CN110318171A - Transportation system - Google Patents

Transportation system Download PDF

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Publication number
CN110318171A
CN110318171A CN201910248296.1A CN201910248296A CN110318171A CN 110318171 A CN110318171 A CN 110318171A CN 201910248296 A CN201910248296 A CN 201910248296A CN 110318171 A CN110318171 A CN 110318171A
Authority
CN
China
Prior art keywords
cloth
workpiece
image
benchmark
holding meanss
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910248296.1A
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Chinese (zh)
Inventor
尾崎真介
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brother Industries Ltd
Original Assignee
Brother Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2018-068692 priority Critical
Priority to JP2018068692A priority patent/JP2019177025A/en
Application filed by Brother Industries Ltd filed Critical Brother Industries Ltd
Publication of CN110318171A publication Critical patent/CN110318171A/en
Pending legal-status Critical Current

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Classifications

    • DTEXTILES; PAPER
    • D05SEWING; EMBROIDERING; TUFTING
    • D05BSEWING
    • D05B33/00Devices incorporated in sewing machines for supplying or removing the work
    • DTEXTILES; PAPER
    • D05SEWING; EMBROIDERING; TUFTING
    • D05DINDEXING SCHEME ASSOCIATED WITH SUBCLASSES D05B AND D05C, RELATING TO SEWING, EMBROIDERING AND TUFTING
    • D05D2305/00Operations on the work before or after sewing
    • D05D2305/32Measuring

Abstract

The present invention relates to a kind of transportation systems.CPU controls horn device, and the holding meanss that remain cloth is made to be moved to camera site.CPU shoots the region including the reference section of the frame member of maintaining part and position fixation including remain cloth using camera.CPU carries out that the left comer portion of reference section is set as to the origin of image coordinate, the position of union cloth to the image analysis of shooting image.CPU is based on reference information, carrys out the offset of the position of operation cloth relative to the position of the benchmark cloth in benchmark image.Benchmark image is the shooting image that is shot using camera in advance in the state of making the holding meanss that remain benchmark cloth be moved to camera site premised on it benchmark cloth normally can be delivered to delivery position.CPU controls horn device, so that the holding meanss that remain cloth is moved to delivery position in a manner of the offset that correction calculation obtains.

Description

Transportation system
Technical field
The present invention relates to a kind of transportation systems.
Background technique
Transportation system documented by Japanese Unexamined Patent Publication No. 169759 bulletins in 2017 has conveying device and sewing machine.It is defeated It send device that there is the maintaining part for keeping cloth, cloth is delivered to rule in the state that cloth to be held in the retaining surface of maintaining part Fixed allocation position, and the retaining surface that remain cloth is shot using photographic device.Transportation system to shooting image into Row parsing, the position of the quadrangle of retaining surface and cloth based on benchmark image are corresponding with the position of the quadrangle of cloth to set Base position.Transportation system detects the position of the quadrangle of cloth using on the basis of the profile for shooting image as holding position.It is defeated Send system operations holding position relative to the position coordinates of base position and rotation angle.It is located in holding position from base position When the position of offset, cloth is delivered to defined delivery position from allocation position by transportation system, according to the operation of holding position The position of cloth at calibration of the output results delivery position is so that holding position is overlapped in delivery position, and cloth is configured at handover position It sets.Sewing machine receives to be configured at the cloth of delivery position and sew to it.
Due to environmental changes such as temperature, humidity, the substrate of photographic device can stretch sometimes, skew can occur for camera lens.At this point, The shooting image of photographic device shoots the position change of the cloth in image from initial positional shift.Transportation system is to shoot The position of the quadrangle of cloth is detected on the basis of the profile of image as holding position.Therefore, even if cloth in retaining surface Holding position is not deviated relative to base position, when shooting image is offset by, also results in holding position relative to benchmark Positional shift.Therefore, transportation system is possible to be corrected instead in the case where originally not needing to the corrected situation of cloth discharge position. Since cloth is configured in the position offset by relative to delivery position, sewing machine can not correctly receive cloth.
Summary of the invention
The purpose of the present invention is to provide one kind workpiece to be correctly delivered to rule with being influenced by environmental change The transportation system of fixed delivery position.
The transportation system of technical solution 1 includes conveying device, has the guarantor for being able to maintain the workpiece as processing object Device is held, which can make the holding meanss be moved to defined delivery position, and the workpiece is delivered to institute State delivery position;And process equipment, receive to be delivered to the workpiece of the delivery position and right by the conveying device The workpiece is processed, which is characterized in that, comprising: and first movement control unit controls the conveying device, The holding meanss that remain the workpiece are made to be moved to defined allocation position;Shooting control part, in the first movement After control unit makes the holding meanss that remain the workpiece be moved to the allocation position, which utilizes photograph Machine carries out shooting conduct to the region including the workpiece and around the workpiece and including the reference section of position fixation Shoot image;First operational part, to the shooting image shot by the shooting control part using the camera Carry out image analysis, position of the workpiece relative to the reference section described in union;First storage unit, first storage unit storage Reference information, the reference information are to make to remain premised on the workpiece normally can be delivered to the delivery position The holding meanss of the workpiece are moved in the state of the allocation position, using the camera to including the workpiece Shoot with the region including the reference section information of obtained benchmark image;Second operational part is based on being stored in The reference information of first storage unit carrys out the position phase for the workpiece that operation is obtained by the first operational part operation For the offset of the position of the workpiece in the benchmark image;And second mobile control division, control the conveying Device corrects the offset obtained by the second operational part operation, makes the holding meanss that remain the workpiece It is moved to the delivery position.Transportation system controls conveying device, and holding meanss is made to be moved to allocation position to which workpiece is defeated It send to allocation position.Transportation system is using camera to including being delivered to the workpiece of allocation position and around workpiece and position It sets the region including fixed reference section and carries out shooting as shooting image.Transportation system carries out the image solution to shooting image Analysis, position of the union workpiece relative to reference section.The reference information that transportation system is stored based on the first storage unit for by The holding position that holding meanss keep workpiece, its offset relative to the position of the workpiece in benchmark image of operation, And correction offset, so that the holding meanss that remain workpiece is moved to delivery position, workpiece is delivered to delivery position.Reference section Position be fixed, therefore be that position will not be because of the changed positioning datum of environment.Transportation system is on the basis of reference section It identifies the position of workpiece, therefore, leads to the shooting of camera in environment (the temperature, humidity etc.) variation that camera works When offset has occurred in image, the holding position of workpiece can be also correctly identified.Therefore, transportation system is in the holding position of workpiece When offset has occurred, correction offset and workpiece can be delivered to delivery position, thus correctly workpiece can be given plus Construction equipment.
Preferably, the reference section of the transportation system of technical solution 2 is in the frame shape with opening, the opening position Between the maintaining part and the camera of the holding workpiece for the holding meanss for being in the allocation position, and from Maintaining part described in the aperture efficiency is big when camera side observation.Reference section can be around maintaining part in shooting image Surround the maintaining part.Therefore, when carrying out image analysis to shooting image, in this way it is easy to determine the position of reference section.Therefore, delivery system System being capable of promptly holding position of the operation workpiece relative to reference section.
Preferably, the holding meanss of the transportation system of technical solution 3 are keeping the maintaining part of the workpiece to be equipped with Label, the transportation system include mark position test section, described to detect according to the image analysis of the shooting image Mark the position relative to the reference section;Second storage unit, storage are set in the image coordinate of the origin of the reference section Under the label base position;Determination unit, by the label detected by the mark position test section relative to The position of the reference section is compared with the base position for being stored in second storage unit, to determine the holding dress It sets and whether is precisely located at the allocation position;And stop, it is determined as the holding meanss without standard in the determination unit When really being located at the allocation position, which stop the movement of the conveying device.Bat of the transportation system to camera It takes the photograph image and carries out image analysis, detect position of the label relative to reference section of holding meanss, it is compared with base position Compared with thus, it is possible to determine whether holding meanss are precisely located at allocation position.Configuration bit is not precisely located in holding meanss When setting, as reason, exist such as the exception (the offset of installation site) of holding meanss, (the positioning mistake of the exception of conveying device It loses, failure etc.).At this point, transportation system stops the movement of conveying device.Therefore, transportation system can prevent such as the following bad Situation, that is, because workpiece can not be normally delivered to delivery position by holding meanss or the exception of conveying device etc., processing is caused to set It is standby to receive workpiece.
Preferably, the transportation system of technical solution 4 has notification unit, is determined as the holding meanss in the determination unit When not being precisely located at the allocation position, which reports an error.Configuration bit is not precisely located in holding meanss When setting, transportation system reports an error, therefore operator can promptly cope with.
Detailed description of the invention
Fig. 1 is the perspective view of transportation system 1.
Fig. 2 is the top view of transportation system 1.
Fig. 3 be to maintain device 45 from oblique upper when obtained perspective view.
Fig. 4 be to maintain device 45 from obliquely downward when obtained perspective view.
Fig. 5 is to maintain the bottom view of device 45 (needle 82,84: prominent position).
Fig. 6 is I-I line apparent direction sectional view shown in fig. 5.
Fig. 7 is the block diagram for indicating the electrical structure of horn device 4.
Fig. 8 is the block diagram for indicating the electrical structure of PC10.
23 gained of maintaining part of holding meanss 45 from Fig. 9 is opening portion 16A from camera side via frame member 16 The figure arrived.
Figure 10 is the figure for shooting image E.
Figure 11 is the flow chart of image analysis processing.
Figure 12 is the flow chart of reference information storage processing.
Figure 13 is the flow chart that para postion determines processing.
Figure 14 is the flow chart of abnormal determination processing.
Figure 15 is the figure of benchmark image F.
Figure 16 is the figure for indicating the process content of the benchmark image F in reference information storage processing.
Figure 17 is to indicate that para postion determines the figure of the process content of the shooting image E in processing.
Figure 18 is to maintain the figure of the shooting image E after portion 23 reduces.
Specific embodiment
Embodiments of the present invention will be described.In the following description using be indicated by arrows in Fig. left and right, front and back, Up and down.
Referring to Fig.1, Fig. 2 is illustrated the structure of transportation system 1.Transportation system 1 has machine frame 2, stack portion 3, horn Device 4, camera 5, handling device 6, sewing machine 7 and PC10 (referring to Fig. 8).
Machine frame 2 is by the way that iron or aluminum bar is assembled rectangular constitute.Machine frame 2 is arranged in arranging plate 12 The front end side of upper surface extends with front-rear direction in left-right direction.Receiving port 13 is in extend in left-right direction when looking down Rectangular shape penetrates through the forward part of arranging plate 12 along the vertical direction.
Stack portion 3 is arranged in the lower section of receiving port 13 and is the inside of machine frame 2.Stack portion 3 is stacked along left and right together setting Portion 3A and stack portion 3B the two stack portions.Stack portion 3A can stack multiple clothes 9, stack portion 3B energy on mounting table 18A It is enough that multiple clothes 9 are stacked on mounting table 18B.Stack portion 3A rises mounting table 18A and cloth 9 is delivered on receiving port 13 Side receives position, and stack portion 3B makes mounting table 18B rising and cloth 9 is delivered to above receiving port 13 to receive position.? Below in explanation, when carrying out summation to stack portion 3A and stack portion 3B, it is referred to as stack portion 3.Horn device 4, handling device 6 And sewing machine 7 is arranged at the rear of stack portion 3 from front side with being arranged successively.
Horn device 4 has holding meanss 45.Horn device 4 can selectively be kept by stack portion 3A and stack portion 3B is delivered to the cloth 9 for receiving position, such as can also alternately keep being delivered to receiving by stack portion 3A and stack portion 3B The cloth 9 of position.Horn device 4 keeps being delivered to the cloth 9 for receiving position by stack portion 3 using holding meanss 45, and will The cloth 9 is delivered to the delivery position on aftermentioned workbench 61 via the camera site for being located at 5 top of camera.
Camera 5 is arranged in the right side of horn device 4 and is under the maintaining part 23 of the holding meanss 45 of horn device 4 Side.The top for the camera 5 that frame member 16 is arranged in machine frame 2 and be arranging plate 12 rear side.Frame member 16 is substantially Centre has the opening portion 16A of rectangular shape, and has reference section 17 along the lower surface edge of opening portion 16A (referring to Fig. 9). For reference section 17 for being positioned when being shot by camera 5, reference section 17 is in rectangle frame identical with opening portion 16A Shape.Camera 5 is from below via opening portion 16A to the maintaining part 23 and benchmark of the holding meanss 45 including being positioned at camera site Predetermined region including portion 17 is shot.
Handling device 6 clamps the cloth 9 of delivery position being delivered on workbench 61 by horn device 4, and by the cloth 9 It rearward moves, so that the cloth 9 is carried to sewing machine 7.Sewing machine 7 receive to be carried by handling device 6 Lai cloth 9 and right The cloth 9 is sewed.After sewing, sewing machine 7 gives the cloth 9 after sewing to handling device 6 again.Handling device 6 presss from both sides It holds from the cloth 9 after the sewing that sewing machine 7 receives and moves the cloth 9 forwards, so that the cloth 9 is carried to workbench Through hole 62 on 61.Cloth 9 after sewing falls in through hole 62, and is stacked in the heap in the setting of the lower section of through hole 62 Folded platform 68 (referring to Fig. 2).
PC10 (referring to Fig. 7) is electrically connected with horn device 4, camera 5, handling device 6 and sewing machine 7, and controls it Respective movement.PC10 carries out image analysis to shooting obtained shooting image by camera 5, union cloth 9 relative to The holding position of reference section 17.The holding position for the cloth 9 that PC10 is obtained operation based on aftermentioned reference information and in advance bat The holding position for the benchmark image taken the photograph is compared, thus the offset of operation cloth 9.PC10 controls horn device 4, right The offset of the holding position of cloth 9 is corrected, and cloth 9 is placed in the delivery position on workbench 61.
Illustrate the construction of horn device 4 referring to Figures 1 and 2.Horn device 4 is multi-joint mechanical arm.Horn device 4 has There are supporting part 41, the first arm 42, the second arm 43, ball-screw 44 and holding meanss 45 etc..Supporting part 41 is in from pedestal The tubular that portion 15 extends upwards.Base portion 15 and the arranging plate 12 of machine frame 2 are adjacent to the rear side for being fixed on the arranging plate 12, Substantially horizontally extend.Supporting part 41 is accommodated with the first drive motor 47 in inside (referring to Fig. 7).First drive motor 47 it is defeated Shaft protrudes upwards, and is coaxial relation with supporting part 41.
The upper end in 42 self-supporting portion 41 of the first arm is horizontally extending, and the output shaft phase with the first drive motor 47 Connection.First arm 42 can be rotated centered on the axis S of supporting part 41 under the driving of the first drive motor 47.Second arm Portion 43 is horizontally extending in the upside of the first arm 42.The one end of second arm 43 is axial by with up and down direction Connection shaft is linked to the first arm 42 in such a way that second arm 43 can rotate.Ball-screw 44 is to vertically extend Ball-screw spline, run through and threadingly engage in the other end of the second arm 43.Second arm 43 is stored in inside There are the second drive motor 48, third drive motor 49 and the 4th drive motor 451.Second drive motor 48 is connected with connection shaft Knot.Second arm 43 can be rotated centered on the axis T of connection shaft under the driving of the second drive motor 48.Third is driven Dynamic motor 49 is connected via upper lower transmission mechanism and ball-screw 44.It is driven by third drive motor 49, thus on Lower transmission mechanism makes ball-screw 44 move up and down.Holding meanss 45 are fixed on the lower end of ball-screw 44.Therefore, dress is kept 45 are set to move up and down together with ball-screw 44.4th drive motor 451 is via rotating actuator and ball-screw 44 It is connected.When the 4th drive motor 451 is driven, rotating actuator make ball-screw 44 rotate, holding meanss 45 with Ball-screw 44 is rotated together.
Illustrate the construction of holding meanss 45 referring to Fig. 3~Fig. 6.Holding meanss 45 have base portion 22,50~flow path of flow path 58, needle 82, needle 84, cylinder 25 and cylinder 26.The rectangular shaped when looking down of base portion 22.As shown in figure 5, by before base portion 22 The center of rear direction is set as the imaginary line extended in left-right direction, and the imaginary line is set as center line M.Base portion 22, which has, to be kept Portion 23, department of assembly 24, supporting part 28, supporting part 29, supporting part 38, supporting part 39 and supply mouth 27 (referring to Fig. 7).Maintaining part 23 be the lower surface of base portion 22, for keeping cloth 9 (referring to Fig.1 0).The rectangular shaped when looking up of maintaining part 23.Maintaining part 23 peripheral part is the horizontal part 231 horizontally extended.Horizontal part 231 has label 87 in right forward corner, has in left back corner There is label 88.Label 87 and label 88 are used to identify the position of holding meanss 45 during shooting the image analysis of image. The shape of label 87 and label 88 is not limited, and is preferably easy to determine the simple shape of position during image analysis.
50~flow path of flow path 58 is set to base portion 22, is connected to the 101~hole of hole 108 for being set to maintaining part 23.Base portion 22 is being protected Portion 23 is held with first flow path portion 31, recess portion 33, second flow path portion 32, the first rake 34 and the second rake 35.It is horizontal Portion 231 surrounds first flow path portion 31, recess portion 33, second flow path portion 32, the first rake 34 and the second rake 35.It is first-class Road portion 31, recess portion 33 and second flow path portion 32 are when looking up in longer rectangular shape in the lateral direction.First flow path portion 31, the length on recess portion 33 and the front-rear direction in second flow path portion 32 is identical, they are on the center line M of base portion 22 from right It is arranged to the left according to the sequence in first flow path portion 31, recess portion 33 and second flow path portion 32.First flow path portion 31 and second Length on the left and right directions in road portion 32 is mutually the same, greater than the length on the left and right directions of recess portion 33.First flow path portion 31 is set There are hole 101, hole 103, hole 105 and hole 106, and is projected into the position than recess portion 33 on the lower.Hole 105 is located at the right side in hole 101 Side, hole 106 is located at the right in hole 103.The rear surface of hole 101 and hole 105 in first flow path portion 31 is rearward open, 103 He of hole Front surface of the hole 106 in first flow path portion 31 is open forwards.Recess portion 33 is set between hole 101 and hole 102, is recessed into than protecting Hold the horizontal part 231 in portion 23 position against the top.Second flow path portion 32 be configured to make recess portion 33 be in the second flow path portion 32 with Between first flow path portion 31, second flow path portion 32 is equipped with hole 102, hole 104, hole 107 and hole 108, and is projected into than recess portion 33 Position on the lower.Hole 102, hole 104, hole 107 and hole 108 are open along the longitudinal direction.Hole 107 is located at the left in hole 104, hole 108 are located at the left in hole 102.The rear surface of hole 104 and hole 107 in second flow path portion 32 is rearward open, hole 102 and hole 108 Front surface in second flow path portion 32 is open forwards.Position in the size and up and down direction in 101~hole of hole 108 phase each other Together.
First rake 34 is set to the rear in first flow path portion 31, recess portion 33 and second flow path portion 32.First rake 34 are connected with the upper end in first flow path portion 31, the upper end in second flow path portion 32 and recess portion 33, and inclined downward backward.Second Rake 35 is set to the front in first flow path portion 31, recess portion 33 and second flow path portion 32.Second rake 35 and first flow path The upper end in portion 31, the upper end in second flow path portion 32 and recess portion 33 are connected, and forward downward tilts.First rake 34 and First flow path portion 31, recess portion 33 and second flow path portion 32 are interposed between by two rakes 35 medially relatively matches along the longitudinal direction It sets.Holding meanss 45 make to supply to be sprayed to the fluid of 50~flow path of flow path 58 from 101~hole of hole 108, thus using in maintaining part Cloth 9 is adsorbed and kept to the negative pressure generated between 23 and cloth 9.The fluid of present embodiment is air.
Flow path 50 extends in left-right direction.Flow path 50 branches into this eight flow paths of 51~flow path of flow path 58.Flow path 51~stream Road 58 extends along the longitudinal direction.Flow path 51 is connected to hole 101.Flow path 52 is connected to hole 102.Flow path 53 is connected to hole 103.Flow path 54 are connected to hole 104.Flow path 55 is connected to hole 105, and flow path 57 is connected to hole 107.Flow path 56 is connected to hole 106, flow path 58 with Hole 108 is connected to.
Department of assembly 24 is tubular rounded when overlooking, and the ball wire of horn device 4 is assemblied in a manner of assemble and unassemble The lower end of thick stick 44.Department of assembly 24 is set at the upper face center of base portion 22.
Needle 82 and needle 84 are to be set to base portion 22 relative to the inclined posture of maintaining part 23.Needle 82 and needle 84 are in front-rear direction On 101~hole of hole 108 be interposed between medially be relatively configured.Direction phase of the needle 82 to the top of needle 82 far from 101~hole of hole 108 Maintaining part 23 is tilted, direction of the needle 84 to the top of needle 84 far from 101~hole of hole 108 is tilted relative to maintaining part 23.Needle 82 are located at the rear of center line M, and top is towards the back lower place.Needle 82 has this six roots of sensation needle of 821~needle of needle 826.821~needle of needle 826 arrange in left-right direction at substantially equal intervals.Needle 84 is located at the front of center line M, and top is towards front lower place.Needle 84 has This six roots of sensation needle of 841~needle of needle 846.841~needle of needle 846 arranges in left-right direction at substantially equal intervals.Needle 82, which runs through to be set to, to be kept The hole 81 in portion 23, needle 84 run through set on the hole 83 of maintaining part 23.Rectangular shaped extends in left-right direction for hole 81 and hole 83.
Supporting part 28 and supporting part 38 are set to the rear of center line M, before supporting part 29 and supporting part 39 are set to center line M Side.Supporting part 28 extends in left-right direction, and the needle 82 is supported in such a way that needle 82 can move.Supporting part 28 has component 281 With component 282.Component 281 has part 283 and part 284 and is in word master L-shape in side view.Component 281 tilts rearwardly and upwardly. Part 284 is from the front end of part 283 inclined downward backward.Component 282 is in the plate that extends parallel to part 284, and with portion 284 are divided to be connected.Supporting part 28 supports the needle 82 in the mode that needle 82 is clipped between part 284 and component 282.Equally, it props up Bearing portion 29 extends in left-right direction, and the needle 84 is supported in such a way that needle 84 can move.Supporting part 29 has component 291 and component 292.Component 291 has part 293 and part 294 and is in word master L-shape in side view.The inclination of 293 forward upward of part.Part 294 tilt from the rear end forward downward of part 293.Component 292 is in the plate that extends parallel to part 294, and with part 294 It is connected.Supporting part 29 supports the needle 84 in the mode that needle 84 is clipped between part 294 and component 292.
Supporting part 38 and supporting part 39 extend in left-right direction, and are set to the upper surface of base portion 22.Supporting part 38 has Component 381 and component 382 support the supporting part in such a way that supporting part 28 can move between component 381 and component 382 28.Hole 81 extends to inclined downward backward between component 381 and component 382.Mobile progress of the supporting part 38 to supporting part 28 Guidance.Supporting part 39 has component 391 and component 392, can be moved between component 391 and component 392 with supporting part 29 Mode supports the supporting part 29.The forward downward between component 391 and component 392 of hole 83 obliquely extends.39 pairs of branch of supporting part The movement of bearing portion 29 guides.
Cylinder 25 and cylinder 26 are set to the upper surface side of base portion 22.Cylinder 25 makes needle 82 in prominent position and retreating position Between move.Prominent position is needle 82 the location of when protruding downwards from the hole of maintaining part 23 81.Retreating position is needle 82 The location of when keeping out of the way the top of maintaining part 23.Cylinder 25 includes the cylinder 251 and cylinder 252 arranged in left-right direction. Cylinder 26 moves needle 84 between prominent position and retreating position.Prominent position be needle 84 from the hole of maintaining part 23 83 downwards The location of when prominent.Cylinder 26 includes the cylinder 261 and cylinder 262 arranged in left-right direction.Cylinder 25 and cylinder 26 are equal With piston and the biasing member to exert a force upwards to piston.The piston of cylinder 25 is connected by supporting part 28 and needle 82.Gas The piston of cylinder 26 is connected by supporting part 29 and needle 84.The overhang in the self-sustaining portion 23 of needle 82 and needle 84 at prominent position Less than the thickness of cloth 9.Overhang can also be changed according to the thickness of cloth 9.Cylinder 25 and cylinder 26 are by pipe 95 and pressure Contracting machine is connected.Supply mouth 27 (referring to Fig. 7) is set to the upper surface of base portion 22, is connected to flow path 50 and by pipe and compressor It is connected.It is connected to the pipe of supply mouth 27 and the pipe 95 for being connected to cylinder 25 and cylinder 26 is independent of one another.
Holding meanss 45 have solenoid valve 225 and solenoid valve 226 (referring to Fig. 7).Solenoid valve 225 be set to from compressor to Supply mouth 27 supplies on the feed path of air.Solenoid valve 226 is set to from compressor to cylinder 25 and cylinder 26 and supplies air Feed path on.Solenoid valve 225 and solenoid valve 226 is opened and closed in horn device 4, and controls the driving of holding meanss 45.
Illustrate that holding meanss 45 act the holding of cloth 9.It is dynamic that holding meanss 45 can selectively execute the first holding Make and the second holding acts.First holding movement is to make needle 82 and needle 84 to the mobile movement to keep cloth 9 in prominent position.The Two holdings movement is that the movement of cloth 9 is kept in the case where not making needle 82 and needle 84 mobile to prominent position.Such as in cloth 9 Select the first holding movement then preferable when being easy by air penetration.Such as selection second is protected when cloth 9 is not easy by air penetration It is then preferable to hold movement.About the selection of holding movement, from operator according to the material of such as cloth 9 correspondingly by PC10 to guarantor The input instruction of device 45 is held to carry out.When holding acts beginning, solenoid valve 225 and solenoid valve 226 are closed.When holding movement is opened When the beginning, ball-screw 44 declines, and maintaining part 23 is abutted with the cloth 9 being below.
When having selected the first holding operation, holding meanss 45 make solenoid valve 226 become to open from closing, make needle 82 and needle 84 is mobile from retreating position to prominent position.When solenoid valve 226 is opened, air flows to cylinder 25 and cylinder 26 via pipe 95. Cylinder 25 presses supporting part 28 to the direction obliquely downward in the extended direction along hole 81, and cylinder 26 is set to the extension along hole 83 Set the pressing of the direction obliquely downward supporting part 29 in direction.Supporting part 28 receives the guidance of supporting part 38 and oliquely downward moves along hole 81 Dynamic, supporting part 29 receives the guidance of supporting part 39 and oliquely downward moves along hole 83.82 self-insurance of needle that supporting part 28 is supported The horizontal part 231 for holding portion 23 protrudes downwards, and the horizontal part 231 in the 84 self-sustaining portion 23 of needle that supporting part 29 is supported is dashed forward downwards Out.Needle 82 and needle 84 are pierced into the cloth 9 for example in the top that the mounting table 18A of stack portion 3A is loaded, and keep the top Cloth 9.Needle 82 and needle 84 by more on the lower further away from center line M (referring to Fig. 5) in a manner of tilt.Needle 82 and needle 84 are relative in Heart line M to each other opposite that roll it is oblique.Therefore, holding meanss 45 can be kept with the state for pulling cloth 9 along the longitudinal direction The cloth 9.When terminating to keep, holding meanss 45 make solenoid valve 226 become to close from unlatching, and needle 82 and needle 84 are from prominent position It is mobile to retreating position.Needle 82 and needle 84 are extracted from cloth 9, and cloth 9 leaves maintaining part 23.
When having selected the second holding operation, holding meanss 45 make solenoid valve 225 become to open from closing, and by electromagnetism Valve 226 maintains in off position, needle 82 and needle 84 is maintained retreating position, and supply fluid to 50~flow path of flow path 58.Hole 101~hole 108 sprays air along maintaining part 23.Air exists along the first rake 34 and the second rake 35 of maintaining part 23 It is flowed between maintaining part 23 and the cloth 9 of the top.From hole 101, hole 103, hole 105 and the hole being arranged in the right of recess portion 33 106 and the air that sprays of the hole 102, hole 104, hole 107 and the hole 108 that are arranged in the left of recess portion 33 to far from center line M that Side flowing.During center line M is interposed between by hole 101, hole 104, hole 105 and hole 107 and hole 102, hole 103, hole 106 and hole 108 Between configure.The air sprayed from 101~hole of hole 108 is easy to flow together with the air in recess portion 33.Therefore, recess portion 33 holds Mutability is at negative pressure.The utilization of holding meanss 45 generates between maintaining part 23 and the cloth 9 for the top for being placed in mounting table 18A The cloth 9 of the top is adsorbed and kept to negative pressure.When terminating to keep, holding meanss 45 make solenoid valve 225 become to close from unlatching It closes, and solenoid valve 226 is maintained to stop the processing to the supply air of 50~flow path of flow path 58 in off position.Holding meanss 45 stop spraying air from 101~hole of hole 108 of base portion 22 along maintaining part 23.Cloth 9 leaves holding under the action of self-weight Portion 23.
Illustrate the construction of sewing machine 7 referring to Figures 1 and 2.Sewing machine 7 has base portion 71, column sections 72, horn portion 73, sewing mechanism and horicontal motion mechanism.Configuration platform 70 is configured at the rear of machine frame 2.Base portion 71 is set to configuration platform 70. Base portion 71 extends along the longitudinal direction, and holding plate 75 is fixed on front side of the upper surface in base portion 71.Holding plate 75 is equipped with needle plate 76.The upper surface of needle plate 76 and the upper surface of holding plate 75 are in same surface.Needle plate 76, which has, holds pin hole.72 slave of column sections The rear side position of portions 71 extends upwards.Horn portion 73 is from the upper end of column sections 72 with opposite with the upper surface in base portion 71 Mode extends forwards, and has front end 74 in front end.
Sewing mechanism has main motor (not shown), main shaft, needle bar drive device, shank and vertical shuttle etc..Main motor It is set to the inside of column sections 72.Main shaft extends along the longitudinal direction in the inside in horn portion 73 and is connected with main motor.Shank Driving mechanism is set to the inside of front end 74, is connected with front-end of spindle portion.Shank and needle bar drive device be connected and from Front end 74 extends downward.Eedle is equipped in the lower end of shank.Needle bar drive device makes needle along with the rotation of main shaft Bar moves up and down, so that eedle, which passes through, holds pin hole.Vertical shuttle is set to the lower section of needle plate 76 and is the inside in base portion 71, receives Receive the peg or spindle for being wound with baseline.Link mechanism is set to the inside in base portion 71 and column sections 72.Vertical shuttle is by link mechanism It is connected with main shaft, and is rotated along with the driving of main motor.
Horicontal motion mechanism has Y-axis motor, X-axis motor and pressure arm 77 etc..Y-axis motor makes pressure arm 77 along the y axis (front-rear direction) is mobile, and X-axis motor keeps pressure arm 77 mobile along the x axis (left and right directions).Pressure arm 77 has to be arranged in left-right direction A pair of of cylinder of column.The branch in such a way that a pair of of the pressing plate 771 arranged in left-right direction can move up and down in front end of pressure arm 77 Hold a pair of pressing plate 771.In the L-shaped tabular component of letter when a pair of of pressing plate 771 is left view, it is located at the top of holding plate 75. A pair of of pressing plate 771 is moving up and down between pressing position and releasing pressing position under the driving of a pair of of cylinder.Pressing position is The upper and lower position locating when pressing cloth 9 between the pressing plate 771 and holding plate 75 of pressing plate 771.Releasing pressing position is pressure Plate 771 leaves upper and lower position locating when the cloth 9 on holding plate 75 upwards.
The movable range of pressure arm 77 includes starting position, end position and position of readiness.Starting position is pressure arm 77 Movable range right front ends.When pressure arm 77 is located at starting position, pressing plate 771 is located at the right of shank.End position is pressure arm 77 Movable range left front end.When pressure arm 77 is located at end position, pressing plate 771 is located at the left of shank.Position of readiness is pressure arm 77 be located at horn portion 73 lower section when the location of.When pressure arm 77 is located at position of readiness, pressing plate 771 is in needle when looking down Near bar.
Illustrate the construction of handling device 6 referring to Figures 1 and 2.Handling device 6 have workbench 61, through hole 62 and Carrying mechanism 63 etc..Workbench 61 extends with front-rear direction in left-right direction, is supported on the upper end of machine frame 2.Workbench 61 is matched It is placed in the rear of the supporting part 41 of horn device 4 and is the front of the holding plate 75 of sewing machine 7.The upper surface of workbench 61 and guarantor The upper surface for holding plate 75 is in substantially same surface.The upper surface of workbench 61 can support cloth 9.Through hole 62 is when looking down Rectangular shaped penetrates through the left back portion of workbench 61 along the vertical direction.Through hole 62 in the longitudinal direction with holding plate 75 Left part side by side, the front of the pressure arm 77 when lying in end position.Through hole 62 can pass through for the cloth 9 after sewing.
The cloth 9 that workbench 61 is placed in by horn device 4 can be carried to sewing machine 7 by carrying mechanism 63, and will Cloth 9 is carried to through hole 62 after the sewing sewed by sewing machine 7.Carrying mechanism 63 have moving body 65, right clamping part 66, Left clamping part 67 and a pair of support parts 64 etc..
A pair of support parts 64 is fixed on workbench 61, and the carrying region for the cloth 9 carried by carrying mechanism 63 is interposed between Between arrange in left-right direction.Each supporting part 64 has guide portion 641, carrying cylinder 654 and a pair of of bearing wall portion 643 etc.. A pair of bearing wall portion 643 configures at spaced intervals along the longitudinal direction.A pair of bearing wall portion 643 supports guide portion 641.Guide portion 641 is cylindric in extending along the longitudinal direction, and the carrying cylinder 654 is supported in such a way that carrying cylinder 654 can move forward and backward. Carrying cylinder 654 is through the rodless cylinder of guide portion 641, is connected to the left and right ends of moving body 65.Carrying cylinder 654 is logical It overdrives to move forward and backward along guide portion 641, so that moving body 65 moves forward and backward.
Moving body 65 is the tabular component extended in left-right direction, and front and back fortune can be integrally carried out with carrying cylinder 654 It is dynamic.Therefore, a pair of of guide portion 641 supports the moving body 65 in such a way that moving body 65 can move forward and backward.Moving body 65 is upper Surface has right cylinder 651 and left cylinder 652.Right cylinder 651 is configured on the right side of the upper surface of moving body 65, and left cylinder 652 is matched It is placed on the left of the upper surface of moving body 65.
Right clamping part 66 is connected in the plate extended along the longitudinal direction with left and right directions with right cylinder 651.Right clamping Portion 66 is located at the position with the pressure arm 77 when being in starting position side by side in the longitudinal direction.Right clamping part 66 is in right cylinder 651 Driving under move up and down between position in clip position and leaving.Clip position is that cloth 9 is clipped in the right side by right clamping part 66 Locating upper and lower position when between clamping part 66 and workbench 61 or between the right clamping part 66 and holding plate 75.Leave position It is upper and lower position locating when right clamping part 66 is kept out of the way upwards from cloth 9.The right clamping part 66 for being positioned away from position is in position In the top for the pressing plate 771 for releasing pressing position.
Left clamping part 67 and right clamping part 66 are same, in the plate extended along the longitudinal direction with left and right directions, with left gas Cylinder 652 is connected.Left clamping part 67 is located at the position with the pressure arm 77 when being in end position side by side in the longitudinal direction.Zuo Jia Portion 67 is held to move up and down between position under the driving of left cylinder 652 in clip position and leaving.Clip position is left clamping part 67 are clipped in cloth 9 between the left clamping part 67 and workbench 61 or between the left clamping part 67 and holding plate 75 when is locating Upper and lower position.Leaving position is upper and lower position locating when left clamping part 67 is kept out of the way upwards from cloth 9.It is positioned away from position Left clamping part 67 is located in the top for releasing the pressing plate 771 of pressing position.
When carrying cylinder 654 is driven, moving body 65 is moved forward and backward between front position and rear position.Anteposition Set be moving body 65 movable range front end.The top of workbench 61 is in positioned at the moving body 65 of front position.Moving body 65 Right clamping part 66 when front position is Chong Die with the maintaining part 23 of holding meanss 45 when being located at delivery position when looking down.Position afterwards Set be moving body 65 movable range rear end.The top of holding plate 75 is in positioned at the moving body 65 of rear position.Moving body 65 Pressing plate 771 when right clamping part 66 when rear position is located at starting position with pressure arm 77 when looking down is Chong Die.Moving body 65 Pressing plate 771 when left clamping part 67 when rear position is located at end position with pressure arm 77 when looking down is Chong Die.
Illustrate the electrical structure of horn device 4 referring to Fig. 7.The control unit 410 of horn device 4 have CPU411, ROM412, RAM413, storage device 419, communication I/F414,466~driving circuit of input and output I/F415 and driving circuit 469.CPU411, ROM412 and RAM413 are electrically connected by bus with input and output I/F415.CPU411 is responsible for controlling horn Device 4, and processing is executed according to the various programs that ROM412 is stored.ROM412 stores various programs and various initial settings Parameter etc..RAM413 temporarily stores the operation result and various data etc. of CPU411.Storage device 419 is non-volatile, use In various data of storage etc..Communication I/F414 is electrically connected with input and output I/F415.Communication I/F414 is, for example, that serial communication is used Interface.Communication I/F414 is connected with the communication I/F120 (referring to Fig. 8) of PC10.
466~driving circuit of driving circuit 469 is electrically connected with input and output I/F415.Driving circuit 466 and the first driving Motor 47 is connected, and driving circuit 467 is connected with the second drive motor 48, driving circuit 468 and 49 phase of third drive motor Connection, driving circuit 469 are connected with the 4th drive motor 451.The solenoid valve 225 of input and output I/F415 and holding meanss 45 It is electrically connected with solenoid valve 226.CPU411 drive magnetic valve 225 and solenoid valve 226.
Illustrate the electrical structure of PC10 referring to Fig. 8.PC10 has CPU111.CPU111 is responsible for controlling PC10.CPU111 It is electrically connected by chipset 114 with ROM112 and RAM113.Chipset 114 be for CPU111 and ROM112, RAM113 it Between manage data a series of circuit group sent and received.ROM112 stores BIOS etc..RAM113 stores various nonces According to.
Chipset 114 is connected with chipset 115.CPU111 is by chipset 115 and storage device 116, input unit 117, display control section 118 and communication I/F120 electrical connection.Chipset 115 is in CPU111 and storage device 116, defeated Enter portion 117, display control section 118, communicate a series of circuit group sent and received for managing data between I/F120.Storage Device 116 is, for example, non-volatile storage devices such as HDD, SSD.Storage device 116 stores OS, program and data etc..It deposits Storage device 116 is also possible to the storage card that can be loaded and unloaded relative to PC10.Input unit 117 is, for example, keyboard, mouse etc., Neng Goujian Survey the various instructions from operator.The various instructions that input unit 117 will test are exported to CPU111.Display control section 118 It controls and is shown to the image of display unit 119.Communication I/F120 is, for example, the interface of serial communication.It communicates I/F120 and horn fills 4, camera 5, handling device 6 and sewing machine 7 is set to be electrically connected.
Illustrate the shooting area of camera 5 referring to Fig. 9 and Figure 10.Fig. 9 is from 5 side of camera via frame member 16 Opening portion 16A looks up the obtained figure of maintaining part 23 of holding meanss 45.Holding meanss 45 are in the movement using horn device 4 To be positioned at the state of camera site.When from 5 side of camera, maintaining part 23 is located at the inside of opening portion 16A.Cause This, is located at along the rectangular box-like reference section 17 that the inner edge portion of opening portion 16A is arranged and surrounds the guarantor around maintaining part 23 Hold the position in portion 23.Reference section 17 is provided at the part of 16 lower surface of frame member.Frame member 16 is fixed on machine frame 2.Therefore, The position of reference section 17 will not change because of environmental changes such as temperature, humidity.The transportation system 1 of present embodiment will include protecting Hold the shooting area that the predetermined region including portion 23 and reference section 17 is set in camera 5.
Figure 10 is to carry out shooting shooting image E generated to shooting area using camera 5.Figure 10 is to omit maintaining part The mode of the shape of 23 insides is illustrated.The cloth 9 for having photographed maintaining part 23 in shooting image E, being held in maintaining part 23 And the reference section 17 around maintaining part 23.As described above, the position of reference section 17 will not change because of environmental change. Thus, it is supposed that the shooting area of camera 5 shifts, PC10 because environmental change causes the camera lens of camera 5 to generate skew It can be according to the positional relationship between cloth 9 and reference section 17 come the holding position of operation cloth 9, to correctly identify cloth 9 Holding position.
Illustrate the series of actions of transportation system 1 referring to Figures 1 and 2.The CPU411 of horn device 4 receives control from PC10 System instruction, to control the first drive motor 47 and the second drive motor 48, makes holding meanss 45 to the receiving of such as stack portion 3A Position is mobile.After holding meanss 45 are moved to and receive position, CPU411 controls third drive motor 49, makes under ball-screw 44 It is down to the position that maintaining part 23 is abutted with the cloth 9 on the mounting table 18A being below.When having selected the first holding to act, CPU411 opens solenoid valve 226 keeps needle 82 and needle 84 mobile from retreating position to prominent position, to keep cloth 9.
CPU411 receives the control instruction from PC10, and control third drive motor 49 moves holding meanss 45 upwards Dynamic, later, the first drive motor 47 of control, the second drive motor 48 and the 4th drive motor 451 keep holding meanss 45 mobile To camera site.Holding meanss 45 maintain to remain the state of cloth 9.The maintaining part 23 of holding meanss 45 is via frame member 16 Opening portion 16A be located at the top (referring to Fig. 9) of camera 5.
Camera 5 receive the control instruction from PC10, from below to include remain cloth 9 maintaining part 23 and be located at The shooting area including reference section 17 around maintaining part 23 is shot.Holding meanss 45 keep cloth 9, so that being held in The cloth 9 for holding portion 23 is located at the center of shooting area.
The CPU111 of PC10 obtains the data of shooting image from camera 5.CPU111 is executed for the shooting image obtained Aftermentioned image analysis handles (referring to Fig.1 1), to detect the holding position of cloth 9.In image analysis processing, CPU111 root The first drive motor 47, the second drive motor 48 and the 4th drive motor are calculated according to the holding position of the cloth 9 detected 451 drive condition.Drive condition is for condition required for delivery position that cloth 9 is placed on workbench 61.
The CPU411 of horn device 4 receives the control instruction of PC10.Drive condition driving of the CPU411 to be calculated by PC10 First drive motor 47, the second drive motor 48 and the 4th drive motor 451, make the first arm 42, the second arm 43 and Ball-screw 44 rotates.The top position of delivery position of the holding meanss 45 on workbench 61 is mobile.CPU411 controls third Drive motor 49 declines ball-screw 44.Maintaining part 23 declines in the state of remain cloth 9.CPU411 closes electromagnetism Valve 226 keeps needle 82 and needle 84 mobile from prominent position to retreating position.Needle 82 and needle 84 are extracted from cloth 9, and cloth 9 leaves guarantor It holds portion 23 and is placed in the delivery position decided by PC10.
Handling device 6 receives the control instruction from PC10 makes moving body 65 from rear position to control carrying cylinder 654 Forward facing position is mobile.Right clamping part 66 is moved to 9 top of cloth for being placed in delivery position.Handling device 6 controls right cylinder 651, keep right clamping part 66 mobile to clip position from position is left.Right clamping part 66 by cloth 9 be clipped in the right clamping part 66 with Between workbench 61.Handling device 6 controls carrying cylinder 654, keeps moving body 65 mobile from front position rearward position.By right clamping The cloth 9 that portion 66 is pressing against successively is slided relative to workbench 61 and holding plate 75, and together rearward with moving body 65 It is mobile.After the arrival of moving body 65 behind position, handling device 6 controls right cylinder 651, moves right clamping part 66 to position is left It is dynamic.Cloth 9 configures on holding plate 75.
Sewing machine 7 receives the control instruction from PC10 makes pressure arm 77 from standby position to control X-axis motor and Y-axis motor It sets mobile to starting position.By making pressure arm 77 be moved to starting position, so that pressing plate 771 is moved to cloth 9 and is positioned away from Between the right clamping part 66 of position.Sewing machine 7 controls cylinder, keeps pressing plate 771 mobile to pressing position from pressing position is released.Pressure Plate 771 presses cloth 9 at it between holding plate 75, so that cloth 9 can be moved together with pressure arm 77, sewing machine 7 receives cloth Material 9.
Sewing machine 7 executes sewing processing.Sewing machine 7 receives control instruction from PC10, to control X-axis motor and Y-axis motor, Pressure arm 77 is set to be moved to the position that cloth 9 is in lower parts of needle.After keeping pressure arm 77 mobile, sewing machine 7 and X-axis motor and Y-axis Control to motor synchronous main motor.When the driving of main motor, shank and vertical shuttle are synchronously carried out movement.Sewing machine 7 is synchronous to be driven Dynamic X-axis motor, Y-axis motor and main motor, to form the stitching of the amount of regulation needle number on cloth 9.It has been acted in sewing Cheng Hou, sewing machine 7 stop the driving of X-axis motor, Y-axis motor and main motor.Pressure arm 77 stops at position of readiness.Sewing machine 7 X-axis motor and Y-axis motor are driven, pressure arm 77 is made to be moved to end position.
Cloth 9 and pressing plate 771 after sewing are moved together to left 67 lower section of clamping part.Sewing machine 7 controls cylinder, makes pressing plate 771 is mobile to pressing position is released.Cloth 9 configures on holding plate 75.Sewing machine 7 controls X-axis motor and Y-axis motor, makes to press Arm 77 is moved to position of readiness.
Handling device 6 controls left cylinder 652, keeps left clamping part 67 mobile to clip position from position is left.Left clamping part 67 are clipped in cloth 9 between the left clamping part 67 and holding plate 75, so that carrying mechanism 63 receives cloth 9.Handling device 6 controls Carrying cylinder 654 keeps moving body 65 mobile from rear position forward facing position.It is left along with the movement of the forward facing position of moving body 65 Cloth 9 is carried to through hole 62 by clamping part 67 forwards.Cloth 9 falls in through hole 62.The backward cloth under through hole 62 Material 9 is stacked in stacking station 68.The series of actions of transportation system 1 terminates, and by repeating the movement, is able to carry out to cloth 9 Continuous automatic sewing.
The 1 image analysis processing carried out come the CPU111 illustrated by PC10 referring to Fig.1.In the present embodiment, it is contemplated that The case where holding position of cloth 9 in maintaining part 23 shifts carries out the image analysis of the shooting image to camera 5, The accurately holding position that operation holding meanss 45 keep cloth 9.Therefore, in the present embodiment, determine that horn fills Set the para postion of 4 cloth 9 when cloth 9 to be placed in the delivery position on workbench 61.Explanation will become image solution below The cloth 9 of the benchmark of the object of analysis is known as benchmark cloth 9.It by the object of para postion to be determined and is placed on workbench 61 Delivery position to be known as by cloth 9 that sewing machine 7 is processed process cloth 9.
PC10 needs to obtain the benchmark for becoming holding position using camera 5 for the holding position of operation processing cloth 9 Benchmark image.Benchmark image be premised on benchmark cloth 9 normally can be delivered to delivery position by benchmark cloth 9 It is accurately held in the state of the centre of maintaining part 23 and carries out shooting obtained image interiorly comprising reference section 17. PC10 obtains reference information relevant to the position of benchmark cloth 9, size etc. according to the image analysis of the benchmark image of acquisition, And the reference information of acquisition is pre-stored within storage device 116.Operator is specified to shoot benchmark cloth 9, and to The instruction that PC10 input picture dissection process starts.The CPU111 of PC10 is held when obtaining the instruction that image analysis processing starts Row is stored in the program of storage device 116, thereby executing present treatment.
CPU111 judges whether to receive the shooting instruction (S1) of benchmark cloth 9.It is judged as in CPU111 and receives benchmark When the shooting instruction of cloth 9 (S1: yes), CPU111 executes reference information storage processing (S2).
Referring to Fig.1 2 come illustrate reference information storage handle.CPU111 is obtained from camera 5 by shining via communication I/F120 Camera 5 shoots the data (hereinafter referred to as shooting image) of the shooting image of benchmark cloth 9 generated as benchmark image F (S10).The benchmark image F of acquisition is stored in storage device 116.CPU111 is without exception in order to which deteminate machine arm assembly 4 has, and uses base Quasi- image F carries out abnormal determination processing (S11).
Referring to Fig.1 4 come illustrate abnormal determination handle.CPU111 reads benchmark image F from storage device 116, carries out to reading The image analysis of benchmark image F out.Such as shown in (A) of Figure 15, CPU111 is determined in benchmark image F is set to maintaining part The two respective coordinate positions (S50) of label of 23 label 87 and label 88.Specifically, CPU111 will be in benchmark image F The left of the reference section 17 photographed is set as the origin G of image coordinate, determines label 87 and label on the basis of origin G 88 respective coordinate positions.The left and right directions of reference section 17 is set as X-direction by image coordinate, by the front-rear direction of reference section 17 It is set as Y direction.The size of X-direction is set as the left and right directions length of reference section 17, and the size of Y direction is set as reference section 17 Front-rear direction length.Even if the position of reference section 17 will not change there are environmental change.In the present embodiment, by base The left of the reference section 17 photographed in quasi- image F is set as the origin G of image coordinate, thus, it is supposed that the shooting of camera 5 Region can also accurately determine in benchmark image F because environmental change shifts according to the positional relationship with reference section 17 The position of the label 87 and label 88 that photographed.
CPU111 is from 116 mark-sense reference position information (S51) of storage device.Label reference position information refers to setting The coordinate information of label 87 and the respective base position of label 88 under the image coordinate of the origin G of reference section 17, in advance It is stored in storage device 116.The CPU111 coordinate bit that the two are marked to the label 87 and label 88 determined using benchmark image F It sets and is compared with two coordinate positions shown in label reference position information, to calculate label 87 and label 88 relative to respective Base position offset (S52).CPU111 judges whether the offset calculated is in permissible range (S53).Allow model The information enclosed is pre-stored within storage device 116.Such as in the example shown in (A) of Figure 15, determined using benchmark image F The coordinate position of the two labels of label 87 and label 88 is consistent with two coordinate positions shown in label reference position information.Cause This, the offset of calculating is in permissible range (S53: yes), therefore holding meanss 45 are positioned exactly on camera site.Cause This, CPU111 terminates present treatment, is back to the reference information storage processing of Figure 12, processing is made to advance to S12.
In the example shown in (B) of Figure 15, the shooting area of camera 5 is had occurred because of environmental change from (A) of Figure 15 Offset, it appears that different from the benchmark image F of (A) of Figure 15.But in the image coordinate for the origin G for being set in reference section 17 Under, coordinate position and label reference position information institute that using benchmark image F determining label 87 and label 88, the two are marked Two coordinate positions shown are consistent.Therefore, the offset of calculating is in permissible range (S53: yes), therefore holding meanss 45 are quasi- Really it is positioned at camera site.Therefore, CPU111 terminates present treatment, is back to the reference information storage processing of Figure 12, makes to handle Advance to S12.
In the example shown in (C) of Figure 15, the position of the maintaining part 23 in benchmark image F seems (A) with Figure 15 It is identical, but deviated in terms of the positional relationship between maintaining part 23 and reference section 17.It is determined using benchmark image F The coordinate position of the two labels of label 87 and label 88 is relative to two coordinate position hairs shown in label reference position information Offset is given birth to.When the offset of calculating has been more than permissible range (S53: no), holding meanss 45 are positioned at inclined from camera site The position moved.Therefore, it is higher to there is a possibility that abnormal in horn device 4.Holding meanss 45 are deviated from camera site Reason, alternatively it is conceivable to the loosening of the screw in such as holding meanss 45, using horn device 4 by holding meanss 45 to camera site The failure of positioning or failure etc..It is deposited when abnormal in horn device 4, shooting obtained shooting image using camera 5 can not It is used as the benchmark image F as contraposition reference.It, can not be accurate by processing cloth 9 when driving has abnormal horn device 4 Ground is placed in the delivery position on workbench 61, can not accurately give sewing machine 7 for cloth 9 is processed by handling device 6.
Therefore, CPU111 makes the movement of horn device 4 stop (S54), is reported an error using the display unit 119 of PC10 (S55).CPU111 can for example show the purport that holding meanss 45 can not be positioned exactly on camera site in display unit 119 On notified.The method to report an error can also make the illumination regions such as LED bright light or flashing other than the display of display unit 119 It is notified, the sound such as warning can also be exported.See the operator of display unit 119 it will be noted that horn device 4 there are different Often, it therefore can be coped with rapidly.Since CPU111 stops the movement of horn device 4, can not will have because of cloth 9 The delivery position being accurately placed on workbench 61 causes to occur at sewing machine 7 anti-the this case that stitching defect of cloth 9 Suffer from possible trouble.After the movement of horn device 4 stops, CPU111 terminates present treatment.
When being judged as horn device 4 in abnormal determination processing (S11) without exception, holding meanss 45 are positioned exactly on Camera site.CPU111 is back to the reference information storage processing of Figure 12, obtains in the benchmark image F shown in (A) of Figure 16 Designated position P (S12) specified by operator.Designated position P can be any position of the reference section 17 in benchmark image F, The preparation method of designated position P can be suitably set.CPU111 for example obtains designated position P according to sequence below. The benchmark image F obtained in S10 is shown in display unit 119 by CPU111.Operator's benchmark referring to shown by display unit 119 Image F inputs the instruction of a point of the reference section 17 in selection benchmark image F using input unit 117.Such as (B) of Figure 16 Shown, CPU111 obtains designated position P according to the instruction obtained by input unit 117.
CPU111 carries out the image procossing to the benchmark image F obtained in S10, determines the benchmark cloth in benchmark image F The profile (S13) of material 9.The determination method of profile suitably uses well known method.CPU111 is for example according to sequence below To determine the profile of benchmark cloth 9.Benchmark cloth 9 in order to is identified as the same object by CPU111, to the data of benchmark image F Using smoothing filter, by benchmark image F binaryzation.As shown in (B) of Figure 16, CPU111 tracks black in binary image The linking portion of pixel, so that it is determined that cricoid boundary part is as profile U.
CPU111 determines the base position R (S14) of cloth 9 according to the profile U determined in S13.CPU111 will be in S10 The position of centre of gravity of benchmark cloth 9 in the benchmark image F of middle acquisition is determined as base position R.The calculation method of position of centre of gravity is suitable When using well known method.CPU111 is for example using the zeroth order square of the benchmark cloth 9 in the binary image of benchmark image F And first moment, to determine the position of centre of gravity of the benchmark cloth 9 in benchmark image F.The zeroth order square of binary image indicates gray value For the summation of 1 pixel number.The first moment of binary image indicates that gray value is the summation of the position coordinate value of 1 pixel.Base The X-coordinate of the center of gravity of benchmark cloth 9 in quasi- image F is the first moment of X-direction multiplied by the obtained value of inverse of zeroth order square. The Y-coordinate of the center of gravity of benchmark cloth 9 in benchmark image F be Y direction first moment multiplied by image zeroth order square institute reciprocal Obtained value.
CPU111 determines profile U and is attached at the base position R of the benchmark cloth 9 determined in S14 and obtains in S12 The intersection point C (S15) of the obtained line segment V of designated position P.As shown in (C) of Figure 16, the intersection point C of line segment V and profile U are one Point.According to the shape of profile, the intersection point of line segment and profile is had multiple sometimes.CPU111 judges that the intersection point determined in S15 is No is multiple (S16).When intersection point C is one (S16: no), CPU111 determines the position of the intersection point C determined in S15 For para postion C (S17).When the intersection point of line segment and profile is multiple (S16: yes), CPU111 is by the distance away from designated position P The position of the smallest intersection point is determined as para postion C (S18).
CPU111 calculates inclined direction of the slope of axis of torque A as the benchmark cloth 9 under the image coordinate of origin G (S19).The calculation method of the inclined direction of cloth 9 under the image coordinate of origin G suitably uses well known method. Benchmark cloth in image coordinate of the CPU111 for example using the second moment of the benchmark cloth 9 in binary image, to determine origin G The inclined direction of material 9.As shown in (D) of Figure 16, such as axis of torque A extends by base position R (center of gravity) and along the x axis.
As shown in (E) of Figure 16, CPU111 sets circumscribed rectangle D1 (S20) for the profile U determined in S13.It is circumscribed Rectangle D1 is in the square along two sides extended in S19 according to the inclined direction of the benchmark image F benchmark cloth 9 determined Shape.Circumscribed rectangle D1 is in two sides extended with along inclined direction (X-direction) and the edge direction (Y orthogonal with inclined direction Axis direction) extend two sides rectangle.CPU111 obtain benchmark cloth 9 longitudinal direction on the first long side length L1 and The first information (S21) of the first bond length L2 as the size for indicating benchmark cloth 9 on the short side direction of benchmark cloth 9. First long side length L1 is the length in the longitudinal direction of the circumscribed rectangle D1 set in S20.First bond length L2 be Length on the short side direction of the circumscribed rectangle D1 set in S20.
CPU111 is by the slope of location information, the first information obtained in S21 and the axis of torque A calculated in S19 Storage device 116 (S22) is stored in as reference information.Location information is base position R and the contraposition indicated on benchmark cloth 9 The information of the respective coordinate position of position C, the base position R specifically determined in S14 and the determination in S17 or S18 The respective coordinate position of para postion C.Coordinate position is set as the left of reference section 17 in the image coordinate of origin G Position.CPU111 terminates reference information storage processing, is back to the image analysis processing of Figure 11.CPU111 judges whether to obtain Termination instruction (S5).Operator can be by operation inputting part 117 come end of input instruction.When not obtaining termination instruction (S5: It is no), CPU111 makes that processing returns to S1.
(S1: no) when shooting to benchmark cloth 9 is not indicated in operator, and CPU111 judges whether camera 5 is right Processing cloth 9 is shot (S3).In the above-mentioned series of actions of transportation system 1, camera 5 receives the control from PC10 System instruction, horn device 4 by holding meanss 45 from receiving to shoot in the state that position is positioned at camera site, and will clap Image E (referring to Fig.1 0) is taken the photograph to export to PC10.CPU111 obtains shooting figure under conditions of the shooting of no benchmark cloth 9 instruction When as E, judge that 5 pairs of processing clothes 9 of camera are shot (S3: yes).CPU111 executes para postion and determines processing (S4).
It 3 is handled referring to Fig.1 to illustrate that para postion determines.CPU111, which is obtained, shoots processing cloth generated by camera 5 The shooting image E (S30) of material 9.Shooting image E shown in (A) of Figure 17 is to process the holding position of cloth 9 relative to reference map An example for the image that the holding position of the benchmark cloth 9 of picture is offset by.CPU111 is in shooting image E by the left comer of reference section 17 Portion is set as the origin G of image coordinate.
CPU111 executes abnormal determination processing (S31) in the same manner as the S11 of Figure 12, and deteminate machine arm assembly 4 is with the presence or absence of different Often.When CPU111 is determined as horn device 4 without exception, CPU111 is determined using method identical with the S13 of Figure 12 Profile W (S32) in the shooting image E of the processing cloth 9 obtained in S30.CPU111 utilizes method identical with the S14 of Figure 12 To determine the base position Q (S33) of processing cloth 9 in S32 according to the profile W determined.As shown in (B) of Figure 17, CPU111 Such as the position of centre of gravity of the processing cloth 9 in the shooting image E obtained in S30 is determined as base position Q.
CPU111 calculates the slope of axis of torque H using method identical with the S19 of Figure 12 as the image coordinate of origin G Under processing cloth 9 inclined direction (S34).As shown in (C) of Figure 17, CPU111 uses the shooting image E obtained in S30 In the second torque of processing cloth 9 calculate the slope of axis of torque H.
As shown in (D) of Figure 17, CPU111 is directed to the wheel determined in S32 using method identical with the S20 of Figure 12 Wide W sets circumscribed rectangle D2 (S35).Circumscribed rectangle D2 is in along the processing cloth 9 determined in S34 according to shooting image E Inclined direction extend two sides rectangle.Circumscribed rectangle D2 is in two sides and edge that along inclined direction extend and inclination The rectangle on two sides that the vertical direction in direction extends.CPU111 obtains the second long side in the longitudinal direction of processing cloth 9 Second information of the second bond length M2 as the size for indicating processing cloth 9 on the short side direction of length M1 and cloth 9 (S36).Second long side length M1 is the length in the longitudinal direction of the circumscribed rectangle D2 set in S35.Second bond length M2 is the length on the short side direction of the circumscribed rectangle D2 set in S35.
CPU111 obtains the location information and the first information (S37) of benchmark cloth 9 from storage device 116.CPU111 according to The first information that obtains in S37 and the second information determined in S36 calculate processing cloth 9 relative to benchmark cloth 9 Expansion and contraction (S38).CPU111 calculates processing cloth 9 according to the first long side length L1 and the second long side length M1 relative to benchmark The first expansion and contraction (M1/L1) of the longitudinal direction of cloth 9 is used as expansion and contraction.CPU111 is short according to the first bond length L2 and second Edge lengths M2 stretches to calculate processing cloth 9 and be used as relative to the second expansion and contraction (M2/L2) of the short side direction of benchmark cloth 9 Rate.
As shown in (E) of Figure 17, CPU111 according to the first expansion and contraction and the second expansion and contraction calculated in S38, in S37 The base position Q of the location information of the benchmark cloth 9 of acquisition and the processing cloth 9 determined in S33, to determine processing cloth 9 para postion J (S40).CPU111 considers the shooting image E for the slope of the benchmark cloth 9 in benchmark image F In processing cloth 9 slope, come determine processing cloth 9 para postion J.For example, position of the CPU111 according to benchmark cloth 9 Information calculates vector V (6 (D), Figure 16 referring to Fig.1 from the base position R of benchmark cloth 9 towards para postion C (E)).The vector of calculating is also possible to the arrow from the base position R of benchmark cloth 9 towards designated position P specified by operator Amount.CPU111 makes expansion and contraction (the first expansion and contraction, the second expansion and contraction) multiplied by the vector V of calculating.CPU111 will be determined from S33 The base position Q of processing cloth 9 separated and be determined as virtual para postion multiplied by the position after the vector after expansion and contraction. CPU111 calculates the difference of the axis of torque H of processing cloth 9 and the axis of torque A of benchmark cloth 9.CPU111 will make virtual para postion with Position after the amount for the difference for having rotated calculating centered on the base position Q determined in S33 is determined as para postion J.Opposite For the slope of benchmark cloth 9 in benchmark image F shooting image E in processing cloth 9 slope can without apparent time, Virtual para postion can also be determined as para postion J by CPU111.
CPU111 by S39 determine processing cloth 9 para postion information and with processing cloth 9 inclined direction phase The information of pass exports (S40) to horn device 4.Para postion information either in S39 determine para postion J coordinate Position is also possible to the coordinate bit of the para postion J of the coordinate position and processing cloth 9 according to the para postion C of benchmark cloth 9 The correcting value for setting to calculate.Coordinate position is the origin G that the reference section 17 photographed in benchmark image F and shooting image E is set Image coordinate under coordinate position.Information relevant to inclined direction is either the processing cloth 9 calculated in S34 inclines Tilted direction is also possible to be calculated according to the inclined direction of the inclined direction of the benchmark cloth 9 obtained in S37 and processing cloth 9 Correcting value out.
CPU111 according to the position of the processing cloth 9 in shooting image E, is calculated as described above in order to load cloth 9 First drive motor 47, the second drive motor 48 required for the delivery position on workbench 61 and the 4th drive motor 451 drive condition.Therefore, CPU111 is calculated in the processing of S40 using according to the para postion C of benchmark cloth 9 and processing The correcting value that the para postion J of cloth 9 is calculated and inclined direction and processing cloth according to the benchmark cloth 9 obtained in S37 Material 9 inclined direction calculate correcting value in the case where benchmark cloth 9 the first drive motor 47, the second drive motor 48 with And the 4th the drive volume of drive motor 451 be corrected obtained value, as processing cloth 9 in the case where the first driving horse It is exported up to the drive condition of the 47, second drive motor 48 and the 4th drive motor 451, and to horn device 4.CPU111 terminates Para postion determines processing, and is back to the image analysis processing of Figure 11.CPU111 judges whether to obtain termination instruction (S5).? CPU111 is judged as (S5: no) when not obtaining termination instruction, and CPU111 makes that processing returns to S1 and reprocess.Sentence in CPU111 Break when to obtain termination instruction (S5: yes), CPU111 terminates image analysis processing.
The CPU111 of present embodiment is when using the holding position of benchmark image F and shooting image E operation cloth 9, no It is the profile of the shooting image of camera 5 to be set as to benchmark, but the reference section 17 photographed in same shooting image is set as Benchmark.Thus, it is supposed that the maintaining part 23 photographed in the shooting image of camera 5 is because environmental change is expanded or is shunk When, cloth 9 will not change relative to the holding position of reference section 17.Shooting image E is relative to shown in Figure 10 shown in Figure 18 Shooting image E for maintaining part 23 reduce, but cloth 9 does not change relative to the holding position of reference section 17.Therefore, CPU111 can calculate base of the holding position of processing cloth 9 relative to benchmark image F by calculating expansion and contraction as described above The offset of the holding position of quasi- cloth 9 is simultaneously correctly corrected.
In 16 lower surface of frame member, the reference section 17 of setting is in the frame shape with opening, which lies in shooting Between the maintaining part 23 and camera 5 of the holding cloth 9 of the holding meanss 45 of position, and this is opened when from 5 side of camera Mouth is bigger than maintaining part 23.Therefore, reference section 17 can surround maintaining part 23 in shooting image E around maintaining part 23.Therefore, When carrying out image analysis to shooting image E, CPU111 is easy to determine the position of reference section 17.17 rectangular frame-shaped of reference section, Therefore the corner for easily identifying reference section 17, can promptly set origin G.Therefore, CPU111 being capable of promptly operation cloth 9 Holding position relative to reference section 17.
As described above, the transportation system 1 of present embodiment has horn device 4 and sewing machine 7.Horn device 4 have the holding meanss 45 for being able to maintain the cloth 9 as sewing object, and holding meanss 45 can be made to be moved to defined handover Cloth 9 is delivered to delivery position by position.Sewing machine 7 receives to be delivered to the cloth 9 of delivery position by horn device 4 and to this Cloth 9 is sewed.Transportation system 1 has the PC10 of control horn device 4.The CPU111 of PC10 controls horn device 4, makes to protect The holding meanss 45 that hold processing cloth 9 are moved to defined camera site.Make the holding meanss 45 that remain processing cloth 9 After being moved to camera site, CPU111 using camera 5 to include processing cloth 9 and positioned at processing cloth 9 around and position Region including fixed reference section 17 carries out shooting as shooting image.CPU111 obtain to being shot by camera 5 The image analysis of image is shot, operation is set in the coordinate bit of the processing cloth 9 under the image coordinate of the origin G of reference section 17 It sets.Information, that is, reference information of the 116 Memory Reference image of storage device of PC10.Benchmark image is in advance with can be by benchmark Cloth 9 makes the holding meanss that remain benchmark cloth 9 45 be moved to camera site premised on being normally delivered to delivery position Under state, the region including benchmark cloth 9 and reference section 17 is carried out shooting obtained shooting figure using camera 5 Picture.CPU111 reads the reference information for being stored in storage device 116, and operation processes the position of cloth 9 relative in benchmark image Benchmark cloth 9 position offset.CPU111 control horn device 4, the offset that correction calculation obtains, make to remain plus The holding meanss 45 of work cloth 9 are moved to delivery position.
For the transportation system 1 with above structure, due to the position of reference section 17 be it is fixed, become position not The positioning datum that meeting changes by environment.Transportation system 1 identifies the position of processing cloth 9 on the basis of reference section 17, because This, is when environment (the temperature, humidity etc.) variation that camera 5 works causes the shooting image of camera 5 that offset has occurred, Also the holding position of processing cloth 9 can be correctly identified.Therefore, defeated when offset has occurred in the holding position for processing cloth 9 It send system 1 correction offset and processing cloth 9 can be delivered to delivery position, therefore can correctly hand over processing cloth 9 To sewing machine 7.
In the above description, cloth 9 is an example of workpiece of the invention.Horn device 4 is conveying device of the invention An example.Sewing machine 7 is an example of process equipment of the invention.The camera site of camera 5 is allocation position of the invention An example.It is of the invention for controlling horn device 4 and the holding meanss that remain cloth 9 45 is made to be moved to the CPU111 of camera site An example of first movement control unit.It is right using camera 5 after making the holding meanss that remain cloth 9 45 be moved to camera site Region including cloth 9 and around cloth 9 and including the reference section 17 of position fixation carries out shooting as shooting image CPU111 be shooting control part of the invention an example.The storage device 116 of Memory Reference information is of the invention first to deposit An example in storage portion.CPU111 when executing the processing of the S33 of Figure 13 is an example of the first operational part of the invention.Execution S34~ The CPU111 when processing of S39 is an example of the second operational part of the invention.CPU111 when executing the processing of S40 is the present invention The second mobile control division an example.
CPU111 when executing the processing of the S50 of Figure 14 is an example of mark position test section of the invention.Storage label The storage device 116 of reference position information is an example of the second storage unit of the invention.Execute S53 processing when CPU111 be An example of determination unit of the invention.CPU111 when executing the processing of S54 is an example of stop of the invention.Execute S55's CPU111 when processing is an example of notification unit of the invention.
The present invention is able to carry out various changes except above embodiment.Above embodiment is can be to sewing machine 7 Transportation system of the conveying as the cloth 9 of sewing object, but the present invention can add suitable for that can convey to be used as to process equipment The system of the workpiece of work object.Process equipment can also be such as cloth adhering device, lathe other than sewing machine.Heap Folded portion 3 has stack portion 3A and the two stack portions of stack portion 3B but it is also possible to be one, can also be three or more.
It is also possible to transportation system 1 and omits handling device 6, sewing machine 7 is made directly to receive to be delivered to rule by horn device 4 The cloth 9 of fixed delivery position.
Holding meanss 45 can selectively execute make needle 82 and needle 84 it is outstanding keep cloth 9 the first holding movement with And the second holding of cloth 9 is kept to act using the negative pressure of air in the case where not making needle 82 and the situation outstanding of needle 84, but can also To be the device that can be kept in the way of any one.Holding meanss 45 can also carry out the first holding movement simultaneously It is acted with the second holding.The structure of holding cloth 9 in holding meanss 45 is also possible to the structure other than above embodiment.
It is also possible to transportation system and omits PC10, by the CPU411 of horn device 4, the CPU of handling device 6 and sewing Any one in the CPU of machine 7 is uniformly controlled the movement of transportation system.
The reference section 17 being located at around maintaining part 23 is set as fixed in the shooting image E of camera 5 by above embodiment Position benchmark, but as long as be located at maintaining part 23 around and position will not be because of the part that environmental change changes, can also The part other than reference section 17 is set as positioning datum.As long as reference section 17 can identify the shape of position in image analysis Shape may not be rectangular box-like.It is also possible to reference section 17 and is not located at the holding meanss 45 for being moved to camera site Between maintaining part 23 and camera 5, but it is located at the position than maintaining part 23 far from camera 5.Reference section 17 can also be in frame Shape is set to the periphery of maintaining part 23.
Maintaining part 23 has the two labels of the label 87 and label 88 of the position of maintaining part 23 for identification, but mark Quantity is at least two, is also possible to three or more.

Claims (4)

1. a kind of transportation system, which is included
Conveying device (4) has the holding meanss (45) for being able to maintain the workpiece (9) as processing object, the conveying device The holding meanss can be made to be moved to defined delivery position, and the workpiece is delivered to the delivery position;And
Process equipment (7) receives to be delivered to the workpiece of the delivery position by the conveying device and to the workpiece It is processed,
The transportation system is characterized in that, comprising:
First movement control unit (111) controls the conveying device, keeps the holding meanss that remain the workpiece mobile To defined allocation position;
Shooting control part makes the holding meanss that remain the workpiece be moved to described match in the first movement control unit After seated position, the shooting control part is using camera (5) to including the workpiece and around the workpiece and position is solid Region including fixed reference section (17) carries out shooting as shooting image (E);
First operational part carries out figure using the shooting image that the camera is shot to by the shooting control part As parsing, position of the workpiece relative to the reference section described in union;
First storage unit (116), the first storage unit Memory Reference information, the reference information are with can be by the workpiece just Often being delivered to premised on the delivery position makes the holding meanss that remain the workpiece be moved to the allocation position In the state of, the region including the workpiece and the reference section is carried out shooting obtained base using the camera The information of quasi- image (F);
Second operational part carrys out operation by first operation based on the reference information for being stored in first storage unit Offset of the position for the workpiece that portion's operation obtains relative to the position of the workpiece in the benchmark image;And
Second mobile control division controls the conveying device, corrects the offset obtained by the second operational part operation Amount, makes the holding meanss that remain the workpiece be moved to the delivery position.
2. transportation system according to claim 1, which is characterized in that
The reference section is in the frame shape with opening (16A), and described be open lies in the holding of the allocation position Between the maintaining part and the camera of the holding workpiece of device, and aperture efficiency when from the camera side The maintaining part is big.
3. transportation system according to claim 1 or 2, which is characterized in that
The holding meanss are equipped with label (87,88) in the maintaining part for keeping the workpiece,
The transportation system includes
Mark position test section, according to the image analysis of the shooting image, to detect the label relative to the benchmark The position in portion;
Second storage unit (116) stores the benchmark of the label under the image coordinate for the origin for being set in the reference section Position;
Determination unit, by the label detected by the mark position test section relative to the reference section position with deposit The base position for being stored in second storage unit is compared, to determine it is described whether the holding meanss are precisely located at Allocation position;And
Stop, when the determination unit is determined as that the holding meanss are not precisely located at the allocation position, the stopping Portion stops the movement of the conveying device.
4. transportation system according to claim 3, which is characterized in that
The transportation system has notification unit, is determined as that the holding meanss are not precisely located at described match in the determination unit When seated position, which reports an error.
CN201910248296.1A 2018-03-30 2019-03-29 Transportation system Pending CN110318171A (en)

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JP2018068692A JP2019177025A (en) 2018-03-30 2018-03-30 Conveyance system and control method

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Citations (8)

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DE4205070A1 (en) * 1991-02-19 1992-08-27 Brother Ind Ltd METHOD FOR POSITIONING AND PUSHING A SEWING GOOD
US6196147B1 (en) * 1994-05-27 2001-03-06 Perry E. Burton Folding and sewing apparatus
JP3933726B2 (en) * 1996-05-15 2007-06-20 ペガサスミシン製造株式会社 Material edge position control device
CN202626597U (en) * 2012-06-01 2012-12-26 浙江思普瑞自控设备有限公司 Position adjusting device for servo actuator
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CN102550015B (en) * 2010-06-30 2016-06-08 富士胶片株式会社 Multiple views imaging control device and multiple views filming control method
CN107227564A (en) * 2016-03-23 2017-10-03 兄弟工业株式会社 Conveying device and induction system
CN107268199A (en) * 2016-04-05 2017-10-20 大和缝纫机制造株式会社 Sewing auxiliary device and the sewing machine using the sewing auxiliary device

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4205070A1 (en) * 1991-02-19 1992-08-27 Brother Ind Ltd METHOD FOR POSITIONING AND PUSHING A SEWING GOOD
US6196147B1 (en) * 1994-05-27 2001-03-06 Perry E. Burton Folding and sewing apparatus
JP3933726B2 (en) * 1996-05-15 2007-06-20 ペガサスミシン製造株式会社 Material edge position control device
CN102550015B (en) * 2010-06-30 2016-06-08 富士胶片株式会社 Multiple views imaging control device and multiple views filming control method
CN202626597U (en) * 2012-06-01 2012-12-26 浙江思普瑞自控设备有限公司 Position adjusting device for servo actuator
CN104514097A (en) * 2013-09-30 2015-04-15 兄弟工业株式会社 Sewing machine and sewing system
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CN107268199A (en) * 2016-04-05 2017-10-20 大和缝纫机制造株式会社 Sewing auxiliary device and the sewing machine using the sewing auxiliary device

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