JP2013074972A - Sewing machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sewing machine in which an operator can easily adjust the position of a needle drop point when restarting sewing, regardless of the presence or absence of a component provided around the lower end of a needle bar.SOLUTION: When sewing is interrupted because of an abnormality during sewing, a CPU enters a virtual needle drop point mode and moves a holder so that a needle drop point is located at a position separated by a prescribed distance from an original position directly under a sewing needle in a prescribed direction (S221). The CPU displays a synthetic image showing the needle drop point on an object to be sewn after the movement as a virtual needle drop point which can be visually recognized (S222). An operator inputs an instruction for retreating the needle drop point by one stitch or advancing the needle drop point by one-stitch (S227: YES, S231: YES) to designate the needle drop point when restarting sewing (S228, S232). When the CPU detects the input of an instruction for restarting sewing (S226: YES), the CPU enters a normal mode and moves the holder so that the needle drop point when restarting sewing is located directly under the sewing needle (S242). The sewing machine restarts sewing from the designated needle drop point (S243).

Description

  The present invention relates to a sewing machine capable of sewing a pattern on a sewing object in accordance with sewing data indicating a needle drop point.

  There is a sewing machine that can sew a pattern on a sewing object in accordance with sewing data indicating a needle entry point. The needle drop point is a predetermined position on the sewing target object that the sewing needle of the sewing machine descends and pierces the sewing target object (work cloth or the like), and is located immediately below the sewing needle during sewing. If an abnormality such as thread breakage or skipping occurs during sewing according to the sewing data, the sewing machine needs to interrupt the sewing. However, the sewing data advances by several needle drop points in a short time from when the abnormality is detected until the driving of the needle bar or the like actually stops. Therefore, for example, before resuming sewing, the operator needs to perform an operation of returning the needle drop point at the time of sewing interruption to the needle drop point at the time of occurrence of abnormality. There is a sewing machine provided with an image pickup means for facilitating the work. For example, when a thread break occurs, the sewing machine disclosed in Patent Document 1 captures an image around a needle drop point on a sewing object with an imaging unit and displays the image on a display device. The operator can adjust the position of the needle drop point with respect to the sewing object while checking the image.

JP 2010-233753 A

  The sewing machine typically has various components around the lower end of the needle bar above the needle drop point. The structural equipment includes, for example, a sewing needle, a presser foot that presses the sewing object from above, and a wiper that removes the upper thread inserted through the hole of the presser foot. An image displayed by the sewing machine disclosed in Patent Document 1 may include the component. When the component is displayed at a position that becomes a needle drop point in the image, it may be difficult for an operator to adjust the position of the needle drop point when sewing is resumed.

  An object of the present invention is to provide a sewing machine that allows an operator to easily adjust the position of a needle drop point when sewing is resumed regardless of the presence or absence of components provided around the lower end of a needle bar.

  The sewing machine according to claim 1 is provided with a needle bar for attaching a sewing needle to the lower end, a needle bar drive mechanism for moving the needle bar up and down during sewing, and a holding body for holding a sewing object provided below the needle bar. A plurality of data indicating a movable moving mechanism and a relative position between the position of the sewing needle and the position of the holding body at least a position of a needle drop point that is a predetermined position on the sewing target object to be stabbed by the sewing needle at the time of sewing In a sewing machine provided with first movement control means for moving the holding body so that the needle drop point is located immediately below the sewing needle by controlling the moving mechanism according to the sewing data included, the sewing is interrupted during sewing. An abnormality detecting means for detecting the occurrence of an abnormality requiring the sewing, and sewing that stops the driving of the needle bar driving mechanism and the control of the moving mechanism by the first movement control means when the abnormality detecting means detects the abnormality. Suspended hand When the abnormality detection means detects the abnormality, the needle drop point is moved away from the original position just below the sewing needle by a predetermined distance in a predetermined direction by controlling the moving mechanism. When the second movement control means that moves and the second movement control means move the holding body, the needle drop point on the sewing object after the predetermined distance movement can be visually recognized as a virtual needle drop point. One of a plurality of needle drop points included in the sewing data based on information on the needle drop points inputted in a state where the virtual needle drop points are displayed in a state where the virtual needle drop points are visible. When a needle drop point specifying means for specifying one as a needle drop point at the time of resuming sewing, a restart instruction detecting means for detecting an input of a sewing restart instruction, and the restart instruction detecting means detecting the input of the instruction, The moving mechanism And a third movement control means for moving the holding body so that the needle drop point at the time of resuming the sewing specified by the needle drop point specifying means is located immediately below the sewing needle. The movement control means controls the movement mechanism according to the sewing data after the third movement control means has moved the holding body, so that the needle drop points after the needle drop point at the time of resuming sewing are sequentially changed to the sewing needle. The holding body is moved so as to be located immediately below the head.

  In the sewing machine, when the abnormality detecting means detects an abnormality and the sewing is interrupted, the second movement control means controls the moving mechanism so that the needle drop point is a predetermined distance from the original position directly below the sewing needle in a predetermined direction. The sewing object is moved so as to be located at a distant position. That is, the sewing machine can move the needle drop point to a position where the sewing needle does not hinder the visual recognition of the needle drop point when the sewing is interrupted. Further, since the instruction means shows the needle drop point on the sewing object after movement as a virtual needle drop point, the operator can see the virtual needle drop point after moving from the original position directly below the sewing needle. The position can be easily recognized. Therefore, even if there is a sewing needle at the lower end of the needle bar, the operator must check the area around the needle drop point on the sewing object, that is, the area around the stitch where the abnormality has occurred. Information that designates any one as a needle entry point when resuming sewing can be input. That is, the operator can easily adjust the position of the needle drop point when resuming sewing. The same applies when the sewing machine has components other than the sewing needle around the lower end of the needle bar. Furthermore, the sewing machine can move the holding body so that the needle drop point at the time of resuming sewing is located immediately below the sewing needle according to the information, and can resume sewing from the appropriate needle drop point.

  3. The sewing machine according to claim 2, wherein the abnormality detecting means is capable of forming a stitch corresponding to any one of the plurality of needle drop points included in the sewing data and a thread break detecting means for detecting a thread break during sewing. It is at least one of a skipping detection means for detecting absence and an input detection means for detecting input of information indicating that the abnormality has occurred. The abnormality detected by the above three types of detection means requires sewing interruption. Therefore, the sewing machine detects the abnormality, so that the operator can appropriately adjust the needle drop point when resuming sewing and resume sewing.

  The sewing machine according to claim 3, wherein the sewing interruption means stops driving of the needle bar driving mechanism and control of the moving mechanism by the first movement control means, and then notifies the occurrence of the abnormality, and the notification And means for detecting an input of information for confirming the occurrence of the abnormality after the means notifies the occurrence of the abnormality, and the second movement control means detects the input by the confirmation detection means. Then, the holding mechanism is moved by controlling the moving mechanism. In this case, the second moving means moves the holding body only when the operator knows the occurrence of the abnormality by the notification of the notification means and performs an input for confirming the occurrence of the abnormality. Therefore, the sewing machine can avoid a situation in which the needle drop point is temporarily moved back from the original position when the abnormality detection means detects it erroneously. Therefore, the sewing machine can prevent deterioration of the texture of the stitches after resuming the sewing.

  5. The sewing machine according to claim 4, wherein the instructing unit indicates the virtual needle drop point on an image of the sewing object captured by the imaging unit and an imaging unit capable of capturing the sewing object held by the holding body. And a display control means for generating a composite image in which marks are superimposed and displaying the composite image on a display means. In this case, the display means displays a composite image of the sewing object on which marks indicating virtual needle drop points are superimposed. Therefore, the operator can easily confirm the vicinity of the needle drop point on the sewing object by visually recognizing the mark peripheral part of the virtual needle drop point of the composite image.

  6. The sewing machine according to claim 5, wherein the predetermined distance is the predetermined distance until the sewing needle or another component of the sewing machine does not overlap between the photographing unit and the sewing target object at the virtual needle drop point. It is more than the movement distance in a direction. In this case, the sewing machine surely captures the range including the needle drop point (virtual needle drop point) on the sewing object after the movement, and the virtual needle drop point is located at a position that does not overlap with the sewing needle or other components. A composite image can be displayed.

  7. The sewing machine according to claim 6, wherein the instructing unit includes a projecting unit that projects the virtual needle drop point on the sewing object so as to be visible. In this case, the operator can easily confirm the vicinity of the needle drop point on the sewing object by checking the virtual needle drop point projected on the sewing object by the projection means.

  8. The sewing machine according to claim 7, wherein the projection means is a laser pointer that spot-irradiates laser light onto the virtual needle drop point on the sewing object. In this case, the operator can easily confirm the vicinity of the needle drop point on the sewing target by checking the periphery of the laser beam spot-irradiated on the sewing target. The sewing machine can achieve this effect with a simple configuration in which a laser pointer is provided on the sewing machine.

  The sewing machine according to an eighth aspect of the present invention further includes storage means for storing the predetermined direction and the predetermined distance in advance. In this case, since the storage means stores the predetermined direction and the predetermined distance, the sewing machine can save the labor of setting the direction and distance each time the operator moves the holding body.

1 is a perspective view of a sewing machine 1. FIG. 2 is an enlarged perspective view of a front end portion 7 of the sewing machine 1. FIG. 2 is a right side view of a front end portion 7 of the sewing machine 1. FIG. 2 is a block diagram showing an electrical configuration of the sewing machine 1. FIG. 3 is a front view of an operation box 30. FIG. It is explanatory drawing of the coordinate systems 601 and 602 of normal mode and virtual needle drop point mode. It is a flowchart of a main process. It is a flowchart of sewing data creation processing. It is a flowchart of an equal distribution process. It is explanatory drawing of the pattern board 68. FIG. It is explanatory drawing of the coordinate system 602 at the time of the sewing data creation process which uses the pattern board 68. FIG. It is an example of the composite image 36 at the time of sewing data creation processing. It is another example of the synthesized image 36. It is another example of the synthesized image. It is a flowchart of a sewing process. It is a flowchart of the process at the time of interruption. It is an example of the synthetic | combination image 36 at the time of the process at the time of interruption. It is a flowchart of a test feeding process. FIG. 11 is a right side view of a front end portion 7 of a sewing machine 110 according to a modification.

  Hereinafter, a sewing machine 1 according to an embodiment of the present invention will be described with reference to the drawings. 1 are a front side, a rear side, a left side, and a right side of the sewing machine 1, respectively.

  The overall structure of the sewing machine 1 will be described with reference to FIG. As shown in FIG. 1, the sewing machine 1 includes a bed portion 2, a pedestal column portion 3, and an arm portion 4. The bed unit 2 is placed on the table 95. The bed portion 2 extends in the front-rear direction and includes a vertical hook (not shown) and the like inside. The pedestal part 3 extends vertically upward from the rear side of the bed part 2. The pedestal 3 includes a sewing machine motor 112 (see FIG. 4) and the like. The arm portion 4 extends forward from the upper side of the pillar portion 3 so as to face the upper surface of the bed portion 2, and includes a front end portion 7 at the front end. The arm unit 4 includes a main shaft, a needle bar drive mechanism (not shown), and the like. The needle bar 10 extends downward from the lower end of the front end portion 7. The sewing needle 11 is attached to the lower end of the needle bar 10.

  The sewing machine 1 includes a work table 5 and a transfer device 6 above the bed portion 2. The work table 5 includes a needle plate 501. The needle plate 501 has a needle hole 502 through which the sewing needle 11 can be inserted at a position immediately below the sewing needle 11 attached to the needle bar 10. The transfer device 6 includes a transfer plate 61, an elevating unit 62, a presser plate 63, a transfer plate holding unit 64, an X-axis moving mechanism (not shown), an arm unit 65, and a Y-axis moving mechanism (not shown).

  The transfer plate 61 is a plate member arranged in the horizontal direction, and has an opening having a rectangular shape in plan view. The transfer plate holding part 64 extends in the left-right direction, and supports the transfer plate 61 so as to be movable in the X-axis direction (left-right direction). The X-axis moving mechanism is provided inside the bed portion 2. The X-axis moving mechanism moves the transfer plate 61 in the X-axis direction (left-right direction) using the X-axis motor 114 (see FIG. 4) as a drive source. The arm portion 65 connected to the transfer plate holding portion 64 is connected to a Y-axis moving mechanism provided in the pedestal column portion 3. The Y-axis moving mechanism moves the arm portion 65 in the Y-axis direction (front-rear direction) using the Y-axis motor 116 (see FIG. 4) as a drive source. The transfer plate holding part 64 moves in the Y-axis direction (front-rear direction) as the arm part 65 moves. The transfer plate 61 supported by the transfer plate holding unit 64 moves together with the transfer plate holding unit 64. The transfer plate holding part 64 supports the elevating part 62 so that it can be elevated. The presser plate 63 is a rectangular frame-shaped plate member connected to the lower end of the elevating part 62. The opening of the presser plate 63 has substantially the same shape as the opening of the transfer plate 61. The operator places a sewing object (for example, a work cloth) on the transfer plate 61. When the elevating part 62 moves downward, the presser plate 63 descends. The presser plate 63 and the transfer plate 61 hold the sewing object from above and below. Hereinafter, the transfer plate 61 and the presser plate 63 are collectively referred to as a holding body 60.

  The sewing machine 1 includes an operation panel 8 provided on a table 95 and an operation box 30 connected to the operation panel 8. The operation panel 8 and the operation box 30 each include a key for inputting various information and various instructions, and a display for displaying information. The operator uses the operation panel 8 or the operation box 30 when inputting information or instructions. The sewing machine 1 includes a control box (not shown) that stores the control device 100 (see FIG. 4) below the table 95. The operation panel 8 is connected to the control box via a cord (not shown). The operation box 30 can be connected to the operation panel 8 via the cable 9. The operation box 30 will be described later.

  With reference to FIGS. 2 and 3, the configuration and arrangement of the components of the sewing machine 1 around the front end 7 of the arm 4, particularly around the lower end of the needle bar 10 will be described. The sewing machine 1 includes a sewing needle 11, a presser foot 13, a wiper 14, and a protective member 145 (not shown in FIG. 3) as the components. As described above, the needle bar 10 to which the sewing needle 11 is attached extends downward from the lower end of the front end portion 7. The sewing machine motor 112 (see FIG. 4) rotates a main shaft (not shown). A needle bar drive mechanism (not shown) moves the needle bar 10 up and down as the main shaft rotates.

  As shown in FIGS. 2 and 3, the front end 7 includes a presser bar 12 that extends downward on the left side of the needle bar 10 (on the back side in FIG. 3). The presser foot 13 is attached to the lower end of the presser bar 12. The presser foot drive mechanism (not shown) moves the presser bar 12 up and down in synchronization with the vertical movement of the needle bar 10 accompanying the rotation of the main shaft. The presser foot 13 prevents the sewing target from being lifted upward by pressing the sewing target from above when the sewing needle 11 is removed from the sewing target. The distal end portion of the presser foot 13 is a cylindrical tube portion 131. The sewing needle 11 is inserted into the sewing object through the through hole of the cylindrical portion 131.

  The front end portion 7 includes a wiper 14 on the left side (back side in FIG. 3) of the needle bar 10 and on the front side (left side in FIG. 3) of the presser bar 12. The wiper 14 is a thin shaft-like member, and has a hook-shaped thread wiper 141 at the tip. The attachment portion 140 extends downward from the lower end of the front end portion 7. The screw 142 fixes the wiper 14 on the side opposite to the yarn wiper 141 so as to be rotatable in the front-rear direction with respect to the attachment 140. The tip of the thread wiper 141 is bent toward the right side where the sewing needle 11 is located. As shown by a solid line in FIG. 3, the swing mechanism (not shown) holds the wiper 14 at the standby position when not in use. The yarn wiper 141 is located at the uppermost position in the standby position. As shown by a dotted line in FIG. 3, the cylindrical portion 131 of the presser foot 13 moves downward when the wiper 14 is used, and is separated from the lower end of the sewing needle 11. The wiper 14 rotates in a clockwise direction when viewed from the right side, with a portion fixed to the attachment portion 140 by a screw 142 as a center. The thread wiper 141 moves so as to cross between the lower end of the sewing needle 11 and the upper end of the cylindrical portion 131. When the upper thread 55 remains in the sewing object after the sewing needle 11 is lifted, the thread wiper 141 can be pulled out from the sewing object by hooking the upper thread 55 during the movement.

  The protection member 145 is a thin shaft-like member that is bent at substantially right angles at two locations. One end of the protection member 145 is fixed to the front side of the proximal end portion of the presser foot 13. The protection member 145 extends from the front side of the proximal end of the presser foot 13 to the front side of the sewing needle 11 and bends to the right, and bends to the right side of the sewing needle 11 to the rear. The other end of the protection member 145 extends to the back of the sewing needle 11. The protection member 145 is a member for preventing an operator from touching the sewing needle 11 during sewing.

  The configuration for guiding the upper thread 55 provided at the front end 7 of the arm portion 4 and the path of the upper thread 55 will be described with reference to FIGS. As shown in FIGS. 2 and 3, the front end 7 includes a secondary thread tensioner 15 and a thread tensioner 16 above the right side surface. The thread tensioner 16 is provided below the secondary thread tensioner 15. The thread tension device 16 adjusts the tension applied to the upper thread 55 sandwiched between the pair of thread tension plates 161. The auxiliary thread tensioner 15 adjusts the tension applied to the upper thread 55 together with the thread tensioner 16. The hook-shaped thread guide 17 is provided in front of the thread tensioner 16. The thread guide 17 guides the upper thread 55 that has passed through the thread tensioner 16 by turning it upward. The front end 7 is provided with a groove 25 in front of the thread tensioner 16 on the right side surface. The groove 25 extends in the vertical direction. The balance 19 is provided in the groove 25. The balance 19 moves up and down along the groove 25 as the needle bar 10 moves up and down. An annular thread guide 18 is provided above the thread tensioner 16. The thread guide 18 guides the upper thread 55, which the thread guide 17 has turned up, to the balance 19. The ring-shaped thread guide 20 is provided on the front side below the groove 25. The thread guide 20 guides the upper thread 55 via the balance 19 downward. The needle bar 10 includes a thread guide (not shown) at the lower end. The thread guide of the needle bar 10 has a through hole, and guides the upper thread 55 guided by the thread guide 20 to the needle hole 111 of the sewing needle 11 below.

  The thread spool of the upper thread 55 is placed on a thread spool stand (not shown) provided on the table 95 (see FIG. 1). The upper thread 55 passes from the thread spool through the secondary thread tensioner 15, the thread tensioner 16, the thread guide 17, the thread guide 18, the balance 19, the thread guide 20, and the thread guide through hole in the lower end of the needle bar 10, The hole 111 is inserted.

  With reference to FIG. 3, the thread breakage detector 40 provided in the front-end part 7 is demonstrated. The sewing machine 1 includes a thread breakage detector 40 (not shown in FIG. 2) behind the path of the upper thread 55 from the thread guide 20 to the thread guide (not shown) at the lower end of the needle bar 10 (not shown). . The yarn break detector 40 is an optical detector that can detect the yarn break of the upper thread 55, for example. The yarn breakage detector 40 of this embodiment has the same configuration as the upper yarn detector disclosed in Japanese Patent Laid-Open No. 63-270092. Specifically, the yarn break detector 40 includes a fixing part 41, a tip part 42, an optical fiber 43, and a detection part 45. The fixing part 41 fixes the tip part 42 to the front end part 7 so that the tip part 42 faces the path of the upper thread 55 from the side. The fixing portion 41 is located below the yarn guide 17. The detection part 45 is attached to the back side of the arm part 4, for example. The detection unit 45 includes a light projector 46 (for example, a light emitting diode), a light receiver 47 (for example, a phototransistor), a light projecting drive circuit, a light reception signal amplifier, and a circuit for generating a yarn breakage detection signal. The distal end portion 42 includes a light projector 46 and a light receiver (not shown) connected to the light projector 46 and the light receiver 47 through the optical fiber 43, respectively. The tip portion 42 may be either a coaxial type in which the light receiving unit is arranged on the outer periphery with the light projecting unit as the center, or a biaxial type in which the light projecting unit and the light receiving unit are provided side by side.

  The light projected by the light projector 46 of the detection unit 45 reaches the light projection unit of the tip 42 via the optical fiber 43. The light projecting unit irradiates the transmitted light toward the upper thread 55. The upper thread 55 reflects the irradiation light from the light projecting unit. The light receiving unit receives the reflected light from the upper thread 55. The light received by the light receiving unit reaches the light receiver 47 of the detecting unit 45 through the optical fiber 43. The front end portion 7 may include a black shielding plate (not shown) for preventing erroneous detection at a front position facing the tip end portion 42 with the upper thread 55 interposed therebetween. The detection unit 45 generates an upper thread detection signal corresponding to the light reception signal. The balance 19 has a position (a raised position) where the upper thread 55 is pulled when it moves upward. Therefore, the sewing machine 1 can detect the breakage of the upper thread 55 based on whether or not the upper thread detection signal when the balance 19 is in the raised position is a signal for detecting the upper thread 55.

  With reference to FIG. 3, the image sensor 50 provided in the front-end part 7 is demonstrated. As shown in FIG. 3, the image sensor 50 is fixed to a support portion 51 provided on a frame (not shown) of the sewing machine 1. The image sensor 50 is a well-known CMOS (Complementary Metal Oxide Semiconductor) and outputs image data of a captured image. A lens (not shown) of the image sensor 50 faces a direction in which a predetermined range on the right side of the needle hole 502 immediately below the sewing needle 11 can be photographed. The imaging range of the image sensor 50 will be described later.

  The electrical configuration of the sewing machine 1 will be described with reference to FIG. As shown in FIG. 4, the control device 100 of the sewing machine 1 includes a CPU 101, a ROM 102, a RAM 103, a nonvolatile memory 104, an input / output interface (I / F) 106, drive circuits 113, 115, 117, and a communication I / F 127. The CPU 101, ROM 102, RAM 103, and nonvolatile memory 104 are electrically connected to the input / output I / F 106 via the bus 105. The CPU 101 controls the sewing machine 1 and executes various calculations and processes related to sewing according to various programs stored in the ROM 102. The ROM 102 stores various programs, various initial setting parameters, sewing data of a plurality of patterns (stitch lines, stitch patterns, embroidery patterns, etc.) and the like. Sewing data will be described later. The RAM 103 temporarily stores calculation results of the CPU 101, pointers, counters, and the like. The nonvolatile memory 104 stores sewing data created by the CPU 101 in sewing data creation processing (see FIGS. 8 and 9) described later, various setting information input by the operator, and the like.

  The drive circuits 113, 115, and 117 are electrically connected to the input / output I / F 106. The drive circuit 113 is electrically connected to the sewing machine motor 112. The CPU 101 controls the sewing machine motor 112 via the drive circuit 113. The sewing machine motor 112 rotates the main shaft. The drive circuit 115 is electrically connected to the X-axis motor 114. The drive circuit 117 is electrically connected to the Y-axis motor 116. The CPU 101 controls the X-axis motor 114 and the Y-axis motor 116 via the drive circuits 115 and 117. Both the X-axis motor 114 and the Y-axis motor 116 are pulse motors. The X-axis motor 114 and the Y-axis motor 116 move the holding body 60 in the X-axis direction and the Y-axis direction by driving the X-axis movement mechanism and the Y-axis movement mechanism, respectively. The CPU 101 controls the vertical movement of the needle bar 10 and the presser bar 12 and the rotation of the vertical hook by driving the sewing machine motor 112 based on the sewing data and rotating the main shaft during sewing. The CPU 101 controls the position of the holding body 60 by driving the X-axis motor 114 and the Y-axis motor 116 based on the sewing data simultaneously with the driving of the sewing machine motor 112. The sewing machine 1 performs sewing on the sewing object by this operation.

  The communication I / F 127 is electrically connected to the input / output I / F 106. The communication I / F 127 is an interface for serial communication, for example. The sewing machine 1 can be connected to an external device via the communication I / F 127. In the present embodiment, the operation box 30 is connected to the sewing machine 1. As shown in FIG. 1, the operation box 30 is connected to the communication I / F 127 via the operation panel 8 connected by the cable 9.

  The start switch 121, the rotational position detector 122, the operation panel 8, the thread breakage detector 40, and the image sensor 50 are electrically connected to the input / output I / F 106 of the control device 100, respectively. The start switch 121 is a pedal-type switch that is installed below the table 95 and connected to the control device 100 with a cord. The operator depresses the start switch 121 when starting various operations of the sewing machine 1 (for example, performing sewing). The rotational position detector 122 is a known detector (for example, an encoder) that can detect the rotational position and rotational speed of the sewing machine motor 112 (main shaft). The operation panel 8, thread breakage detector 40, and image sensor 50 are as described above.

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The operation box 30 will be described with reference to FIGS. 1, 4, and 5. As shown in FIGS. 1 and 5, the operation box 30 includes a box-shaped housing 31 having a size that can be gripped by an operator by hand. The housing 31 includes a liquid crystal display (hereinafter referred to as LCD) 32 that occupies a substantially upper half of the front surface, and a key group 33 provided in a substantially lower half of the front surface. The key group 33 is for an operator to input various information and instructions. The key group 33 includes a four-way arrow key 34, numeric keys, function keys, and the like. The LCD 32 displays various information as images. When creating sewing data according to the present embodiment, the operator inputs information and instructions regarding a desired pattern using the key group 33 of the operation box 30. The LCD 32 displays an image corresponding to the input and an image based on data transmitted by the sewing machine 1.

  As shown in FIG. 4, the control device 300 of the operation box 30 includes a CPU 301, a ROM 302, a RAM 303, an input / output I / F 306, a communication I / F 307, and a drive circuit 308. The CPU 301, ROM 302, and RAM 303 are electrically connected to the input / output I / F 306 via the bus 305. The CPU 301 controls the operation box 30 and executes processing such as image display on the LCD 32 and input reception from the key group 33 in accordance with various programs stored in the ROM 302 and data transmitted by the sewing machine 1. The RAM 303 temporarily stores calculation results of the CPU 301, pointers, counters, and the like. The communication I / F 307 is electrically connected to the input / output I / F 306. The communication I / F 307 is an interface for serial communication, for example. The operation box 30 is connected to the sewing machine 1 via the communication I / F 307. The drive circuit 308 is electrically connected to the input / output I / F 306. The drive circuit 308 is electrically connected to the LCD 32. The CPU 301 displays information on the LCD 32 via the drive circuit 308. The key group 33 described above is electrically connected to the input / output I / F 306.

  The sewing data, the movable range of the holding body 60, the sewing possible range of the sewing machine 1, and the photographing range of the image sensor 50 will be described with reference to FIG. The sewing data indicates the positions of a plurality of needle drop points for sewing the pattern as a relative position between the position of the sewing needle 11 and the position of the holding body 60. The needle drop point is a predetermined position on the sewing target object that the sewing needle 11 sticks when the sewing needle 11 moves downward together with the needle bar 10. As shown in FIG. 6, in this embodiment, the position of the needle drop point is indicated by coordinate data of a coordinate system 601 set for the holding body 60. The sewing data is data in which coordinate data of a large number of needle drop points for sewing a pattern are arranged in the sewing order.

  A coordinate system 601 is a coordinate system of the X-axis motor 114 and the Y-axis motor 116 (see FIG. 4). In this embodiment, the coordinate system 601 is associated with the world coordinate system in advance. The world coordinate system is a coordinate system that indicates the entire space, and is a coordinate system that is not affected by the center of gravity of the object to be imaged. In the coordinate system 601, the X-axis plus direction is a direction from the left to the right of the sewing machine 1, and the Y-axis plus direction is a direction from the front to the back of the sewing machine 1. In the present embodiment, the origin O (X, Y, Z) = (0, 0, 0) of the coordinate system 601 is set so that the center point of the holding body 60 (more specifically, the region inside the opening of the presser plate 63) is the sewing needle. 11 (see FIG. 1). The position of the holding body 60 is called an actual origin position. This position can also be referred to as a position where the center point of the holding body 60 is directly above the needle hole 502.

  The transfer device 6 of the present embodiment does not move the holding body 60 in the Z direction (up and down direction of the sewing machine 1) during sewing. Therefore, when the thickness of the sewing object can be ignored, the upper surface of the sewing object is always Z = 0. That is, the Z coordinate of the coordinate data of the needle drop point is always zero. When performing sewing according to the sewing data, the CPU 101 reads out coordinate data of the coordinate system 601 of the needle drop points in the sewing order. The CPU 101 controls the driving of the X-axis motor 114 and the Y-axis motor 116 so that the position indicated by the coordinate data is located immediately below the sewing needle 11. Specifically, the CPU 101 moves the holding body 60 by giving the X-axis motor 114 and the Y-axis motor 116 a number of pulses corresponding to the position indicated by the coordinate data.

  In this embodiment, the sewing machine 1 sets and uses a coordinate system 602 different from the coordinate system 601 in a specific case. The specific case is, for example, a case where the sewing machine 1 creates sewing data of a pattern desired by an operator, or a case where sewing is interrupted due to an abnormality occurring during sewing. In this case, the operator may want to visually recognize the vicinity of the needle drop point on the sewing object. However, since the needle drop point is directly below the sewing needle 11, the components around the lower end of the needle bar 10 may hinder visual recognition. Therefore, the sewing machine 1 moves the holding body 60 by a predetermined distance in a predetermined direction so that the needle drop point is away from the original position directly below the sewing needle 11, and then moves the needle drop point (hereinafter referred to as a virtual needle drop point). ) Position in a visible state. The sewing machine 1 sets the coordinate system 602 and operates according to the coordinate data of the coordinate system 602 in order to indicate the position of the virtual needle drop point after the holder 60 moves. Hereinafter, a mode in which the sewing machine 1 operates according to the coordinate data of the coordinate system 601 is referred to as a normal mode. A mode in which the sewing machine 1 operates according to the coordinate data of the coordinate system 602 is referred to as a virtual needle drop point mode.

  Similar to the coordinate system 601, the coordinate system 602 is a coordinate system of the X-axis motor 114 and the Y-axis motor 116, and corresponds to the world coordinate system. However, as shown in FIG. 6, the origin O ′ (X, Y, Z) = (0, 0, 0) of the coordinate system 602 is maintained in a state of being moved to a position away from the actual origin position by a predetermined distance in a predetermined direction. Set to the center point of the body 60. The position of the holding body 60 is referred to as a virtual origin position. The predetermined direction and the predetermined distance are set based on the relationship between the virtual needle drop point, the image sensor 50, and the components around the lower end of the needle bar 10. Specifically, the predetermined direction and the predetermined distance are set so as to satisfy the following conditions. The condition is that, in an arbitrary direction, the sewing needle 11 or other components (in the present embodiment, the presser foot 13, the wiper 14, and the protective member 145) between the image sensor 50 and the sewing target object on the virtual needle drop point. That is, it is longer than the distance traveled until they no longer overlap. In the present embodiment, the predetermined direction and the predetermined distance are set in advance and stored in the ROM 102 or the nonvolatile memory 104. Therefore, the operator can save time and labor for setting each time processing is performed.

  In this embodiment, the predetermined direction is the X-axis plus direction (right direction in FIG. 6), and the predetermined distance is X0 (for example, about 10 mm). That is, the coordinate system 602 of the present embodiment is equivalent to a coordinate system obtained by offsetting the coordinate system 601 by X0 in the X axis plus direction. When the holding body 60 is at the virtual origin position, in the coordinate system 602, the coordinates of the point P0 immediately below the sewing needle 11 (directly above the needle hole 502) can be represented by (−X0, 0, 0). The coordinates of an arbitrary point in the coordinate system 601 can be converted to the coordinates of the point in the coordinate system 602 by adding X0 to the value of the X coordinate. The coordinates of an arbitrary point in the coordinate system 602 can be converted to the coordinates of the point in the coordinate system 601 by subtracting X0 from the value of the X coordinate. Therefore, the sewing machine 1 can perform coordinate conversion between the actual needle drop point and the virtual needle drop point.

  The image sensor 50 captures a position that is a predetermined distance away from the needle hole 502 (see FIG. 1) located immediately below the sewing needle 11 in the predetermined direction (in this embodiment, a position that is X0 away from the X axis plus direction). Is possible. The imaging range 53 of the image sensor 50 is a rectangular range centered on the position. As shown in FIG. 6, the shooting range 53 when the holding body 60 is at the virtual origin position is a rectangular range centered on the origin O ′ of the coordinate system 602. Although details will be described later, the sewing machine 1 of the present embodiment generates a composite image 36 in which a mark M indicating the position of the virtual needle drop point is superimposed on an image captured by the image sensor 50 (see FIG. 3). The sewing machine 1 indicates the position of the virtual needle drop point by displaying the composite image 36 on the LCD 32 of the operation box 30 (see FIG. 5). As described above, the virtual needle drop point is set so that the components do not overlap between the image sensor 50 and the sewing target object at the virtual needle drop point. Therefore, the image (captured image) based on the image data output from the image sensor 50 is an image that does not include a component or includes a portion that does not interfere with the virtual needle drop point.

  A range in which the sewing machine 1 can perform sewing in an area inside the holding body 60 is referred to as a sewing range. In order to prevent interference between the sewing needle 11 and the holding body 60, the possible sewing range is set smaller than the area inside the holding body 60. The sewing machine 1 sets the first sewing possible range 612 based on the coordinate system 602 used in the virtual needle drop point mode. As shown in FIG. 6, the first sewing possible range 612 is a region that is symmetrical in the X-axis direction and the Y-axis direction, for example, with the origin O ′ of the coordinate system 602 as the center. The sewing range of the sewing machine 1 is usually equal to the movable range of the holding body 60. However, since the coordinate system 602 is obtained by offsetting the coordinate system 601 by X0 in the X-axis plus direction, there is a problem when the sewing machine 1 uses the first sewing possible range 612 as the movable range of the holding body 60 as it is. For example, since the point P1 ′ (X1−X0, Y1, 0) of the coordinate system 601 corresponding to the point P1 (X1, Y1, 0) of the coordinate system 602 is not within the movable range of the holding body 60, the actual needle drop Cannot be used as a point. In order to eliminate the inconvenience, the movable range of the holding body 60 is a predetermined distance in the direction opposite to the predetermined direction with respect to the first sewing possible range 612 in the virtual needle drop point mode (in this embodiment, the X axis minus Set to X0) larger in the direction. The second sewing possible range 611 of the coordinate system 601 is set equal to the movable range. As a result, the sewing machine 1 can effectively utilize an area that can be sewn within the movable range of the holding body 60.

  A main process of the sewing machine 1 will be described with reference to FIGS. When the operator turns on a power switch (not shown) of the sewing machine 1, the CPU 101 reads out the main processing program from the ROM 102 and executes the main processing in FIG. 7. When the operator turns off the power switch, the CPU 101 ends the main process.

  The CPU 101 stands by while not detecting an instruction input (S1: NO, S2: NO, S3: NO, S4: NO, S1). As described above, the worker inputs an instruction via the operation panel 8 or the operation box 30. When the CPU 101 detects the input of the execution instruction for the sewing data creation process (S1: YES), the CPU 101 executes the sewing data creation process (S10, FIG. 8, FIG. 9). When the CPU 101 detects an input of an instruction for executing the sewing process (S1: NO, S2: YES), the CPU 101 executes the sewing process (S20, FIGS. 15 and 16). When the CPU 101 detects an input of a test feed process execution instruction (S1: NO, S2: NO, S3: YES), the CPU 101 executes the test feed process (S30, FIG. 18). When the CPU 101 detects the input of another instruction (S1: NO, S2: NO, S3: NO, S4: YES), the CPU 101 executes other processing according to the type of instruction. Other processing includes, for example, adjustment of the sewing speed and setting of the amount of lifting of the presser foot 13, but detailed description thereof is omitted. After the sewing data creation process (S10), the sewing process (S20), the test feed process (S30), and other processes (S40), the CPU 101 returns the process to the determination of the instruction input in S1.

  The sewing data creation process will be described with reference to FIGS. The sewing data creation process is executed when the CPU 101 detects an input of an execution instruction for the sewing data creation process in S1 shown in FIG. In the sewing data creation process, the operator creates sewing data by operating the key group 33 of the operation box 30 (see FIG. 5) to sequentially set the positions of the needle entry points of the pattern. In conjunction with the operation of the key group 33, the sewing machine 1 operates in the virtual needle drop point mode and moves the holding body 60. The operator can freely set the needle drop point at an arbitrary position, but can also set the needle drop point using the pattern board 68 shown in FIG.

  The pattern board 68 is a board having substantially the same outer shape as the presser plate 63 of the holding body 60. The pattern board 68 has a groove 69 cut out in a shape corresponding to the pattern to be sewn. In particular, when highly accurate sewing is required, the operator performs sewing by holding the pattern board 68 between the transfer plate 61 and the presser plate 63 in order to press the vicinity of the needle drop point of the sewing object. The groove 69 is located within the first sewing possible range 612 in the virtual needle drop point mode. When creating sewing data of a pattern corresponding to the groove 69 of the pattern board 68, the operator sandwiches the pattern board 68 between the transfer plate 61 and the presser plate 63, and sets the position of the needle drop point along the groove 69. Set it up. Hereinafter, the flow of the sewing data creation process using an example in which the operator sets the needle entry points NP in order from the start point SP to the end point EP using the pattern board 68 and creates the sewing data of the stitch pattern of the pocket. Will be explained.

  As shown in FIG. 8, the CPU 101 first drives the X-axis motor 114 and the Y-axis motor 116 to move the holding body 60 to the virtual origin position (see FIG. 6) (S101). Specifically, the CPU 101 moves the holding body 60 to the actual origin position (see FIG. 6) using a known origin sensor (not shown). The CPU 101 further moves the holding body 60 to the virtual origin position by moving the holding body 60 in a predetermined direction by a predetermined distance (in this embodiment, X0 in the X axis plus direction). The CPU 101 sets the first sewing possible range 612 (see FIG. 11) (S102).

  The CPU 101 acquires image data output from the image sensor 50, generates a composite image 36 (see FIG. 5) on which the mark M indicating the position of the virtual needle drop point is superimposed, and displays it on the LCD 32 of the operation box 30. Is started (S103). The mark M may be any mark that can be easily recognized, and the color and shape are not particularly limited. In the present embodiment, the mark M is a mark in which a circle is superimposed on a cross. As shown in FIG. 11, the imaging range 53 of the image sensor 50 at this time is a rectangular range centering on the origin O ′, and the virtual needle drop point is located at the origin O ′. Therefore, the LCD 32 displays the composite image 36 shown in FIG.

  As shown in FIG. 3, the image sensor 50 captures an image of the sewing object from obliquely above the surface of the sewing object. Therefore, the CPU 101 generates the composite image 36 after converting the viewpoint of the image captured by the image sensor 50 to an image viewed from directly above. The CPU 101 calculates the display position of the mark M in the composite image 36 by converting the coordinates of the virtual needle drop point in the coordinate system 602 into coordinates on the screen of the LCD 32. Since the viewpoint conversion method of the image and the method of converting the three-dimensional coordinates of the world coordinate system to the two-dimensional coordinates are well known, description thereof will be omitted. For example, the method described in Japanese Patent Application Laid-Open No. 2009-172122 can be employed. The CPU 101 may use the captured image as it is as a composite image without performing viewpoint conversion. As described above, since the captured image is an image in which the component does not hinder the visual recognition of the virtual needle drop point, the operator can easily recognize the position of the virtual needle drop point on the sewing object from the composite image 36.

  The CPU 101 determines whether or not an instruction to move the holder 60 has been input from the four-way arrow key 34 (see FIG. 5) of the operation box 30 (S104). The right, left, up, and down keys of the four-way arrow key 34 move the coordinate system 602 in the X axis plus direction, the X axis minus direction, the Y axis plus direction, and the Y axis minus direction, respectively. Respond to instructions. Whenever the operator presses any key once, the CPU 101 determines that an instruction to move the holding body 60 in a direction corresponding to the key by a predetermined distance has been input. The predetermined distance may be an initial setting value stored in advance in the ROM 102 or the nonvolatile memory 104, or may be a stitch pitch set by an operator.

  When the CPU 101 detects an input of a movement instruction (S104: YES), the CPU 101 drives the X-axis motor 114 and the Y-axis motor 116 to move the holding body 60 to a position corresponding to the movement instruction (S105). The CPU 101 updates the coordinates of the virtual needle drop point according to the movement and stores the updated coordinates in the RAM 103. With the movement, the CPU 101 newly acquires the image data output from the image sensor 50, generates the composite image 36 on which the mark M is overlaid, and updates the display on the LCD 32 (S105). The CPU 101 advances the process to step S106. If the CPU 101 does not detect an input of a movement instruction (S104: NO), the CPU 101 proceeds to the process of S106.

  The CPU 101 determines whether or not a start point setting instruction has been input from a start point setting key (not shown) of the key group 33 (see FIG. 5) (S106). The starting point is the first needle entry point where sewing of the pattern starts. When the CPU 101 does not detect the input of the start point setting instruction (S106: NO), the CPU 101 returns the process to the determination of S104. In the example of the stitch pattern in FIG. 11, the operator inputs an instruction to move the holding body 60 until the position of the virtual needle drop point coincides with the position of the start point SP. Therefore, CPU101 repeats the process which moves the holding body 60 according to the key of the four-way arrow key 34 which the operator pressed down (S104-S106). As described above, in the virtual needle drop point mode, the components in the captured image do not overlap the virtual needle drop point, so that the operator can easily move the holding body 60 to a desired position while looking at the composite image 36. Can do.

  When the position of the virtual needle drop point coincides with the start point SP and the composite image 36 is in the state shown in FIG. 12, the operator presses the start point setting key of the key group 33. The CPU 101 detects an input of a start point setting instruction (S106: YES). The coordinates of the virtual needle drop point stored in the RAM 103 at this time are the coordinates of the coordinate system 602 in the virtual needle drop point mode. Therefore, the CPU 101 converts the coordinates of the coordinate system 602 to the coordinates of the coordinate system 601 in the normal mode at the time of sewing, and stores the coordinates in the RAM 103 as coordinates indicating the position of the actual start point (S107). The CPU 101 stores the coordinates of the virtual needle drop point coordinate system 602 at the start point setting instruction time in the RAM 103 as the coordinates of the virtual start point. In addition to the virtual needle drop point mark M, the CPU 101 generates a composite image 36 (see FIG. 13) in which the mark VS indicating the position of the virtual start point is indicated by a black circle, and updates the display on the LCD 32 (S108).

  The CPU 101 waits until no instruction input is detected (S111: NO, S113: NO, S117: NO, S130: NO). When the CPU 101 detects an input of a movement instruction (S111: YES), the CPU 101 moves the holding body 60 and updates the image on the LCD 32 (S112). The CPU 101 advances the process to S113. If the CPU 101 does not detect an input of a movement instruction (S111: NO), the CPU 101 proceeds directly to S113. The processes of S111 and S112 are the same as the processes of S104 and S105.

  When the CPU 101 detects an input of a needle drop point setting instruction from a needle drop point setting key (not shown) of the key group 33 (S113: YES), the virtual needle drop point coordinate system 602 stored in the RAM 103 at this time point. Are converted into coordinates of the coordinate system 601 and stored in the RAM 103 as coordinates indicating the position of the actual needle drop point (S114). The CPU 101 stores the coordinates of the virtual needle drop point coordinate system 602 in the RAM 103 as the coordinates of the set virtual needle drop points. In addition to the virtual needle drop point mark M and the virtual start point mark VS, the CPU 101 superimposes a combined image 36 (see FIG. 13) on which a mark VN indicated by a black circle smaller than the mark VS is set. ) And the display on the LCD 32 is updated (S115). The CPU 101 returns the process to the determination in S111.

  When the operator sequentially sets the needle drop points one by one, the operator operates the key of the four-way arrow key 34 and repeats the work of pressing the needle drop point setting key at a desired position. In accordance with the work, the CPU 101 sequentially sets the coordinates of the actual needle drop point after the actual start point and stores them in the RAM 103 (S111 to S115). In this case, as shown in FIG. 13, the LCD 32 displays a composite image 36 in which the captured image is superimposed with the mark VS, the plurality of marks VN, and the mark M.

  When the CPU 101 detects an input of an equally divided start point setting instruction from an equally divided start point setting key (not shown) of the key group 33 (S117: YES), it executes an equally divided process (S120, FIG. 9). . The equally divided starting point is a starting point when a needle drop point is set in a specific range on a straight line. As shown in FIG. 9, in the equalization process, the CPU 101 temporarily sets the coordinates of the virtual needle entry point at the time of inputting the setting instruction of the equalization start point as the coordinates of the equalization start point and stores them in the RAM 103 (S121). . When the CPU 101 detects an input of a movement instruction (S122: YES), the CPU 101 moves the holding body 60 and updates the image on the LCD 32 (S123). The CPU 101 advances the process to S124. If the CPU 101 does not detect the input of the movement instruction (S122: NO), the process proceeds to S124 as it is. The processes of S122 and S123 are the same as the processes of S104 and S105.

  The CPU 101 determines whether or not an instruction for setting an equal end point has been input from an equal end point setting key (not shown) of the key group 33 (S124). The equal end point is an end point when needle drop points are evenly arranged in a specific range on a straight line. When the CPU 101 detects the input of the setting instruction for the equally divided end point (S124: YES), the CPU 101 temporarily sets the coordinates of the virtual needle drop point at this time as the coordinates of the equally divided end point and stores them in the RAM 103 (S125). . The CPU 101 accepts an input of equal pitch (S126). The equally divided pitch is a length used when equally dividing a line segment connecting the equally divided start point and the equally divided end point. The operator inputs a desired equal pitch using the key group 33. The CPU 101 may omit the process of S126 and use a predetermined distance used when the holding body 60 is moved as an equal pitch.

  The CPU 101 equally divides a line segment connecting the equally divided start point and the equally divided end point with a length close to the equally divided pitch. The CPU 101 converts the coordinates of each division point in the coordinate system 602 to the coordinates in the coordinate system 601. CPU101 memorize | stores the coordinate after conversion in RAM103 as a coordinate of an actual needle drop point in an order from the point corresponding to an equally-divided start point (S127). The CPU 101 stores the coordinates of the coordinate system 602 of each division point in the RAM 103 as the coordinates of the set virtual needle drop points. The CPU 101 generates a composite image 36 (see FIG. 14) in which the mark VN indicating the position of the set virtual needle drop point is superimposed in addition to the virtual needle drop point mark M and the virtual start point mark VS. The display is updated (S128). In S128, the LCD 32 displays a composite image 36 in which the marks VN are evenly arranged on the line segment L connecting the center point of the mark VS and the center point of the mark M. The CPU 101 ends the equally dividing process in FIG. 9 and returns the process to the sewing data creating process in FIG. As shown in FIG. 8, the CPU 101 returns the process to S111 after the equalizing process (S120).

  The operator inputs a needle drop point setting instruction until the position of the virtual needle drop point matches the position of the end point EP. As shown in FIG. 8, in accordance with the input instruction, the CPU 101 sets the needle drop points one by one in order as described above (S111 to S115), and evenly places the needle drop points in a specific range on the straight line. Processing (S117 to S120) is executed. When the position of the virtual needle drop point coincides with the end point EP, the operator presses an end point setting key (not shown) of the key group 33. The CPU 101 detects an input of a setting instruction for an end point (last needle entry point) (S130: YES). The CPU 101 converts the coordinates of the virtual needle drop point coordinate system 602 stored in the RAM 103 at this time into coordinates of the coordinate system 601 and stores them in the RAM 103 as coordinates indicating the position of the actual end point (S141). The CPU 101 stores the coordinates of the virtual needle drop point coordinate system 602 in the RAM 103 as the coordinates of the virtual end point. The CPU 101 generates a composite image 36 in which the captured image is superimposed with the mark M, the mark VS, the mark VN, and a mark (not shown) indicating a virtual end point, and updates the display on the LCD 32 (S142). The CPU 101 associates the data of the coordinates of the actual start point, the actual needle drop point, and the actual end point sequentially stored in the RAM 103 as pattern sewing data with a pattern identification number, and stores the predetermined data in the nonvolatile memory 104 (see FIG. 4). (S143). The CPU 101 ends the sewing data creation process and returns the process to the main process of FIG.

  The sewing process will be described with reference to FIGS. The sewing process is executed when the CPU 101 detects an input of an instruction to execute the sewing process in S2 shown in FIG. In the sewing process, the sewing machine 1 operates in the normal mode during sewing. However, when the sewing machine 1 is interrupted due to an abnormality that has occurred during sewing, the sewing machine 1 switches the operation to the virtual needle drop point mode. When sewing is resumed, the sewing machine 1 operates again in the normal mode. Hereinafter, the flow of the sewing process will be described using an example in which the stitch pattern in FIG. 10 is sewn.

  The CPU 101 first drives the X-axis motor 114 and the Y-axis motor 116 to move the holding body 60 to the actual origin position (see FIG. 6) using an origin sensor (not shown) (S201). CPU101 sets the 2nd sewing possible range 611 (refer to Drawing 6) (S202). As described above, the second sewing possible range 611 is X0 larger in the X-axis minus direction than the first sewing possible range 612 when sewing data is created.

  The operator selects the identification number of the pattern to be sewn using the keys on the operation panel 8 (see FIG. 1). The CPU 101 receives an input of the identification number of the pattern selected by the worker (S203). The CPU 101 reads out sewing data corresponding to the identification number from the ROM 102 or the nonvolatile memory 104 to the RAM 103 (S204). The CPU 101 stands by while there is no input of a sewing start instruction from the start switch 121 (see FIG. 4) (S205: NO). When the operator depresses the activation switch 121, the CPU 101 determines that an instruction to start sewing has been input (S205: YES), and executes pattern sewing in the normal mode (S206). Specifically, the CPU 101 reads out the coordinate data of the needle drop points included in the sewing data acquired in S204 according to the sewing order. The CPU 101 controls the driving of the X-axis motor 114 and the Y-axis motor 116 so that the position indicated by the coordinate data of the processing target needle drop point is located immediately below the sewing needle 11 in the coordinate system 601. The CPU 101 controls the vertical movement of the needle bar 10 and the presser bar 12 and the rotation of the vertical shuttle by driving the sewing machine motor 112 to rotate the main shaft. In the sewing machine 1, the CPU 101 controls the driving of the X-axis motor 114 and the Y-axis motor 116 and the driving of the sewing machine motor 112 at the same time to form a stitch pattern on the sewing object.

  The CPU 101 determines whether sewing has been completed (S207). CPU101 judges that sewing was completed, when the coordinate data of the needle drop point with the last sewing order was processed (S207: YES). The CPU 101 ends the sewing process and returns the process to the main process of FIG. If the coordinate data of the last needle entry point is not processed in the sewing order, the CPU 101 determines that the sewing has not been completed (S207: NO). The CPU 101 determines whether or not the thread break detector 40 has detected a thread break of the upper thread 55 (S211). Specifically, the CPU 101 determines whether or not the balance 19 is at the above-described raised position based on the output signal of the rotational position detector 122. When the balance 19 is in the raised position, the CPU 101 confirms the upper thread detection signal output from the thread breakage detector 40. The upper thread detection signal is a lower level signal when the thread break detector 40 cannot detect the upper thread 55 than when the upper thread 55 is detected. When the upper thread detection signal is a low level signal, the CPU 101 determines that the thread break detector 40 has detected a thread break of the upper thread 55. When the thread break detector 40 has not detected a thread break (S211: NO), the CPU 101 determines whether or not a sewing interruption instruction has been input from a predetermined key on the operation panel 8 (S212). The sewing interruption instruction is input, for example, when the operator finds an abnormality that requires the sewing to be interrupted. If the CPU 101 does not detect the input of the sewing interruption instruction (S212: NO), the CPU 101 returns the process to S206 and executes sewing according to the coordinate data of the next needle drop point.

  When the thread break detector 40 detects a thread break (S211: YES), the CPU 101 stops the sewing operation (S213). Even when the thread breakage detector 40 has not detected a thread breakage, when a sewing interruption instruction is input (S211: NO, S212: YES), the CPU 101 stops the sewing operation (S213). Specifically, the CPU 101 stops driving the sewing machine motor 112, the X-axis motor 114, and the Y-axis motor 116. The CPU 101 displays the error number on the display of the operation panel 8 (S214). The error number is determined in advance according to the type of error (in this embodiment, thread breakage and sewing interruption instruction). The CPU 101 stands by while there is no input of information indicating that the worker has confirmed the error (S215: NO). When the operator performs confirmation input using the keys on the operation panel 8, the CPU 101 detects the input (S215: YES).

  Based on the output signal from the rotational position detector 122, the CPU 101 determines whether or not the sewing needle 11 is stopped in a state where it is in the needle upper position (S217). The needle upper position is a position where the tip of the sewing needle 11 is above the sewing object. When the sewing needle 11 is not in the needle up position (S217: NO), the sewing needle 11 is stuck in the sewing object. Therefore, the CPU 101 drives the sewing machine motor 112 to rotate the main shaft until the sewing needle 11 reaches the needle up stop position (S218). The needle up stop position is a specified position where the sewing needle 11 stops in a state where it is in the needle up position. The CPU 101 performs interruption processing (S220, FIG. 16). When the sewing needle 11 is in the needle upper position (S217: YES), the CPU 101 performs the interruption process as it is (S220, FIG. 16).

  As shown in FIG. 16, in the interruption process, the CPU 101 first shifts to the virtual needle drop point mode (S221). That is, after S221, the sewing machine 1 operates based on the coordinate data of the coordinate system 602. The coordinates of the needle drop point when the sewing operation is stopped in S213 are the coordinates of the coordinate system 601. Therefore, the CPU 101 identifies the coordinates of the virtual needle drop point by converting the coordinates into the coordinates of the coordinate system 602 in S221. The CPU 101 drives the X-axis motor 114 and the Y-axis motor 116 to move the holding body 60 to the position indicated by the virtual needle drop point coordinates. The CPU 101 acquires the image data output from the image sensor 50, generates a composite image 36 (see FIG. 17) on which the mark M indicating the position of the virtual needle drop point is superimposed, and the LCD 32 (see FIG. 5) of the operation box 30. ) Is started (S222).

  In the example shown in FIG. 17, the sewing machine 1 performs a sewing operation when thread breakage occurs after the sewing point 11 is formed by inserting the sewing needle 11 into the following three needle drop points with the start point SP as the sewing start point. This is a composite image 36 when stopped. After the yarn breakage occurs, the CPU 101 detects a plurality of needle drop points between the time when the yarn breakage detector 40 detects the yarn breakage and the sewing machine motor 112, the X-axis motor 114, and the Y-axis motor 116 stop. Process coordinate data. Therefore, there is no stitch between the needle drop point when the thread breakage occurs and the needle drop point when the sewing machine motor 112, the X-axis motor 114, and the Y-axis motor 116 are actually stopped. A mark M in FIG. 17 indicates a virtual needle drop point when the sewing machine motor 112, the X-axis motor 114, and the Y-axis motor 116 are stopped. As illustrated in FIG. 17, the composite image 36 may include a mark PP indicating a processed virtual needle drop point that is identified by coordinate conversion of the processed needle drop point. In the composite image 36, the components near the lower end of the needle bar 10 do not hinder the visual recognition of the virtual needle drop point. Therefore, the operator can easily confirm the position of the stitch T1 already formed by the sewing machine 1 and the virtual needle drop point.

  When the CPU 101 does not detect the input of the sewing resumption instruction from the activation switch 121 (S226: NO), the CPU 101 determines whether or not there is an input of a one-needle retraction instruction (S227). The one-needle retraction instruction is an instruction to change the coordinate data of the needle drop point to be processed when sewing is resumed to the coordinate data of the needle drop point immediately before the needle drop point at the time of sewing interruption. In the case of the example of FIG. 17, the operator needs to resume sewing from the previous needle drop point, and therefore presses one needle retraction key (not shown) of the key group 33 (see FIG. 5) of the operation box 30. And enter instructions. When the CPU 101 detects an input of a one-needle retraction instruction (S227: YES), the CPU 101 converts the coordinates of the needle drop point immediately before the needle drop point at the time of the sewing interruption into the coordinates of the coordinate system 602 and stores them in the RAM 103. . The CPU 101 moves the holding body 60 to the position indicated by the converted coordinates (S228). The CPU 101 generates a composite image 36 in which the mark M is arranged at a position corresponding to the previous virtual needle drop point, and displays it on the LCD 32 (S229). The CPU 101 returns the process to the determination in S226. In the example of FIG. 17, the CPU 101 further performs the processes of S226 to S228 once in response to an input of a one-needle retraction instruction. As a result, the holding body 60 returns to the position of the virtual needle drop point at the sewing end of the third stitch T1 where the thread breakage has occurred.

  If the CPU 101 has not detected an input of a single-needle retraction instruction (S227: NO), the CPU 101 determines whether or not an input of a single-needle advance instruction has been received (S231). The one-needle advance instruction is an instruction to change the coordinate data of the needle drop point to be processed when sewing is resumed to the coordinate data of the needle drop point immediately after the needle drop point at the time of sewing interruption. When the CPU 101 detects an input of a one-needle advance instruction (S231: YES), the CPU 101 converts the coordinates of the needle drop point immediately after the needle drop point at the time of sewing interruption into the coordinates of the coordinate system 602, and stores them in the RAM 103. . The CPU 101 moves the holding body 60 to the position indicated by the converted coordinates (S232). The CPU 101 generates a composite image 36 in which the mark M is arranged at a position corresponding to the next virtual needle drop point, and displays it on the LCD 32 (S233). The CPU 101 returns the process to the determination in S226.

  After the CPU 101 performs processing according to the one-needle retraction instruction or the one-needle advance instruction and detects the input of the sewing resumption instruction from the start switch 121 (S226: YES), the display of the composite image 36 on the LCD 32 is stopped. (S241). The CPU 101 shifts to the normal mode (S242). That is, after S242, the sewing machine 1 operates based on the coordinate data of the coordinate system 601. The coordinates of the virtual needle drop point stored in the RAM 103 when the CPU 101 detects the input of the sewing resumption instruction in S226 are the coordinates of the coordinate system 602. Therefore, the CPU 101 converts the coordinates into the coordinates of the coordinate system 601 in S242, thereby specifying the coordinates of the needle drop point to be processed when sewing is resumed. The CPU 101 drives the X-axis motor 114 and the Y-axis motor 116 to move the holding body 60 to the position indicated by the actual needle drop point coordinates. That is, the needle drop point moves to the original position directly below the sewing needle 11.

  In the sewing data, the CPU 101 specifies the sewing order of the needle drop points to be processed when sewing is resumed, and resumes sewing according to the coordinate data of the specified needle drop points (S243). The CPU 101 ends the interruption process, and returns the process to S207 of the sewing process (FIG. 15). Until the sewing is completed, the CPU 101 performs the sewing by moving the holding body 60 so that the needle drop point after the needle drop point when the sewing is resumed is located immediately below the sewing needle 11 until the sewing is completed. When the sewing based on the coordinate data of the last needle entry point is completed (S207: YES), the sewing process ends. The CPU 101 returns the processing to the main processing in FIG.

  The test feed process will be described with reference to FIG. The test feed process is a process of moving only the holding body 60 in accordance with the sewing data created in the above-described sewing data creation process (see FIG. 8). That is, the needle bar 10, presser bar 12, and vertical hook are not driven. When the sewing machine 1 operates according to the sewing data, the operator instructs execution of the test feed process to check whether the sewing needle 11 interferes with the holding body 60 and the pattern board 68 (see FIG. 10). The operator instructs execution of the test feeding process in a state where the holding body 60 does not hold the sewing object. The test feed process is executed when the CPU 101 detects an input of an execution instruction for the test feed process in S3 shown in FIG. In the test feeding process, the sewing machine 1 operates in the normal mode. The holding body 60 moves so that the needle drop point is at an original position directly below the sewing needle 11 (just above the needle hole 502).

  As shown in FIG. 18, the processes from S31 to S35 of the test feeding process are the same as the processes of S201 to S205 of the sewing process (FIG. 15), and thus the description thereof is omitted. When the CPU 101 detects the input of the test feed start instruction (S35: YES), it drives the X-axis motor 114 and the Y-axis motor 116 to bring the holding body 60 to the position indicated by the coordinate data of the needle drop point to be processed. Move (S36). The sewing machine motor 112 is not driven. The CPU 101 repeats the movement of the holding body 60 with the coordinate data being processed in order according to the sewing order until the coordinate data with the last sewing order is processed (S37: NO). When the process of the last coordinate data is completed (S37: YES), the test feeding process ends. The CPU 101 returns the processing to the main processing in FIG. If the operator can always see the needle hole 502 from the opening of the presser plate 63 while the holding body 60 moves, the operator can determine that there is no problem in the sewing data. When using the pattern board 68, the operator can determine that there is no problem in the sewing data if the needle hole 502 is always visible from the groove 69.

  As described above, the sewing machine 1 according to the present embodiment interrupts sewing when the thread break detector 40 detects a thread break or when the CPU 101 detects an input of a sewing interrupt instruction. In this case, the CPU 101 holds the sewing object in the interruption process (FIG. 16) so that the needle drop point is located at a predetermined distance in the predetermined direction from the original position directly below the sewing needle. Move 60. That is, the sewing machine 1 can move the needle drop point to a position that does not hinder the sewing needle 11 from visually recognizing the needle drop point when sewing is interrupted. Further, the CPU 101 displays on the LCD 32 a composite image 36 in which a mark M indicating a temporary needle drop point is overlaid on a captured image of the image sensor 50. That is, the sewing machine 1 shows the needle drop point on the sewing object after movement as a virtual needle drop point in a visible state. Therefore, the operator can easily visually recognize the position of the virtual needle drop point after moving from the original position directly below the sewing needle 11. Even if the sewing needle 11 is present at the lower end of the needle bar 10, the operator reliably confirms the vicinity of the needle drop point on the sewing object, that is, the vicinity of the stitch where the abnormality has occurred, Information that designates any one as a needle entry point when resuming sewing can be input. That is, the operator can easily adjust the position of the needle drop point when resuming sewing. The same applies when the sewing machine 1 has components (such as the presser foot 13) other than the sewing needle 11 around the lower end of the needle bar 10. Furthermore, the sewing machine 1 can move the holding body 60 so that the needle drop point at the time of resuming the sewing is located immediately below the sewing needle in accordance with the input information, and can resume sewing from an appropriate needle drop point.

  In the present embodiment, the transfer device 6 corresponds to the “movement mechanism” of the present invention. In the sewing process of FIG. 15, the CPU 101 that performs the process of moving the holding body 60 in the normal mode by driving the X-axis motor 114 and the Y-axis motor 116 corresponds to “first movement control means”. The thread breakage detector 40, the CPU 101 that detects the input of the sewing interruption instruction in S212 of the sewing process, the thread breakage detector 40 corresponding to the “abnormality detection means” corresponds to the “thread breakage detection means”. The CPU 101 that performs the process of stopping the sewing operation in S213 of the sewing process corresponds to “sewing interruption means”. In S221 of the interruption process in FIG. 16, the CPU 101 that performs the process of moving the holding body 60 to the virtual needle drop point corresponds to a “second movement control unit”. In the interruption process of FIG. 16, the CPU 101 that performs the process of displaying the composite image 36 on the image sensor 50 and the LCD 32 corresponds to “instruction means”. The image sensor 50 corresponds to “photographing means”. The LCD 32 corresponds to “display means”. The CPU 101 that performs the process of displaying the composite image 36 on the LCD 32 corresponds to “display control means”. The CPU 101 that performs the process of specifying the needle drop point in S228 and S232 of the interruption process corresponds to “needle drop point specifying means”. The CPU 101 that detects the input of the restart instruction in S226 corresponds to “restart instruction detection means”. The CPU 101 that performs the process of moving the holding body 60 to the actual needle drop point in S242 corresponds to “third movement control means”. The operation panel 8 displaying the error number in S214 of the sewing process corresponds to “notification means”. The CPU 101 that detects an error confirmation input in S215 corresponds to “confirmation detection means”. The ROM 102 and the nonvolatile memory 104 correspond to “storage means”.

  The present invention can be variously modified in addition to the above-described embodiment. A sewing machine 110 according to one modification will be described with reference to FIG. In FIG. 19, the same components as those of the sewing machine 1 of FIG. Only the configuration and processing of the sewing machine 110 different from the sewing machine 1 will be described below. As shown in FIG. 19, the sewing machine 110 includes a yarn abnormality detector 70 and a laser pointer 90 instead of the yarn break detector 40 and the image sensor 50 of the sewing machine 1.

  The yarn abnormality detector 70 is a detector that can detect the yarn breakage and the stitch skip T2 of the upper yarn 55. The stitch skip T2 is a state in which a stitch corresponding to any one of a plurality of needle drop points cannot be formed. The yarn abnormality detector 70 includes a guide piece 71, a detection unit 75, and a suction pipe 76. The guide piece 71 is a rectangular parallelepiped member provided on a path of the upper thread 55 from the thread guide 20 on the right side surface of the front end 7 to the needle bar 10. The guide piece 71 has a through hole 711 extending in the vertical direction and an opening 712 connected to the through hole 711. The opening 712 extends rearward (right side in FIG. 19) from the middle portion of the through hole 711 and opens on the back surface of the guide piece 71. The detection unit 75 is a photoelectric switch, and includes a light emitting unit 751 (for example, a light emitting diode) and a light receiving unit 752 (for example, a phototransistor) that are opposed to each other in the vertical direction behind the opening 712. The distal end 77 of the suction pipe 76 is disposed behind the opening 712 with the detection unit 75 interposed therebetween. The suction pipe 76 is connected to a negative pressure supply device (not shown). The negative pressure supply device operates along with the sewing operation of the sewing machine 110 and sucks the upper thread 55 from the opening 712 through the suction pipe 76 with a predetermined negative pressure. The negative pressure supply device applies tension to the upper thread 55 by the operation.

  The sewing machine 110 forms normal stitches T1 with a predetermined stitch pitch d. The normal stitch T1 is formed by the upper thread 55 and the lower thread being intertwined. However, when the skipping T2 occurs, the upper thread 55 is loosened because the upper thread 55 is not entangled with the lower thread. Therefore, when the skip T2 occurs, the negative pressure acting on the through hole 711 via the suction pipe 76 pulls the slack portion 55A of the upper thread 55 from the opening 712 to the suction pipe 76 side. The slack portion 55A is bent and deformed and enters between the light emitting portion 751 and the light receiving portion 752 of the detecting portion 75. The detection unit 75 can detect the occurrence of the skip T2 by detecting the entry of the slack portion 55A. When the thread breakage occurs, the upper thread 55 is slackened as in the case of the stitch skip T2, so that the detection unit 75 can detect the occurrence of the thread breakage. The CPU 101 of the sewing machine 110 can determine whether or not the thread breakage of the upper thread 55 and the stitch skip T2 have occurred based on the output signal of the detection unit 75.

  In the sewing machine 1, the CPU 101 determines whether or not the thread abnormality detector 70 has detected a thread breakage or a stitch skipping in S211 of the sewing process (FIG. 15). When the yarn abnormality detector 70 detects thread breakage or skipping (S211: YES), the CPU 101 stops the sewing operation (S213) and shifts to the virtual needle drop point mode (S221 in FIG. 16). Therefore, the operator can appropriately adjust the needle drop point at the time of resuming sewing in the virtual needle drop point mode even when a stitch skip which is an abnormality similar to thread breakage occurs, and can resume sewing. Note that the CPU 101 adds a process of cutting a thread when skipping after detecting an error confirmation input (S215: YES).

  The laser pointer 90 is a well-known device that points to one point or a very narrow region by spot irradiation with a laser beam. The laser pointer 90 is fixed to the sewing machine 110 by the support portion 91 at the same position as the support portion 51 of the image sensor 50 (see FIG. 3) of the sewing machine 1 of the above-described embodiment. The indicated position of the laser pointer 90 (the light spot of the laser beam) is a position that is a predetermined distance away from the position immediately below the sewing needle 11 (just above the needle hole 502) on the sewing object. The predetermined direction and the predetermined distance are the same as those of the image sensor 50 of the sewing machine 1 in the case where the sewing needle 11 or another component overlaps between the laser pointer 90 and the virtual needle drop point and the upper sewing object in any direction. It may be longer than the moving distance until it disappears.

  The laser pointer 90 is a light spot that can be directly visually recognized by the operator, and can designate one point on the sewing object as a virtual needle drop point. Therefore, when the sewing machine 110 operates in the virtual needle drop point mode, the operator can perform the same work as that of the sewing machine 1 while visually recognizing the light spot on the sewing object. Since the sewing machine 110 indicates the virtual needle drop point with the laser pointer 90, it is not necessary to perform image display as in the above-described embodiment. Therefore, in the sewing machine 110, the processing related to image display performed in the sewing data creation processing (FIG. 8), the equalization processing (FIG. 9), and the sewing processing (FIG. 16) can be omitted. An effect can be obtained.

  In the modification, the yarn abnormality detector 70 corresponds to the “thread breakage detection unit” and the “stitch detection unit” of the present invention. The laser pointer 90 corresponds to “instruction means” and “projection means”.

  Hereinafter, other modifications that can be added to the above-described embodiment will be exemplified. In addition to the image sensor 50 and the laser pointer 90 described above, the instruction means that indicates the virtual needle drop point in a visible state may be a projector. Similar to the laser pointer 90, the projector can project the virtual needle drop point directly onto the sewing object. Therefore, the same effect as the laser pointer 90 can be obtained. The image sensor 50 may be a photographing element other than a CMOS sensor, such as a CCD camera. The imaging range of the image sensor 50 may include a position that is a predetermined distance away from the needle hole 502 in a predetermined direction, and does not necessarily have to be at the center.

  The sewing machine 1 automatically switches between the virtual needle drop point mode and the normal mode, but may be switched according to an instruction from the operator. In addition to the above-described example (sewing process and test feed process), the sewing machine 1 may have a process that operates in the normal mode. In addition to the sewing data creation process and the interruption process, the virtual needle drop point mode There may be a process that runs on. The predetermined direction and the predetermined distance in which the sewing machine 1 moves the holding body 60 in the virtual needle drop point mode may not be stored in advance and may be set by the operator each time processing is performed.

  The holding body 60 only needs to have a configuration capable of holding the sewing object, and is not limited to a configuration in which the sewing object is sandwiched from above and below by the transfer plate 61 and the presser plate 63. A configuration in which a frame-shaped outer frame and an inner frame that can be fitted inside the outer frame are provided, and a sewing object is held between the outer frame and the inner frame may be held.

  Any method other than the method exemplified in the embodiment or the modification can be adopted as a method for detecting thread breakage or stitch skipping. The sewing machine 1 may include a detector that physically detects thread breakage on the path of the upper thread 55. For example, a thread take-up spring and a thread break sensor described in JP2010-233753 can be employed. In the above-described example, when thread breakage is detected during sewing, when stitch skipping is detected, or when an operator inputs a sewing interruption instruction, the sewing machine interrupts sewing and operates in the virtual needle drop point mode. However, the sewing machine may process only the case corresponding to at least one of the above three cases. For example, the sewing machine may suspend sewing and operate in the virtual needle drop point mode only when a thread break is detected. The sewing machine may suspend sewing and operate in the virtual needle drop point mode when it detects other abnormalities that require sewing interruption other than the above three cases.

  The error notification may be performed not by displaying an error number but by sending a warning sound by a buzzer or emitting a lamp. An error notification may not be performed. The sewing machine does not wait for the confirmation input after the error notification, and may suspend the sewing as it is and operate in the virtual needle drop point mode.

  In the embodiment, the operation box 30 is separate from the sewing machine 1. Therefore, in detail, the CPU 101 transmits the image data of the composite image 36 to the operation box 30 in order to display the composite image 36 on the LCD 32. The CPU 301 of the operation box 30 displays the composite image 36 on the LCD 32 via the drive circuit 308. However, the display means for displaying the composite image 36 may be provided on the operation panel 8 or may be provided on the main body of the sewing machine 1 (for example, the upper portion of the arm unit 4). The means for inputting information and instructions is not limited to the operation panel 8 and the operation box 30. The main body of the sewing machine 1 may include input means.

1 Sewing machine 6 Transfer device 8 Operation panel 10 Needle bar 11 Sewing needle 32 LCD
40 yarn breakage detector 50 image sensor 60 holder 101 CPU
102 ROM
104 Nonvolatile memory

Claims (8)

A needle bar for attaching the sewing needle to the lower end;
A needle bar drive mechanism that moves the needle bar up and down during sewing;
A moving mechanism provided below the needle bar and capable of horizontally moving a holding body for holding a sewing object;
The moving mechanism according to sewing data including a plurality of data indicating a position of a needle drop point, which is a predetermined position on the sewing object to be pierced by the sewing needle at the time of sewing, by a relative position between the position of the sewing needle and the position of the holding body. In a sewing machine provided with first movement control means for moving the holding body so that the needle drop point is positioned immediately below the sewing needle in order,
An abnormality detection means for detecting the occurrence of an abnormality that requires interruption during sewing;
When the abnormality detection means detects the abnormality, sewing interrupting means for stopping the driving of the needle bar drive mechanism and the control of the movement mechanism by the first movement control means,
When the abnormality detecting unit detects the abnormality, the holding mechanism is moved to a position where the needle drop point is separated from the original position directly below the sewing needle by a predetermined distance by controlling the moving mechanism. Second movement control means;
When the second movement control means moves the holding body, indicating means showing the needle drop point on the sewing object after the predetermined distance movement as a virtual needle drop point in a visible state;
Based on the information regarding the needle drop point input in a state in which the virtual needle drop point is visible by the instruction means, any one of the plurality of needle drop points included in the sewing data is set at the time of resuming sewing. Needle drop point specifying means for specifying the needle drop point;
Resumption instruction detecting means for detecting input of a sewing resumption instruction;
When the resumption instruction detecting means detects the input of the instruction, the needle drop point at the time of resuming the sewing specified by the needle drop point specifying means is positioned directly below the sewing needle by controlling the moving mechanism. And a third movement control means for moving the holder.
The first movement control means controls the moving mechanism according to the sewing data after the third movement control means moves the holding body, so that the needle drop points after the needle drop point at the time of resuming the sewing are obtained. The sewing machine is characterized in that the holding body is moved so as to be positioned immediately below the sewing needle in order. The abnormality detection means is
Thread breakage detecting means for detecting thread breakage during sewing,
Stitch skip detection means for detecting that a stitch corresponding to any of the plurality of needle drop points included in the sewing data has not been formed, and input for detecting input of information indicating that the abnormality has occurred The sewing machine according to claim 1, wherein the sewing machine is at least one of detecting means. An informing means for informing the occurrence of the abnormality after the sewing interruption means stops driving the needle bar driving mechanism and the control of the moving mechanism by the first movement control means;
After the notification means notifies the occurrence of the abnormality, further comprising a confirmation detection means for detecting input of information for confirming the occurrence of the abnormality,
3. The sewing machine according to claim 1, wherein the second movement control unit moves the holding body by controlling the moving mechanism after the confirmation detection unit detects the input. 4. The instruction means includes
Photographing means capable of photographing the sewing object held by the holding body;
And a display control unit that generates a composite image in which the mark indicating the virtual needle drop point is superimposed on the image of the sewing object photographed by the photographing unit and displays the composite image on a display unit. The sewing machine according to any one of claims 1 to 3.   The predetermined distance is equal to or longer than a moving distance in the predetermined direction until the sewing needle or other components of the sewing machine do not overlap between the photographing unit and the sewing target object at the virtual needle drop point. The sewing machine according to claim 4, wherein:   The sewing machine according to any one of claims 1 to 3, wherein the instruction unit includes a projection unit that projects the virtual needle drop point on the sewing object so as to be visible.   The sewing machine according to claim 6, wherein the projection unit is a laser pointer that spot-irradiates a laser beam onto the virtual needle drop point on the sewing object.   The sewing machine according to claim 1, further comprising storage means for storing the predetermined direction and the predetermined distance in advance.

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