JP2003320184A - Linking method and linking device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a linking method and a linking device capable of performing an automatic fast and accurate piercing work of a point needle into a cross-stitch knitted into a knitted cloth and further capable of performing a rigid linking of the knitted cloth. <P>SOLUTION: A main body mechanism 100 including an insert 110 passing through a sock and expanding it, a needle piercing mechanism 120 a CCD camera 140 and a computer 150 is used for detecting simultaneously an initial cross- stitch (S108) for a front side and a rear side, thereafter detecting a position of the cross-stitch (S112), repeating a point needle positional alignment (S114) and a point needle piercing (S116). Upon the completion of the piercing of the point needle, the point needle is returned to the initial position (S120). Upon the completion of the processing for both surfaces, the insert 110 is pulled out (S122), the sock W is shifted to one point needle (S124) to perform a cross- stitching work (S126). In addition, a semi-automatic processing performed by a temporary setting needle or an automatic processing performed by both-end fine insert member can also be carried out. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linking method and a linking device for over stitching a knitted fabric, and more particularly to, for example, a linking method and a linking device for automatically piercing a point needle of a knitted fabric with a point needle. .

[0002]

2. Description of the Related Art A knitted fabric, which is a material for a knit product, has a stitch knitted larger than other stitches (hereinafter referred to as "knitted fabric") so that when the stitch is stitched, the product is properly over stitched to a predetermined size and shape. The loose course is made up of simply called overcast eyes. Therefore, conventionally, an operator pulls and spreads the knitted fabric by hand and then sees through the knitted fabric to pierce each of the overlocking stitches forming the loose course with a point needle to perform overlock stitching. This work is similarly performed in the case of a circular knitted fabric that is knitted in a tubular shape such as socks.First, the worker puts his both hands into the opening of the circular knitted fabric and pulls and spreads the circular knitted fabric. After seeing the overlocking stitch by seeing through the knitted fabric on the back side as seen from the operator, the point needle is pierced through the overlocking stitch, and the stitches on the foreground side are also similarly stitched to form the overlock stitch. I pierced each other with the same point needle and performed overlock stitching.

However, it is very difficult to pierce the point needle with the overlocking stitch because the overlocking stitch is formed slightly larger than the normal stitch. In particular, with circular knitted fabrics, it is difficult to pull out the knitted fabric on the front side after piercing the knitted fabric on the back side with a point needle, and this problem is remarkable. As a result, it takes a lot of time to carry out overlock stitching, and problems such as overlock stitches occurring when the overlock stitches are removed occur.
This has resulted in poor product yield.

Therefore, as disclosed in JP-A-11-207061 and JP-A-11-207062,
An inserter that extends through the circular knitted fabric having overlocked stitches to extend the knitted fabric, an imaging unit that captures an image of the overlocked stitch of the knitted fabric stretched by the inserter, and an image captured by the imager Overlocking eye position detecting means for image processing to detect the position of the overlocking eye, and means for associating the point hand with the overlocking eye position detected by the overlocking eye position detecting means,
A means to pierce the point needle corresponding to each overlocking eye,
With a sewing machine mechanism that performs overlock stitching based on the pierced point needle, detects the position of the overlock stitch of the knitted fabric, aligns the point needle corresponding to the detected overlock stitch, and detects the detected overlock stitch. A linking device has been developed in which the point needle corresponding to is repeatedly pierced and the point needle is pierced through each overlock stitch of the knitted fabric, and then the sewing machine mechanism performs overlock stitching.

[0005]

However, such a conventional linking device has the following problems. The overhangs (hereinafter, referred to as V points) at both ends are difficult to detect by image processing because the socks are on the side surfaces of the insert after the sock is inserted into the insert, and the point needle is automatically pierced. Since it is also difficult, the V point needle is manually pierced through the V point, and a hole having a predetermined area inside a predetermined distance from the V point is used as the initial overlocking eye, and the positions of the overlocking eye are sequentially turned inward. It was detected and the corresponding point needle was pierced. However, the vicinity of the V point is close to the folding position of the cloth, and the position and size are likely to change depending on the attachment condition. In particular, on the front side, there is a large stitch called a gore line on the toe, which results in a complicated stitch structure near the overlocking stitch. Therefore, there is a problem in that the detection of the initial overlocking stitch by the image processing may not be detected and the operator's assistance may be required, or the false detection may cause the overlocking stitch to be missed from the overlocking stitch.

Therefore, an object of the present invention is to solve such a problem and to pierce a knitted fabric knitted with a point needle with a point needle quickly and accurately to firmly link the knitted fabric. A linking method and a linking device are provided.

[0007]

According to a first aspect of the present invention, a step of stretching a knitted fabric in a state where the linking target portions are opposed to each other, a step of capturing an image of the stretched knitted fabric, and the captured image The step of detecting the position of the overlocked stitch, the step of aligning the point needle corresponding to the detected position of the overlocked eye, the step of piercing the point needle corresponding to the detected overlocked eye, and each of the knitted fabric In a linking method including a step of overlock stitching based on the point needle pierced through the overlock stitch, a step of setting an initial overlock detection reference line near the edge of the knitted fabric, and A step of detecting a start overlocking stitch inside a predetermined distance, a step of tracking the overlocking stitch from the detected start overlocking stitch toward a set detection reference line, and a overlocking stitch detected by tracing the overlocking stitch. Position, characterized in that it comprises a step of the linking loops and initial linking loops detected when it becomes within a predetermined distance relative to the set detection reference line, a linking process. In the present invention, the overlocking stitch is detected within a predetermined distance from the end portion of the knitted fabric to be the start overlocking stitch, and the overlocking stitch is traced from the starting overlocking stitch toward the end portion of the knitted fabric to determine the initial overlocking stitch. Therefore, it is possible to suppress the non-detection and erroneous detection of the initial overlocking stitch, to pierce the overlocking stitch with the point needle quickly and accurately, and to firmly link the knitted fabric.

According to the second aspect of the present invention, the step of detecting the start overlocking stitch is a step of detecting a hole having a predetermined area or more by setting a predetermined area inside a predetermined distance from the end of the knitted fabric. A step of extracting a hole having the largest area of the holes, and a step of comparing the areas of the upper hole and the lower hole of the holes adjacent to either the left or right of the extracted hole having the largest area, If the upper hole area is larger than the lower hole area and the upper hole is overcast, and the maximum area detected when the lower hole area is larger than the upper hole area, The step of forming the hole having the eyelet as the overlocking eye.
The linking method described in 1. In the present invention, in the detection of the start overlock for detecting the initial overlock, a hole having the maximum area is extracted from the holes having a predetermined area or more detected based on the characteristics of the stitches, and the hole is adjacent to the hole. By comparing the area of the upper hole and the area of the lower hole on either the left or right side, the overlocking stitch can be determined, so the start overlocking stitch can be accurately determined, and the initial overlocking stitch non-detection or false detection can be further performed. It is possible to pierce the point needle with the overlocked stitch quickly and accurately, and to firmly link the knitted fabric.

According to a third aspect of the present invention, the step of setting the detection reference line for the initial overlocking stitches includes the step of setting a predetermined region near the end of the knitted fabric and detecting holes having a predetermined area or more. Of the holes that are closest to the end of the knitted fabric,
3. The linking method according to claim 1, further comprising the step of setting a detection reference line for an initial overlock from the position of the selected hole. In the present invention, a hole having a predetermined area or more is detected near the end of the knitted fabric, and the detection reference line of the initial overlock is set from the position of the hole closest to the end of the knitted fabric. Even when detecting the initial overlocking stitch on the front side having a large stitch called a gore line, it suppresses the non-detection and erroneous detection of the initial overlocking stitch, and the point needle is pierced through the overlocking stitch quickly and accurately, and the knitted fabric Can be strongly linked.

According to a fourth aspect of the present invention, a knitted fabric stretching means for stretching the knitted fabric in a state where the linking target portions face each other, an image pickup means for picking up an image of the knitted fabric stretched by the knitted fabric stretching means, and an image pickup An overlocking eye position detecting means for detecting the position of the overlocking eye imaged by the means, and a point needle position aligning means for aligning the point needle corresponding to the overlocking eye position detected by the overlocking eye position detecting means, Linking including point needle piercing means for piercing point needles corresponding to the stitches, and overlock stitching means for performing overlock stitching based on the point needles pierced by each of the stitches of the knitted fabric by the point needle piercing means. The apparatus is a detection reference line setting means for setting a detection reference line for an initial overlock near the end of the knitted fabric, and a starter at a predetermined distance inside from the end of the knitted fabric. Start overlocking eye detecting means for detecting overlocking eyes, overlocking eye tracking means for tracking overlocking eyes from the detected start overlocking eyes toward a set detection reference line, and overlocking eyes detected by overlocking eye tracking means The linking device is characterized in that it has an initial overlocking eye detecting means for making the overlocking eye detected as an initial overlocking eye when the position is within a predetermined distance with respect to the set detection reference line. In the present invention, the overlocking stitch is detected within a predetermined distance from the end portion of the knitted fabric to be the start overlocking stitch, and the overlocking stitch is traced from the starting overlocking stitch toward the end portion of the knitted fabric to determine the initial overlocking stitch. Therefore, it is possible to suppress the non-detection and erroneous detection of the initial overlocking stitch, to pierce the overlocking stitch with the point needle quickly and accurately, and to firmly link the knitted fabric.

According to a fifth aspect of the present invention, the start overlocking stitch detecting means detects the hole having a predetermined area or more by setting a predetermined area inside a predetermined distance from the end of the knitted fabric, and the detected hole. Of the holes having the largest area detected, extraction means for extracting the hole having the largest area, and comparing means for comparing the areas of the upper hole and the lower hole of the holes adjacent to either the left or right of the hole having the detected maximum area, , The hole having the maximum area detected when the area of the upper hole is larger than the area of the lower hole and the upper hole is overcast, and when the area of the lower hole is larger than the area of the upper hole 5. The determination means using the eye-catching eye as the overcast eye.
The linking device described in 1. In the present invention, in the detection of the start overlock for detecting the initial overlock, a hole having the maximum area is extracted from the holes having a predetermined area or more detected based on the characteristics of the stitches, and the hole is adjacent to the hole. By comparing the area of the upper hole and the area of the lower hole on either the left or right side, the overlocking stitch can be determined, so the start overlocking stitch can be accurately determined, and the initial overlocking stitch non-detection or false detection can be further performed. It is possible to pierce the point needle with the overlocked stitch quickly and accurately, and to firmly link the knitted fabric.

According to a sixth aspect of the present invention, the detection reference line setting means sets the predetermined area at the end of the knitted fabric to detect a hole having a predetermined area or more, and the knitted fabric among the detected holes. 6. The linking device according to claim 4 or 5, further comprising: selecting means for selecting a hole closest to an end of the hole, and setting means for setting a detection reference line of an initial overlocking eye from a position of the selected hole. is there. In the present invention, a hole having a predetermined area or more is detected near the end of the knitted fabric, and the detection reference line of the initial overlock is set from the position of the hole closest to the end of the knitted fabric. Even when detecting the initial overlocking stitch on the front side having a large stitch called a gore line, it suppresses the non-detection and erroneous detection of the initial overlocking stitch, and the point needle is pierced through the overlocking stitch quickly and accurately, and the knitted fabric Can be strongly linked.

The above-mentioned objects, other objects, features and advantages of the present invention will become more apparent from the following detailed description of the embodiments with reference to the drawings.

[0014]

1 is a schematic configuration diagram of a main body mechanism according to an embodiment of a linking device of the present invention.
In the figure, the main body mechanism 100 of the linking device includes an inserter 110 for inserting and extending the sock W, a needle piercing mechanism 120 for piercing a point needle into the overlocking eye K of the extended sock W, and a overlocking eye K. CCD for imaging
A computer 150 including a camera 140, an image processing unit that inputs an image signal from the CCD camera 140 and performs image processing to detect the position of the overlocking eye K, and a mechanism control unit that controls a main body mechanism, and a computer 150. A sequencer 160 that receives a control signal from the sequencer 160 to control the needle piercing mechanism 120, and a driver 170 that receives a control signal from the sequencer 160 and drives each actuator of the needle piercing mechanism 120.

The insert 110 has a constant thickness and a width such that when the sock W is inserted, the sock W is appropriately stretched left and right. Further, the inserter 110 is a fixture 1 for appropriately extending and fixing the sock W when the sock W is inserted.
12a and 112b are provided. As a result, the overlocking stitch K of the sock W is appropriately expanded vertically and horizontally, so that the position of the overlocking stitch K can be automatically detected by image-processing the image captured by the CCD camera 140 by the computer 150. The insert 110 also serves as an illuminating device when the CCD K camera photographs the overlocking eye K, and the EL is provided on both sides of the insert 110.
A panel is attached (not shown). This gives C
The CD camera 140 captures an image in which the holes of the stitches of the sock W are bright and the fiber portion is dark. Thus, CC
By illuminating the D camera 140 from the back side of the sock W and detecting the transmitted light, the hole of the overlocking eye K can be captured with good contrast. The lighting is not limited to the EL panel, and may be an array of LEDs, electric lights, or the like.
It goes without saying that the light may be illuminated by using a fiber light guide or a light guide plate. Even when another illumination method is used, it is possible to illuminate the CCD camera 140 from the back side of the sock W and detect transmitted light.
It is preferable for capturing the hole of the overlocking eye K with good contrast.

FIG. 2 shows a schematic structure of a point needle for performing overlock stitching. The point needles 132 need to be arranged at a predetermined interval in order to perform overlock stitching by a sewing machine mechanism (not shown), and are arranged in the needle box 130 having grooves at predetermined intervals as shown in the drawing. In addition, both ends have special Vs for piercing through the overlocking eyes K on both ends of the sock W.
Equipped with a point needle 134, the overlocking stitches K at both ends
Manually set to. The V-point needles 134 are arranged so as to be movable left and right during the piercing process of the point needles, and all the point needles 132 are provided on each overlocking stitch K of the sock W.
When the piercing is completed, the needle box 130 is locked and handed over to the sewing machine mechanism.

3 and 4 show a schematic structure of the needle piercing mechanism 120. As illustrated, the needle piercing mechanism 120 includes a base 122 and a needle box 13 fixed on the base 122.
0 and a needle pushing mechanism 124 fixed on the base 122.
With. The needle pushing mechanism 124 is provided in the needle box 13
The feed mechanism 126 that moves in accordance with the interval of the point needles 132 of 0 and selects the point needles 132 to be pushed out, and the selected point needles 132 to push out and the overlocking stitch K of the sock W
And an actuator 128 for piercing through. The feed mechanism 126 can be formed by NC using a ball screw or the like, and the actuator 128 can be formed by using a pneumatic actuator or a solenoid. However, more simply, the actuator 128 is driven by a spring, and the feed mechanism 126 can push out the needle. The point needle 132 may be sequentially pushed out by providing a plate for locking and withdrawing the plate at regular intervals.

The needle piercing mechanism 120 is a table (not shown) on which a base 122 can be vertically and horizontally two-dimensionally positioned.
The point needle 132 to be pushed out can be aligned with the overlocking eye K of the sock W based on a command from the sequencer 160. In addition, the needle pushing mechanism 12
4, a CCD camera 140 is mounted and moves together with the needle pushing mechanism 124. The center of the field of view of the CCD camera 140 is substantially aligned with the position of the surface of the sock W through which the point needle 132 pushed out by the actuator 128 is pierced. As a result, by bringing the center of the overlocking eye K of the sock W to almost the center of the CCD camera 140,
The corresponding point needle 132 can be pierced through the overlocking eye K, which facilitates coordinate conversion.

The needle piercing mechanism 120 and the CCD camera 140 described above are provided with the same ones on both the front surface and the back surface, and independently detect the overlocking eye K on each of the front side and the back side and pierce the point needle 132. When the operation is performed and the piercing operation of all the point needles 132 is completed, the needle piercing mechanism 120 is returned to the initial position, the positions of the front side needle and the back side needle are aligned, and the insertion body 110 is pulled out. Here, since the point needle 132 is pressed against the insert 110 by air pressure or the like, the sock W is brought into contact with the front side needle and the back side needle without coming off from the needle. Finally, the sock W is moved to one side and overlock stitching is performed by the sewing machine mechanism.

In the above embodiment, the needle piercing mechanism 120 is used.
Has been described as using the point needles 132 on both the front side and the back side, but the needle on the opposite side of the point needle 132 for finally performing the overlock stitch may be a simple guide,
The point hand 13 when it is brought into contact with the point hand 132
It may be in the form of a sheath that connects with 2. Further, the needle piercing mechanism 120 does not necessarily have to be provided on both sides. For example, the needle piercing mechanism 120 is provided only on the front side, and after all the point needles 132 are pierced through the respective overlocking stitches K on the front side, the inserter 110 is divided into upper and lower points. A slit is provided at the portion through which the needle is pierced, the position of the back stitch of the back side is detected by the CCD camera 140 on the back side, and the position of the corresponding point needle 132 of the needle piercing mechanism 120 on the front side is aligned with the back stitch of the back stitch K. The point needle 132 may be pierced completely to the back.

Next, the overlocking eye position detection processing for detecting the position of the overlocking eye by image-processing the image of the stitch taken by the CCD camera 140 will be described. FIG. 9 shows an example of the processing flow of the overlocking eye position detection processing. CC as shown
An image is input from the D camera 140 (S184), a predetermined detection area is set (S186), and the input image is binarized (S188). The binarization threshold is a discriminant analysis method (so-called Otsu's method) in which a density histogram of an image in a predetermined area is obtained, and a threshold that maximizes interclass variance when the obtained density histogram is divided into two classes. Was used to determine. This is because in the P tile method in which the ratio of 1 pixel in the binary image is P, the area ratio is made constant when the cloth is loosened or pulled too much. This is due to the fact that the threshold value cannot be obtained when the fabric loosens and the bimodality of the density histogram collapses even with the mode method in which the valley of the density histogram is found and used as the threshold value. This is because the discriminant analysis method can automatically determine the threshold even if the bimodality is lost. Needless to say, a fixed threshold may be used as the binarization threshold when the illumination condition is stable. Although description of the preprocessing of the input image is omitted, it is preferable to remove noise such as smoothing before binarization.

Next, the binary image is labeled to detect holes having a predetermined area or more (S190). In addition, the position of the overlocking stitch to be described later is predicted (S192),
The center of gravity of the label closest to the predicted position is used as the overhang (S1
94), it is determined from the distance from the predicted position whether or not the correct overlocking stitch is correct (S196), and the center of gravity of the detected overlocking stitch is converted into mechanical system position coordinates (S198).

FIG. 16 shows a CCD camera 1 with a normal overcast eye.
The example of the image imaged by 40 is shown. As shown in the figure, the overlocked stitches are knitted in a large size in order to make them easily distinguishable from other stitches, but the stitches paired with the overlocked stitches are also large due to their structure. The relation between the size of the overlocking stitch and the area of the pair of stitches varies depending on the sock, but neither is smaller than the other stitches. Therefore, the overlocking stitches are detected by utilizing the structural feature that the overlocking stitches and the stitches forming the pair of stitches are larger than the other stitches. Since the yarns are entwined in the stitches, even if a force is applied to a certain point, it has a wide effect on the surroundings, the overall change in the stitches becomes gentle, and the pitch of the overlock stitches becomes almost constant. Have. Therefore, assuming that the horizontal width of the sock W stretched by the insert 110 is divided by the number of overlock stitches to be the basic X pitch, and the overlock stitches of the sock W are set to be substantially horizontal, from the known overlock stitch position. The next overcast position can be predicted by the following formula. Predicted next overcast X position =
Known X-over stitch position + basic X pitch Therefore, as shown in FIG. 17, the stitch closest to the predicted position can be detected as the next over stitch. Here, since the shape of the stitch is close to the elliptical shape, the position of the stitch is considered to be the center of gravity of the stitch, and the center of gravity of the stitch closest to the predicted position is set as the overlock position (this is called a direct detection method).

However, it may be deformed in the vertical direction, and the possibility of erroneous detection increases only with the above detection method. Therefore, as shown in FIG. 18, a method of precisely detecting the stitches that form a pair of overlocking stitches (this is called a precision detecting method) may be used together. In this case, the next stitch position can be predicted from the known stitch position by the following equation. Next stitch predicted X position = known stitch X position + 1/2 basic X pitch Next stitch predicted Y position = known stitch Y position ± basic Y pitch

Ordinary overlocking stitches are lined up relatively regularly except in the vicinity of both ends, so here, first, the overlocking stitches are obtained by the direct detection method, the predicted position and the detected center of gravity are compared, and within a predetermined distance or less. If there is any, it will be overcast and will be re-detected by the precision detection method when the distance is more than a predetermined distance. This allows
It is possible to efficiently detect the overlocking eye and reduce the processing time. FIG. 24 shows an example in which the overlooking position is detected by the above-described processing. (A) shows the set detection area, (b) shows the result of labeling processing in the detection area, and (c) shows the result of detecting the overlocking eye position from the center of gravity of the label closest to the predicted position.

In the above embodiment, the processing of predicting the next overlocking eye position and using the center of gravity of the label closest to the next overlocking eye as the overlocking eye is used, but the label adjacent to the known overlocking eye is traced without using the prediction information. It is also possible to detect the next overcast eye by moving forward and set the center of gravity thereof as the position of the next overcast eye.

Next, the detection processing of the initial overlocking eye will be described. Among the detections of the overlocking stitches, the stitches that are particularly difficult to detect are the initial overlocking stitches. The initial overcast stitch is the overcast stitch closest to the V point. FIG. 19 shows an image example around the front side overlocked eye, and FIG. 20 shows an image example around the backside overlocked eye. As shown in the figure, the vicinity of the V point is close to the folding position of the cloth, and especially on the front side, the effect of the gore line of the toe is added, and the complicated stitch structure is formed. difficult. However, since the initial overlocking stitch has a fixed positional relationship with other overlocking stitches, the predicted position of the initial overlocking stitch can be calculated by this. Further, the overlocking stitch at the V point is difficult to detect due to deformation, but the overlocking stitch at a position apart from the V point to some extent is stable and can be detected. Therefore, the overlocking eye that is located away from the V point is detected first, and the initial overlocking eye is detected by tracing the overlocking eye line in the opposite direction.

The detection method of the initial overlocking eye is slightly different on the front side and the back side, but it is difficult to detect from the V point in both cases, so it is detected from the overlocking eye in the middle (this is called a star and overlocking eye). . FIG. 21 shows the setting detection area of the start overlocking stitch. The largest stitch among these is detected. Depending on the sock, the oversized stitch and the pair of stitches forming the pair of stitches may be almost the same in area, and it may not be known whether the detected stitch is the overlock stitch or the pair of stitches. Therefore, it is determined whether or not the stitches paired with the overlaid stitch are larger than the other stitches by utilizing the property that the stitches are larger than the other stitches. That is, as shown in FIG. 22, adjacent stitches diagonally above and below the stitches detected in the set region are detected, and respective areas A1 and A2 are obtained. That A1 and A
2 is compared, when A1 is large, it is judged that the diagonally upper stitch is a stitch and the detected stitch is a pair of stitches, and when A2 is large, the diagonally lower stitch is a pair of stitches. Therefore, it is determined that the detected stitch is the overlaid stitch.

FIG. 10 shows an example of the processing flow of the start overlock detection processing. As shown in the figure, as in the case of normal overcast detection, an image is input (S142), a detection area is set (S144), binarized (S146), and labeling is performed to detect a hole having a predetermined area or more. (S148). next,
The hole having the maximum area is extracted (S150), and the areas of the upper left hole and the lower left hole are compared (S152). When the area at the upper left is large, the hole at the upper left is used as the overcast eye (S156).
When the area of the lower left hole is large, the hole having the maximum area is used as the overlocking eye (S158).

Next, from the detected overlocking eye,
A fine detection method traces back the overlocking line to detect the final initial overlocking line. Regarding the final judgment of the initial overlock, the position of the initial overlock is likely to change on the front side due to the influence of the gore line. However, a large stitch is woven at the place where the overlocking line and the gore line are connected, and the initial overlocking is always present on the upper right side of this large stitch. Therefore, first, the right end X coordinate of this large stitch is obtained. Since this stitch is the largest stitch, it can be easily detected. When the overcast line is traced back by the precise detection method, it approaches the X coordinate in due course. The overlocking stitch closest to the X coordinate is set as the initial overlocking stitch on the front side. FIG. 11 shows an example of the processing flow of the front side overlocking eye detection processing. First, move the camera near the left end (S160) and input an image (S1).
62), the detection area is set (S164), and the image is binarized (S166). The binary image is labeled to detect holes having a predetermined area or more (S168), the hole closest to the left end of the detected holes is selected (S170), and a detection reference line is set at a predetermined distance from the right end of the hole. Set (S17
2). Next, the camera is moved to the start overlock detection position (S174), and the start overlock is detected (S17).
6). Then, the overlocking eye is traced backward from the start overlocking eye toward the detection reference line (S178), and when the detected center of gravity of the overlocking eye exceeds the detection reference line (S180), the last detected overlocking eye is set as the initial overlocking eye. Yes (S182).
In this case, the detection reference line is set about 1 pitch right from the right end of the start overlocking stitch. The detection reference line may be set at the right end of the start overlocking eye, and the overcast eye whose center of gravity of the tracked overlocking eye is closest to the detection reference line may be set as the initial overlocking eye. FIG. 25 shows an example in which the front side overlocking eye detection processing is performed by the above processing. Here, the detection reference line is set at the right end of the large stitch near the V point as in (a), the start overlocking stitch is detected as in (b), and the overlocking stitch is precisely detected as in (c). And the initial overlocking eye is detected as shown in (d).

On the back side, since the shape of the initial overlocking eye does not change significantly, the overlocking eye line is reversely detected by the precision analysis method, and the detection reference line is set at a certain distance inside from the V point, and the detection reference line is set. The overcast eye is the initial overcast eye. Here, the detection reference line is 1.
5 times inside. FIG. 12 shows a processing flow of the initial overcast eye detection processing on the back side. First, a detection reference line is set inside a predetermined distance from the left end (S130), the camera is moved to the start overlock detection position (S132), and the start overlock is detected (S134). The overlocking eye is tracked from the start overlocking eye toward the detection reference line (S136), and when the detected center of gravity of the overlocking eye exceeds the detection reference line (S13).
8) The last detected overlocking stitch is set as the initial overlocking stitch (S140).

Next, the processing for determining whether or not the detected hole is the overlocking eye will be described. Overlock position detection processing,
In the tracking of the overlocking eye in the initial overlocking eye detection process, before determining the detected hole as the overlocking eye, it is determined whether or not there is a clear mistake from the detection location. Here, as shown in FIG. 23, a predetermined range is defined with reference to the expected position of the overlocking stitch, and if the center of gravity of the stitch is within that range, it is determined that the overlocking stitch is present. In addition, the predetermined range is ± 1 / 4X in the X direction centering on the predicted overlocking position.
The pitch was ± 1/2 Y pitch in the Y direction. If the detected overlocking stitches are not within this range, switch to the precision analysis method for direct detection in the case of the direct detection method, or in the case of the precise detection method, use the above-mentioned start overlocking stitch detection process to correct the overcast stitches again. To detect. Also, if human assistance is possible, switch to manual operation, for example, by allowing a human to specify the correct overlocking eye position by looking at the monitor and predicting the next overlocking eye position based on that position for automatic processing. You may continue.

Several embodiments of the linking device of the present invention will be described below. FIG. 5 shows an operation flow according to the first embodiment of the linking device of the present invention.
The point needle is manually processed. First, socks W
Is inserted into the insert 110 and extended left and right (S100),
Insert the V-point needle 134 into the V-point (S10
2). The socks W are stretched up and down to fix the fixtures 112a and 11a.
It is fixed with 2b (S104), and a jig is put in the toes of the sock W and hung down (S106). As shown in FIG. 26, the jig is inserted in the toe. Before the jig is inserted, the knitted fabric is excessive on the toe side, resulting in a tension difference between the front side and the back side, and the overlocking line on the front side is curved as shown in the left figure. This is because it is not aligned with the overcast line on the back side. Therefore, by inserting the toe hanging jig 114 as shown in the above figure into the toe part of the sock W, the overlocking line is aligned as shown in the right figure, and it becomes easy to detect the overlocking K and the point needle Alignment time is reduced. Next, the following point needle piercing process is performed on both the front side and the back side. First, the initial overlock detection process (S
108a, b) is performed to determine the initial overlocking stitch. Next, the camera is moved to the target overlocking eye position (S110a,
b), the overlocking eye position is detected (S112a, b), the point needle corresponding to the detected overhanging eye position is aligned (S114a, b), and the point needle corresponding to the detected overhanging eye is pierced ( The steps S116a and b) are repeated until all the overlocking stitches are completed (S118).
a, b). Here, the movement of the camera to the target overlocking eye position (S110a, b) means the movement of the camera by advancing the needle pushing mechanism 124 to the next point needle. The needle piercing mechanism 12 so that it appears in the center of the field of view of the camera.
You may make it move 0 simultaneously. For the first time, since the overlocked eye position detected by the initial overlocking eye detection process (S108a, b) can be used, the movement of the camera (S108a, b) and overlocked eye position detection process (S112a, b) can be omitted. . When the point needle piercing process has been completed for all overlocked stitches, the point needle is returned to the initial position (S120a, b). Finally, when both the front side and the back side are finished, the insert 110 is pulled out (S122), and the sock W is brought close to one of the point needles (S1).
24) Overlock stitching is performed (S126).

FIG. 6 shows a second linking device of the present invention.
The operation | movement flow concerning an Example is shown and V point processing is performed semi-automatically using a temporary stop needle. Temporary stop needle 1
As shown in FIG. 27, the sock W is the insertion member 110.
Is a jig for piercing the V points at both ends of the sock in advance before setting the sock, and by connecting the sock W with the V point needle 134 after the insertion of the sock W,
The V-point needle 134 can be processed in the same manner as other point needles to improve work efficiency. Therefore, the V-point of the sock W is preliminarily set at the V
Is inserted (S200), the socks W are inserted through the inserter 110 to extend the left and right (S202), the socks W are extended and fixed vertically (S204), and the toe hanging jig 114 is put in the toes and droops. Then, the V-point needle 134 is pierced through the sock W using the temporary fixing needle 116 as a guide (S206) (S20).
8). As a result, the sock W set in the insert 110
A state in which the V-point needle 134 is set to the V-point can be easily generated, and thereafter, overlock stitching is performed by the same processing as in the first embodiment (S228).

FIG. 7 shows a third linking device according to the present invention.
The operation | movement flow which concerns on an Example is shown, The insertion body 110 which tapers both ends is used, and the piercing process of all the point needles including piercing of the V point needle to the V point of the sock W is automatically performed. Is. As shown in FIG. 28, by inserting the sock W through the inserter 110 having both ends tapered, the overlocking stitches near both ends of the sock W are also expanded and can be detected. , Point needle piercing work is fully automated. First, the sock W is inserted through the inserter 110 having both ends tapered to extend left and right (S
300), socks W are stretched vertically and fixed (S30
2) Then, put the toe hanging jig 114 on the toes and make them hang down (S304). The subsequent point needle piercing process is the same as that in the first embodiment, but the initial overlocking eye detecting process detects the V point. The V point detection process is similar to the initial overlock detection process described above.
This can be performed by detecting the start overlocking stitch, tracing the overlocking stitch from there to the end, and setting the overlocking stitch closest to the end as the V point.

FIG. 8 shows a fourth linking device of the present invention.
The operation | movement flow concerning an Example is shown and the insertion body 110 is divided | segmented up and down and a slit is provided in the piercing part of a point needle,
The single needle piercing mechanism 120 can pierce the point needles on both sides. The sock W is inserted into the vertically-divided inserter 110 to extend the left and right (S70
0), and insert the V-point needle 134 (S702). Further, the sock W is vertically stretched and fixed (S706), and the toe hanging jig 114 is put in the toe and drooped (S70).
6), the insert 110 is separated into upper and lower parts to form slits (S708). Next, the initial overlock detection processing (S71
0a, b) to determine the initial overlocking stitch. The camera is moved to the target overlocking eye position (S712a, b), and the overlocking eye position is detected (S714a, b). The point needle is aligned with the overlocking eye position on the front side (S716), and the point needle is pierced only on the front side (S718). Further, the point needle is aligned with the back stitch position (S720), and the point needle is pierced to the back side (S722). The above processing is repeated from S712a and b until all overcast stitches are completed (S724). When the point needle is pierced through all the overlocking eyes, the insert 110 is pulled out (S72
6) Overlock stitching is performed with the point needle (S72).
8). As a result, the single needle piercing mechanism 120 can perform the piercing process of the point needles to the overlocking stitches on both sides, and the butt process of the needles is unnecessary, and the processing time is shortened.

In any of the above embodiments, the CCD camera 140 has the needle pushing mechanism 124 of the needle piercing mechanism 120.
However, the present invention is not limited to this, and the CCD camera 140 is used as the point needle 132 pushed by the needle pushing mechanism 124 so as to pierce the sock W. It may be mounted on a mechanism for positioning independently of the needle piercing mechanism 120. Alternatively, for example, a high-resolution CCD camera may be used, the CCD camera may be fixedly installed, the entire overlocking line of the sock W may be simultaneously imaged, and the image processing range may be sequentially moved.

In the above embodiment, the toe hanging jig 114 is inserted in the toe in order to prevent the overhanging line on the toe side from being curved. However, a gripping mechanism for gripping the toe is provided and the toe is provided by the gripping mechanism. May be grasped and pulled downward, and the same effect is obtained.

In the above embodiment, the insert 110 has been described as having a width that gives a predetermined stretched state when the sock W is inserted. However, when the sock W is inserted, a mechanism for expanding and contracting to the left and right is provided. The width may be such that it can be easily inserted, and after the sock W is inserted, a predetermined stretched state may be expanded to a given width.

In the above embodiment, the vertical extension of the sock W is described as being manually extended and fixed by the fixing members 112a and 112b. However, for example, one side is a roller mechanism, and after the sock is inserted into the inserter 110, The sock W may be extended vertically by driving the roller mechanism.

Next, processing for estimating the amount of movement of the overlocking eye position by the point needle that has already been pierced and aligning the point needle will be described. As shown in FIG. 13, the detected overlocking eye position is set as the target position, the position of the corresponding point needle is set as the current position (S400), and the amount obtained by subtracting the current position from the target position is set as the movement amount (S402). The predicted overcast eye movement amount is estimated from the amount (S404). Here, the expected amount of overedging movement may be multiplied by a constant coefficient as being proportional to the amount of movement of the point needle, and may be obtained by using an approximate expression obtained by experiment or by drawing a function table. Good. Then, the expected overcast movement amount is added to the target position, the movement amount is added to the current position (S406), and the process is repeated from S402 until the difference between the target position and the current position falls within the allowable error range (S408). Finally, when the difference between the target position and the current position falls within the allowable error range, the point needle is aligned with the target position (S410). As a result, it is possible to perform the alignment at one time without actually moving the point needle, so that the working time is shortened.

In the above-described embodiment, the calculation was repeatedly performed until the target position and the current position converged within the allowable error, but the present invention is not limited to this, and the calculation formula is obtained from the recurrence formula. The movement amount of the point hand may be obtained by one calculation, or the movement amount of the point hand may be obtained by referring to the function table once.

Next, during the alignment processing of the point needle, the point needle that has already been pierced moves, so that the next overlocking stitch moves, and the position of the overlocking stitch is detected to align the point needle. By repeating the above procedure, a method of preventing the problem that the movement amount of the point needle is accumulated and the point needle comes off the insertion body will be described. As shown in FIG. 14, the camera is moved to the target overlocking eye position in the same manner as in the normal point needle piercing process (S50).
0), the overedging position detection processing is performed (S502), the point needle alignment processing is performed (S504), and the point needle is pierced (S506). However, after returning the point needle to the initial position every time (S508). ), The following overedging position detection processing is performed. As a result, when detecting the position of the next overlock stitch, the point needle is always returned to the origin, so the problem that the next overlock stitch moves due to the point needle already pierced and the movement amount accumulates To be done.

Next, a description will be given of a method for improving the problem that the portion other than the portion where the position of the overlocking stitch is detected is constantly stretched during the point needle piercing work, thereby giving a load to the entire knitted fabric. FIG. 29 shows a conceptual diagram of a partial stretching mechanism for partially stretching the knitted fabric. CCD as shown
The inserter 1 is provided with rollers 118a and 118b for partially stretching the knitted fabric imaged by the camera 140.
The upper roller 1 is pressed against the sock W inserted through
18a pulls the sock W upward, lower roller 118b
Pulls the sock W downward. As a result, it is possible to extend only the area around the overlaid eye to be detected. This roller 1
18a and 118b are mounted on the needle push-out mechanism 124 together with the CCD camera 140, and can selectively stretch the knitted fabric near the overlocking stitch which is the target to be pierced by the selected point needle 132. By using such a partial extension mechanism,
FIG. 15 shows a method of piercing the point needle.
As shown, move the camera to the target overlock position (S6
00), the partial extension mechanism is operated (S602), the overlock position is detected (S604), the point needle is aligned (S606), the point needle is pierced (S608), and the partial extension mechanism is released (S610). ). The above process is repeated until all overlocking stitches have been processed (S612). still,
Since it is necessary to position the point needle during the operation of the partial extension mechanism, the point needle is locked during operation of the partial extension mechanism and the needle push-out mechanism 124 side after release of the partial extension mechanism. To configure. In the above embodiment, only the vertical extension is partially performed,
Further, a function of partially expanding left and right may be added. For example, the socks W may be arranged in four diagonal directions, and the socks W may be pulled in directions away from the center.

In the above embodiment, the sock is taken up as the object of linking, but the present invention is not limited to this, and any knitted fabric having overlock stitches can be stitched together for overlock stitching. It can also be applied to such a knitted fabric, and has the effect of the present invention.

[0046]

As described above, according to the present invention,
It is possible to automatically and quickly and accurately perform the operation of inserting the point needle into the knitted stitches formed on the knitted fabric to firmly link the knitted fabric.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a main body mechanism according to an embodiment of a linking device of the present invention.

FIG. 2 is an illustrative view of a point needle.

FIG. 3 is a plan view of a needle piercing mechanism.

FIG. 4 is a side view of the needle piercing mechanism.

FIG. 5 is an operation flow chart according to the first embodiment (V-point manual processing type) of the linking device of the present invention.

FIG. 6 is an operation flow chart according to a second embodiment (semi-automatic) of the linking device of the present invention.

FIG. 7 is an operation flow chart according to a third embodiment (automatic type) of the linking device of the present invention.

FIG. 8 is an operation flow chart according to a fourth embodiment (single needle type) of the linking device of the present invention.

FIG. 9 is a processing flow chart according to an embodiment of the overlocking eye position detection processing.

FIG. 10 is a process flow chart according to an embodiment of a start overlock detection process.

FIG. 11 is a process flow chart according to an embodiment of a front side initial overlocking eye detection process.

FIG. 12 is a process flow chart according to an embodiment of a back side initial overlocking eye detection process.

FIG. 13 is a processing flow according to an example of point needle position alignment processing.

FIG. 14 is a process flow chart according to an example of the needle return process.

FIG. 15 is a processing flowchart according to an embodiment of the partial expansion mechanism.

FIG. 16 is an example of an image of a normal overcast eye.

FIG. 17 is an explanatory diagram of the overcast eye direct detection method.

FIG. 18 is an explanatory diagram of the overedging eye precision detection method.

FIG. 19 is an image example of a front side overcast eye.

FIG. 20 is an image example of a back side initial overcast eye.

FIG. 21 is an explanatory diagram of a detection area of a start overlock.

FIG. 22 is an explanatory diagram of start overlock detection processing.

FIG. 23 is an explanatory diagram of overcast eye determination processing.

FIG. 24 is an image processing example of the overlaid eye position detection processing.

FIG. 25 is an example of image processing of initial overlock detection processing.

FIG. 26 is an explanatory diagram of a toe hanging jig for socks.

FIG. 27 is an explanatory diagram of a temporary fixing needle for semi-automatic processing.

FIG. 28 is an explanatory diagram of a both-end tapered insertion body.

FIG. 29 is a conceptual diagram of a partial extension mechanism.

[Explanation of symbols]

100 Linking device body mechanism 110 insert 114 Toe hanging jig 116 Temporary stop needle 118a, 118b Partial extension roller 120 needle piercing mechanism 124 needle pushing mechanism 130-needle box 132 point needle 140 CCD camera 150 computers 160 sequencer 170 driver W socks K overcast eyes

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Naomasa Ochi             1535-1, Baekje, Koryo-cho, Kitakatsuragi-gun, Nara (72) Inventor Kimio Takeda             6-2-403 Sachimachi, Yamatotakada City, Nara Prefecture F term (reference) 3B150 AA28 BA02 CE24 CE27 GD05                       GE29 LA34 LB01 NA34 QA06                       QA07

Claims (6)

[Claims] 1. A step of stretching a knitted fabric in a state where linking target portions are opposed to each other, a step of capturing an image of the stretched knitted fabric, and a step of detecting the position of the overlocking stitch from the captured image. A step of aligning the point needles corresponding to the positions of the detected stitches, a step of piercing the corresponding point needles of the detected stitches, and a piercing of each stitch of the knitted fabric. In the linking method including the step of overlock stitching based on the point needles, the step 3 of setting an initial overlock detection reference line near the end of the knitted fabric, and a predetermined distance from the end of the knitted fabric. A step of detecting a start overlocking stitch on the inner side; a step of tracking the overlocking eye from the detected start overlocking eye toward the set detection reference line; Characterized in that it comprises a step of the detected the linking loops to initial linking loops when it becomes within a predetermined distance with respect to the detection reference line linking loops of position is the setting, linking methods. 2. The step of detecting the start overlock stitches, the step of setting a predetermined region inside a predetermined distance from the end of the knitted fabric to detect holes having a predetermined area or more, A step of extracting a hole having the largest area, a step of comparing the area of the upper hole and the lower hole of the holes adjacent to either the right or left of the extracted hole having the largest area, and When the area of the upper hole is larger than the area of the lower hole, the upper hole is overcast, and when the area of the lower hole is larger than the area of the upper hole, the detection is performed. The method of linking according to claim 1, further comprising the step of using the holes having the largest area as the overlocking holes. 3. The step of setting the detection reference line of the initial overlock stitches, the step of setting a predetermined region near the end of the knitted fabric to detect a hole having a predetermined area or more, and the detected hole 3. The method according to claim 1, further comprising: a step of selecting a hole closest to an end portion of the knitted fabric, and a step of setting a detection reference line of the initial overlocked stitch from a position of the selected hole.
The linking method described in. 4. A knitted fabric stretching means for stretching the knitted fabric with the linking target portions facing each other, an image pickup means for picking up an image of the knitted fabric stretched by the knitted fabric stretching means, and an image picked up by the image pickup means. The overlocking eye position detecting means for detecting the position of the overlocked eye, the point needle position aligning means for aligning the point needle corresponding to the position of the overlocking eye detected by the overlocking eye position detecting means, and the detected Point needle piercing means for piercing the corresponding point needle through the overlock stitch, and overlock stitching means for overlock stitching based on the point needle pierced through each overlock stitch of the knitted fabric by the point needle piercing means. And a detection reference line setting means for setting a detection reference line of an initial overlock near the end of the knitted fabric, and a predetermined distance from the end of the knitted fabric. A start overlocking eye detecting means for detecting a start overlocking eye on the inner side, an overlocking eye tracking means for tracking the overlocking eye from the detected start overlocking eye toward the set detection reference line, and the overlocking eye tracking means And an initial overlocking eye detecting unit that uses the detected overlocking eye as an initial overlocking eye when the position of the overlocking eye detected by the above is within a predetermined distance with respect to the set detection reference line. And
Linking device. 5. The start overlocking stitch detection means sets a predetermined region inside a predetermined distance from the end of the knitted fabric to detect a hole having a predetermined area or more, and among the detected holes, Extraction means for extracting a hole having a maximum area, and comparison means for comparing the area of the upper hole and the lower hole of the holes adjacent to either the left or right of the hole having the detected maximum area, When the area of the upper hole is larger than the area of the lower hole, the upper hole is overcast, and the detected maximum when the area of the lower hole is larger than the area of the upper hole. 5. The linking device according to claim 4, further comprising: a determining unit that uses a hole having an area of 4 as an overlock. 6. The detection reference line setting means detects a hole having a predetermined area or more by setting a predetermined area at an end of the knitted fabric, and the detected reference line setting means of the knitted fabric. The linking device according to claim 4 or 5, further comprising: selecting means for selecting a hole closest to an end portion, and setting means for setting a detection reference line of the initial overlocking eye from a position of the selected hole. .