cloth 105 based on analysis result.CPU111 can be based on cloth The testing result of 105 position is expected to control conveying arm 120, so as to which cloth 105 is shifted exactly to delivery position.

The configuration of solenoid valve 118 supplies the air feed path of air in compressor to aspirating valve 145.CPU111 is by making electricity Magnet valve 118 is opened and closed, to control the driving of aspirating valve 145 and without driving.The configuration of solenoid valve 151 is in compressor to cylinder 162 Supply the air feed path of air.CPU111 is by making solenoid valve 151 be opened and closed, to control the bearing of cloth grasping device 150 The rotation of column 163.In this case, handle sturcture 180 can receive to move between position and allocation position.Solenoid valve 152 Configure the air feed path for supplying air to up-down mechanism 170 in compressor.CPU111 is by making solenoid valve 152 open It closes, to make handle sturcture 180 move up and down.

With reference to Fig. 7, illustrate the electrical structure of control device 200.Control device 200 has CPU201.CPU201 is responsible for control Control device 200 processed.CPU201 is connected with chipset 204, and CPU201 is by chipset 204 and ROM202, RAM203, display Control unit 208 is electrically connected.Chipset 204 is for being sent out between CPU management 201 and ROM202, RAM203, display control unit 208 Send a series of circuit group for receiving data.ROM202 is stored with BIOS etc..RAM203 is for storing various ephemeral datas.Display Control unit 208 shows image for controlling to display unit 209.

Chipset 204 is connected with chipset 205.CPU201 is by chipset 205 and storage device 206, input unit 207, communication interface 210 is electrically connected.Chipset 205 is for CPU management 201 and storage device 206, input unit 207, communicates and connect The a series of circuit group of data is transmitted and received between mouth 210.Storage device 206, which is, for example, that HDD, SSD etc. are non-volatile, to be deposited Storage device.Storage device 206 is stored with OS, various application programs, data etc..Input unit 207 is keyboard, mouse etc., can be utilized Input unit 207 carries out the input of the operation for control device 200.Communication interface 210 is, for example, the interface of serial communication.It is logical Letter interface 210 is connected with sewing machine 1A, sewing machine 1B, conveying device 100A, conveying device 100B.

Sewing system 300 by the CPU201 of control device 200 by executing the system control stored in storage device 206 The program of reason controls the action of sewing machine 1 and conveying device 100, to be sewed to cloth 105.In this case, cloth handle Device 150 is held to carry out in uppermost cloth in receiving position to the cloth 105 that is incorporated in cloth magazine 102 It keeps, and the cloth is configured in allocation position.The Charging system 135 of conveying arm 120 is charged in allocation position, thus will Cloth 105 is adsorbed on adsorption plane 136.

Charging system 135 is moved to holding position, and filming apparatus 117 shoots adsorption plane 136 and cloth 105. It is related to that when motion track when Charging system 135 conveys cloth 105 to delivery position the shooting result will be used.In addition, CPU201 utilize aftermentioned benchmark image, according to the position of the cloth 105 kept by Charging system 135, posture whether with benchmark Position, posture are consistent shown in image, to determine misalignment.Therefore, even if cloth 105 is in being incorporated in cloth magazine 102 In the state of misplace, also can be based on shooting result, by control Charging system 135 motion track, to be corrected.

Position, posture shown in the position of the cloth 105 kept by Charging system 135, posture and benchmark image are inconsistent In the case of the Corrective control mode for motion track be not limited to one kind.Can also be, for example, Charging system 135 from Allocation position executes correction when being moved to delivery position.Can also be to execute correction by following methods:Make Charging system 135 Again keep cloth 105 so that the position of cloth 105 of the Charging system 135 when allocation position keeps cloth 105, posture with Benchmark image is consistent.Therefore, above-mentioned Corrective control can by cloth 105, relative to the attraction joined in delivery position The position of mechanism 140, posture are corrected to desired position, posture.

By controlling arm drive motor 121A~arm drive motor 121D, using conveying arm 120 by cloth 105 from configuration bit It sets and is transported to delivery position.Charging system 135 releases the holding to cloth 105, and cloth 105 is kept by attracting mechanism 140.Pressure Cloth frame 74 is moved to delivery position, to, receive the cloth 105 kept by attracting mechanism 140, and keep the cloth 105, and by Sewing machine 1 executes defined sewing processing.

Illustrate the generation of benchmark image.Sewing machine 1 is stored with tailoring pattern corresponding with tailoring pattern in storage device 54 Data.Tailoring pattern data include and the relevant data of following the description:Using fabric pressing frame 74 delivery position receive cloth 105 with And mobile control when sewing operations.The storage device 206 of control device 200 be previously stored with it is as standard image data, The tailoring pattern image data of stitching image (containing profile), the tailoring pattern image data of the stitching image (containing profile) and sewing Machine 1 is based on joining cloth 105 to fabric pressing frame 74 in delivery position in the case of tailoring pattern as defined in the sewing of tailoring pattern data When the position of cloth 105, posture it is corresponding.The storage device 206 of control device 200 is previously stored with as standard picture number According to fall needle marked image data, this fall needle marked image data indicate eedle 11 be based on known tailoring pattern data in cloth The initial needle downing position formed on 105.The storage device 206 of control device 200 is stored with fabric pressing frame 74 and cloth 105, base In the station-keeping data (XY coordinate datas) of known tailoring pattern data.

What (A) of Fig. 9 was indicated is the XY coordinates for the picture 209A that the position of cloth 105, posture are illustrated in display unit 209 In example, the position of cloth 105 at this time, posture are when the Charging system 135 for maintaining cloth 105 is in holding position And cloth 105 is accurately transferred to fabric pressing frame in delivery position in the case of being the tailoring pattern as defined in sewing machine 1 sews The position of cloth 105 when 74, posture.In the example, appearance of the fabric pressing frame 74 when delivery position receives cloth 105 is also illustrated Gesture.CPU201 shoots cloth 105 when Charging system 135 is in holding position, using filming apparatus 117.It is utilizing When filming apparatus 117 is shot, if cloth 105 on picture 209A in Fig. 9 (A) in position, posture, Charging system 135 can accurately be transferred to cloth fabric pressing frame 74 after cloth 105 is moved to delivery position.Such as (B) institute of Fig. 9 Show, display unit 209 shows cloth 105 as sewing object images W1, being photographed by filming apparatus 117 on picture 209A Image.As shown in (C) of Fig. 9, CPU201 is based on standard image data, by stitching image P1 and indicates that the initial of eedle 11 falls needle The needle tag image P2 and sewing object images W1 that falls of position is shown on picture 209A with being superimposed.Such as (D) institute of Fig. 9 Show, operator changes the position of the cloth 105 in holding position, posture, so that sewing object images W1 and stitching Image P1 is consistent with needle tag image P2 is fallen.As shown in (E) of Fig. 9, CPU201 is using filming apparatus 117 to the cloth after change 105 position, posture are shot, and include on picture 209A using shooting result as sewing object change image W2. CPU201 will sew object change image W2 and be stored to storage device 206 as reference image data.What (F) of Fig. 9 was indicated is Charging system 135 and cloth when by Charging system 135 with the position of the cloth 105 after change, posture holding cloth 105 105 position relationship.

Referring to Fig.1 0, illustrate the benchmark image generation processing executed by the CPU201 of control device 200.Pass through operator couple The input unit 207 of control device 200 is operable to start the processing.When processing starts, make cloth 105 and Charging system 135 In allocation position.CPU201 controls the CPU111 of conveying device 100, and the Charging system 135 of conveying arm 120 is made to be driven (S41).Cloth 105 is adsorbed on by electrification and keeps the cloth 105 on adsorption plane 136 by Charging system 135.CPU201 is controlled The CPU111 of conveying device 100 makes the Charging system 135 for maintaining cloth 105 be moved to holding position (S42).CPU201 profits The Charging system 135 comprising cloth 105 is shot (S43) with filming apparatus 117.

CPU201 by well known image-recognizing method from the image that filming apparatus 117 photographed it is specific go out cloth 105, and Extract shape, position, the posture (S44) of cloth 105.The image of the cloth 105 extracted is sewing object images W1.Such as figure Shown in 9 (B), CPU201 is based on sewing object images W1 and generates sewing object image data, and seam is shown on picture 209A Object images W1 (S45) processed.Can also be, CPU201 deleted from the image photographed by filming apparatus 117 in addition to cloth 105 with Outer part, and include on picture 209A as sewing object images W1 by image of cloth 105 itself.It can also be example Such as, CPU201 by the block diagram containing only shape or hollow figure etc., doubtful cloth 105 sewing object images W1 with icon Etc. forms be shown on picture 209A.As shown in (C) of Fig. 9, CPU201 controls display control unit 208, is based on storage device 206 The standard image data (tailoring pattern image data falls needle marked image data) of middle storage with stitching image P1, falls needle label Image P2 is standard picture, is shown on picture 209A (S46) together with sewing object images W1.

CPU201 is based on manual operation or mechanically actuated, the sewing shown on picture 209A using display control unit 208 Object images W1, stitching image P1 and needle tag image P2 is fallen, the position of cloth 105 is changed (S47).For example, for In the case of manual operation, by operator's operation inputting part 207, specified on picture 209A arbitrary on sewing object images W1 Two points, and point corresponding with two points is specified on stitching image P1.CPU201 is according to the sewing specified by operator Two points on two points and stitching image P1 on object images W1, position and posture to the cloth 105 after change into Row calculates.For other manual operations, can also be, by operator on picture 209A operation inputting part 207, Image to sewing object images W1 carries out sliding or drag operation, to change position and the posture of cloth 105, so that seam The image of object images W1 processed and stitching image P1 and to fall needle tag image P2 corresponding.For mechanically actuated, CPU201 is based on sewing object image data, calculates XY coordinates of the sewing object images W1 on picture 209A, and base In standard image data, to stitching image P1, falls XY coordinates of the needle tag image P2 on picture 209A and calculate.CPU201 Based on result of calculation, the position and posture of the cloth 105 after change are calculated.CPU201 will be after position, posture changing Cloth 105 is set as sewing object change image W2, and is stored to storage device 206 (S48) as reference image data. CPU201 terminates benchmark image generation processing.

Referring to Fig.1 1, illustrate the sewing processing executed by the CPU201 of control device 200.By operator to control device 200 input unit 207 is operable to start the processing.CPU201 is exported to the CPU111 of conveying device 100 for controlling cloth The signal for expecting grasping device 150, make cloth grasping device 150 in the cloth 105 stored in cloth magazine 102 in topmost Cloth kept, make cloth 105 from receive position move, by cloth 105 configure at allocation position (S51). CPU201 is exported to the CPU111 of conveying device 100 for making arm drive motor 121A~arm drive motor 121D be driven Signal makes Charging system 135 be moved to allocation position (S52).Cloth 105 is adsorbed on absorption by Charging system 135 by charging The cloth 105 (S52) is kept on face 136.CPU201 makes the Charging system 135 for maintaining cloth 105 be moved to holding position (S53).CPU201 exports the signal for controlling filming apparatus 117 to the CPU111 of conveying device 100, makes filming apparatus 117 Charging system 135 in holding position, comprising cloth 105 is shot (S54).

CPU201 is specific from the image of the shooting result photographed by filming apparatus 117 by well known image-recognizing method Go out cloth 105, and the position of cloth, posture are parsed.CPU201 is stored using analysis result as data are compared to storage Device 206 (S55).CPU201 is compared to comparing the reference image data stored in data and storage device 206, and is calculated Difference (S56).The method of calculating difference is the cloth in characteristic quantity and reference image data based on the cloth 105 compared in data The characteristic quantity of material 105, the well known method that difference and rotation angle to XY coordinates are calculated.CPU201 deposits result of calculation It stores up to storage device 206.CPU201 in the result of calculation calculated by S56 with the presence or absence of difference to being judged (S57). It is determined as that there is no (S57 when difference in CPU201:It is no), CPU201 makes processing be transferred to S59.It is determined to have difference in CPU201 (S57 when value:Be), CPU201 based on the difference calculated by S56, pair with motion track it is relevant, drive horse for arm Drive control data up to 121A~arm drive motor 121D is corrected, to correct the mobile destination of Charging system 135 (S58).CPU201 is exported to the CPU111 of conveying device 100 for making arm drive motor 121A~arm drive motor 121D be based on The signal driven by the drive control data that S58 is corrected makes Charging system 135 be moved to delivery position (S59). CPU201 exports the signal for making solenoid valve 118 work to the CPU111 of conveying device 100, and aspirating valve 145 is made to carry out It drives to keep cloth 105 (S60).CPU201 exports the signal for making sewing start to the CPU51 of sewing machine 1, by sewing Machine 1 receives cloth 105 in delivery position and is sewed (S61) to cloth 105.When sewing machine 1 terminates to sew, CPU201 knots Beam sewing is handled.

As explained above, filming apparatus 117 is to include the prescribed limit including the cloth 105 in holding position It is interior that for coverage cloth 105 is shot.Display unit 209 makees the image of the cloth 105 photographed by filming apparatus 117 It is shown for sewing object images W1.Storage device 206 is stored with standard image data, which is used for aobvious Show that portion 209 shows that standard picture (stitching image P1, falling needle tag image P2), the standard picture are being joined with based on sewing content The position of cloth 105 when position joins from cloth 105 to sewing machine 1 and posture are corresponding.In this case, control device 200 Stitching image P1, the sewing object images W1 for falling needle tag image P2 and being photographed by filming apparatus 117 are shown.Operator Using shown by display unit 209 sewing object images W1, stitching image P1 and fall needle tag image P2, to sew object images The position of W1, posture change, to be allowed to and stitching image P1 and to fall the position of needle tag image P2, posture corresponding.Control Cloth 105 after position, posture changing is set as sewing object and changes image W2 by device 200 processed, and as benchmark image Data are stored to storage device 206.Therefore, control device 200 by using stitching image P1, fall needle tag image P2, can The reference map for cloth 105 to be accurately transported to delivery position is correspondingly easily produced with the sewing content of sewing object Picture.Due to using stitching image P1 as standard picture include in display unit 209, operator to the position of cloth 105, When posture is changed to be allowed to corresponding with the position in stitching image P1, posture, it is easy to confirm by naked eyes and is used as target Position, posture.Due to will fall needle tag image P2 as standard picture include in display unit 209, operator is to cloth When the position of material 105, posture are changed so that it is corresponding with the position in stitching image P1, posture, it is easy to hold sewing Content.Therefore, control device 200 can more easily generate benchmark image.

Control device 200 by reference image data and the position based on the cloth 105 photographed by filming apparatus 117, The comparison data of posture are compared, and carry out calculating difference, and be based on the difference, are carried out to the drive control data of conveying arm 120 Correction, to correct the mobile destination of Charging system 135, and makes Charging system 135 be moved to delivery position.Therefore, control dress 200 are set when to comparing data and being determined to have difference after reference image data is compared, it can be easily to place Movement of the Charging system 135 to delivery position in holding position is corrected, so as to reliably move Charging system 135 Move delivery position.

In explanation above, the benchmark image that control device 200 is equivalent to the present invention generates system.135 phase of Charging system When in the maintaining part of the present invention.Storage device 206 is equivalent to the storage part of the present invention.CPU201 when executing S43 is equivalent to this The shooting control part of invention.CPU201 when executing S47 is equivalent to the changing unit of the present invention.CPU201 when executing S48 is suitable In the benchmark image generating unit of the present invention.CPU201 when executing S45 is equivalent to the display control unit of the present invention.When executing S55 CPU201 be equivalent to the present invention generating unit.CPU201 when executing S56 is equivalent to the comparing section of the present invention.When executing S57 CPU201 be equivalent to the present invention determination unit.CPU201 when executing S58 is equivalent to the correction unit of the present invention.When executing S59 CPU201 be equivalent to the present invention moving portion.

The present invention is not limited to the above embodiments.Standard picture is not limited to stitching image P1, falls needle tag image P2, also may be used To be the image that will be made blank on the inside of tailoring pattern and obtain.Can also be, stitching image P1 be by with straight line by eedle What 11 all needle falling points linked up.The initial needle falling point that needle tag image P2 is not limited to eedle 11 is fallen, it can also table Show last needle falling point, can also be both initial needle falling point and last needle falling point.Line can also be indicated by falling needle tag image P2 Become the needle falling point of characteristic point in the tailoring patterns such as the changed point in mark direction.

Can also be that sewing system 300 makes air be sprayed from adsorption plane 136, using adsorption plane 136 and cloth 105 it Between the negative-pressure adsorption cloth 105 that generates keep the cloth 105, to replace Charging system 135.It can also be sewing system 300 For following structures:The cloth 105 is not kept by adsorbing cloth 105, needle is made to dash forward from 136 comparable face of adsorption plane Go out, cloth is kept by making to be needled into cloth 105.

Claims (5)

1. a kind of benchmark image generates system, which is characterized in that
The benchmark image generates the benchmark image number that system is used to generate the reference position for indicating the object of the sewing in sewing system According to, can be controlled based on the reference image data come by the conveying arm in the sewing system be transported to as defined in join position It sets,
The sewing system has:
Maintaining part (135) can keep the sewing object;
The maintaining part can be transported to the delivery position by the conveying arm (120) from defined holding position;And
Sewing machine (1) can keep the sewing object that the delivery position is transported to by the conveying arm, and Defined sewing processing is executed to the sewing object by the lifting action of eedle,
The benchmark image, which generates system, to be had:
Filming apparatus (117), with comprising in the prescribed limit including the sewing object in the holding position for clap Take the photograph range;
Storage part (206), is stored with the standard picture as standard image data, the standard picture be based on the sewing machine Sewing content the delivery position to the sewing machine join it is described sewing object when the sewing object position and Posture is corresponding;
Shooting control part, when the maintaining part is in the holding position in the state of remain the sewing object, The sewing object is shot using the filming apparatus, and using shooting result as sewing object images;
Changing unit, to it is described sewing object images in the sewing object position and posture change, be allowed to The position and posture in the standard picture is corresponding;And
Benchmark image generating unit, the sewing obtained after being changed to the position and posture using the changing unit The image of object sews object change image and is stored to the storage part as the reference image data.
2. benchmark image according to claim 1 generates system, which is characterized in that
The benchmark image, which generates system, to be had:
Display unit (209) can show the shooting image of the coverage photographed by the filming apparatus;And
Display control unit, in the sewing that the display unit shows the standard picture and photographed by the shooting control part Object images,
The changing unit to using the display control unit in the sewing object images that the display unit is shown described in Sew object position and posture change, be allowed to in the standard picture the position and posture it is corresponding.
3. benchmark image according to claim 2 generates system, which is characterized in that
The standard image data stored in the storage part be with as the corresponding stitching of the sewing tailoring pattern of content The tailoring pattern image data of image.
4. benchmark image according to claim 3 generates system, which is characterized in that
The standard image data stored in the storage part includes to be denoted as initially falling for the eedle for sewing content Pin position falls needle marked image data.
5. a kind of sewing system, which has:
Maintaining part (135) can keep sewing object;
The maintaining part can be transported to defined delivery position by conveying arm (120) from defined holding position;And
Sewing machine (1) can keep the sewing object that the delivery position is transported to by the conveying arm, and Defined sewing processing is executed to the sewing object by the lifting action of eedle,
The sewing system is characterized in that,
The sewing system has:
Filming apparatus (117), with comprising in the prescribed limit including the sewing object in the holding position for clap Take the photograph range;
Storage part (206), be stored with comprising control the control program that the conveying arm conveys the sewing object with And the reference image data that system generates is generated by the benchmark image according to any one of claims 1 to 4;
Generating unit, according to the shape of the sewing object photographed by the filming apparatus, to the institute in the prescribed limit State the sewing position of object, posture is parsed, and generate compare data based on analysis result;
Comparing section, to the relatively data generated by the generating unit and the benchmark image stored in the storage part Data are compared, and calculating difference;
Determination unit, after being compared through the comparing section, to described relatively between data and the reference image data Judged with the presence or absence of difference;
Correction unit is determined as the relatively data and the reference image data after being judged through the determination unit Between there are when difference, be based on the difference, the drive control data of the conveying arm be corrected, to correct the holding The mobile destination in portion;And
Moving portion is made described based on the drive control data of the conveying arm obtained after the correction unit is corrected Maintaining part is moved to the delivery position.
CN201810271355.2A 2017-03-31 2018-03-29 Reference image generation system and sewing system CN108691101B (en)

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