JP2019216985A - Sewing machine and sewing method - Google Patents

Abstract

To form stitches with high accuracy at a target position of a sewing object.SOLUTION: A sewing machine includes: a holding member movable by holding a sewing object in a predetermined plane including a sewing position right under a sewing needle; actuators for moving the holding member; a sewing data acquisition part for acquiring sewing data which are referred to in sewing processing; an offset data acquisition part for acquiring offset data showing deviation between a target pattern of stitches formed on the sewing object and the stitches formed in the sewing processing; and a control part for outputting a control signal for controlling the actuators in the sewing processing on the basis of the sewing data and the offset data.SELECTED DRAWING: Figure 1

Description

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

  Stitches may be formed on the sewing object in order to enhance the design of the sewing object. Patent Literature 1 and Patent Literature 2 disclose techniques for forming stitches on a skin material used for a vehicle seat.

JP 2013-162957 A JP-A-2006-141297

  A skin material used for a vehicle seat has a thickness and elasticity. When a stitch is formed on a thick and elastic sewing object, the sewing object may shrink and the surface of the sewing object may be displaced. For example, when the second stitch is formed after the first stitch is formed based on the sewing data in which the target position where the stitch is formed is determined in advance, the sewing target of the sewing object generated by the formation of the first stitch is formed. There is a technique of correcting a target position according to a displacement of a surface and forming a second stitch at an appropriate target position of a sewing target.

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

  An aspect of the present invention is to form a stitch at a target position of a sewing target with high accuracy.

  According to the first aspect of the present invention, a holding member capable of holding and moving a sewing object in a predetermined plane including a sewing position immediately below a sewing needle, an actuator for moving the holding member, and a sewing process A sewing data acquisition unit that acquires sewing data to be referred to; an offset data acquisition unit that acquires offset data indicating a deviation between a target pattern of a stitch formed on the sewing object and a stitch formed in the sewing process. And a control unit that outputs a control signal for controlling the actuator in the sewing process based on the sewing data and the offset data.

  According to the second aspect of the present invention, it is possible to acquire sewing data referred to in a sewing process and to determine a deviation between a target pattern of a stitch formed on a sewing object and a stitch formed in the sewing process. Acquiring offset data to be indicated, and, based on the sewing data and the offset data, in the sewing process, the sewing machine needle and the sewing object are relatively moved within a predetermined plane to perform stitching on the sewing object. Forming is provided.

  According to the aspect of the present invention, a stitch can be formed at a target position of a sewing target with high accuracy.

FIG. 1 is a perspective view illustrating an example of the sewing machine according to the present embodiment. FIG. 2 is a perspective view showing a part of the sewing machine according to the embodiment. FIG. 3 is a cross-sectional view illustrating an example of the sewing target object according to the present embodiment. FIG. 4 is a plan view illustrating an example of the sewing target object according to the present embodiment. FIG. 5 is a cross-sectional view illustrating an example of the sewing target object according to the present embodiment. FIG. 6 is a functional block diagram illustrating an example of the control device according to the present embodiment. FIG. 7 is a diagram illustrating an example of the sewing target object according to the present embodiment. FIG. 8 is a diagram illustrating an example of the offset data according to the present embodiment. FIG. 9 is a diagram illustrating another example of the offset data according to the present embodiment. FIG. 10 is a diagram for explaining a method of calculating the amount of displacement according to the present embodiment. FIG. 11 is a diagram for explaining a method of calculating the amount of displacement according to the present embodiment. FIG. 12 is a diagram for explaining a method of calculating the amount of displacement according to the present embodiment. FIG. 13 is a flowchart illustrating an example of the sewing method according to the present embodiment. FIG. 14 is a flowchart illustrating another example of the sewing method according to the present embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be appropriately combined. In some cases, some components are not used.

  In the present embodiment, a local coordinate system is defined for the sewing machine 1. In the following description, the local coordinate system defined for the sewing machine 1 is appropriately referred to as a sewing machine coordinate system. The sewing machine coordinate system is defined by an XYZ orthogonal coordinate system. In the present embodiment, the positional relationship of each unit will be described based on the sewing machine coordinate system. A direction parallel to the X axis in a predetermined plane is defined as an X axis direction. A direction parallel to the Y axis in a predetermined plane orthogonal to the X axis is defined as a Y axis direction. A direction parallel to the Z axis orthogonal to the predetermined plane is defined as a Z axis direction. The rotation direction or the inclination direction about the X axis is defined as the θX direction. The rotation direction or the inclination direction about the Y axis is defined as the θY direction. The rotation direction or the inclination direction about the Z axis is defined as the θZ direction. In the present embodiment, a plane including the X axis and the Y axis is appropriately referred to as an XY plane. A plane including the X axis and the Z axis is appropriately referred to as an XZ plane. A plane including the Y axis and the Z axis is appropriately referred to as a YZ plane. The XY plane is parallel to the predetermined plane. The XY plane, the XZ plane, and the YZ plane are orthogonal to each other. In the present embodiment, the XY plane and the horizontal plane are parallel. The Z-axis direction is a vertical direction. The + Z direction is upward and the -Z direction is downward. Note that the XY plane may be inclined with respect to the horizontal plane.

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

  The sewing machine main body 10 is mounted on the upper surface of the table 2. The sewing machine main body 10 includes a sewing machine frame 11, a needle bar 12 supported by the sewing machine frame 11, a needle plate 13 supported by the sewing machine frame 11, and a holding member 15 supported by the sewing machine frame 11 via a support member 14. An actuator 16 for generating power for moving the needle bar 12, an actuator 17 for generating power for moving the holding member 15, and an actuator 18 for generating power for moving at least a part of the holding member 15.

  The sewing machine frame 11 includes a horizontal arm 11A extending in the Y-axis direction, a bed 11B arranged below the horizontal arm 11A, a vertical arm 11C connecting the + Y side end of the horizontal arm 11A and the bed 11B. And a head 11D disposed on the −Y side of the horizontal arm 11A.

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

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

  The holding member 15 holds the sewing object S. The holding member 15 is capable of holding and moving the sewing object S in the XY plane including the sewing position Ps immediately below the sewing needle 3. The holding member 15 is capable of holding and moving the sewing object S in the XY plane including the shooting position Pf of the imaging device 30. The stitch GP is formed on the sewing object S by moving the holding member 15 in the XY plane including the sewing position Ps based on sewing data described later while holding the sewing object S. The holding member 15 is supported by the horizontal arm 11A via the support member 14.

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

  When the holding member 15A moves in the + Z direction, the holding member 15A and the lower plate 15B separate from each other. Thereby, the operator can arrange the sewing target object S between the holding member 15A and the lower plate 15B. When the holding member 15A moves in the −Z direction in a state where the sewing object S is disposed between the holding member 15A and the lower plate 15B, the sewing object S is sandwiched between the holding member 15A and the lower plate 15B. Thereby, the sewing object S is held by the holding member 15. The holding of the sewing object S by the holding member 15 is released by the movement of the holding member 15A in the + Z direction. Thereby, the worker can take out the sewing target object S from between the holding member 15A and the lower plate 15B.

  The actuator 16 generates power for moving the needle bar 12 in the Z-axis direction. The actuator 16 includes a pulse motor. The actuator 16 is arranged on the horizontal arm 11A.

  A horizontal arm shaft extending in the Y-axis direction is arranged inside the horizontal arm 11A. The actuator 16 is connected to the end on the + Y side of the horizontal arm shaft. The −Y side end of the horizontal arm shaft is connected to the needle bar 12 via a power transmission mechanism arranged inside the head 11D. The operation of the actuator 16 causes the horizontal arm shaft to rotate. The power generated by the actuator 16 is transmitted to the needle bar 12 via a horizontal arm shaft and a power transmission mechanism. Thereby, the sewing machine needle 3 held by the needle bar 12 reciprocates in the Z-axis direction.

  A timing belt extending in the Z-axis direction is disposed inside the vertical arm 11C. In addition, a bed shaft extending in the Y-axis direction is arranged inside the bed 11B. Pulleys are arranged on each of the horizontal arm shaft and the bed shaft. The timing belt is wound around each of a pulley arranged on the horizontal arm shaft and a pulley arranged on the bed shaft. The horizontal arm shaft and the bed shaft are connected via a power transmission mechanism including a timing belt.

  A shuttle is arranged inside the bed 11B. The bobbin accommodates a bobbin housed in a bobbin case. By the operation of the actuator 16, each of the horizontal arm shaft and the bed shaft rotates. The power generated by the actuator 16 is transmitted to the shuttle via the horizontal arm shaft, the timing belt, and the bed shaft. Thus, the shuttle rotates in synchronization with the reciprocating movement of the needle bar 12 in the Z-axis direction.

  The actuator 17 generates power for moving the holding member 15 in the XY plane. Actuator 17 includes a pulse motor. The actuator 17 includes an X-axis motor 17X that generates power for moving the holding member 15 in the X-axis direction, and a Y-axis motor 17Y that generates power for moving the holding member 15 in the Y-axis direction. The actuator 17 is arranged inside the bed 11B.

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

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

  As shown in FIG. 2, the sewing machine main body 10 has a middle pressing member 19 disposed around the sewing needle 3. The intermediate presser member 19 presses the sewing object S around the sewing needle 3. The intermediate pressing member 19 is supported by the head 11D so as to be movable in the Z-axis direction. Inside the head 11D, a middle presser motor that generates power for moving the middle presser member 19 in the Z-axis direction is arranged. By the operation of the intermediate presser motor, the intermediate presser member 19 moves in the Z-axis direction in synchronization with the needle bar 12. The lifting of the sewing object S due to the movement of the sewing needle 3 is suppressed by the middle presser member 19.

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

  The operation panel 21 generates input data by being operated by a worker and a display device including a flat panel display such as a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL display (OELD: Organic Electroluminescence Display). An input device. In the present embodiment, the input device includes a touch sensor arranged on the display screen of the display device. That is, in the present embodiment, the operation panel 21 includes a touch panel having the function of an input device. The operation panel 21 is mounted on the upper surface of the table 2. The operation pedal 22 is arranged below the table 2. The operator operates the operation pedal 22 with the foot. When at least one of the operation panel 21 and the operation pedal 22 is operated by the operator, the sewing machine 1 operates.

  The imaging device 30 captures an image of the sewing target S held by the holding member 15. The imaging device 30 includes an optical system and an image sensor that receives light incident through the optical system. The image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

  The imaging device 30 is arranged above the needle plate 13 and the holding member 15. The photographing position Pf includes the position of the optical axis AX of the optical system of the imaging device 30. An imaging area FA is defined in the imaging device 30. The photographing area FA includes a visual field area of the optical system of the imaging device 30. The photographing area FA includes a photographing position Pf. The imaging device 30 acquires image data of at least a part of the sewing target object S arranged in the shooting area FA. The imaging device 30 captures an image of at least a part of the sewing target S arranged inside the holding member 15A from above.

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

  When a difference occurs between the actual position of the imaging device 30 and the position in the design data due to the mounting error of the imaging device 30, after the mounting of the imaging device 30, the position of the sewing machine needle 3 in the XY plane is changed. The measured position of the sewing needle 3 is moved toward the imaging device 30 by the amount of known data, and the difference between the actual position of the imaging device 30 in the XY plane and the moved position of the sewing needle 3 is measured. By doing so, it is possible to calculate an accurate relative position between the optical axis AX of the optical system of the imaging device 30 and the sewing machine needle 3 based on the measurement result of the difference.

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

  As shown in FIG. 3, the sewing object S has a surface material 4, a pad material 5, and a backing material 6. A hole 7 is formed in the surface material 4.

  The surface of the front material 4 is a seating surface that comes into contact with the occupant when the occupant sits on the vehicle seat. The surface material 4 includes at least one of a woven fabric, a nonwoven fabric, and leather. The pad material 5 has elasticity. The pad material 5 contains, for example, urethane resin. The backing 6 includes at least one of a woven fabric, a nonwoven fabric, and leather.

  As shown in FIG. 4, a plurality of holes 7 are arranged in the surface material 4. The holes 7 are arranged in a prescribed pattern DP. In the present embodiment, the specified pattern DP includes a plurality of reference patterns DPh. One reference pattern DPh is formed by a plurality of holes 7. In the present embodiment, the reference pattern DPh is formed by the plurality of holes 7. In the present embodiment, one reference pattern DPh is composed of 17 holes 7.

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

  The displacement generated on the surface of the sewing object S when the stitch GP is formed on the sewing object S having a thickness and elasticity will be described with reference to FIG. FIG. 5 is a cross-sectional view illustrating an example of the sewing target object S according to the present embodiment. FIG. 5 shows the sewing target S after the sewing process has been performed. The sewing object S has a thickness and elasticity. By forming the stitch GP on the thick and elastic sewing object S, there is a high possibility that the sewing object S shrinks as shown in FIG. When the sewing target S contracts, the surface of the sewing target S may be displaced. When the surface of the sewing object S is displaced, there is a high possibility that the target position of the stitch GP defined on the surface of the sewing object S is displaced in the XY plane. When the target position of the stitch GP is displaced in the XY plane, if the holding member 15 is moved according to the target pattern RP, it becomes difficult to form the stitch GP at the target position. Therefore, even if the sewing object S shrinks due to the formation of the stitch GP and the surface of the sewing object S is displaced, the holding member 15 moves according to the displacement amount so that the next stitch GP is formed at the target position. Is done.

  The control device 40 will be described with reference to FIG. FIG. 6 is a functional block diagram illustrating an example of the control device 40 according to the present embodiment. The control device 40 outputs a control signal for controlling the sewing machine 1. Control device 40 includes a computer system. The control device 40 includes an input / output interface device 50, a storage device 60 including a nonvolatile memory such as a ROM (Read Only Memory) or a storage and a volatile memory such as a RAM (Random Access Memory), and a CPU (Central Processing). And an arithmetic processing unit 70 including a processor such as a unit.

  As shown in FIG. 6, the control device 40 includes an actuator 16 for moving the sewing machine needle 3 in the Z-axis direction, an actuator 17 for moving the holding member 15 in the XY plane, and a pressing member 15A for the holding member 15 in the Z direction. The actuator 18 that moves in the axial direction, the operation device 20, and the imaging device 30 are connected via the input / output interface device 50.

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

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

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

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

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

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

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

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

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

  The sewing data storage unit 61 stores sewing data referred to in the sewing processing.

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

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

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

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

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

  The sewing data includes a plurality of pieces of sewing data for forming each of the plurality of stitches GP. In the present embodiment, the sewing data includes first sewing data for forming the first stitch GP1, second sewing data for forming the second stitch GP2, and similarly the third stitch GP3 to the tenth stitch GP10. Is included from the third sewing data to the tenth sewing data.

  The target pattern RP includes a first target pattern RP1, a second target pattern RP2, and similarly, a third target pattern RP3 to a tenth target pattern RP10. In the present embodiment, a plurality of target patterns RP (RP1, RP2, RP3, RP4, RP5, RP6, RP7, RP8, RP9, RP10) are defined in the Y-axis direction. In the sewing machine coordinate system, each of the plurality of target patterns RP is separated. One target pattern RP is defined in a line shape. In the present embodiment, one target pattern RP extends in the X-axis direction and is defined in a zigzag shape in the Y-axis direction. The stitch formation target position is defined in the stitch formation area MA in the X-axis direction and in a zigzag manner in the Y-axis direction, corresponding to the target pattern RP.

  The first sewing data includes the first target pattern RP1 of the first stitch GP1 formed on the sewing target S in the first sewing process. Further, the first sewing data includes a moving condition of the holding member 15 in the XY plane in the first sewing process.

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

  Similarly, each of the third sewing data to the tenth sewing data is the third target of the third stitch GP3 to the tenth stitch GP10 formed on the sewing object S in each of the third sewing processing to the tenth sewing processing. Each of the pattern RP3 to the tenth target pattern RP10 is included. Further, each of the third sewing data to the tenth sewing data includes the moving condition of the holding member 15 in the XY plane in each of the third sewing processing to the tenth sewing processing.

  The first sewing data is referred to in the first sewing processing. The second sewing data is referred to in the second sewing processing. Similarly, each of the third sewing data to the tenth sewing data is referred to in each of the third sewing processing to the tenth sewing processing.

  The first sewing process includes a process of forming the first stitch GP1 on the sewing target S based on the first target pattern RP1. The first sewing process is a process of first forming a stitch GP on the sewing object S after the sewing object S is held by the holding member 15.

  The second sewing process includes a process of forming the second stitch GP2 on the sewing target S based on the second target pattern RP2. The second sewing process is performed after the first sewing process.

  Similarly, in each of the third sewing process to the tenth sewing process, each of the third stitch GP3 to the tenth stitch GP10 is formed on the sewing target S based on each of the third target pattern RP3 to the tenth target pattern RP10. Including processing. The third to tenth sewing processes are sequentially performed.

  The offset data storage unit 62 stores offset data.

  The offset data will be described with reference to FIG. 7, FIG. 8, and FIG. FIG. 7 is a diagram illustrating an example of the sewing target object S according to the present embodiment. FIG. 8 is a diagram illustrating an example of the offset data according to the present embodiment. FIG. 9 is a diagram illustrating another example of the offset data according to the present embodiment.

  As shown in FIG. 7, even if the recognition of the characteristic pattern UP arranged on the sewing object S is appropriately performed by the image processing and the correction data is appropriately calculated, the stitch GP formed in the sewing processing is formed. May deviate from the target pattern RP. In the present embodiment, the characteristic pattern UP of the sewing target S is a part of the specified pattern DP. The cause of the deviation generated in the sewing process includes, for example, characteristics of the material of the sewing object S, characteristics of members of the sewing machine 1 such as the holding member 15, and the like. In order to correct a reproducible shift between the stitch GP and the target pattern RP that occurs in such a sewing process, an offset value obtained in advance for each feature pattern (template) is stored as offset data. Such offset data can be acquired, for example, when test sewing is performed on the sewing target object S or when the sewing position Ps is confirmed.

  As shown in FIG. 8, the offset data may store an offset value for each feature pattern UP. The offset value can be referred to by the identification number for identifying the characteristic pattern UP. Thereby, based on the image data of the sewing target object S photographed by the imaging device 30, the displacement amount obtained by adding the offset value can be calculated for each feature pattern UP.

  As shown in FIG. 9, the offset data may store an offset value for each correction point. The correction point is a reference point when correcting the displacement of the surface of the sewing object S. The position data of the correction point can be obtained from the design data of the sewing object S. As for the correction point, it is possible to refer to the offset value according to the sewing order, using the order of the sewing order as the identification number. Thereby, when calculating the correction data, it is possible to calculate the correction data to which the offset value is added for each correction point.

  The program storage unit 63 stores a computer program for controlling the sewing machine 1. The sewing data stored in the sewing data storage unit 61 is input to a computer program stored in the program storage unit 63. The computer program is read into the arithmetic processing unit 70. The arithmetic processing unit 70 controls the sewing machine 1 according to a computer program stored in the program storage unit 63.

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

  The sewing data acquisition unit 71 acquires sewing data from the sewing data storage unit 61. In the present embodiment, the sewing data acquisition unit 71 converts the first sewing data referred to in the first sewing process and the second sewing data referred to in the second sewing process performed after the first sewing process into the sewing data. Obtained from the storage unit 61. Similarly, the sewing data acquisition unit 71 acquires from the sewing data storage unit 61 each of the third sewing data to the tenth sewing data referred to in each of the third sewing processing to the tenth sewing processing.

  The initial position data obtaining unit 72 obtains initial position data indicating the initial position of the characteristic pattern UP arranged on the sewing target S. The initial position data of the characteristic pattern UP indicates an initial position of the characteristic pattern UP in the sewing machine coordinate system.

  The initial position data of the characteristic pattern UP is known data such as CAD (Computer Aided Design) data which can be derived from design data of the sewing target S. The initial position data of the characteristic pattern UP is stored in the sewing data storage unit 61. The initial position data acquisition unit 72 acquires the initial position data of the characteristic pattern UP from the sewing data storage unit 61.

  The initial position of the characteristic pattern UP includes the position of the characteristic pattern UP before the sewing process is performed. The initial position data acquisition unit 72 determines the initial position of the characteristic pattern UP based on the image data of the characteristic pattern UP of the sewing object S before the sewing process is started, without being based on the design data of the sewing object S. Can be obtained.

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

  As described above, in the present embodiment, the characteristic pattern UP of the sewing target S is a part of the prescribed pattern DP. In the present embodiment, the feature pattern UP is a part of the reference pattern DPh. In the present embodiment, the feature pattern UP is a pattern including sharp corners of the reference pattern DPh. The feature pattern UP is a pattern that can be specified by a pattern matching method, which is a type of image processing method. The current position data acquisition unit 73 performs image processing on the image data captured by the imaging device 30 by the pattern matching method, and calculates the current position data of the characteristic pattern UP in the sewing machine coordinate system.

  A method of acquiring current position data indicating the current position of the characteristic pattern UP arranged on the sewing target S will be described. First, the control device 40 controls the actuator 17 to move the characteristic pattern UP of the sewing object S held by the holding member 15 to the shooting area FA of the imaging device 30. In the present embodiment, the center position C of the feature pattern UP is moved to a shooting position Pf which is the center position of the shooting area FA of the imaging device 30. The imaging device 30 captures the characteristic pattern UP arranged in the capturing area FA. The current position data acquisition unit 73 acquires image data of the characteristic pattern UP. The current position data acquisition unit 73 performs image processing on the image data of the characteristic pattern UP by a pattern matching method, and specifies the specific pattern UP. The drive amount sensor 32 detects the position of the holding member 15 in the sewing machine coordinate system when the characteristic pattern UP is arranged in the photographing area FA of the imaging device 30. As described above, the drive amount sensor 32 functions as a position sensor that detects the position of the holding member 15 in the XY plane. The current position data acquisition unit 73 acquires the detection data of the drive amount sensor 32. In this manner, the current position data acquisition unit 73 determines whether the characteristic pattern UP located in the imaging area FA is based on the detection data of the drive amount sensor 32 when the characteristic pattern UP is located in the imaging area FA. Current position data indicating the current position in the XY plane can be obtained.

  Even after the sewing process is performed, the current position data indicating the current position of the characteristic pattern UP can be obtained in the same manner. First, the imaging device 30 captures the characteristic pattern UP of the sewing target S after at least the sewing process is performed. The current position data acquisition unit 73 can acquire the current position data of the characteristic pattern UP based on the image data of the sewing target object S captured by the imaging device 30 after the sewing process is performed.

  The offset data acquisition section 74 acquires the offset data stored in the offset data storage section 62.

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

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

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

  As described above, when the sewing process is performed, the sewing target S may shrink and the surface of the sewing target S may be displaced. When the surface of the sewing object S is displaced, the position of the feature pattern UP in the XY plane is also displaced. The displacement calculating unit 75 calculates the displacement of the feature pattern UP based on the initial position data of the feature pattern UP before the sewing process is performed and the current position data of the feature pattern UP after the sewing process is performed. Is calculated.

  A method of calculating the displacement amount after the first sewing process has been performed will be described with reference to FIGS. 10, 11, and 12. FIG. 10 is a diagram for explaining a method of calculating the amount of displacement of the feature pattern UP according to the present embodiment. Hereinafter, a method of calculating the amount of displacement in each of two feature patterns UPa (UPa0, UPa1) and feature pattern UPb (UPb0, UPb1) arranged in the X-axis direction will be described.

  In FIG. 10, the characteristic patterns UPa0 and UPb0 before the first sewing process is performed are indicated by broken lines, and the characteristic patterns UPa1 and UPb1 after the first sewing process are executed are indicated by solid lines. Each image data of the characteristic pattern UPa0, the characteristic pattern UPb0, the characteristic pattern UPa1, and the characteristic pattern UPb1 is captured by the imaging device 30.

  The center position Ca0 is the center position of the feature pattern UPa0, and the center position Cb0 is the center position of the feature pattern UPb0.

  Before the first sewing process is performed, the characteristic pattern UPa0 and the characteristic pattern UPb0 are not displaced. That is, before the first sewing process is performed, the initial position of the feature pattern UPa0 stored in the sewing data storage unit 61 matches the current position of the feature pattern UPa0. The initial position of the characteristic pattern UPb0 stored in the sewing data storage unit 61 matches the current position of the characteristic pattern UPb0.

  As shown in FIG. 10, the first sewing process is performed based on the first sewing data and the first stitch GP1 is formed, so that at least a part of the sewing target S is contracted. As a result, the feature pattern UPa0 is displaced to the feature pattern UPa1 in the XY plane. The center position Ca0 is displaced to the center position Ca1 in the XY plane. The feature pattern UPb0 is displaced to the feature pattern UPb1 in the XY plane. The center position Cb0 is displaced to the center position Cb1 in the XY plane.

  FIG. 11 and FIG. 12 are diagrams schematically illustrating an example of a method of calculating the amount of displacement of the feature pattern UP according to the present embodiment. The displacement of the feature pattern UP includes a shift, a scale, and a rotation.

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

  As shown in FIG. 11, when calculating the displacement amount of the feature pattern UPa, a fixed point P0 is set on the sewing object S. The fixed point P0 is set to a point whose position in the sewing machine coordinate system is known. The fixed point P0 is set to, for example, a point at which no displacement occurs even when the first sewing process is performed or a point at which displacement is sufficiently suppressed. In the present embodiment, the fixed point P0 is set as a part of the first stitch GP1.

  By performing the first sewing process, the center position Ca0 of the feature pattern UPa0 is displaced to the center position Ca1. The displacement amount calculation unit 75 calculates a shift at the center position Ca based on a vector from the center position Ca0 to the center position Ca1. In addition, the displacement amount calculation unit 75 calculates a first vector from the fixed point P0 to the center position Ca0 and a second vector from the fixed point P0 to the center position Ca1. The displacement amount calculation unit 75 calculates the scale at the center position Ca based on the ratio between the length of the first vector and the length of the second vector. Further, the displacement amount calculation unit 75 calculates the rotation at the center position Ca based on the angle between the first vector and the second vector with respect to the fixed point P0.

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

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

  By performing the first sewing process, the center position Cb0 of the feature pattern UPb0 is displaced to the center position Cb1. The displacement amount calculation unit 75 calculates a shift at the center position Cb based on a vector from the center position Cb0 to the center position Cb1. Further, the displacement amount calculation unit 75 calculates a third vector from the fixed point P0 to the center position Cb0 and a fourth vector from the fixed point P0 to the center position Cb1. The displacement amount calculation unit 75 calculates the scale at the center position Cb based on the ratio between the length of the third vector and the length of the fourth vector. Further, the displacement amount calculation unit 75 calculates the rotation at the center position Cb based on the angle between the third vector and the fourth vector with respect to the fixed point P0.

  The method of calculating the shift, scale, and rotation at the center position Cb of the feature pattern UPb has been described above. The displacement amount calculation unit 75 performs the same processing for each of the plurality of positions Qn of the feature pattern UPb. FIG. 12 schematically illustrates a state in which a shift, a scale, and a rotation at a position Qi among a plurality of positions Qn are calculated. Thereby, a shift, a scale, and a rotation are calculated for each of the plurality of positions of the feature pattern UPb. As described above, the displacement amount calculation unit 75 can calculate the displacement amount and the displacement direction of the characteristic pattern UPb in the sewing machine coordinate system after the first sewing process is performed.

  Here, the method of calculating the amount of displacement in each of the two feature patterns UPa and UPb arranged in the X-axis direction has been described. When three or more feature patterns UP are arranged in the X-axis direction, as described with reference to FIG. 11, the fixed point P0 is set, and the displacement of the first feature pattern UP is based on the fixed point P0. The amount is calculated. When calculating the displacement amount of the second feature pattern UP adjacent to the first feature pattern UP, the position of the first feature pattern UP in the sewing machine coordinate system is known as described with reference to FIG. The arbitrary position is set as the fixed point P0, and the displacement amount of the second feature pattern UP is calculated based on the fixed point P0. When calculating the displacement amount of the third feature pattern UP adjacent to the second feature pattern UP, an arbitrary position in the second feature pattern UP whose position in the sewing machine coordinate system is known is set as the fixed point P0. The displacement of the third feature pattern UP is calculated based on the fixed point P0. Hereinafter, in the same procedure, the displacement amount is calculated for each of the plurality of feature patterns UP arranged in the X-axis direction.

  The correction data generator 76 corrects the sewing data based on the displacement of the characteristic pattern UP calculated by the displacement calculator 75 to generate correction data. The target pattern RP of the sewing data is generated on the assumption that the sewing target S is not contracted, and is stored in the sewing data storage unit 61. When the sewing object S shrinks due to the execution of the sewing process and the surface of the sewing object S is displaced, the stitch formation target position defined on the surface of the sewing object S is displaced in the XY plane. When the stitch formation target position is displaced in the XY plane, if the holding member 15 is moved based on the sewing data, it becomes difficult to form the stitch GP at the stitch formation target position. When the characteristic pattern UP is displaced, the correction data generating unit 76 corrects the sewing data based on the displacement amount of the characteristic pattern UP so that the stitch GP is formed at the stitch formation target position.

  The correction data generation unit 76 determines the relative position in the sewing machine coordinate system between the target pattern RP of the stitch GP and the characteristic pattern UP before the sewing object S contracts, and the stitch GP actually formed on the sewing object S by the sewing process. The correction data is generated such that the relative position in the sewing machine coordinate system between the sewing object S and the characteristic pattern UP after the contraction of the sewing object S is matched. By performing the sewing process based on the correction data, the stitch GP is formed at the stitch formation target position even if the surface of the sewing object S is displaced.

  Further, the correction data generation unit 76 may add the offset value for each correction point to the calculated correction data.

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

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

  The flowchart shown in FIG. 13 is executed after the first sewing process is performed. The sewing object S is installed on the holding member 15. In the first sewing process, initial position data of a plurality of characteristic patterns UP has been obtained. A case will be described where the amount of displacement corrected by the offset value is calculated for each feature pattern UP.

  The control device 40 determines whether the first sewing process has been completed (step S10). When the first sewing process is completed (Yes in Step S10), the control device 40 proceeds to Step S20. If the first sewing process has not been completed (No in Step S10), the control device 40 executes the process of Step S10 again.

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

  The sewing data acquisition unit 71 acquires the second sewing data referred to in the second sewing processing from the sewing data storage unit 61 (Step S30).

  The initial position data acquisition unit 72 stores the initial position data of the characteristic pattern UP of the sewing target S related to the second sewing process among the initial position data of the plurality of characteristic patterns UP acquired in the first sewing process. It is obtained from the unit 61 (step S40).

  The characteristic pattern UP related to the second sewing process is a feature pattern UP closest to the stitch formation target position where the second stitch GP2 is formed by the second sewing process in the sewing machine coordinate system. In other words, the characteristic pattern UP related to the second sewing process is a characteristic pattern UP closest to the second target pattern RP2 in the sewing machine coordinate system.

  After acquiring the second sewing data including the second target pattern RP2 and the initial position data of the characteristic pattern UP related to the second sewing process, the control device 40 sets the photographing area FA of the imaging device 30 according to the second sewing process. The actuator 17 is controlled so that a plurality of feature patterns UP are sequentially arranged. That is, the control device 40 moves the holding member 15 stepwise in the X-axis direction, and sequentially obtains image data of a plurality of characteristic patterns UP of the sewing target object S held by the holding member 15 (step S50).

  More specifically, after the first sewing process is completed, the control unit 77 moves from the end position of the first sewing process so that the characteristic pattern UP relating to the second sewing process is arranged in the photographing area FA of the imaging device 30. The holding member 15 is moved.

  The current position data acquisition unit 73 stores the image data of each of the plurality of characteristic patterns UP (UP3, UP4, UP5, UP6, UP7, UP8, UP9) of the sewing object S photographed by the imaging device 30 after the first sewing process. , The current position data of each of the plurality of characteristic patterns UP is obtained (step S60).

  That is, the current position data acquiring unit 73 converts the current position data of the characteristic pattern UP based on the image data of the characteristic pattern UP captured during the period between the end of the first sewing process and the start of the second sewing process. get.

  The offset data obtaining unit 74 obtains, from the offset data storage unit 62, offset data in which an offset value is stored for each feature pattern UP related to the second sewing process (Step S70).

  The displacement calculating unit 75 calculates the characteristic pattern UP based on the initial position data of the characteristic pattern UP acquired in step S40, the current position data of the characteristic pattern UP acquired in step S60, and the offset data acquired in step S70. Is calculated (step S80). The displacement amount calculation unit 75 calculates a displacement amount obtained by adding an offset value for each feature pattern UP. Further, as described above, the displacement amount of the feature pattern UP includes a shift, a scale, and a rotation.

  The correction data generation unit 76 corrects the second sewing data acquired in step S30 based on the displacement amount calculated in step S80, and generates second correction data HP2 (step S90).

  The sewing target S after the first stitch GP1 is formed is more likely to be shrunk than the sewing target S before the first stitch GP1 is formed. As a result, there is a high possibility that the stitch formation target position of the sewing target object S defined in the sewing machine coordinate system is displaced. On the other hand, the position of the second target pattern RP2 stored in the sewing data storage unit 61 in the sewing machine coordinate system is predetermined. Therefore, when the second sewing process is performed according to the second target pattern RP2 obtained by the sewing data obtaining unit 71, the second stitch GP2 is formed on the surface of the sewing target S at a position different from the stitch formation target position. May be

  In the present embodiment, before the second sewing process is performed, at least the current position of the feature pattern UP related to the second sewing process among the plurality of feature patterns UP of the sewing target object S held by the holding member 15. Is detected using the imaging device 30. The displacement calculating unit 75 calculates the displacement of the feature pattern UP from the initial position to the current position based on the initial position and the current position of the characteristic pattern UP according to the second sewing process. The correction data generation unit 76 corrects the second target pattern RP2 based on the displacement amount so that the second stitch GP2 is formed at the stitch formation target position in the sewing machine coordinate system, and displays the second correction pattern HP2. 2 Compute the correction data.

  In other words, the correction data generation unit 76 is formed on the sewing target S by performing the second sewing process and the relative position between the second target pattern RP2 and the characteristic pattern UP before the first sewing process is performed. The second correction data is generated such that the relative position between the second stitch GP2 and the characteristic pattern UP after the second sewing process has been performed matches.

  Further, even if the appropriate second correction data is generated in this manner, the formed stitch GP may deviate from the target pattern RP in the sewing process as described above. Therefore, a reproducible shift in the sewing process is stored as offset data. In the process shown in FIG. 13, the displacement amount calculating unit 75 calculates a displacement amount obtained by adding an offset value for each feature pattern UP, thereby correcting a reproducible displacement during the sewing process.

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

  After the end of the second sewing process, it is determined whether to end the sewing process (step S110). If the sewing process is not to be ended (No in step S110), the counter n is set to “n + 1” (step S120). Hereinafter, the processes of steps S30 to S100 are repeated until it is determined in step S110 that the sewing process is to be ended.

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

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

  The offset data obtaining unit 74 obtains, from the offset data storage unit 62, offset data that stores an offset value for each correction point related to the second sewing process (Step S280).

  The correction data generation unit 76 corrects the second sewing data obtained in step S230 based on the displacement calculated in step S270 and the offset data obtained in step S280 to generate second correction data HP2. (Step S290). In the processing shown in FIG. 14, the correction data generation unit 76 corrects a reproducible shift in the sewing processing by adding an offset value for each correction point to the calculated correction data.

  As described above, in the present embodiment, an offset value corresponding to a reproducible shift between the stitch GP and the target pattern RP, which occurs in the sewing process, is stored as offset data. In the present embodiment, the displacement amount corrected by the offset value can be calculated for each feature pattern UP. Alternatively, in the present embodiment, it is possible to calculate correction data to which an offset value is added for each correction point. Accordingly, in the present embodiment, the stitch GP can be formed at an appropriate position in the sewing process based on the offset data. In this manner, according to the present embodiment, stitches can be formed with high accuracy at the target position of the sewing target S.

  In the above-described embodiment, the sewing machine 1 is an electronic cycle sewing machine, and the holding member 15 is moved in the XY plane to form the stitch GP on the sewing object S held by the holding member 15. did. In order to form the stitch GP on the sewing object S, the sewing needle 3 may move in the XY plane, or both the sewing needle 3 and the holding member 15 may move in the XY plane. In this case, a moving condition of the sewing machine needle 3 in the XY plane is generated as the sewing data and stored in the sewing data storage unit 61.

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

  DESCRIPTION OF SYMBOLS 1 ... Sewing machine, 2 ... Table, 3 ... Sewing needle, 4 ... Surface material, 5 ... Pad material, 6 ... Backing material, 7 ... Hole, 10 ... Sewing machine main body, 11 ... Sewing machine frame, 11A ... Horizontal arm, 11B ... Bed , 11C: vertical arm, 11D: head, 12: needle bar, 13: needle plate, 14: support member, 15: holding member, 15A: holding member, 15B: lower plate, 16: actuator, 17: actuator, 17X ... X-axis motor, 17Y: Y-axis motor, 18: Actuator, 19: Middle pressing member, 20: Operating device, 21: Operation panel, 22: Operating pedal, 30: Imaging device, 31: Drive amount sensor, 32: Drive amount Sensor, 32X: X-axis sensor, 32Y: Y-axis sensor, 40: control device, 50: input / output interface device, 60: storage device, 61: sewing data storage unit, 62: offset data Storage unit, 63: program storage unit, 70: arithmetic processing unit, 71: sewing data acquisition unit, 72: initial position data acquisition unit, 73: current position data acquisition unit, 74: offset data acquisition unit, 75: displacement amount calculation Unit, 76: correction data generation unit, 77: control unit, AX: optical axis, DPh: reference pattern, FA: shooting area, GP: stitch, MA: stitch formation area, Pf: shooting position, Ps: sewing position, RP .. Target pattern, RP1 first target pattern, RP2 second target pattern, RP3 third target pattern, RP4 fourth target pattern, RP5 fifth target pattern, RP6 sixth target pattern, RP7 seventh Target pattern, RP8: Eighth target pattern, RP9: Ninth target pattern, RP10: Tenth target pattern, UP: Feature pattern, S: Sewing target.

Claims (4)

A holding member that is capable of holding and moving a sewing object in a predetermined plane including a sewing position immediately below a sewing needle,
An actuator for moving the holding member,
A sewing data acquisition unit that acquires sewing data referred to in the sewing processing;
A target pattern of a stitch formed on the sewing object, and an offset data acquisition unit that acquires offset data indicating a deviation from a stitch formed in the sewing process;
A controller that outputs a control signal for controlling the actuator in the sewing process based on the sewing data and the offset data;
Sewing machine with An imaging device capable of photographing the sewing object;
An initial position data obtaining unit that obtains initial position data indicating an initial position of a feature pattern arranged on the sewing object;
A current position data acquisition unit that acquires current position data indicating a current position of the feature pattern based on image data of the sewing target imaged by the imaging device;
A displacement amount calculation unit that calculates a displacement amount of the feature pattern based on the initial position data and the current position data,
The sewing data acquisition unit acquires first sewing data referred to in a first sewing process and second sewing data referred to in a second sewing process performed after the first sewing process,
The control unit outputs a control signal for controlling the actuator based on the second sewing data and the offset data in the second sewing process,
The sewing machine according to claim 1. A correction data generation unit that corrects the second sewing data based on the displacement amount to generate second correction data,
The control unit outputs the control signal in the second sewing process based on the second sewing data, the second correction data, and the offset data.
The sewing machine according to claim 2. Acquiring sewing data referred to in the sewing process;
Acquiring offset data indicating a deviation between a stitch target pattern formed on the sewing object and a stitch formed in the sewing process;
Based on the sewing data and the offset data, in the sewing process, forming a stitch on the sewing object by relatively moving a sewing needle and the sewing object within a predetermined plane;
Sewing method including.

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