JP2014091008A - Sewing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform sewing of a workpiece with accuracy and stably at a sewing position with an end position being a reference by enabling correct recognition of the end position of the workpiece while keeping a satisfactory holding property of the workpiece by a cloth holding frame.SOLUTION: A cloth holding frame 9a includes: a plurality of contact parts 22 which come in contact with one part of an end surface of a workpiece 21 and which determine a surface direction position of the workpiece with respect to the cloth holding frame; and a plurality of openings 24a and 24b for edge detection which expose an end part of the workpiece of a portion adjacent to the end surface so that it can be detected by a camera 41 while being in contact with the contact part, including certain space in front of the end surface of the end part. A shape recognition part 4 detects an end position of the workpiece exposed at the openings for edge detection by the camera, and recognises the end position of the workpiece based on the detected end position. The shape recognition part recognizes the end position corresponding to the contact part by complementing based on the end position detected at the openings for edge detection on both sides of the contact part.

Description

  The present invention relates to a sewing apparatus that recognizes the shape of a workpiece and controls the cloth feed and sews the workpiece.

Conventionally, the sewing machine body is sandwiched between a cloth feed lower plate and a cloth feed outer frame which are configured to be operable in a horizontal plane, and the work to be sewn is installed on the sewing machine body, and this is followed along a pre-programmed sewing path. 2. Description of the Related Art Sewing apparatuses that sew a workpiece to be sewn by sewing while moving the sewing machine are used.
In such a sewing apparatus, in order to position and hold the sewing product, a cloth holding frame in which openings such as grooves and holes corresponding to the sewing locations of the sewing product are formed is fixed to the cloth feed outer frame. . Then, the outer peripheral edge of the sewing product comes into contact with the inner wall surface of the opening formed in the cloth holding frame or the inner wall surface of the positioning step formed on the inner edge of the opening. It is generally done to be positioned. The sewing product positioned in this way is often sewn with a certain margin of sewing margin from the outer peripheral edge of the sewing product, and accordingly, a predetermined position based on the outer peripheral edge of the sewing product is set. Sewing as a needle entry target position is often performed.

  However, when the worker sets the sewing object on the cloth holding frame, the positional deviation of the sewing object, the variation in individual sizes when the sewing object is cut, and the sewing article made of a flexible material such as leather or fabric. The outer peripheral edge of the sewing product does not come into contact with the inner wall surface of the opening formed in the cloth holding frame and the inner wall surface of the positioning step or the like. Although the position of a certain width should be sewn from, the shifted position may be sewn, resulting in a defective product.

In order to solve such a problem, Patent Document 1 discloses that “the edge position sensing device has a scanning camera mounted on a rotary bearing, the bearing is mounted on a sewing head, and the camera is coaxial with the axis of the needle. ”And scans a line in contact with a virtual circle around the needle penetration point in the sewing surface”. Then, the outer peripheral edge of the sewing product is emphasized with respect to the sewing product main body by the illumination device mounted on the scanning camera, and the outer peripheral edge of the sewing product is fixed by the scanning camera. A sewing device that senses an edge and sews a sewing margin position of a certain width from an outer peripheral edge of the sewing product while correcting a sewing path according to the detected actual position of the sewing product with respect to a pre-programmed sewing pattern. Have been described.
In order to solve this problem, Japanese Patent Laid-Open No. 2004-26853 discloses that the outer shape of the sewing product is recognized by the outer shape recognition device as a pre-process of the sewing process, and the sewing product fixed to the sewing product body is the outer peripheral edge of the sewing product. The outer peripheral edge of the sewing product is emphasized with respect to the sewing product body by the illumination device provided in the measuring unit, and the outer peripheral edge of the sewing product is detected by the CCD camera, and the outer shape recognition device changes to the electronic sewing machine. There is described a sewing apparatus that transfers a sewing product and sews a sewing margin position having a certain width from an outer peripheral edge of the sewing product based on the detected outer shape of the sewing product.

Japanese Patent Publication No. 7-28962 JP 05-225315 A

However, in any of the sewing devices described in Patent Documents 1 and 2 described above, the illumination device emphasizes the outer peripheral edge of the sewing product with respect to the sewing product body, and the camera recognizes the outer peripheral edge of the sewing product. For this reason, it is not possible to use a cloth holding frame that positions the outer peripheral edge of the workpiece to be brought into contact with the inner wall surface of the opening or the inner wall surface of the positioning step portion as in the prior art.
This is because, as illustrated in FIG. 13, the outer peripheral edge portion of the sewing product 21 on the sewing product body 19 is held by the cloth holding frame 9 x with a predetermined width, and the opening 20 x of the opening 20 x is set according to the cloth thickness of the sewing product 21. In a state where the outer peripheral edge of the sewing object 21 is in contact with the inner wall surface 23 of the positioning step formed on the inner edge part, or in a state where the operator has shifted the position when setting the sewing object, Since part or all of the outer peripheral edge of the sewing product 21 is hidden under the cloth holding frame 9x, the outer peripheral edge of the sewing product 21 cannot be recognized by the camera.
Furthermore, as illustrated in FIG. 14, the outer peripheral edge of the sewing product 21 on the sewing product body 19 is in contact with the inner wall surface 22 of the opening 20 y formed in the cloth holding frame 9 y, or the sewing product 21. The outer peripheral edge of the workpiece 21 does not come into contact with the inner wall surface 22 due to variations in individual sizes at the time of cutting and dimensional changes of flexible materials such as leather and fabric, and there is a slight gap. It may be. In this case, since the inner wall surface 22 is too close to the outer peripheral edge of the sewing product 21, it is difficult to emphasize the shadow of the outer peripheral edge of the sewing product 21 with respect to the sewing product body by the lighting device. The outer peripheral edge of the workpiece 21 cannot be accurately recognized by the camera.

  Therefore, the present invention enables accurate recognition of the end position of the sewing product while maintaining the holding property of the sewing product by the cloth holding frame, thereby enabling the sewing position at the sewing position based on the end position. It is an object to sew a sewn product accurately and stably.

The invention according to claim 1 is a sewing machine main body for sewing a workpiece.
A cloth feed part having a cloth holding frame formed with a sewing opening that exposes a sewing region of the sewing object so as to allow needle dropping; and a cloth feed part that moves the sewing object in a horizontal plane via the cloth holding frame; ,
A shape recognition unit for recognizing an end position of the sewing object positioned on the cloth holding frame using an objective detection unit;
Sewing provided with the sewing machine main body and a sewing machine control unit for controlling the cloth feed unit so that a sewing position is determined based on the end position recognized by the shape recognition unit and sewing work is performed at the sewing position. In the device
The cloth holding frame is
A plurality of abutting portions that abut against the end surface of the sewing product;
The cloth holding frame is cut out and formed continuously with the sewing opening, and has a plurality of edge detection openings that expose a part of the end of the sewing object. A sewing apparatus characterized in that an end position of the sewing product exposed at the edge detection opening is detected by an object detection means, and an end position of the sewing product is recognized based on the detected end position. is there.

  According to a second aspect of the present invention, the shape recognition unit complements the end position corresponding to the contact part based on the end positions detected at the edge detection openings adjacent to the contact part. The sewing apparatus according to claim 1, wherein the sewing apparatus is recognized.

  The invention according to claim 3 is characterized in that the shape recognition unit is configured to be able to select and set whether the complement is performed by linear interpolation or spline interpolation in each of the plurality of contact portions. The sewing apparatus according to claim 2.

  According to a fourth aspect of the present invention, the sewing machine control unit creates sewing pattern data for designating the sewing position based on the end position recognized by the shape recognition unit. It is a sewing device as described in any one of these.

  According to a fifth aspect of the present invention, the sewing machine control unit conforms to the end position recognized by the shape recognition unit with the standard sewing pattern data created in advance in conformity with the designed end position of the sewing object. The sewing apparatus according to claim 4, wherein the sewing pattern data is created by correcting as described above.

  According to a sixth aspect of the present invention, the sewing machine control unit is identified by a sewing position specified by the standard sewing pattern data on a two-dimensional coordinate for defining a sewing position in connection with the control of the cloth feeding unit. The coordinate is converted in a manner of enlarging / reducing, rotating, or translating a path shape, so that the standard sewing pattern data is corrected to match the end position recognized by the shape recognition unit. 5. The sewing apparatus according to 5.

  The invention according to claim 7 calculates a deviation amount of the end position recognized by the shape recognition unit with respect to the designed end position of the sewing product, and when the deviation amount exceeds a predetermined threshold value, the sewing is performed. The sewing apparatus according to any one of claims 1 to 6, wherein a displacement of an object is displayed and output.

According to the first aspect of the present invention, the cloth holding frame is notched and formed continuously to the sewing opening, and has a plurality of edge detection openings that expose a part of the end of the sewing object. Therefore, the edge line of this end can be detected well by an objective detection means mediated by light or other electromagnetic waves such as a camera or a laser displacement meter through the edge detection opening. Since the end position of the sewing product is recognized, the end position of the sewing product can be accurately recognized.
Furthermore, since the sewing machine control unit determines the sewing position based on the end position recognized by the shape recognition unit, according to the present invention, the sewing product at the sewing position based on the end position of the sewing product is determined. Sewing can be performed accurately and stably.

  According to the second aspect of the invention, it is possible to recognize the outer shape of the sewing product including the end position of the sewing product corresponding to the contact portion of the cloth holding frame, and the end position of the sewing product is used as a reference. It is possible to accurately sew the work to be sewn at the sewing position.

  According to the third aspect of the present invention, an appropriate interpolation method is preliminarily set in accordance with the edge line of the sewing product scheduled to be exposed to the edge detection opening and the edge line of the sewing product scheduled to correspond to the contact portion. It is possible to set, and through appropriate interpolation, the sewing product can be accurately sewn at the sewing position based on the end position of the sewing product.

  According to the fourth aspect of the invention, the sewing pattern data for designating the sewing position based on the end position recognized by the shape recognition unit is created, and the sewing product at the sewing position based on the end position of the sewing product is generated. Sewing can be performed with high accuracy.

  According to the fifth aspect of the present invention, since the sewing pattern data is created by correcting the standard sewing pattern data created in advance so as to match the end position recognized by the shape recognition unit, the calculation load is reduced. As a result, it is possible to quickly and accurately perform the sewing of the sewing product at the sewing position based on the end position of the sewing product.

  According to the sixth aspect of the present invention, since the sewing pattern data is created simply by performing coordinate conversion in a manner of enlarging / reducing, rotating or translating the sewing route shape of the standard sewing pattern data created in advance, further calculation is performed. The load can be reduced, and the sewing product can be sewn quickly and accurately at the sewing position based on the end position of the sewing product.

  According to the seventh aspect of the invention, it is possible to notify the operator of a significant positional shift of the sewing product that requires the operator to reposition the sewing product, and through the repositioning by the operator. Sewing of the sewing product at the sewing position based on the end position of the sewing product can be performed with high accuracy.

It is a perspective view of the sewing apparatus which concerns on one Embodiment of this invention. It is a front view of the sewing device concerning one embodiment of the present invention. However, the camera is shown separately. It is a control block diagram of the sewing apparatus which concerns on one Embodiment of this invention. It is a detailed perspective view of the state which attached the cloth holding frame to the cloth feed part of the sewing device concerning one embodiment of the present invention. It is a top view of the cloth holding part of the cloth holding frame which concerns on one Embodiment of this invention, and the to-be-sewn material (pocket cloth) hold | maintained at this. It is a top view of the cloth holding part of the cloth holding frame which concerns on one Embodiment of this invention, and the to-be-sewn material (pocket cloth) hold | maintained at this, The thing which has the positioning step part unlike FIG. It is a diagram of the outer periphery edge position of the sewing thing (pocket cloth) recognized in one embodiment of the present invention. It is a top view of the cloth holding part of the cloth holding frame which concerns on one Embodiment of this invention, and the to-be-sewn material (pocket cloth) hold | maintained at this. This shows the case where the workpiece is installed with a shift. It is a flowchart which shows the flow of the sewing process which concerns on the sewing apparatus which concerns on one Embodiment of this invention. It is a top view of a to-be-sewn product (logo mark) according to another embodiment of the present invention. It is a top view of the cloth holding part of the cloth holding frame which concerns on other one Embodiment of this invention, and the to-be-sewn product (logo mark) hold | maintained at this. It is a diagram of the outer peripheral edge position of the sewing product (logo mark) recognized in another embodiment of the present invention. It is a top view of the cloth holding part of the cloth holding frame which concerns on an example of the past, and the to-be-sewn material (pocket cloth) hold | maintained at this, and shows what has the positioning step part. It is a top view of the cloth holding part of the cloth holding frame which concerns on an example of the past, and the to-be-sewn material (pocket cloth) hold | maintained at this.

  An embodiment of the present invention will be described below with reference to the drawings. The following is one embodiment of the present invention and does not limit the present invention.

[Outline of sewing device]
As shown in FIGS. 1 to 3, the sewing apparatus 1 according to the present embodiment includes a sewing machine body 2, a cloth feeding unit 3, a shape recognition unit 4, a sewing machine control unit 5, a sewing pattern database 51, and a display device 52. And is configured.
The sewing machine body 2 includes a sewing machine arm portion 2a for operating a sewing needle, a sewing machine bed portion 2b for operating a shuttle, and a sewing table 2c, and sews a workpiece.
The shape recognition unit 4 includes a camera 41, a lighting device 42, an image recognition control unit 43, a setting input unit 44, and a setting storage database 45. The image recognition control unit 43 controls the camera 41 and the illumination device 42 to acquire image information, and performs image processing such as edge extraction processing of the acquired image to recognize the shape of the sewing product.
The image recognition control unit 43, the sewing machine control unit 5, the setting input unit 44, the setting storage database 45, and the sewing pattern database 51 are an information processing system including an information processing device, an information input device, and an information storage device. The recognition control unit 43 and the sewing machine control unit 5 operate on the same or different IC chips, the setting storage database 45 and the sewing pattern database 51 are constructed on the same or different hard disks or IC chips, or the sewing machine body 2 Any hardware configuration may be used, such as whether it is configured within the housing or as an external device.
The display device 52 performs audio display arbitrarily in addition to image display.

As shown in FIG. 4, the cloth feed section 3 includes a cloth feed lower plate 7, a cloth feed outer frame 8, a cloth feed base 10, a cloth feed arm 11, and an XY drive section (mounted on the sewing machine bed section 2 b). It is configured with. A cloth holding frame 9 is detachably fixed to the cloth feed outer frame 8. The cloth feed outer frame 8 is fixed to a cloth feed arm 11, and the cloth feed arm 11 is fixed to a cloth feed base 10 so as to be movable up and down. The cloth feed lower plate 7 is fixed to the cloth feed base 10. The cloth feed base 10 is configured to be operable in a horizontal plane (XY plane in the drawing) by an XY drive unit including a motor, a timing belt, a timing pulley, and the like (not shown). The cloth feed lower plate 7, the cloth feed outer frame 8, and the cloth holding frame 9 fixed to the lower surface of the cloth feed outer frame 8 integrally operate in the horizontal plane. The sewing position is defined by a two-dimensional coordinate XY related to the control of the cloth feeding unit 3. The sewing position of each sewing product is specified by sewing pattern data corresponding to each sewing product. Each sewing pattern data is stored in the sewing pattern database 51.
The cloth holding frame 9 is formed with a sewing opening 20 that exposes the sewing area of the sewing object so that the needle can be dropped. In addition, the cloth feed section 3 moves the sewing object in a horizontal plane via the cloth holding frame.

A sewing product 21 shown in FIG. 5 is a pocket fabric such as jeans, and has a pentagonal outer shape with an upper side serving as a pocket mouth and a vertex at the center of the lower end.
In the cloth holding frame 9a shown in FIG. 5 corresponding to this, the peripheral edge of the constant width along the four sides excluding the upper side where the sewing opening 20a becomes the pocket opening of the sewing object 21 is directed upward. It is formed in a groove shape to be exposed. The article to be sewn 21 is placed on a sewn article body such as jeans cloth sandwiched between the cloth feed lower plate 7 and the cloth feed outer frame 8, and the cloth holding frame 9a is surrounded by an inner portion surrounded by the sewing opening 20a. It is pressed so that it does not float on the back side.
The outer inner wall surface of the sewing opening 20a is formed along each of the four sides, and abuts on the outer peripheral edge of the sewing object 21, and the XY plane of the sewing object 21 with respect to the cloth holding frame 9a. A contact portion 22 for determining the direction position is configured. However, edge detection openings 24 a and 24 b are formed corresponding to the five corners of the workpiece 21. Of these, the two edge detection openings 24b, 24b are formed above the sewing opening 20a and correspond to the two corners on the upper side of the sewing object 21. The remaining three edge detection openings 24 a, 24 a, 24 a are formed corresponding to the three corners on the lower side of the sewing product 21.

Like the edge detection openings 24a and 24b, the edge detection opening that exposes the end close to the sewing position is preferably formed continuously and integrally with the sewing opening. On the other hand, the end portion far from the sewing position such as the pocket mouth central portion can be provided independently of the sewing opening portion as in the edge detection opening portion (dashed line portion) 24c. And the edge detection opening need not be formed as an integral opening. In the present embodiment, the edge detection opening (broken line) 24c is not provided. When the edge detection opening is integrated with the sewing opening, the opening area for edge detection and the opening area for sewing may overlap. A plurality of edge detection openings are provided via the contact portion 22, and edge detection openings are provided at both ends of the contact portion 22.
That is, the edge detection openings 24a and 24b are formed integrally with the sewing opening 20a by notching a predetermined position of the cloth holding frame 9a and exposing a part of the end of the sewing object. ing. In particular, it is preferable to expose the corner portion as a part of the end portion of the sewing object.

  Any of the edge detection openings 24a and 24b can detect the end portion of the sewing product 21 at a portion adjacent to the end surface by the object detection means when the end surface of the sewing product 21 is in contact with the contact portion 22. As described above, a certain space in front of the end face of the end portion is exposed. In the present embodiment, the objective detection means is constituted by a camera 41.

On the other hand, FIG. 6 also shows a similar workpiece 21 and a cloth holding frame 9b corresponding thereto. However, the cloth holding frame 9b shown in FIG. 6 adopts the structure of the positioning step described with reference to FIG.
That is, in the cloth holding frame 9b shown in FIG. 6, the inner wall surface of the positioning step portion abuts on the outer peripheral edge of the sewing object 21, and the position of the sewing object 21 in the XY plane with respect to the cloth holding frame 9b. A contact portion 23 for determining The cloth holding frame 9b is the same as the cloth holding frame 9a in FIG. In FIG. 6, the article to be sewn 21 does not float on the back surface of the cloth holding frame 9 b at the inner peripheral portion surrounded by the sewing opening 20 b of the cloth holding frame 9 b and the outer peripheral edge of the constant width in front of the contact portion 23. Pressed.

[Flow of sewing processing]
When sewing is performed using the sewing apparatus 1 by applying the cloth holding frame 9a having the above configuration, the operator sets the workpiece 21 in the sewing opening 20a of the cloth holding frame 9a (FIG. 9, step S3). ). At this time, the position of the sewing object 21 is regulated by the contact portion 22 formed by the inner wall surface of the sewing opening 20a provided in the cloth holding frame 9a, and is correctly positioned with respect to the cloth holding frame 9a. However, the contact portion 22 provided on the cloth holding frame 9a and the sewing product 21 may vary depending on variations in individual sizes at the time of cutting the sewing product 21 or changes in dimensions of a flexible material such as leather or fabric. It does not matter if there is a slight gap without contact with the outer peripheral edge.

Next, the lighting device 42 illuminates the sewing object 21 positioned in the sewing opening 20a of the cloth holding frame 9a, and the camera 41 images the outer peripheral edge of the sewing object 21 (FIG. 9, step S4). In the edge detection openings 24 a and 24 b provided in the cloth holding frame 9 a, a sufficient space is provided in front of the outer peripheral edge of the sewing object 21. The shadow of the outer peripheral edge of the sewing object 21 in 24a, 24b is clear.
Next, the image recognition control unit 43 of the shape recognition unit 4 performs edge extraction processing on the image data of the sewing product 21 captured by the camera 41. At this time, the edge extraction processing is performed only on the outer peripheral edge of the sewing object 21 photographed in the edge detection openings 24a and 24b. In this case, the calculation processing time required for the edge extraction process is significantly shortened as compared with the case of performing the edge extraction process on the entire outer peripheral edge of the workpiece 21. The outer peripheral edge of the sewing product 21 extracted by the edge extraction process is a portion indicated by a thick solid line 25 shown in FIG.
That is, the shape recognizing unit 4 determines the end position of the sewing product 21 that is positioned on the cloth holding frame 9 and the end position of the sewing product 21 that is exposed at the edge detection opening by the camera 41 (object detection means). The end position of the sewing product 21 is recognized based on the detected end position.

Even when sewing is performed using the sewing apparatus 1 by applying the cloth holding frame 9b shown in FIG. 6, the workpiece 21 is set in the sewing opening 20b of the cloth holding frame 9b (FIG. 9, step S3). The image is taken by the camera 41 in the state illuminated by the illumination device 42 (FIG. 9, step S4).
In this case, the outer peripheral edge of the workpiece 21 having a predetermined width positioned in front of the contact portion 23 is positioned below the cloth holding frame 9b. For this reason, although this portion cannot be subjected to edge extraction, the edge extraction processing is performed only in the range within the edge detection openings 24a and 24b in the same manner as the cloth holding frame 9a shown in FIG.
The outer peripheral edge of the sewing product 21 extracted by this edge extraction processing is also a portion indicated by the thick solid line 25 shown in FIG.
As described above, the shape recognizing unit 4 detects the outer peripheral edge position of the sewing product 21 exposed at the edge detection openings 24a and 24b by the camera 41 (FIG. 9, step S5).

In order to limit the above edge extraction processing to the image area photographed in the edge detection opening, the operator sets the edge extraction location in advance (FIG. 9, step S1). For example, on the setting screen of the edge extraction location displayed on the display device 52, the edge extraction location (in the edge detection openings 24a and 24b) is set by dividing it with a window. The setting of the edge extraction portion is input from the setting input unit 44 to the image recognition control unit 43, stored in the setting storage database 45 in association with each sewing object, and is called each time the sewing data of the sewing object is called. The settings can be updated as well.
Further, the cloth holding frame 9 (9a, 9b) is set so as not to enter the inside of the window that divides the edge extraction portion. This is because the boundary portion of the cloth holding frame 9 (9a, 9b) is not erroneously determined as the outer peripheral edge of the sewing product 21. As a result, only the image data in the range divided by the window in the edge detection openings 24a and 24b is subjected to edge extraction processing.

  The captured image data is subjected to edge extraction processing by the image recognition control unit 43. Generally, edge extraction processing is performed by binarization processing on captured image data. The coordinates in the image obtained by the edge extraction process are converted into two-dimensional coordinates XY related to the control of the cloth feeding unit 3 by the image recognition control unit 43 by a conversion formula calculated from the relative position of the camera 41 and the cloth feeding unit 3. Convert. That is, conversion is performed so that the sewing position control of the cloth feed unit 3 based on the captured image can be performed correctly. The coordinates of the cloth feed unit 3 at the time of image pickup by the camera 41 are input to the image recognition control unit 43 and correctly converted by the above conversion formula. In addition, the installation coordinates of the camera 41 are also input in advance to the image recognition control unit 43, and the camera 41 is correctly converted by the above conversion formula regardless of the position where the camera 41 is installed. Although the camera 41 and the illumination device 42 fixed to the sewing machine arm 2a are shown in FIG. 1, the camera 41 and the illumination device 42 can be installed away from the sewing machine body 2 (for example, in the X direction). In that case, the cloth holding frame 9 is arranged within the imaging range of the camera 41 by the cloth feeding section 3 and images are taken. Then, the cloth holding frame 9 is moved toward the sewing machine body 2 by the cloth feeding section 3 to perform the sewing work. Just do it. Therefore, the camera 41 and the illumination device 42 and the shape recognition unit 4 including them can be configured as a separate unit from the sewing machine body 2 without being mounted integrally with the sewing machine body 2, as shown in FIG. 3. It is sufficient to connect each part as follows.

Furthermore, the installation location of the edge detection opening will be described. In the case where it is composed of a plurality of straight portions, such as the outer peripheral edge of the sewing portion 21 that is a pocket fabric, edge detection openings are provided at least at both ends of each straight portion. When the straight line portion is short, it is desirable that the entire straight line portion be an edge detection opening. One to several edge detection openings may be provided in the middle of the straight line portion.
In the case of applying the cloth holding frame 9a shown in FIG. 5, the outer peripheral edge position corresponding to the contact portion 22, and in the case of applying the cloth holding frame 9b shown in FIG. The outer peripheral edge position corresponding to the unit 23 is not acquired by the edge extraction process, but is recognized by the linear interpolation process from the thick solid line 25 which is the outer peripheral edge position detected by the edge extraction as shown in FIG. , Step S6). Such an interpolation processing method for a non-edge extraction portion is set in advance by an operator's operation. That is, it is input from the setting input unit 44 to the image recognition control unit 43 by the operator's operation and stored in the setting storage database 45 (FIG. 9, step S2). As for the setting, it is possible to select and set whether interpolation is performed by linear interpolation or spline interpolation in each of the plurality of contact portions 22, 22, 22, 22 or 23, 23, 23, 23 by the image recognition control unit 43. Has been. Here, all operators select linear interpolation.
The image recognition control unit 43 combines the two-dot chain line 26 (FIG. 7) and the thick solid line 25 (FIG. 7), which are the linear interpolation processing portions obtained in this way, to determine the outer peripheral edge position of the sewing product 21. Then, the process of recognizing the outer peripheral edge position of the workpiece 21 is completed (FIG. 9, step S7).
That is, the shape recognition unit 4 complements the end position corresponding to the contact part based on the end positions detected at the edge detection openings adjacent to the contact part by the image recognition control unit 43 constituting the shape recognition unit 4. It is possible to select and set whether the interpolation is performed by linear interpolation or spline interpolation.
The image recognition control unit 43 transmits the data of the outer peripheral edge position of the sewing object 21 recognized as described above to the sewing machine control unit 5.

The sewing machine control unit 5 determines a sewing position in the sewing region exposed to the sewing openings 20a and 20b with reference to the outer peripheral edge position of the workpiece 21 recognized by the shape recognition unit 4. For this purpose, the sewing machine control unit 5 creates sewing pattern data based on the data of the outer peripheral edge position of the workpiece 21 acquired from the image recognition control unit 43 (step S8 in FIG. 9).
That is, the sewing machine control unit 5 creates sewing pattern data for designating a sewing position based on the end position recognized by the shape recognition unit 4.
The sewing pattern data includes data on the outer peripheral edge position and a command (sewing pattern data format for sewing the inside of a fixed distance from the outer peripheral edge position along the four sides excluding the upper side serving as the pocket opening of the sewing object 21. May be created based on The command may be input one by one so that the operator specifies on the coordinate screen displayed on the display device 52.

However, the sewing pattern data is efficiently created by correcting the pre-registered standard sewing pattern data so as to conform to the outer peripheral edge position of the workpiece 21 recognized by the shape recognition unit 4. Can do. The standard sewing pattern data is registered in the sewing pattern database 51. The standard sewing pattern data is created in advance in conformity with the designed end position of the sewing product 21. In other words, the standard sewing pattern data is sewing pattern data that is adapted as it is when there is no error in the end position of the workpiece 21. Accordingly, the sewing machine control unit 5 is arranged so that the difference between the outer peripheral edge position based on the standard sewing pattern data and the outer peripheral edge position of the workpiece 21 recognized by the shape recognition unit 4 converges within a certain allowable range. The standard sewing pattern data is corrected to be sewing pattern data to be executed for the workpiece 21 set on the cloth holding frame 9.
For this purpose, for example, the sewing machine control unit 5 determines the sewing path specified by the standard sewing pattern data on the two-dimensional coordinates XY for defining the sewing position in connection with the control of the cloth feeding unit 3. The coordinate is converted in such a manner that the shape is enlarged / reduced, rotated, or translated, so that the standard sewing pattern data is corrected to match the outer peripheral edge position recognized by the shape recognition unit 4.

Next, the sewing machine control unit 5 transmits a control signal to the drive system of the sewing machine body 2 and the cloth feed unit 3 based on the created sewing pattern data to cause the sewing operation to be performed.
That is, while the sewing machine main body 2 performs the sewing operation under the control of the sewing machine control unit 5, the cloth feed unit 3 moves the workpiece 21 to the horizontal plane X− so that the sewing position specified by the sewing pattern data sequentially passes the needle drop position. It is operated in Y, and a position having a constant width is accurately sewn from the outer peripheral edge of the workpiece 21 (FIG. 9, step S9). As described above, since the sewing object 21 is held by the cloth holding frame 9 (9a, 9b), the sewing object is prevented from being lifted during sewing, and a beautiful seam is formed.
In other words, the sewing machine control unit 5 determines the sewing position based on the end position recognized by the shape recognition unit 4, and controls the sewing machine body 2 and the cloth feed unit 3 so that the sewing operation is performed at the sewing position. doing.

  In addition, as shown in FIG. 8, the edge extraction process and the interpolation process are performed only in the edge detection openings 24a and 24b in the same manner as described above, even with respect to a positional shift that occurs when the operator sets the sewing product 21. By doing so, it is possible to recognize the position of the outer peripheral edge of the workpiece 21. At this time, since it can be seen that the workpiece 21 is displaced from the designed end position of the workpiece 21 to an unacceptable range, it is possible to inform the operator of the positional deviation of the workpiece. Therefore, the sewing machine control unit 5 calculates a deviation amount of the end position recognized by the shape recognition unit 4 with respect to the designed end position of the sewing product 21. The sewing machine control unit 5 displays and outputs the positional deviation of the sewing product on the display device 52 when the deviation amount exceeds a predetermined threshold value. As shown in FIG. 8, the predetermined threshold value is set so that an unacceptable installation state in which the workpiece 21 exceeds the contact portion 22 or is largely separated can be separated.

In the present embodiment, a camera is used as the objective detection means, and the data of the outer peripheral edge position of the sewing object is acquired from the image data captured by the camera by the edge extraction process. Data on the outer peripheral edge position of the sewing object is acquired from the height information of the sewing object such as focus processing, or the data on the outer peripheral edge position is acquired from the height information of the sewing object using a laser displacement meter, etc. It is possible to apply other methods, such as a method to do. Even if the objective detection means is changed to various ones and the medium is changed to light of various wavelengths or polarization characteristics or other electromagnetic waves, the edge detection opening can be detected well through the edge detection opening. It is meaningful to apply this as much as possible.
In this embodiment, after placing the pocket fabric (sewn product) at a predetermined position on the jeans fabric (sewn product body), the fabric holding frame 9a is lowered to press the pocket fabric and the jeans fabric. ing. In this state, the present invention is applied to a device in which pocket fabric is sewn to jeans fabric.
In contrast, in the present invention, when a mark or label (sewing object) is sewed on a fabric (sewing body), a cutout portion slightly smaller than the outer shape of the mark or label is formed on the cloth holding frame. Furthermore, the present invention can also be applied to a cloth holding frame formed with a plurality of edge detection openings that expose part of the end of the sewing product. In this case, the work procedure is to press the fabric with the cloth holding frame, and then place and position the mark or label (sewn product) on the cutout part, then recognize the end position of the sewn product, and the pocket fabric into jeans. Sew on the fabric.

[Other Embodiments]
Next, as another embodiment, a case where the sewing product is a logo mark 31 shown in FIG. 10 will be described. The sewing device 1 and the processing contents thereof are substantially the same as the above-described contents, but the logo mark 31 has a curved outline, and therefore differs in that spline interpolation is selected and set. This will be described in detail below.

Even in the case of the sewing object 31 shown in FIG. 10, the sewing opening 30, the contact parts 32a and 32c, and the edge detection openings 33a, 33b and 33c as shown in FIG. By providing in 9c, the outer peripheral edge position of the to-be-sewn item 31 can be recognized.
As in the case of the sewing product (pocket fabric) 21 described above, the lighting device 42 illuminates the sewing product 31 positioned in the sewing opening 30 of the cloth holding frame 9c, and the camera 41 causes the outer peripheral edge of the sewing product 31 to illuminate. The edge is imaged (FIG. 9, step S4). At this time, a sufficient space is provided in front of the outer peripheral edge of the sewing object 31 in the edge detection openings 33a, 33b, and 33c provided in the cloth holding frame 9c. The shadow of the outer peripheral edge of the sewing object 31 exposed in the edge detection openings 33a, 33b, and 33c is clear.
Next, the image recognition control unit 43 of the shape recognition unit 4 performs an edge extraction process on the image data of the sewing object 31 imaged by the camera 41 (FIG. 9, step S5). At this time, the edge extraction processing is performed only on the outer peripheral edge of the sewing object 31 photographed in the edge detection openings 33a, 33b, and 33c. In this case, the calculation processing time required for the edge extraction process is greatly reduced as compared with the case of performing the edge extraction process on the entire outer peripheral edge of the sewing object 31. The outer peripheral edge of the sewing product 31 extracted by this edge extraction processing is a portion indicated by a thick solid line 34 shown in FIG.

Furthermore, the installation location of the edge detection opening will be described. When the straight portion and the curved portion are formed as the outer peripheral edge of the sewing portion 31, the straight portion is for edge detection at least at both ends of each straight portion as in the case of the sewing portion 21 described above. An opening is provided. When the straight line portion is short, it is desirable that the entire straight line portion be the edge detection opening 33b. One to several edge detection openings may be provided in the middle of the straight line portion.
The curved portions represented by the same radius are provided with edge detection openings 33c at least near both ends and the middle point of each curved portion. Although not shown, it is desirable to expose the entire curved portion through the edge detection opening as well as the straight portion even when the curved portion represented by the same radius is short. One or several edge detection openings 33c may be provided in the middle of the curved portion in addition to the vicinity of the intermediate point. In addition, although not shown, a curved portion having a plurality of radii or gradually changing radii has not only edge detection openings at both ends of the curved portion, but also several edge detection openings in the middle. . Even in the case where a plurality of radii or a curved portion where the radius gradually changes is short, it is desirable to expose the entire curved portion through the edge detection opening as described above.

The outer peripheral edge positions corresponding to the contact portions 32a and 32c formed by the inner wall surface of the sewing opening 30 provided in the cloth holding frame 9c are not acquired by the edge extraction process, but are detected by the edge extraction. It is acquired by interpolation processing from the thick solid line 34 (FIG. 12) which is the edge position (FIG. 9, step S6). Accordingly, the operator inputs the setting for setting the linear interpolation for the outer peripheral edge corresponding to the linear contact portion 32a and the setting for performing the spline interpolation for the outer peripheral edge corresponding to the curved contact portion 32c. The image is input from the unit 44 to the image recognition control unit 43 (FIG. 9, step S2).
The image recognition control unit 43 includes the two-dot chain line 35 (FIG. 12) that is the linear interpolation processing portion thus obtained, the two-dot chain line 36 (FIG. 12) that is the spline interpolation processing portion, and the thick solid line 34 (FIG. 12). Are determined as the outer peripheral edge position of the sewing product 31, and the recognition processing of the outer peripheral edge position of the sewing product 31 is completed (FIG. 9, step S7).
Thereafter, as in the case of the sewing product (pocket fabric) 21 described above, sewing pattern data is created for the sewing product (logo mark) 31 (FIG. 9, step S8) and sewing (FIG. 9, step S9). Do.

  As described above, according to the sewing apparatus of the above-described embodiment, the sewing product can be well held by the cloth holding frame and the end position of the sewing product can be accurately recognized. The sewing product can be sewn accurately and stably at the sewing position based on the end position.

DESCRIPTION OF SYMBOLS 1 Sewing machine 2 Sewing machine main body 3 Cloth feed part 4 Shape recognition part 5 Sewing machine control part 7 Lower plate 8 Outer frame 9 Cloth holding frame 9a Cloth holding frame 9b Cloth holding frame 10 Base 11 Arm 20 Sewing opening 20a Sewing opening 20b Sewing opening 21 Sewn product (pocket fabric)
22 Contact part 23 Contact part 24a, 24b Edge detection opening 30 Sewing opening 31 Sewing object (logo mark)
32a, 32c Contact portions 33a, 33b, 33c Edge detection opening 41 Camera 42 Illumination device

Claims (7)

A sewing machine body for sewing the workpiece,
A cloth feed part having a cloth holding frame formed with a sewing opening that exposes a sewing region of the sewing object so as to allow needle dropping; and a cloth feed part that moves the sewing object in a horizontal plane via the cloth holding frame; ,
A shape recognition unit for recognizing an end position of the sewing object positioned on the cloth holding frame using an objective detection unit;
Sewing provided with the sewing machine main body and a sewing machine control unit for controlling the cloth feed unit so that a sewing position is determined based on the end position recognized by the shape recognition unit and sewing work is performed at the sewing position. In the device
The cloth holding frame is
A plurality of abutting portions that abut against the end surface of the sewing product;
The cloth holding frame is cut out and formed continuously with the sewing opening, and has a plurality of edge detection openings that expose a part of the end of the sewing object. A sewing apparatus that detects an end position of the sewing product exposed at the edge detection opening by an object detection means and recognizes the end position of the sewing product based on the detected end position. The shape recognition unit recognizes an end position corresponding to the contact portion by complementing the end position based on the end positions detected at the edge detection openings adjacent to the contact portion. Item 2. The sewing device according to Item 1. The sewing according to claim 2, wherein the shape recognition unit is configured to be able to select and set whether the complement is performed by linear interpolation or spline interpolation in each of the plurality of contact portions. apparatus. The said sewing machine control part produces the sewing pattern data which designates the said sewing position based on the end position recognized by the said shape recognition part, The Claim 1 characterized by the above-mentioned. Sewing device. The sewing machine control unit corrects the standard sewing pattern data created in advance so as to match the designed end position of the sewing product so as to match the end position recognized by the shape recognition unit. The sewing apparatus according to claim 4, wherein pattern data is created. The sewing machine control unit enlarges / reduces or rotates the sewing path shape specified by the sewing position specified by the standard sewing pattern data on the two-dimensional coordinates for defining the sewing position in connection with the control of the cloth feeding unit. The sewing apparatus according to claim 5, wherein the standard sewing pattern data is corrected so as to match the end position recognized by the shape recognition unit by performing coordinate conversion in a manner of moving or translating. The shift amount of the end position recognized by the shape recognition unit with respect to the design end position of the sewing product is calculated, and when the shift amount exceeds a predetermined threshold value, the positional shift of the sewing product is displayed and output. The sewing device according to any one of claims 1 to 6, wherein the sewing device is characterized in that:

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