CN110616513B - Sewing machine and sewing method - Google Patents

Abstract

The invention provides a sewing machine and a sewing method, which can form a stitch at a target position of a sewing object with high precision. The sewing machine comprises: a holding member that can hold and move a sewing object on a predetermined surface including a sewing position immediately below a sewing machine needle; an actuator that moves the holding member; a sewing data acquisition unit for acquiring sewing data referred to in the sewing process; an offset data acquisition unit that acquires offset data indicating a deviation between a target pattern of a stitch formed on a sewing object and a stitch formed during a 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.

Description

Sewing machine and sewing method

Technical Field

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

Background

In order to improve the design of the sewing object, a stitch may be formed in the sewing object. Patent document 1 and patent document 2 disclose a technique of forming stitches on 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 2016-141297

The skin material used for the vehicle seat has a thickness and elasticity. If stitches are formed on a sewing object having a thickness and elasticity, the sewing object may shrink and the surface of the sewing object may be displaced. For example, there is a technique in which, when the 1 st stitch is formed based on sewing data in which a target position to be formed is predetermined, and then the 2 nd stitch is formed, the target position is corrected in accordance with displacement of the surface of the sewing object that occurs due to 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 in the sewing process may deviate from the target position 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 a stitch at a target position of a sewing object with high precision.

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

The sewing method according to claim 2 of the present invention includes the steps of: acquiring sewing data referred to in the sewing process; obtaining offset data representing a deviation between a target pattern of a stitch formed on a sewing object and the stitch 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 according to the above aspect of the present invention, a stitch can be formed at a target position of a sewing object with high accuracy.

Drawings

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

Fig. 2 is an oblique 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 a control device according to the present embodiment.

Fig. 7 is a diagram showing an example of the 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

1A sewing machine, 2 a workbench, 3 a sewing needle, 4 a surface material, 5A backing material, 6 a backing material, 7 a hole, 10 a sewing machine body, 11A sewing machine frame, 11A B, 11C, 11D head, 12 a needle bar, 13 a needle plate, 14 a supporting member, 15A holding member, 15A pressing member, 15B lower plate, 16 actuator, 17X axis motor, 17Y axis motor, 18 actuator, 19 a presser foot member, 20 operation device, 21 operation panel, 22 operation pedal, 30 shooting device, 31 driving amount sensor, 32X axis sensor, 32Y axis sensor, 40 control device, 50 input output interface device, 60 storage device, 61 sewing data storage, 62 offset data storage, the program storage unit 63, the operation processing unit 70, the target data acquisition unit 71, the initial position data acquisition unit 72, the current position data acquisition unit 73, the offset data acquisition unit 74, the displacement amount calculation unit 75, the correction data generation unit 76, the control unit 77, the AX optical axis, the DPh reference pattern, the FA shot region, the GP stitch, the MA stitch formation region, the Pf shot position, the Ps sewing position, the RP target pattern, the RP1 st target pattern, the RP2 nd target pattern, the RP3 rd target pattern, the RP4 th target pattern, the RP5 th target pattern, the RP6 th target pattern, the RP7 th target pattern, the RP8 th target pattern, the RP9 th target pattern, the RP10 th target pattern, the UP feature pattern, and the S sewing target object.

Detailed Description

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

In the present embodiment, a local coordinate system is defined with respect to the sewing machine 1. In the following description, a local coordinate system defined with respect to the sewing machine 1 will be appropriately referred to as a sewing machine coordinate system. The sewing machine coordinate system is defined by an XYZ orthogonal coordinate system. In the present embodiment, the positional relationship of each part is described based on a sewing machine coordinate system. The direction parallel to the X axis in the predetermined plane is defined as the X axis direction. The direction parallel to the Y axis orthogonal to the X axis in the predetermined plane is referred to as the Y axis direction. The direction parallel to the Z axis orthogonal to the predetermined plane is referred to as the Z axis direction. The rotation direction or the tilt direction about the X axis is defined as the θx direction. The rotation direction or the tilt direction about the Y axis is defined as θy direction. The rotation direction or the tilt direction about the Z axis is defined as θz direction. In the present embodiment, a plane including the X axis and the Y axis is appropriately referred to as an XY plane. The plane including the X axis and the Z axis is appropriately referred to as XZ plane. The plane including the Y axis and the Z axis is appropriately referred to as YZ plane. The XY plane is parallel to the predetermined 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 upward direction and the-Z direction is the downward direction. In addition, 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 an oblique view showing an example of a sewing machine 1 according to the present embodiment. Fig. 2 is an oblique 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 circulation sewing machine. The sewing machine 1 comprises: the sewing machine includes a sewing machine body 10, an operation device 20 operated by an operator, an imaging device 30 capable of imaging an object S to be sewn, and a control device 40 for 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 supporting member 14; an actuator 16 that generates 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 portion 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 end of the horizontal arm 11A on the +y side with the base 11B; and a head 11D disposed on the-Y side of the horizontal arm 11A.

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

The needle plate 13 supports the object S to be sewn. The needle plate 13 supports the holding member 15. The needle plate 13 is supported by the base 11B. The needle plate 13 is disposed below the holding member 15.

The holding member 15 holds the object S to be sewn. The holding member 15 can hold the object S to be sewn and move in an XY plane including a sewing position Ps directly below the sewing machine needle 3. The holding member 15 can hold the sewing object S and move in the XY plane including the imaging position Pf of the imaging device 30. The holding member 15 moves in an XY plane including the sewing position Ps based on sewing data described later in a state where the object S is held, thereby forming a stitch GP on the object S. The holding member 15 is supported by the horizontal arm 11A via the supporting 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 object S to be sewn by sandwiching the 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 object S to be sewn between the pressing member 15A and the lower plate 15B. When 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 is moved in the +z direction by the pressing member 15A, and thereby the holding of the sewing object S by the holding member 15 is released. This allows the operator to take out the sewing object S from between the pressing member 15A and the lower plate 15B.

The actuator 16 generates a power to move 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.

Inside the horizontal arm 11A, a horizontal arm shaft extending in the Y-axis direction is arranged. The actuator 16 is connected 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 in the head 11D. By the operation of the actuator 16, the horizontal arm shaft rotates. 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 needle 3 held by the needle bar 12 moves reciprocally in the Z-axis direction.

A timing belt extending in the Z axis direction is disposed inside the vertical arm 11C. A base shaft extending in the Y-axis direction is disposed inside the base 11B. Pulleys are disposed on the horizontal arm shaft and the base shaft, respectively. The synchronous belts are respectively arranged on belt pulleys arranged on the horizontal arm shafts and belt pulleys arranged on the base shafts. The horizontal arm shaft and the pedestal shaft are connected via a power transmission mechanism including a timing belt.

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

The actuator 17 generates a motive force that moves 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 to move 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 supporting member 14. Thereby, the holding member 15 is movable 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 hold the object S to be sewn and move in the XY plane including the sewing position Ps immediately below the sewing machine needle 3.

The actuator 18 generates a power to move 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 thereby the pressing member 15A and the lower plate 15B are separated. The pressing member 15A moves in the-Z direction, so that 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 machine needle 3. The middle presser foot member 19 presses the object S to be sewn around the sewing machine needle 3. The middle presser foot member 19 is supported on the head 11D so as to be movable in the Z-axis direction. A middle presser motor that generates power to move the middle presser member 19 in the Z-axis direction is disposed inside the head 11D. By the operation of the medium presser motor, the medium presser member 19 moves in the Z-axis direction in synchronization with the needle bar 12. The middle presser foot member 19 suppresses tilting of the sewing object S caused by 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 is operated. In the present embodiment, the operation device 20 includes an operation panel 21 and an operation pedal 22.

The operation panel 21 includes: a display device including a flat panel display such as a liquid crystal display (LCD: liquid Crystal Display) or an organic EL display (OELD: organic Electroluminescence Display); and an input device that generates input data by being operated by an operator. In this embodiment, the input device includes a touch sensor disposed on a 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 operation pedal 22 is disposed below the table 2. The operator operates the operation pedal 22 by 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 via the optical system. The image sensor includes a CCD (Couple Charged 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 imaging position Pf includes the position of the optical axis AX of the optical system of the imaging device 30. The imaging device 30 defines an imaging area FA. The imaging area FA includes a field of view of the optical system of the imaging device 30. The photographing area FA contains a photographing position Pf. The imaging device 30 acquires image data of at least a part of the sewing object S arranged 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 camera 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 imaging device 30 and the sewing needle 3 in the XY plane are fixed. The relative position data indicating the optical axis AX of the optical system of the imaging device 30 and the relative position of the sewing machine needle 3 in the XY plane is known data which can be derived from the design data of the sewing machine 1.

When a difference occurs between the actual position of the imaging device 30 and 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, so that the accurate relative position between 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 object S to be sewn 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 object S to be sewn according to the present embodiment. Fig. 3 and 4 show the object S to be sewn 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 surface material 4, a backing material 5 and a back material 6. Holes 7 are formed in the surface material 4.

The surface of the surface material 4 is a seating surface that contacts the occupant when the occupant sits on the vehicle seat. The surface material 4 includes at least one of woven cloth, nonwoven cloth, and leather. The cushioning material 5 has elasticity. The cushion material 5 contains, for example, polyurethane resin. The backing material 6 includes at least 1 of woven cloth, nonwoven cloth, and leather.

As shown in fig. 4, a plurality of holes 7 are provided 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 of a plurality of holes 7. In the present embodiment, the reference pattern DPh is formed by a plurality of holes 7. In the present embodiment, 1 reference pattern DPh is formed of 17 holes 7.

As shown in fig. 4, the reference pattern DPh is arranged on the surface material 4 with a gap. The reference patterns DPh are arranged at equal intervals in the X-axis direction and the Y-axis direction. Between the reference patterns DPh adjacent in the X-axis direction, reference patterns DPh having different positions in the Y-axis direction are arranged. No hole 7 is formed between the adjacent reference patterns DPh. In the following description, the area between the reference patterns DPh in the surface of the surface material 4 where the holes 7 are not formed is appropriately referred to as a stitch forming area MA. The stitch forming region MA has a target pattern RP of the stitch GP formed on the sewing object S.

The displacement generated on the surface of the object S to be sewn S when the object S to be sewn S having a thickness and elasticity forms the stitch GP will be described with reference to fig. 5. Fig. 5 is a cross-sectional view showing an example of the sewing object S according to the present embodiment. Fig. 5 shows the object S to be sewn after the sewing treatment is performed. The sewing object S has a thickness and elasticity. By forming the stitch GP on the elastic sewing object S having a thickness, as shown in fig. 5, the possibility of shrinkage of the sewing object S is high. If the object S is contracted, the surface of the object S may be displaced. If the surface of the object to be sewn S is displaced, the target position of the stitch GP defined on the surface of the object to be sewn S is highly likely to be displaced in the XY plane. When the target position of the trace GP is displaced in the XY plane, if the holding member 15 is moved in accordance with the target pattern RP, it is difficult to form the trace GP at the target position. Therefore, even if the surface of the object S is displaced due to shrinkage of the object S due to formation of the stitch GP, 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 comprises a computer system. The control device 40 includes: an input-output interface device 50; a storage device 60 including a non-volatile memory such as ROM (Read Only Memory) or a storage and a volatile memory such as RAM (Random Access Memory); and an arithmetic processing device 70 including a processor such as 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 operation device 20; and a photographing device 30.

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

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

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

The drive 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 one-to-one.

The X-axis sensor 32X detects the rotation amount of the X-axis motor 17X, thereby detecting the amount of movement of the holding member 15 in the X-axis direction from the origin in the sewing machine coordinate system. The Y-axis sensor 32Y detects the rotation amount of the Y-axis motor 17Y, thereby detecting the movement amount 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 drive amount sensor 31. The control device 40 determines, for example, the operation timing of the actuator 16 based on the detection data of the drive amount sensor 31.

The control device 40 controls the actuator 17 based on the detection data of the drive amount sensor 32. The control device 40 performs feedback control of the actuator 17 based on the detection data of the drive 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 drive amount sensor 32. Based on the detection data of the drive amount sensor 32, the movement amount of the holding member 15 from the origin in the XY plane is detected. The control device 40 calculates the position of the holding member 15 in the XY plane based on the detected movement amount 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 61 stores sewing data referred to in the sewing process.

The stitching 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 object S to be sewn and the moving condition of the holding member 15.

The target pattern RP includes a target shape or target pattern of the stitch 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 locus of the holding member 15 defined in a 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 movement 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 object S to be sewn. In the following description, a target position of the stitch GP defined on the surface of the sewing object S is referred to as a stitch formation target position. The stitch forming target position is specified in the sewing machine coordinate system.

The stitch forming target position is defined in the stitch forming area MA. The sewing machine 1 performs sewing processing based on the sewing data so that the stitch GP is formed at the stitch formation target position.

The sewing data includes a plurality of sewing data for forming each of the plurality of stitches GP. 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 sewing data to the 10 th sewing data for forming the 3 rd stitch GP3 to the 10 th stitch GP10 as well.

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

The 1 st sewing data includes a 1 st target pattern RP1 of a 1 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 includes the 3 rd to 10 th target patterns RP3 to RP10 of the 3 rd to 10 th stitches GP3 to GP10 formed on the object S in the 3 rd to 10 th sewing processes, respectively. The 3 rd to 10 th sewing data include the movement condition of the holding member 15 in the XY plane in each of the 3 rd to 10 th sewing processes.

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 each of the 3 rd sewing process to the 10 th sewing process.

The 1 st sewing process includes a process of forming a 1 st stitch GP1 on the object S to be sewn based on the 1 st target pattern RP 1. The 1 st sewing process is a process of forming a stitch GP on the object S after the 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 next to the 1 st sewing process.

Similarly, the 3 rd to 10 th sewing processes include processes for forming the 3 rd to 10 th stitches GP3 to GP10 on the object S to be sewn 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.

The offset data will be described with reference to fig. 7, 8, and 9. Fig. 7 is a diagram showing an example of the object S to be sewn 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 recognition of the feature pattern UP disposed on the sewing object S is appropriately performed by the image processing, the correction data is appropriately calculated, and 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. Examples of the cause of the variation occurring in the sewing process include the characteristics of the material of the object to be sewn 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, the offset value acquired in advance for each feature pattern (template) is stored as offset data. The above-described offset data can be obtained, for example, when trial sewing is performed on the object S to be sewn, when the sewing position Ps is confirmed, or the like.

As shown in fig. 8, the offset data may store an offset value for each of the feature patterns UP. The offset value can be referred to by an identification number for identifying the feature pattern UP. Thus, the displacement amount obtained by adding the offset value 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 at the time of correcting the displacement of the surface of the object S. 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 according to the sewing sequence by using the sewing sequence number as the 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 61 is input to the computer program stored in the program storage 63. The computer program is read by the arithmetic processing device 70. The arithmetic processing unit 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: the sewing data acquisition unit 71, the initial position data acquisition unit 72, the current position data acquisition unit 73, the offset data acquisition unit 74, the displacement calculation unit 75, the correction data generation unit 76, and the control unit 77.

The sewing data acquisition unit 71 acquires sewing data from the sewing data storage unit 61. As described above, in the present embodiment, the sewing data acquiring unit 71 acquires 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 next to the 1 st sewing process from the sewing data storing unit 61. Similarly, the sewing data acquisition unit 71 acquires the 3 rd sewing data to the 10 th sewing data referred to in each of the 3 rd sewing process to the 10 th sewing process from the sewing data storage unit 61.

The initial position data acquisition unit 72 acquires initial position data indicating an initial position of the feature pattern UP disposed on the object S to be sewn. The initial position data of the characteristic pattern UP indicates the initial position of the characteristic 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 feature pattern UP is stored in the sewing data storage unit 61. The initial position data acquisition unit 72 acquires initial position data of the feature pattern UP from the sewing data storage unit 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 acquisition unit 72 can acquire the initial position of the feature pattern UP based on the image data of the feature pattern UP of the sewing object S before the sewing process starts, instead of the design data of the sewing object S.

The present position data acquisition unit 73 acquires present position data indicating the present position of the feature pattern UP disposed on the object S based on the image data of the object S imaged 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 feature pattern UP is a pattern including an obtuse corner of the reference pattern DPh. The feature pattern UP is a pattern that can be determined by a pattern matching method as one of image processing methods. The present position data acquisition 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 description will be given of a method for acquiring current position data indicating the current position of the feature pattern UP disposed on the sewing object S. First, the control device 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 feature pattern UP disposed in the imaging area FA. The present position data acquisition unit 73 acquires image data of the feature pattern UP. The present position data acquisition unit 73 performs image processing on the image data of the feature pattern UP by a pattern matching method, and determines the specific pattern UP. The position of the holding member 15 in the sewing machine coordinate system when the feature 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 drive amount sensor 32 functions as a position sensor that detects the position of the holding member 15 in the XY plane. The current position data acquisition unit 73 acquires detection data of the drive amount sensor 32. As described above, the present position data acquisition unit 73 can acquire present position data indicating the present position in the XY plane of the feature pattern UP arranged in the imaging area FA based on the detection data of the drive amount sensor 32 when the feature pattern UP is arranged in the imaging area FA.

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

The offset data acquisition unit 74 acquires the 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, based on the initial position data of the feature pattern UP and the current position data of the feature pattern UP. In this way, the displacement amount calculating unit 75 can correct the displacement amount of the feature pattern UP by the offset value.

The initial position of the feature pattern UP includes the position of the feature pattern UP in the sewing machine coordinate system before the sewing process is performed. The present 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 treatment, the object S may shrink and the surface of the object S may be displaced. If the surface of the sewing object S is displaced, the position of the feature 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. In the following, a method for calculating the displacement amounts in each of the 2 feature patterns UPa (UPa 0, UPa 1) and the feature patterns UPb (UPb 0, UPb 1) 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. 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 pattern UPa0 and the feature pattern 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 61 is identical to 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 coincides with the current position of the feature pattern UPb 0.

As shown in fig. 10, by performing the 1 st sewing process based on the 1 st sewing data, the 1 st stitch GP1 is formed, 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 to the feature pattern UPb1 in the XY plane. The center position Cb0 is displaced to the center position Cb1 in the XY plane.

Fig. 11 and 12 are diagrams schematically showing an example of a method for calculating the displacement amount of the feature pattern UP according to the present embodiment. The displacement of the feature pattern UP comprises: offset, 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 feature pattern UPa, a fixed point P0 is set to the sewing object S. The fixed point P0 is set at a point in the sewing machine coordinate system where the position is known. The fixed point P0 is set at a point where displacement is not sufficiently suppressed even if the 1 st sewing process is performed, for example. In the present embodiment, the fixed point P0 is set to 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 shifted to the center position Ca1. The displacement amount calculating unit 75 calculates the displacement at the center position Ca based on the vector from the center position Ca0 to the center position Ca1. The displacement amount calculation unit 75 calculates a1 st vector from the fixed point P0 to the center position Ca0 and a 2 nd vector from the fixed point P0 to the center position Ca1. The displacement amount calculating unit 75 calculates a ratio change at the center position Ca based on the ratio of the length of the 1 st vector and the length of the 2 nd vector. The displacement amount calculating unit 75 calculates the rotation at the center position Ca based on the angle between the 1 st vector and the 2 nd vector with respect to the fixed point P0.

The above describes a calculation method of the shift, the ratio change, and the rotation at the center position Ca in the feature pattern UPa. The displacement amount calculating unit 75 also performs the same process for each of the plurality of positions Pn of the feature pattern UPa. Fig. 11 schematically shows a state in which the shift, the scale change, and the rotation at the position Pi among the plurality of positions Pn are calculated. Thus, the shift, 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 calculating 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 feature pattern UPb, a fixed point P0 is set to the sewing object S. As described above, the fixed point P0 is set at a point in the sewing machine coordinate system where the position is known. In the present embodiment, the position Pn where the position is 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 Cb1. The displacement amount calculating unit 75 calculates the displacement at the center position Cb based on the vector from the center position Cb0 to the center position Cb1. The displacement amount calculation 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 Cb1. The displacement amount calculating unit 75 calculates a ratio change 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 calculating 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 above description has been given of the calculation method of the shift, the scale change, and the rotation at the center position Cb in the feature pattern UPb. The displacement amount calculating unit 75 also performs the same process 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 shift, 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 calculating 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 amounts of each of the 2 feature patterns UPa and UPb arranged in the X-axis direction will be described. When the number of the feature patterns UP is 3 or more in the X-axis direction, as described with reference to fig. 11, a fixed point P0 is set, and the displacement amount of the 1 st feature pattern UP is calculated based on 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 in the 1 st feature pattern UP in which the position in the sewing machine coordinate system is known is set as a fixed point P0, and the displacement amount of the 2 nd feature pattern UP is calculated based on 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 in the sewing machine coordinate system in the 2 nd feature pattern UP, at which the position becomes known, is set as a fixed point P0, and the displacement amount of the 3 rd feature pattern UP is calculated based on the fixed point P0. Next, in the same order, the displacement amounts are calculated for each of the plurality of feature patterns UP arranged in the X-axis direction.

The correction data generation unit 76 generates correction data by correcting the stitching data based on the displacement amount of the feature pattern UP calculated by the displacement amount calculation unit 75. The target pattern RP of the sewing data is generated on the premise that the sewing object S is not contracted, and is stored in the sewing data storage 61. By performing the sewing process, if the object S is contracted and the surface of the object S is displaced, the stitch forming target position defined on the surface of the object S is displaced in the XY plane. When the stitch formation target position is displaced in the XY plane, if the holding member 15 is moved based on the sewing data, it is difficult to form the stitch GP at the stitch formation target position. When the feature pattern UP is displaced, the correction data generating unit 76 corrects the stitching data based on the displacement amount of the feature pattern UP so that the stitch GP is formed at the stitch formation 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 contraction 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 contraction of the sewing object S. By performing the sewing process based on the correction data, the stitch GP is formed at the stitch formation target position even if the surface of the sewing object S is displaced.

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

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 the 1 st sewing process, initial position data of a plurality of feature patterns UP are acquired. The case where the displacement amount corrected by the offset value is calculated for each of the feature patterns UP will be described.

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

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

The target data acquisition unit 71 acquires the 2 nd sewing data referred to in the 2 nd sewing process from the sewing data storage unit 61 (step S30).

The initial position data acquisition unit 72 acquires, from the sewing data storage unit 61, initial position data of the characteristic pattern UP of the sewing object S related to the 2 nd sewing process, out of the initial position data of the plurality of characteristic patterns UP acquired in the 1 st sewing process (step S40).

The feature pattern UP related to the 2 nd sewing process is the feature pattern UP closest to the stitch formation 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 feature pattern UP related to the 2 nd sewing process refers to the feature 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 related to the 2 nd sewing process are acquired, the control device 40 controls the actuator 17 so that a plurality of feature patterns UP related 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 stepwise in the X-axis direction, and sequentially acquires image data of a plurality of feature 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 end position of the 1 st sewing process so that the feature 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 acquisition unit 73 acquires present position data of each of a plurality of feature patterns UP (UP 3, UP4, UP5, UP6, UP7, UP8, UP 9) of the object S to be sewn, which is imaged by the imaging device 30 after the 1 st sewing process, based on the image data of each of the plurality of feature patterns UP (step S60).

That is, the present position data acquisition unit 73 acquires present position data of the feature pattern UP based on 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 acquisition unit 74 acquires offset data in which an offset value is stored for each of the feature patterns UP related 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 calculating unit 75 calculates a displacement amount added with an offset value for each of the feature patterns 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 calculated in step S80 to generate the 2 nd correction data HP2 (step S90).

The object S to be sewn after the 1 st stitch GP1 is formed has a higher possibility of shrinkage than the object S to be sewn before the 1 st stitch GP1 is formed. As a result, the stitch forming target position of the sewing object S defined 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 61 is predetermined. Therefore, if the 2 nd sewing process is performed in accordance with the 2 nd target pattern RP2 acquired by the target data acquisition unit 71, the 2 nd stitch GP2 may be formed at a position different from the stitch formation target position on the surface of the sewing object S.

In the present embodiment, before the execution of the 2 nd sewing process, the current position of at least the feature pattern UP related to the 2 nd sewing process among the feature patterns UP of the sewing object S held by the holding member 15 is detected by the imaging device 30. The displacement amount calculating unit 75 calculates the displacement amount of the feature pattern UP from the initial position to the present position based on the initial position and the present position of the feature pattern UP in the 2 nd sewing process. The correction data generating section 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 positions of the 2 nd target pattern RP2 and the feature pattern UP before the 1 st sewing process are performed and the relative positions of the 2 nd stitch GP2 formed on the object S to be sewn by the 2 nd sewing process and the feature pattern UP after the 2 nd sewing process are performed are matched.

Even if the appropriate 2 nd correction data is generated in the above manner, the formed stitch GP may deviate from the target pattern RP in the sewing process as described above. Therefore, the deviation at the time of sewing processing with reproducibility is stored as offset data. In the process shown in fig. 13, the displacement amount calculation unit 75 calculates the displacement amount obtained by adding the offset value for each of the feature patterns UP, thereby correcting the variation with reproducibility in the sewing process.

After the 2 nd correction data is generated, the control device 40 starts the 2 nd sewing process (step S100). In the 2 nd sewing process, 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, the holding member 15 holds the object S to be sewn in the XY plane including the sewing position Ps based on the 2 nd correction data and moves. Thereby, the 2 nd stitch GP2 is formed on the sewing object S.

After the end of the 2 nd sewing process, it is determined whether or not the sewing process is ended (step S110). When the sewing process is not completed (No in step S110), the counter n is set to "n+1" (step S120). Next, in step S110, the processes of steps S30 to S100 are repeated until it is determined that the sewing process is completed.

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

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 S240 and the current position data of the feature pattern UP acquired in step S260 (step S270).

The offset data acquisition unit 74 acquires offset data in which offset values for the correction points related to the 2 nd sewing process are stored, from the offset data storage unit 62 (step S280).

The correction data generating unit 76 generates the 2 nd correction data HP2 by correcting the 2 nd sewing data acquired in step S230 based on the displacement calculated in step S270 and the offset data acquired in step S280 (step S290). In the process shown in fig. 14, the offset value for each correction point is added to the calculated correction data by the correction data generation unit 76, whereby the deviation having reproducibility at the time of the sewing process is corrected.

As described above, in the present embodiment, the offset value corresponding to the deviation between the stitch GP and the target pattern RP, which is generated in the sewing process, is stored as offset data. In the present embodiment, the displacement amount corrected by the offset value can be calculated for each of the feature patterns UP. Alternatively, in the present embodiment, correction data to which an offset value is added may be calculated for each correction point. Thus, in the sewing process, the present embodiment can form the stitch GP at an appropriate position based on the offset data. Thus, according to the present embodiment, the stitch 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 object S held by the holding member 15. In order to form the stitch GP on the object S to be sewn, 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 machine needle 3 in the XY plane is generated as the sewing data and stored in the sewing data storage unit 61.

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

Claims (2)

1. A sewing machine, comprising:

a holding member that can hold and move a sewing object on a predetermined surface including a sewing position immediately below a sewing machine needle;

an actuator that moves the holding member;

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

an offset data acquisition unit that acquires offset data indicating a deviation between a target pattern of a stitch formed on the sewing object and a stitch formed in the sewing process;

A control unit that outputs a control signal for controlling the actuator in the sewing process based on the sewing data and the offset data:

an imaging device capable of imaging the sewing object;

an initial position data acquisition unit that acquires initial position data indicating an initial position of a feature pattern disposed on the sewing object;

a present position data acquisition 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 capturing device; and

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

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

the 1 st sewing data comprises a 1 st target pattern of a 1 st stitch formed on the sewing object in the 1 st sewing process and a moving condition of the holding component in the specified surface in the 1 st sewing process,

The 2 nd sewing data comprises a 2 nd target pattern of a 2 nd stitch formed on the sewing object in the 2 nd sewing process and a moving condition of the holding component in the prescribed surface in the 2 nd sewing process,

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

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

2. A sewing method, comprising the steps of:

acquiring, as sewing data to be referred to in a sewing process, 1 st sewing data to be referred to in a 1 st sewing process and 2 nd sewing data to be referred to in a 2 nd sewing process to be performed next to the 1 st sewing process;

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

in the sewing process, a sewing machine needle and the sewing object are relatively moved in a predetermined plane to form a stitch on the sewing object based on the sewing data and the offset data;

Acquiring initial position data representing an initial position of a feature pattern disposed on the sewing object;

acquiring present position data indicating a present position of the feature pattern based on image data of an object to be sewn captured by a capturing device capable of capturing the object to be sewn;

calculating the displacement amount of the characteristic pattern based on the initial position data and the current position data;

correcting the 2 nd sewing data based on the displacement amount to generate 2 nd correction data; and

in the 2 nd sewing process, based on the 2 nd sewing data, the offset data and the 2 nd correction data, a control signal for controlling an actuator which moves a holding member capable of holding a sewing object in a predetermined plane including a sewing position directly below a sewing machine needle to move,

the 1 st sewing data comprises a 1 st target pattern of a 1 st stitch formed on the sewing object in the 1 st sewing process and a moving condition of the holding component in the specified surface in the 1 st sewing process,

the 2 nd sewing data includes a 2 nd target pattern of a 2 nd stitch formed on the sewing object in the 2 nd sewing process and a moving condition of the holding member in the predetermined surface in the 2 nd sewing process.

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