CN110616513A - Sewing machine and sewing method - Google Patents

Abstract

The invention provides a sewing machine and a sewing method, which can form stitches at a target position of a sewing object with high precision. The sewing machine comprises: a holding member which can hold and move a sewing object in a specified surface including a sewing position right below a sewing machine needle; an actuator that moves the holding member; a sewing data acquisition unit for acquiring sewing data to be referred to in a sewing process; an offset data acquisition part for acquiring offset data, wherein the offset data represents the deviation between a target pattern of a stitch formed on a sewing object and the stitch formed in sewing processing; and a control unit for outputting a control signal for controlling the actuator during the sewing process based on the sewing data and the offset data.

Description

Sewing machine and sewing method

Technical Field

The invention relates to a sewing machine and a sewing method.

Background

In order to improve the design of the sewing object, stitches are sometimes formed on the sewing object. Patent documents 1 and 2 disclose techniques for forming stitches in a skin material used for a vehicle seat.

Patent document 1: japanese patent laid-open publication No. 2013-162957

Patent document 2: japanese patent laid-open publication No. 2016-

A skin material used for a vehicle seat has a thickness and elasticity. If stitches are formed on a sewing object having a thickness and elasticity, the sewing object may contract and the surface of the sewing object may be displaced. For example, there is a technology in which, when a1 st stitch is formed based on sewing data in which a target position for forming a stitch is predetermined and then a 2 nd stitch is formed, the target position is corrected in accordance with a displacement of a surface of a sewing object caused by the formation of the 1 st stitch, and the 2 nd stitch is formed at an appropriate target position of the sewing object.

However, even if the correction is performed as described above, the stitch actually formed may be deviated from the target position during the sewing process due to the characteristics of the sewing object or the sewing machine.

Disclosure of Invention

The invention aims to provide a sewing machine and a sewing method capable of forming stitches at a target position of a sewing object with high precision.

A sewing machine according to claim 1 of the present invention includes: a holding member which can hold and move a sewing object in a specified surface including a sewing position right below a sewing machine needle; an actuator that moves the holding member; a sewing data acquisition unit for acquiring sewing data to be referred to in a sewing process; an offset data acquiring unit that acquires offset data indicating a deviation between a target pattern of stitches formed on the sewing object and stitches formed during the sewing process; and a control unit that outputs a control signal for controlling the actuator during the sewing process based on the sewing data and the offset data.

A sewing method according to claim 2 of the present invention includes the steps of: acquiring sewing data referred to in a sewing process; obtaining offset data representing a deviation between a target pattern of stitches formed on a sewing object and stitches formed in the sewing process; and forming a stitch on the sewing object by relatively moving a sewing machine needle and the sewing object in a predetermined plane in the sewing process based on the sewing data and the offset data.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the sewing machine and the sewing method of the present invention, the stitch can be formed at the target position of the sewing object with high accuracy.

Drawings

Fig. 1 is a perspective view showing an example of a sewing machine according to the present embodiment.

Fig. 2 is a perspective view showing a part of the sewing machine according to the present embodiment.

Fig. 3 is a cross-sectional view showing an example of the sewing object according to the present embodiment.

Fig. 4 is a plan view showing an example of the sewing object according to the present embodiment.

Fig. 5 is a cross-sectional view showing an example of the sewing object according to the present embodiment.

Fig. 6 is a functional block diagram showing an example of the control device according to the present embodiment.

Fig. 7 is a diagram showing an example of a sewing object according to the present embodiment.

Fig. 8 is a diagram showing an example of offset data according to the present embodiment.

Fig. 9 is a diagram showing another example of offset data according to the present embodiment.

Fig. 10 is a diagram for explaining a method of calculating the displacement amount according to the present embodiment.

Fig. 11 is a diagram for explaining a method of calculating the displacement amount according to the present embodiment.

Fig. 12 is a diagram for explaining a method of calculating the displacement amount according to the present embodiment.

Fig. 13 is a flowchart showing an example of the sewing method according to the present embodiment.

Fig. 14 is a flowchart showing another example of the sewing method according to the present embodiment.

Description of the reference numerals

1 … sewing machine, 2 … table, 3 … sewing machine needle, 4 … surface material, 5 … cushion material, 6 … back surface material, 7 … holes, 10 … sewing machine body, 11 … sewing machine frame, 11a … horizontal arm, 11B … base, 11C … vertical arm, 11D … head, 12 … needle bar, 13 … needle plate, 14 … support member, 15 … holding member, 15a … pressing member, 15B … lower plate, 16 … actuator, 17 … actuator, 17X … X axis motor, 17Y … Y axis motor, 18 … actuator, 19 … middle presser foot member, 20 … operating device, 21 … operating panel, 22 … operating pedal, 30 … camera, 31 … driving quantity sensor, 32X … X axis sensor, 32Y … Y axis sensor, 40 … control device, … input device, … output device, … storage device, … data storage device, … storage device, a 62 … offset data storage section, a 63 … program storage section, a 70 … arithmetic processing device, a 71 … target data acquisition section, a 72 … initial position data acquisition section, a 73 … current position data acquisition section, a 74 … offset data acquisition section, a 75 … displacement amount calculation section, a 76 … correction data generation section, a 77 … control section, an AX … optical axis, a DPh … reference pattern, an FA … imaging region, a GP … stitch, an MA … stitch forming region, a Pf … imaging position, a Ps … sewing position, an RP … target pattern, an RP1 … 1 st target pattern, an RP2 … nd 2 th target pattern, an RP3 … rd 3 rd target pattern, an RP4 … th 4 th target pattern, an RP5 … th target pattern, an RP6 … th target pattern, an RP7 … th target pattern, an RP8 … th target pattern, an RP9 … th 9 th target pattern, an RP 36 10 … th target pattern, an UP … characteristic pattern, and an S … sewing target.

Detailed Description

Embodiments according to the present invention will be described below with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be combined as appropriate. In addition, some of the components may not be used.

In the present embodiment, a local coordinate system is defined for the sewing machine 1. In the following description, the local coordinate system specified with respect to the sewing machine 1 is referred to as a sewing machine coordinate system as appropriate. The sewing machine coordinate system is defined by an XYZ rectangular coordinate system. In the present embodiment, the positional relationship of each part will be described based on the coordinate system of the sewing machine. A direction parallel to the X axis in the predetermined plane is referred to as an X axis direction. A direction parallel to a Y axis orthogonal to the X axis in the predetermined plane is defined as a Y axis direction. A direction parallel to a Z axis orthogonal to the predetermined plane is defined as a Z axis direction. The rotation direction or the tilt direction about the X axis is defined as the θ X direction. The rotation direction or the tilt direction about the Y axis is defined as the θ Y direction. The rotation direction or the tilt direction about the Z axis is defined as θ Z direction. In the present embodiment, a plane including the X axis and the Y axis is appropriately referred to as an XY plane. A plane including the X axis and the Z axis is appropriately referred to as an XZ plane. A plane including the Y axis and the Z axis is appropriately referred to as a YZ plane. The XY plane is parallel to the prescribed plane. The XY plane, XZ plane, and YZ plane are orthogonal. In the present embodiment, the XY plane is parallel to the horizontal plane. The Z-axis direction is the up-down direction. The + Z direction is the up direction and the-Z direction is the down direction. Further, the XY plane may be inclined with respect to the horizontal plane.

The sewing machine 1 will be described with reference to fig. 1 and 2. Fig. 1 is a perspective view showing an example of a sewing machine 1 according to the present embodiment. Fig. 2 is a perspective view showing a part of the sewing machine 1 according to the present embodiment. In the present embodiment, the sewing machine 1 is an electronic cycle sewing machine. The sewing machine 1 includes: a sewing machine body 10, an operation device 20 operated by an operator, an imaging device 30 capable of imaging a sewing object S, and a control device 40 controlling the sewing machine 1.

The sewing machine body 10 is mounted on the upper surface of the table 2. The sewing machine body 10 includes: a sewing machine frame 11; a needle bar 12 supported by the sewing machine frame 11; a needle plate 13 supported by the sewing machine frame 11; a holding member 15 supported by the sewing machine frame 11 via a support member 14; an actuator 16 that generates a power to move the needle bar 12; an actuator 17 that generates power to move the holding member 15; and an actuator 18 that generates power to move at least a part of the holding member 15.

The sewing machine frame 11 has: a horizontal arm 11A extending in the Y-axis direction; a base 11B provided below the horizontal arm 11A; a vertical arm 11C connecting the + Y-side end of the horizontal arm 11A to the base 11B; and a head 11D disposed on the-Y side of the horizontal arm 11A.

The needle bar 12 holds the sewing needle 3. The needle bar 12 holds the sewing needle 3 in such a manner that the sewing needle 3 is parallel to the Z-axis. The needle bar 12 is supported by the head 11D so as to be movable in the Z-axis direction.

The needle plate 13 supports the sewing object S. The needle plate 13 supports the holding member 15. The needle plate 13 is supported on the base 11B. The needle plate 13 is disposed below the holding member 15.

The holding member 15 holds the sewing object S. The holding member 15 can move while holding the sewing object S in the XY plane including the sewing position Ps directly below the sewing needle 3. The holding member 15 can move while holding the sewing object S in the XY plane including the imaging position Pf of the imaging device 30. The holding member 15 moves in the XY plane including the sewing position Ps based on sewing data described later while holding the sewing object S, thereby forming a stitch GP on the sewing object S. The holding member 15 is supported by the horizontal arm 11A via the support member 14.

The holding member 15 has a pressing member 15A and a lower plate 15B arranged to face each other. The pressing member 15A is a frame-shaped member and is movable in the Z-axis direction. The lower plate 15B is disposed below the pressing member 15A. The holding member 15 holds the sewing object S by sandwiching the sewing object S between the pressing member 15A and the lower plate 15B.

If the pressing member 15A moves in the + Z direction, the pressing member 15A and the lower plate 15B are separated. Thus, the operator can dispose the sewing object S between the pressing member 15A and the lower plate 15B. If the pressing member 15A moves in the-Z direction in a state where the sewing object S is disposed between the pressing member 15A and the lower plate 15B, the sewing object S is sandwiched between the pressing member 15A and the lower plate 15B. Thereby, the sewing object S is held by the holding member 15. Further, the holding member 15 releases the holding of the sewing object S by the holding member 15 by the movement of the pressing member 15A in the + Z direction. Thereby, the operator can take out the sewing object S from between the pressing member 15A and the lower plate 15B.

The actuator 16 generates a motive force for moving the needle bar 12 in the Z-axis direction. The actuator 16 comprises a pulse motor. The actuator 16 is disposed on the horizontal arm 11A.

A horizontal arm shaft extending in the Y-axis direction is disposed inside the horizontal arm 11A. The actuator 16 is coupled to the + Y-side end of the horizontal arm shaft. the-Y-side end of the horizontal arm shaft is connected to the needle bar 12 via a power transmission mechanism provided inside the head 11D. By the operation of the actuator 16, the horizontal arm shaft is rotated. The power generated by the actuator 16 is transmitted to the needle bar 12 via the horizontal arm shaft and the power transmission mechanism. Thereby, the sewing machine needle 3 held by the needle bar 12 is reciprocally moved in the Z-axis direction.

A timing belt extending in the Z-axis direction is disposed inside the vertical arm 11C. Further, a base shaft extending in the Y-axis direction is disposed inside the base 11B. The horizontal arm shaft and the base shaft are respectively provided with a pulley. The synchronous belt is respectively erected on a belt wheel arranged on the horizontal arm shaft and a belt wheel arranged on the base shaft. The horizontal arm shaft and the base shaft are connected via a power transmission mechanism including a timing belt.

A kettle is disposed inside the base 11B. The bobbin loaded in the bobbin case is contained in the kettle. By the operation of the actuator 16, the horizontal arm shaft and the base shaft are rotated, respectively. The power generated by the actuator 16 is transmitted to the tank via the horizontal arm shaft, timing belt and base shaft. Thereby, the pot is rotated in synchronization with the reciprocating movement of the needle bar 12 in the Z-axis direction.

The actuator 17 generates a power to move the holding member 15 in the XY plane. The actuator 17 comprises a pulse motor. The actuator 17 includes: an X-axis motor 17X that generates power for moving the holding member 15 in the X-axis direction; and a Y-axis motor 17Y that generates power to move the holding member 15 in the Y-axis direction. The actuator 17 is disposed inside the base 11B.

The power generated by the actuator 17 is transmitted to the holding member 15 via the support member 14. Thereby, the holding member 15 can move in the X-axis direction and the Y-axis direction between the sewing machine needle 3 and the needle plate 13, respectively. By the operation of the actuator 17, the holding member 15 can move while holding the sewing object S in the XY plane including the sewing position Ps directly below the sewing needle 3.

The actuator 18 generates a power for moving the pressing member 15A of the holding member 15 in the Z-axis direction. The actuator 18 comprises a pulse motor. The pressing member 15A moves in the + Z direction, and the pressing member 15A and the lower plate 15B are separated from each other. The pressing member 15A moves in the-Z direction, and the sewing object S is sandwiched between the pressing member 15A and the lower plate 15B.

As shown in fig. 2, the sewing machine body 10 has a middle presser foot member 19 disposed around the sewing needle 3. The middle presser foot member 19 presses the sewing object S around the sewing needle 3. The middle presser member 19 is supported by the head 11D so as to be movable in the Z-axis direction. A center presser motor that generates power for moving the center presser member 19 in the Z-axis direction is disposed inside the head portion 11D. The middle presser member 19 is moved in the Z-axis direction in synchronization with the needle bar 12 by the operation of the middle presser motor. The middle presser foot member 19 suppresses the tilting of the sewing object S caused by the movement of the sewing machine needle 3.

The operation device 20 is operated by an operator. By operating the operating device 20, the sewing machine 1 operates. In the present embodiment, the operation device 20 includes an operation panel 21 and an operation pedal 22.

The operation panel 21 includes: display devices including flat panel displays such as Liquid Crystal Displays (LCDs) or Organic EL displays (OELDs); and an input device that generates input data by being operated by an operator. In the present embodiment, the input device includes a touch sensor disposed on the display screen of the display device. That is, in the present embodiment, the operation panel 21 includes a touch panel having a function of an input device. The operation panel 21 is mounted on the upper surface of the table 2. The operating pedal 22 is disposed below the table 2. The operator operates the operating pedal 22 with his foot. The sewing machine 1 is operated by an operator operating at least one of the operation panel 21 and the operation pedal 22.

The imaging device 30 images the sewing object S held by the holding member 15. The imaging device 30 includes: an optical system; and an image sensor that receives light incident through the optical system. The image sensor includes a ccd (charge device) image sensor or a cmos (complementary Metal Oxide semiconductor) image sensor.

The imaging device 30 is disposed above the needle plate 13 and the holding member 15. The shooting position Pf includes the position of the optical axis AX of the optical system of the shooting device 30. The imaging device 30 defines an imaging area FA. The imaging area FA includes a field of view area of the optical system of the imaging device 30. The shooting area FA contains the shooting position Pf. The imaging device 30 acquires image data of at least a part of the sewing object S disposed in the imaging area FA. The imaging device 30 images at least a part of the sewing object S disposed inside the pressing member 15A from above.

The position of the photographing device 30 is fixed. The relative positions of the camera 30 and the sewing machine frame 11 are fixed. The relative positions of the optical axis AX of the optical system of the photographing device 30 and the sewing needle 3 in the XY plane are fixed. The relative position data indicating the relative position of the optical axis AX of the optical system of the imaging device 30 and the sewing machine needle 3 in the XY plane is known data that can be derived from design data of the sewing machine 1.

Further, when the actual position of the imaging device 30 differs from the position in the design data due to the mounting error of the imaging device 30, the position of the sewing needle 3 in the XY plane is measured after the imaging device 30 is mounted, the measured position of the sewing needle 3 is moved toward the imaging device 30 by a known data amount, and the difference between the actual position of the imaging device 30 in the XY plane and the moved position of the sewing needle 3 is measured, whereby the accurate relative position of the optical axis AX of the optical system of the imaging device 30 and the sewing needle 3 can be calculated based on the measurement result of the difference.

The sewing object S will be described with reference to fig. 3 and 4. Fig. 3 is a cross-sectional view showing an example of the sewing object S according to the present embodiment. Fig. 4 is a plan view showing an example of the sewing object S according to the present embodiment. Fig. 3 and 4 show the sewing object S before the sewing process is performed. In the present embodiment, the sewing object S is a skin material used for a vehicle seat.

As shown in fig. 3, the sewing object S includes: a face material 4, a cushioning material 5 and a backing material 6. Holes 7 are formed in the surface material 4.

The surface of the surface material 4 is a seating surface that comes into contact with a rider when the rider is seated in the vehicle seat. The surface material 4 includes at least one of woven cloth, non-woven cloth, and leather. The cushioning material 5 has elasticity. The cushion material 5 contains, for example, a urethane resin. The back material 6 includes at least 1 of woven cloth, non-woven cloth, and leather.

As shown in fig. 4, a plurality of holes 7 are arranged in the surface material 4. The holes 7 are arranged in a predetermined pattern DP. In the present embodiment, the predetermined pattern DP includes a plurality of reference patterns DPh. The 1 reference pattern DPh is formed by a plurality of holes 7. In the present embodiment, the reference pattern DPh is formed by the plurality of holes 7. In the present embodiment, 1 reference pattern DPh is formed by 17 holes 7.

As shown in fig. 4, the reference pattern DPh is disposed on the surface material 4 with a space therebetween. The reference patterns DPh are arranged at equal intervals in the X-axis direction and the Y-axis direction, respectively. Reference patterns DPh having different positions in the Y-axis direction are arranged between the reference patterns DPh adjacent to each other in the X-axis direction. No hole 7 is formed between the adjacent reference patterns DPh. In the following description, a region between the reference patterns DPh in the surface of the surface material 4 where no holes 7 are formed is referred to as a stitch forming region MA as appropriate. In the stitch forming area MA, a target pattern RP of the stitches GP formed on the sewing object S is formed.

With reference to fig. 5, a displacement generated on the surface of the sewing object S when the stitches GP are formed on the sewing object S having a thickness and elasticity will be described. Fig. 5 is a cross-sectional view showing an example of the sewing object S according to the present embodiment. Fig. 5 shows the sewing object S after the sewing process. The sewing object S has a thickness and elasticity. By forming the stitches GP on the sewing object S having a thickness and elasticity, the sewing object S is highly likely to contract as shown in fig. 5. If the sewing object S contracts, the surface of the sewing object S may be displaced. If the surface of the sewing object S is displaced, the target position of the stitch GP defined on the surface of the sewing object S is highly likely to be displaced in the XY plane. In the case where the target position of the stitch GP is displaced within the XY plane, if the holding member 15 is moved in accordance with the target pattern RP, it is difficult to form the stitch GP at the target position. Therefore, even if the sewing object S contracts due to the formation of the stitches GP and the surface of the sewing object S is displaced, the holding member 15 is moved in accordance with the displacement amount, so that the next stitch GP is formed at the target position.

The control device 40 will be described with reference to fig. 6. Fig. 6 is a functional block diagram showing an example of the control device 40 according to the present embodiment. The control device 40 outputs a control signal for controlling the sewing machine 1. The control device 40 includes a computer system. The control device 40 includes: an input/output interface device 50; a storage device 60 including a nonvolatile memory such as a rom (read only memory) or a memory and a volatile memory such as a ram (random Access memory); and an arithmetic Processing device 70 including a processor such as a cpu (central Processing unit).

As shown in fig. 6, the control device 40 is connected to: an actuator 16 for moving the sewing needle 3 in the Z-axis direction; an actuator 17 that moves the holding member 15 in the XY plane; an actuator 18 that moves the pressing member 15A of the holding member 15 in the Z-axis direction; an operating device 20; and a camera 30.

In the present embodiment, the control device 40 is connected with: a drive amount sensor 31 that detects the drive amount of the actuator 16; and a driving amount sensor 32 that detects the driving amount of the actuator 17.

The driving amount sensor 31 includes an encoder that detects the amount of rotation of the pulse motor as the actuator 16. The detection data of the driving amount sensor 31 is output to the control device 40.

The drive amount sensor 32 includes: an X-axis sensor 32X that detects the amount of rotation of the X-axis motor 17X; and a Y-axis sensor 32Y that detects the amount of rotation of the Y-axis motor 17Y. The X-axis sensor 32X includes an encoder that detects the amount of rotation of the X-axis motor 17X. The Y-axis sensor 32Y includes an encoder that detects the amount of rotation of the Y-axis motor 17Y. The detection data of the driving amount sensor 32 is output to the control device 40.

The driving amount sensor 32 functions as a position sensor that detects the position of the holding member 15 in the XY plane. The driving amount of the actuator 17 and the moving amount of the holding member 15 correspond to each other on a one-to-one basis.

The X-axis sensor 32X can detect the amount of movement of the holding member 15 in the X-axis direction from the origin in the sewing machine coordinate system by detecting the amount of rotation of the X-axis motor 17X. The Y-axis sensor 32Y detects the amount of rotation of the Y-axis motor 17Y, and thereby can detect the amount of movement of the holding member 15 in the Y-axis direction from the origin in the sewing machine coordinate system.

The control device 40 controls the actuator 16 based on the detection data of the driving amount sensor 31. The control device 40 determines, for example, the operation timing of the actuator 16 based on the detection data of the driving amount sensor 31.

The control device 40 controls the actuator 17 based on the detection data of the driving amount sensor 32. The control device 40 feedback-controls the actuator 17 based on the detection data of the driving amount sensor 32 so that the holding member 15 moves to the target position.

The control device 40 calculates the position of the holding member 15 in the XY plane based on the detection data of the driving amount sensor 32. The movement amount of the holding member 15 from the origin in the XY plane is detected based on the detection data of the driving amount sensor 32. The controller 40 calculates the position of the holding member 15 in the XY plane based on the detected amount of movement of the holding member 15.

The storage device 60 includes: a sewing data storage section 61, an offset data storage section 62, and a program storage section 63.

The sewing data storage section 61 stores sewing data to be referred to in the sewing process.

The sewing data will be described with reference to fig. 4. As described above, the sewing data includes the target pattern RP of the stitch GP formed on the sewing object S and the moving condition of the holding member 15.

The target pattern RP includes a target shape or a target pattern of the stitches GP formed on the sewing object S. The target pattern RP is specified in the sewing machine coordinate system.

The movement condition of the holding member 15 includes a movement trajectory of the holding member 15 defined in the sewing machine coordinate system. The movement locus of the holding member 15 includes the movement locus of the holding member 15 in the XY plane. The moving condition of the holding member 15 is determined based on the target pattern RP.

The sewing data includes a target position of a stitch GP defined on the surface of the sewing object S. In the following description, the target position of the stitch GP defined on the surface of the sewing object S is referred to as a stitch forming target position. The stitch forming target position is specified in a sewing machine coordinate system.

The stitch forming target position is specified in the stitch forming area MA. The sewing machine 1 performs a sewing process based on the sewing data so that the stitch GP is formed at the stitch forming target position.

The sewing data includes a plurality of sewing data for forming the plurality of stitches GP respectively. In the present embodiment, the sewing data includes: the 1 st sewing data for forming the 1 st stitch GP1, the 2 nd sewing data for forming the 2 nd stitch GP2, and the 3 rd to 10 th sewing data for forming the 3 rd stitch GP3 to the 10 th stitch GP10, respectively.

The target pattern RP includes: the 1 st target pattern RP1, the 2 nd target pattern RP2, and likewise the 3 rd through 10 th target patterns RP3 through RP 10. In the present embodiment, a plurality of target patterns RP (RP1, RP2, RP3, RP4, RP5, RP6, RP7, RP8, RP9, RP10) are defined in the Y-axis direction. In the sewing machine coordinate system, the plurality of target patterns RP are separated individually. The 1 target pattern RP is specified in a line shape. In the present embodiment, 1 target pattern RP extends in the X-axis direction and is defined as zigzag (zigzag) in the Y-axis direction. The stitch formation target position corresponds to the target pattern RP, extends in the X-axis direction in the stitch formation area MA, and is defined to be zigzag in the Y-axis direction.

The 1 st sewing data includes a1 st target pattern RP1 of a1 st stitch GP1 formed on the sewing object S in the 1 st sewing process. The 1 st sewing data includes the movement condition of the holding member 15 in the XY plane in the 1 st sewing process.

The 2 nd sewing data includes a 2 nd target pattern RP2 of a 2 nd stitch GP2 formed on the sewing object S in the 2 nd sewing process. The 2 nd sewing data includes the moving condition of the holding member 15 in the XY plane in the 2 nd sewing process.

Similarly, the 3 rd to 10 th sewing data respectively include the patterns of the 3 rd to 10 th target patterns RP3 to RP10 of the 3 rd to 10 th stitches GP3 to GP10 formed in the sewing object S in the 3 rd to 10 th sewing processes. In addition, the 3 rd sewing data to the 10 th sewing data each include the moving condition of the holding member 15 within the XY plane in each of the 3 rd sewing process to the 10 th sewing process.

The 1 st sewing data is referred to in the 1 st sewing process. The 2 nd sewing data is referred to in the 2 nd sewing process. Similarly, the 3 rd sewing data to the 10 th sewing data are referred to in the 3 rd sewing process to the 10 th sewing process, respectively.

The 1 st sewing process includes a process of forming a1 st stitch GP1 on the sewing object S based on the 1 st target pattern RP 1. The 1 st sewing process is a process of forming a stitch GP on the sewing object S after the sewing object S is held by the holding member 15.

The 2 nd sewing process includes a process of forming a 2 nd stitch GP2 on the sewing object S based on the 2 nd target pattern RP 2. The 2 nd sewing process is performed following the 1 st sewing process.

Similarly, the 3 rd to 10 th sewing processes each include a process of forming the 3 rd to 10 th stitches GP3 to GP10 on the sewing object S based on the 3 rd to 10 th target patterns RP3 to RP10, respectively. The 3 rd sewing process to the 10 th sewing process are sequentially performed.

The offset data storage unit 62 stores offset data.

Offset data will be described with reference to fig. 7, 8, and 9. Fig. 7 is a diagram showing an example of the sewing object S according to the present embodiment. Fig. 8 is a diagram showing an example of offset data according to the present embodiment. Fig. 9 is a diagram showing another example of offset data according to the present embodiment.

As shown in fig. 7, even if the characteristic pattern UP disposed on the sewing object S is recognized appropriately by the image processing and the correction data is calculated appropriately, the formed stitch GP may deviate from the target pattern RP during the sewing processing. In the present embodiment, the characteristic pattern UP of the sewing object S is a part of the predetermined pattern DP. The cause of the variation in the sewing process includes, for example, the characteristics of the material of the sewing object S, the characteristics of the components of the sewing machine 1 such as the holding member 15, and the like. In order to correct the deviation of the stitch GP and the target pattern RP, which is generated in the sewing process as described above and has reproducibility, an offset value obtained in advance for each feature pattern (template) is stored as offset data. The offset data can be obtained, for example, when trial sewing is performed on the sewing object S or when the sewing position Ps is confirmed.

As shown in fig. 8, the offset data may store an offset value for each feature pattern UP. The offset value can be referred to by the identification number for identifying the characteristic pattern UP. Thus, the displacement amount to which the offset value is added can be calculated for each feature pattern UP based on the image data of the sewing object S captured by the imaging device 30.

As shown in fig. 9, the offset data may store an offset value for each correction point. The correction point is a reference point when the displacement of the surface of the sewing object S is corrected. The position data of the correction point can be obtained from the design data of the sewing object S. The correction point can refer to the offset value in the sewing order by using the number of the sewing order as an identification number. Thus, when calculating the correction data, the correction data to which the offset value is added can be calculated for each correction point.

The program storage 63 stores a computer program for controlling the sewing machine 1. The sewing data stored in the sewing data storage section 61 is input to a computer program stored in the program storage section 63. The computer program is read by the arithmetic processing device 70. The arithmetic processing device 70 controls the sewing machine 1 in accordance with a computer program stored in the program storage unit 63.

The arithmetic processing device 70 includes: a sewing data acquisition unit 71, an initial position data acquisition unit 72, a current position data acquisition unit 73, an offset data acquisition unit 74, a displacement amount calculation unit 75, a correction data generation unit 76, and a control unit 77.

The sewing data obtaining section 71 obtains the sewing data from the sewing data storage section 61. As described above, in the present embodiment, the sewing data obtaining portion 71 obtains the 1 st sewing data referred to in the 1 st sewing process and the 2 nd sewing data referred to in the 2 nd sewing process performed subsequent to the 1 st sewing process from the sewing data storage portion 61. Similarly, the sewing data obtaining section 71 obtains the respective sewing data of the 3 rd sewing data to the 10 th sewing data referred to in the 3 rd sewing process to the 10 th sewing process from the sewing data storage section 61.

The initial position data acquiring unit 72 acquires initial position data indicating an initial position of the characteristic pattern UP arranged on the sewing object S. The initial position data of the feature pattern UP indicates the initial position of the feature pattern UP in the coordinate system of the sewing machine.

The initial position data of the feature pattern UP is known data that can be derived from design data of the sewing object S such as cad (computer Aided design) data. The initial position data of the characteristic pattern UP is stored in the sewing data storage section 61. The initial position data obtaining section 72 obtains initial position data of the characteristic pattern UP from the sewing data storage section 61.

The initial position of the feature pattern UP includes the position of the feature pattern UP before the sewing process is performed. The initial position data obtaining section 72 can obtain the initial position of the characteristic pattern UP based on the image data of the characteristic pattern UP of the sewing object S before the start of the sewing process, not based on the design data of the sewing object S.

The present position data acquiring unit 73 acquires present position data indicating the present position of the characteristic pattern UP arranged on the sewing object S based on the image data of the sewing object S captured by the imaging device 30. The present position data of the feature pattern UP indicates the present position of the feature pattern UP in the sewing machine coordinate system.

As described above, in the present embodiment, the characteristic pattern UP of the sewing object S is a part of the predetermined pattern DP. In the present embodiment, the feature pattern UP is a part of the reference pattern DPh. In the present embodiment, the characteristic pattern UP is a pattern including an obtuse corner of the reference pattern DPh. The characteristic pattern UP is a pattern that can be determined by a pattern matching method, which is one of image processing methods. The present position data acquiring unit 73 performs image processing on the image data captured by the imaging device 30 by a pattern matching method, and calculates present position data of the feature pattern UP in the sewing machine coordinate system.

A method of acquiring current position data indicating a current position of the feature pattern UP arranged on the sewing object S will be described. First, the controller 40 controls the actuator 17 to move the characteristic pattern UP of the sewing object S held by the holding member 15 to the imaging area FA of the imaging device 30. In the present embodiment, the center position C of the feature pattern UP is moved to the imaging position Pf, which is the center position of the imaging area FA of the imaging device 30. The imaging device 30 images the characteristic pattern UP arranged in the imaging area FA. The current position data acquiring unit 73 acquires image data of the feature pattern UP. The present position data acquiring unit 73 performs image processing on the image data of the characteristic pattern UP by a pattern matching method to specify the specific pattern UP. The position of the holding member 15 in the sewing machine coordinate system when the characteristic pattern UP is arranged in the imaging area FA of the imaging device 30 is detected by the driving amount sensor 32. As described above, the driving amount sensor 32 functions as a position sensor that detects the position of the holding member 15 in the XY plane. The present position data acquisition unit 73 acquires detection data of the drive amount sensor 32. As described above, the present position data acquiring unit 73 can acquire the present position data indicating the present position in the XY plane of the feature pattern UP disposed in the image pickup area FA based on the detection data of the drive amount sensor 32 when the feature pattern UP is disposed in the image pickup area FA.

After the sewing process is performed, the present position data indicating the present position of the feature pattern UP can be obtained in the same manner. First, the imaging device 30 images the characteristic pattern UP of the sewing object S at least after the sewing process is performed. The present position data acquiring unit 73 can acquire the present position data of the feature pattern UP based on the image data of the sewing object S captured by the imaging device 30 after the sewing process is performed.

The offset data acquiring unit 74 acquires offset data stored in the offset data storage unit 62.

The displacement amount calculating unit 75 calculates the displacement amount of the feature pattern UP based on the initial position data of the feature pattern UP acquired by the initial position data acquiring unit 72 and the current position data of the feature pattern UP acquired by the current position data acquiring unit 73.

Alternatively, the displacement amount calculating unit 75 may calculate the displacement amount of the feature pattern UP based on the offset data, in addition to the initial position data of the feature pattern UP and the present position data of the feature pattern UP. Thus, the displacement amount calculation unit 75 can calculate the displacement amount of the feature pattern UP by correcting the offset value.

The initial position of the characteristic pattern UP includes the position of the characteristic pattern UP in the sewing machine coordinate system before the sewing process is performed. The current position of the feature pattern UP includes the position of the feature pattern UP in the sewing machine coordinate system after the sewing process is performed. The displacement amount calculating unit 75 calculates the displacement amount of the feature pattern UP displaced by the sewing process.

As described above, by performing the sewing process, the sewing object S may contract and the surface of the sewing object S may be displaced. If the surface of the sewing object S is displaced, the position of the characteristic pattern UP in the XY plane is also displaced. The displacement amount calculating unit 75 calculates the displacement amount of the feature pattern UP based on the initial position data of the feature pattern UP before the sewing process is performed and the current position data of the feature pattern UP after the sewing process is performed.

A method of calculating the displacement amount after the 1 st sewing process is performed will be described with reference to fig. 10, 11, and 12. Fig. 10 is a diagram for explaining a method of calculating the displacement amount of the feature pattern UP according to the present embodiment. Next, a method of calculating the displacement amount of each of the 2 feature patterns UPa (UPa0, UPa1) and the feature patterns UPb (UPb0, UPb1) arranged in the X-axis direction will be described.

In fig. 10, the feature pattern UPa0 and the feature pattern UPb0 before the 1 st sewing process is performed are indicated by broken lines, and the feature pattern UPa1 and the feature pattern UPb1 after the 1 st sewing process is performed are indicated by solid lines. The image data of each of the feature pattern UPa0, the feature pattern UPb0, the feature pattern UPa1, and the feature pattern UPb1 is captured by the imaging device 30.

The center position Ca0 is the center position of the feature pattern UPa0, and the center position Cb0 is the center position of the feature pattern UPb 0.

Before the 1 st sewing process is performed, the feature patterns UPa0 and the feature patterns UPb0 are not displaced. That is, before the 1 st sewing process is performed, the initial position of the feature pattern UPa0 stored in the sewing data storage unit 61 matches the current position of the feature pattern UPa 0. The initial position of the feature pattern UPb0 stored in the sewing data storage unit 61 matches the current position of the feature pattern UPb 0.

As shown in fig. 10, the 1 st stitch GP1 is formed by performing the 1 st sewing process based on the 1 st sewing data, and at least a part of the sewing object S is contracted. Thus, the feature pattern UPa0 is shifted to the feature pattern UPa1 in the XY plane. The center position Ca0 is shifted to the center position Ca1 in the XY plane. The feature pattern UPb0 is shifted in the XY plane to the feature pattern UPb 1. Center position Cb0 is displaced in the XY plane to center position Cb 1.

Fig. 11 and 12 are diagrams schematically showing an example of a method of calculating the displacement amount of the feature pattern UP according to the present embodiment. The displacement of the feature pattern UP includes: offset, scale (scale), and rotation.

In the present embodiment, after the displacement amount of the feature pattern UPa is calculated, the displacement amount of the feature pattern UPb is calculated. Fig. 11 is a diagram schematically showing an example of a method of calculating the displacement amount of the feature pattern UPa. Fig. 12 is a diagram schematically showing an example of a method of calculating the displacement amount of the feature pattern UPb.

As shown in fig. 11, when calculating the displacement amount of the characteristic pattern UPa, a fixed point P0 is set in the sewing object S. The fixed point P0 is set to a point in the sewing machine coordinate system whose position is known. The fixed point P0 is set to, for example, a point that does not shift even when the 1 st sewing process is performed or a point at which the shift is sufficiently suppressed. In the present embodiment, the fixing point P0 is set at a part of the 1 st stitch GP 1.

By performing the 1 st sewing process, the center position Ca0 of the feature pattern UPa0 is displaced to the center position Ca 1. The displacement amount calculation unit 75 calculates the offset at the center position Ca based on the vector from the center position Ca0 to the center position Ca 1. The displacement amount calculating unit 75 calculates the 1 st vector from the fixed point P0 to the center position Ca0 and the 2 nd vector from the fixed point P0 to the center position Ca 1. The displacement amount calculation unit 75 calculates a change in the ratio at the center position Ca based on the ratio of the length of the 1 st vector to the length of the 2 nd vector. The displacement amount calculation unit 75 calculates the rotation at the center position Ca based on the angle formed by the 1 st vector and the 2 nd vector with respect to the fixed point P0.

The above description has been given of the method of calculating the shift, the change in the scale, and the rotation at the center position Ca in the feature pattern UPa. The displacement amount calculation unit 75 performs the same processing for each of the plurality of positions Pn of the feature pattern UPa. Fig. 11 schematically shows a state in which the offset, the change in scale, and the rotation at the position Pi among the plurality of positions Pn are calculated. Thus, the offset, the scale change, and the rotation are calculated for each of the plurality of positions of the feature pattern UPa. As described above, the displacement amount calculation unit 75 can calculate the displacement amount and the displacement direction of the feature pattern UPa in the sewing machine coordinate system after the 1 st sewing process is performed.

As shown in fig. 12, when calculating the displacement amount of the characteristic pattern UPb, a fixed point P0 is set in the sewing object S. As described above, the fixed point P0 is set to a point whose position in the sewing machine coordinate system is known. In the present embodiment, the position Pn calculated by the processing described with reference to fig. 11 is set as the fixed point P0.

By performing the 1 st sewing process, the center position Cb0 of the feature pattern UPb0 is shifted to the center position Cb 1. The displacement amount calculation unit 75 calculates the offset at the center position Cb based on the vector from the center position Cb0 to the center position Cb 1. The displacement amount calculating unit 75 calculates a 3 rd vector from the fixed point P0 to the center position Cb0 and a 4 th vector from the fixed point P0 to the center position Cb 1. The displacement amount calculation section 75 calculates the change in the ratio at the center position Cb based on the ratio of the length of the 3 rd vector and the length of the 4 th vector. The displacement amount calculation unit 75 calculates the rotation at the center position Cb based on the angle formed by the 3 rd vector and the 4 th vector with respect to the fixed point P0.

The calculation method of the shift, the scale change, and the rotation at the center position Cb in the feature pattern UPb is explained above. The displacement amount calculation unit 75 performs the same processing for each of the plurality of positions Qn of the feature pattern UPb. Fig. 12 schematically shows a state in which the offset, the scale change, and the rotation at the position Qi among the plurality of positions Qn are calculated. Thus, the offset, the scale change, and the rotation are calculated for each of the plurality of positions of the feature pattern UPb. As described above, the displacement amount calculation unit 75 can calculate the displacement amount and the displacement direction of the feature pattern UPb in the sewing machine coordinate system after the 1 st sewing process is performed.

Here, a method of calculating the displacement amount of each of the 2 feature patterns UPa and UPb arranged in the X-axis direction is described. When 3 or more feature patterns UP are arranged in the X-axis direction, as described with reference to fig. 11, the fixed point P0 is set, and the displacement amount of the 1 st feature pattern UP is calculated with reference to the fixed point P0. In the case of calculating the displacement amount of the 2 nd feature pattern UP adjacent to the 1 st feature pattern UP, as described with reference to fig. 12, an arbitrary position where the position in the sewing machine coordinate system is known in the 1 st feature pattern UP is set as the fixed point P0, and the displacement amount of the 2 nd feature pattern UP is calculated with reference to the fixed point P0. When calculating the displacement amount of the 3 rd feature pattern UP adjacent to the 2 nd feature pattern UP, an arbitrary position where the position in the sewing machine coordinate system is known in the 2 nd feature pattern UP is set as a fixed point P0, and the displacement amount of the 3 rd feature pattern UP is calculated with reference to the fixed point P0. Next, the displacement amount is calculated for each of the plurality of feature patterns UP arranged in the X-axis direction in the same order.

The correction data generating unit 76 generates correction data by correcting the stitch data based on the displacement amount of the feature pattern UP calculated by the displacement amount calculating unit 75. The target pattern RP of the sewing data is generated on the premise that the sewing object S is not shrunk, and is stored in the sewing data storage section 61. By performing the sewing processing, if the sewing object S shrinks and the surface of the sewing object S is displaced, the stitch forming target position defined on the surface of the sewing object S is displaced in the XY plane. In the case where the stitch forming target position is displaced within the XY plane, if the holding member 15 is moved based on the sewing data, it is difficult to form the stitches GP at the stitch forming target position. When the characteristic pattern UP is displaced, the correction data generating part 76 corrects the sewing data based on the displacement amount of the characteristic pattern UP so that the stitch GP is formed at the stitch forming target position.

The correction data generating unit 76 generates correction data so that the relative position in the sewing machine coordinate system between the target pattern RP of the stitch GP and the characteristic pattern UP before the shrinkage of the sewing object S coincides with the relative position in the sewing machine coordinate system between the stitch GP actually formed by the sewing process on the sewing object S and the characteristic pattern UP after the shrinkage of the sewing object S. By performing the sewing processing based on the correction data, the stitch GP is formed at the stitch forming target position even if the surface of the sewing object S is displaced.

The correction data generating unit 76 may add the calculated correction data to the offset value for each correction point.

The control unit 77 outputs a control signal for controlling the actuator 17 based on the displacement amount calculated by the displacement amount calculation unit 75. In the present embodiment, the control unit 77 outputs a control signal for controlling the actuator 17 for moving the holding member 15, based on the correction data generated based on the displacement amount in the correction data generation unit 76.

Next, a sewing method according to the present embodiment will be described with reference to fig. 13. Fig. 13 is a flowchart showing an example of the sewing method according to the present embodiment.

The flowchart shown in fig. 13 is executed after the 1 st sewing process is performed. The sewing object S is provided on the holding member 15. In addition, in the 1 st sewing process, initial position data of a plurality of feature patterns UP is acquired. The case where the displacement amount corrected by the offset value is calculated for each feature pattern UP will be described.

The control device 40 determines whether the 1 st sewing process is finished (step S10). When the 1 st sewing process is finished (Yes in step S10), the control device 40 proceeds to step S20. If the 1 st sewing process is not completed (No at step S10), the control device 40 executes the process of step S10 again.

The counter n is set to "2" (step S20).

The target data obtaining part 71 obtains the 2 nd sewing data referred to in the 2 nd sewing process from the sewing data storage part 61 (step S30).

The initial position data obtaining unit 72 obtains initial position data of the characteristic pattern UP of the sewing object S relating to the 2 nd sewing process, among the initial position data of the plurality of characteristic patterns UP obtained in the 1 st sewing process, from the sewing data storage unit 61 (step S40).

The characteristic pattern UP relating to the 2 nd sewing process is the characteristic pattern UP closest to the stitch forming target position at which the 2 nd stitch GP2 is formed by the 2 nd sewing process in the sewing machine coordinate system. In other words, the characteristic pattern UP relating to the 2 nd sewing process is the characteristic pattern UP closest to the 2 nd target pattern RP2 in the sewing machine coordinate system.

After the 2 nd sewing data including the 2 nd target pattern RP2 and the initial position data of the feature pattern UP relating to the 2 nd sewing process are acquired, the control device 40 controls the actuator 17 so that the plurality of feature patterns UP relating to the 2 nd sewing process are sequentially arranged in the imaging area FA of the imaging device 30. That is, the control device 40 moves the holding member 15 in steps in the X-axis direction, and sequentially acquires image data of the plurality of characteristic patterns UP of the sewing object S held by the holding member 15 (step S50).

More specifically, after the 1 st sewing process is completed, the control unit 77 moves the holding member 15 from the 1 st sewing process completion position so that the characteristic pattern UP relating to the 2 nd sewing process is arranged in the imaging area FA of the imaging device 30.

The present position data obtaining unit 73 obtains the present position data of each of the plurality of characteristic patterns UP (UP3, UP4, UP5, UP6, UP7, UP8, UP9) of the sewing object S captured by the imaging device 30 after the 1 st sewing process (step S60).

That is, the present position data acquiring unit 73 acquires the present position data of the feature pattern UP based on the image data of the feature pattern UP captured during the period between the end time of the 1 st sewing process and the start time of the 2 nd sewing process.

The offset data acquiring unit 74 acquires offset data in which an offset value is stored for each of the characteristic patterns UP relating to the 2 nd sewing process from the offset data storage unit 62 (step S70).

The displacement amount calculating unit 75 calculates the displacement amount of the feature pattern UP based on the initial position data of the feature pattern UP acquired in step S40, the current position data of the feature pattern UP acquired in step S60, and the offset data acquired in step S70 (step S80). The displacement amount calculation unit 75 calculates the displacement amount to which the offset value is added for each feature pattern UP. As described above, the displacement amount of the feature pattern UP includes offset, scale change, and rotation.

The correction data generating unit 76 corrects the 2 nd sewing data acquired in step S30 based on the displacement amount calculated in step S80 to generate the 2 nd correction data HP2 (step S90).

The sewing object S after the 1 st stitch GP1 is formed has a higher possibility of being contracted than the sewing object S before the 1 st stitch GP1 is formed. As a result, the stitch forming target position of the sewing object S specified in the sewing machine coordinate system is highly likely to be displaced. On the other hand, the position in the sewing machine coordinate system of the 2 nd target pattern RP2 stored in the sewing data storage section 61 is predetermined. Therefore, if the 2 nd sewing process is performed according to the 2 nd target pattern RP2 acquired by the target data acquiring part 71, there is a possibility that the 2 nd stitch GP2 is formed at a position different from the stitch forming target position in the surface of the sewing object S.

In the present embodiment, before the 2 nd sewing process is performed, at least the current position of the feature pattern UP relating to the 2 nd sewing process among the plurality of feature patterns UP of the sewing object S held by the holding member 15 is detected by using the imaging device 30. The displacement amount calculation unit 75 calculates the displacement amount of the feature pattern UP from the initial position to the current position based on the initial position and the current position of the feature pattern UP relating to the 2 nd sewing process. The correction data generating part 76 corrects the 2 nd target pattern RP2 based on the displacement amount and calculates the 2 nd correction data representing the 2 nd correction pattern HP2 so that the 2 nd stitch GP2 is formed at the stitch forming target position in the sewing machine coordinate system.

In other words, the correction data generating unit 76 generates the 2 nd correction data so that the relative position of the 2 nd target pattern RP2 and the characteristic pattern UP before the 1 st sewing process is performed coincides with the relative position of the 2 nd stitch GP2 formed in the sewing object S by the 2 nd sewing process and the characteristic pattern UP after the 2 nd sewing process is performed.

Even if the appropriate 2 nd correction data is generated in the above manner, the formed stitches GP may be deviated from the target pattern RP in the sewing process as described above. Therefore, the deviation in sewing with reproducibility is stored as offset data. In the processing shown in fig. 13, the displacement amount calculation unit 75 calculates the displacement amount to which the offset value is added for each feature pattern UP, thereby correcting the variation with reproducibility in the sewing processing.

After the 2 nd correction data is generated, the control device 40 starts the 2 nd sewing process (step S100). The control unit 77 outputs a control signal for controlling the actuator 17 based on the 2 nd correction data in the 2 nd sewing process. In the 2 nd sewing process, the holding member 15 moves while holding the sewing object S in the XY plane including the sewing position Ps based on the 2 nd correction data. Thereby, the 2 nd stitch GP2 is formed on the sewing object S.

After the 2 nd sewing process is finished, whether the sewing process is finished is judged (step S110). If the sewing process is not finished (No in step S110), the counter n is set to "n + 1" (step S120). Next, in step S110, the above-described processing from step S30 to step S100 is repeated until it is determined that the sewing process is ended.

Another example of the sewing method according to the present embodiment will be described with reference to fig. 14. Fig. 14 is a flowchart showing another example of the sewing method according to the present embodiment. The case where the correction data to which the offset value is added is calculated for each correction point will be described. Steps S210 to S260, and S300 to S320 of the flowchart shown in fig. 14 perform the same processing as steps 10 to S60, and S100 to S120 of the flowchart shown in fig. 13.

The displacement amount calculation unit 75 calculates the displacement amount of the feature pattern UP based on the initial position data of the feature pattern UP acquired in step S240 and the current position data of the feature pattern UP acquired in step S260 (step S270).

The offset data acquiring unit 74 acquires offset data in which an offset value for each correction point relating to the 2 nd sewing process is stored from the offset data storage unit 62 (step S280).

The correction data generating unit 76 corrects the 2 nd sewing data acquired in step S230 based on the displacement amount calculated in step S270 and the offset data acquired in step S280 to generate the 2 nd correction data HP2 (step S290). In the processing shown in fig. 14, the offset value for each correction point is added to the calculated correction data by the correction data generating unit 76, thereby correcting the deviation with reproducibility in the sewing processing.

As described above, in the present embodiment, the offset values corresponding to the deviation of the stitch GP and the target pattern RP having reproducibility, which is generated in the sewing process, are stored as the offset data. In the present embodiment, the displacement amount corrected by the offset value can be calculated for each feature pattern UP. Alternatively, in the present embodiment, correction data to which the offset value is added can be calculated for each correction point. Therefore, in the sewing process, the stitch GP can be formed at an appropriate position based on the offset data. Thus, according to the present embodiment, stitches can be formed at the target position of the sewing object S with high accuracy.

In the above embodiment, the sewing machine 1 is an electronic circulation sewing machine, and moves the holding member 15 in the XY plane to form the stitch GP on the sewing object S held by the holding member 15. In order to form the stitch GP on the sewing object S, the sewing needle 3 may be moved in the XY plane, or both the sewing needle 3 and the holding member 15 may be moved in the XY plane. In this case, the movement condition of the sewing needle 3 in the XY plane is generated as the sewing data and stored in the sewing data storage section 61.

In the above embodiment, at least a part of the processing of acquiring the image data of the characteristic pattern UP by the imaging device 30 and the sewing processing of forming the stitches GP may be performed in parallel.

Claims (4)

1. A sewing machine having:

a holding member which can hold and move a sewing object in a specified surface including a sewing position right below a sewing machine needle;

an actuator that moves the holding member;

a sewing data acquisition unit for acquiring sewing data to be referred to in a sewing process;

an offset data acquiring unit that acquires offset data indicating a deviation between a target pattern of stitches formed on the sewing object and stitches formed during the sewing process; and

and a control unit that outputs a control signal for controlling the actuator during the sewing process based on the sewing data and the offset data.

2. The sewing machine of claim 1 wherein there is:

a shooting device capable of shooting the sewing object;

an initial position data acquiring unit that acquires initial position data indicating an initial position of a characteristic pattern arranged on the sewing object;

a present position data acquiring unit that acquires present position data indicating a present position of the feature pattern based on image data of the sewing object captured by the imaging device; and

a displacement amount calculation unit that calculates a displacement amount of the feature pattern based on the initial position data and the present position data,

the sewing data acquisition part acquires 1 st sewing data referred to in 1 st sewing processing and 2 nd sewing data referred to in 2 nd sewing processing executed after the 1 st sewing processing,

the control unit outputs a control signal for controlling the actuator based on the 2 nd sewing data and the offset data in the 2 nd sewing process.

3. The sewing machine of claim 2 wherein,

a correction data generating part for generating 2 nd correction data by correcting the 2 nd sewing data based on the displacement,

the control unit outputs the control signal based on the 2 nd sewing data, the 2 nd correction data and the offset data in the 2 nd sewing process.

4. A sewing method, comprising the steps of:

acquiring sewing data referred to in a sewing process;

obtaining offset data representing a deviation between a target pattern of stitches formed on a sewing object and stitches formed in the sewing process; and

based on the sewing data and the offset data, in the sewing process, a sewing machine needle and the sewing object are relatively moved in a specified surface to form a stitch on the sewing object.