JP2020054753A - Sewing system and control method - Google Patents

Abstract

To provide a sewing system and a control method capable of easily adjusting physical relationship between a conveyance device and a sewing machine.SOLUTION: A conveyance device conveys a correction sheet P in which an identifier R has been drawn beforehand to a sewing machine according to a procedure of sewing a cloth. In the middle of the conveyance, a camera images a holding device 45 which holds the correction sheet P. A PC acquires identification information showing an intersection and an axial direction of the identifier R on an image coordinate system by image analysis. The sewing machine forms correction patterns N0, N1, N2 showing an original position and an axial direction of a needle location point on the correction sheet P. The camera images the correction sheet P again. The PC acquires identification information V corresponding the identifier R and pattern information W corresponding to the original position and the axial direction of the needle location point by image analysis. The PC positions the two analysis results by the identification information, and performs positioning of the pattern information W in an image coordinate system of an original point Q. The PC acquires a correction amount for correcting the original position and the axial direction of the pattern information to an original position and an axial direction of needle location reference information, which are reference of the needle location point.SELECTED DRAWING: Figure 12

Description

  The present invention relates to a sewing system including a transfer device that transfers a cloth to a sewing machine, and a control method.

  The transport system described in Patent Literature 1 captures an image of a cloth in the process of transporting the cloth from a cloth box to a delivery position and performs image analysis. The transport system calculates a shift between a holding position where the transport device holds the cloth and a preset reference position in the captured image. The reference position is set, for example, based on a cloth holding position in a reference image captured with the cloth held by the transport device when the cloth can be accurately placed at the delivery position. When the transport device transports the cloth to the delivery position, it corrects the deviation from the reference position and places the cloth accurately at the delivery position. The sewing machine moves the cloth received at the delivery position to a sewing start position corresponding to the first needle drop position based on the sewing data, and starts sewing.

JP 2017-169760 A

  However, when there is a change in the relative positional relationship between the sewing machine and the transport device, the positional relationship between the delivery position and the sewing start position changes. The transfer system of Patent Document 1 cannot grasp that the relative positional relationship between the sewing machine and the transfer device has changed. Therefore, even if the transport device transports the cloth to the delivery position, there is a problem that the sewing machine cannot sew the cloth at an accurate position after receiving the cloth.

  An object of the present invention is to provide a sewing system and a control method that can easily adjust the positional relationship between a transport device and a sewing machine.

  According to the first aspect of the present invention, a transport device including a sewing machine, a holding mechanism capable of holding a cloth sewn by the sewing machine, and a moving mechanism capable of moving the holding mechanism, and the cloth held by the holding mechanism A photographing device for photographing a predetermined photographing range, and a control device for controlling the driving of the sewing machine, the transporting device and the photographing device. Sewing that controls the movement of the holding mechanism by the moving mechanism based on the image captured by the device, conveys the cloth to a delivery position for transferring the cloth to the sewing machine, and the sewing machine sew the cloth based on sewing data. In the system, the control device is a first transport unit that transports an identification target object provided with a predetermined identifier to a sheet transportable by the transport device to the delivery position by the transport device. In the process of transporting the object to be identified by the first transporting means, a first photographing means for photographing the object to be identified by the photographing device, and a sewing operation of the sewing machine that has received the object to be identified, during sewing. Forming means for forming, on the object to be identified, a correction pattern indicating an origin position serving as a reference for dropping a needle on the cloth, and an axial direction in which the cloth is moved during sewing; and A second photographing means for photographing the identification object formed by the photographing device, a position of the identifier provided on the identification object in a first photographed image photographed by the first photographing means, and The position of the identifier provided on the identification target in the second captured image captured by the means, and the position of the origin and the correction pattern formed on the identification target, based on the correction pattern. Analysis means for analyzing the origin position and the axial direction within a shooting range, a reference position previously set as a reference for the origin position, and an acquisition means for obtaining a reference direction previously set as a reference for the axial direction, Based on the reference position and the reference direction acquired by the acquisition unit and the origin position and the axial direction analyzed by the analysis unit, relative position coordinates of the origin position with respect to the reference position; Calculating means for calculating a correction amount including a relative rotation angle of the axial direction with respect to a direction, and calculating means for calculating a moving amount when the moving mechanism conveys the cloth to the delivery position during sewing. A sewing system, comprising: adjusting means for adjusting the movement amount by adding a correction amount; and output means for outputting the movement amount adjusted by the adjustment means to the transport device. System is provided.

  The transport device according to the first aspect accurately transports the cloth to the delivery position. The sewing machine receives the cloth at the delivery position, and sews the cloth based on the reference position and the reference direction in which the origin position and the axial direction with respect to the delivery position are set in advance. Due to a shift due to vibration, a change in the system configuration, or the like, the reference position and the reference direction with respect to the delivery position may be changed. In this case, the first photographing means photographs the first photographed image using the identification target, and the second photographing means photographs the second photographed image. The analysis means analyzes a positional relationship between the holding mechanism and the identifier based on the first captured image, and analyzes a positional relationship between the identifier and the correction pattern based on the second captured image. Thus, the control device can determine the origin position and the amount of displacement in the axial direction with respect to the reference position and the reference direction as the correction amount. The conveying device adds the correction amount to the movement amount of the cloth, and conveys the cloth from the original delivery position to a new delivery position according to the correction amount. The sewing machine receives the cloth at the new delivery position, sews the cloth based on the reference position and the reference direction, and sew accurately without changing the setting of the reference position and the reference direction with respect to the original delivery position. be able to.

  The control device according to a first aspect, further includes a moving unit that moves the identification target on which the forming unit has formed the correction pattern to a receiving position at which the conveying device can receive the identification object. May comprise a second transport means for transporting the identification object moved to the delivery position to a photographing position where the photographing device can photograph. The moving means can move the identification object on which the correction pattern is formed by the sewing machine to a receiving position where the transport device can receive the object. That is, the receiving position is within a range in which the moving mechanism of the transport device can move the holding mechanism. Therefore, the transport device can hold the object to be identified by the holding mechanism, and can transport the object to the shooting position because the second shooting unit shoots the second shot image.

  The sewing machine according to the first aspect includes a cloth holding unit that moves in the axial direction while holding the cloth at the time of sewing, receives the cloth transferred to the delivery position by the transfer device, and attaches the cloth to the cloth holding unit. An attachment device may be further provided. In a sewing system, a reference position and a reference direction with respect to a delivery position may be changed by incorporating a mounting device into the system. In this case, the sewing system obtains the reference position and the origin position with respect to the reference direction and the amount of displacement in the axial direction as correction amounts, and can sew accurately on the cloth.

  The identification object of the first aspect has a first reference line extending in a first direction and a second reference line extending in a second direction intersecting with the first direction, and the first reference line and A sheet on which the identifier that intersects with the second reference line at the intersection may be formed. When a change occurs in the reference position and the reference direction with respect to the delivery position, the sewing system can easily use the sheet in which the identifier is formed in advance, and easily set the origin position and the axial shift amount with respect to the reference position and the reference direction as the correction amount. Required and can be accurately sewn to the cloth.

  According to a second aspect of the present invention, a transport device including a sewing machine, a holding mechanism capable of holding a cloth sewn by the sewing machine, and a moving mechanism capable of moving the holding mechanism, and the cloth held by the holding mechanism A photographing device for photographing a predetermined photographing range, and a control device for controlling the driving of the sewing machine, the transporting device and the photographing device. Sewing that controls the movement of the holding mechanism by the moving mechanism based on the image captured by the device, conveys the cloth to a delivery position for transferring the cloth to the sewing machine, and the sewing machine sew the cloth based on sewing data. In the system, a control method executed by the control device, wherein the control device is configured to transfer an identification target having a predetermined identifier to a sheet conveyable by the conveyance device to the conveyance device. A transporting step of transporting the object to be transferred to the delivery position, and a first capturing step of capturing the holding mechanism that holds the identified object by the capturing device in a process of transporting the identified object in the transporting step; By the sewing operation of the sewing machine that has received the identification object, the correction pattern indicating the origin position that is a reference of the position where the needle is dropped on the cloth at the time of sewing and the axial direction that is the direction in which the cloth is moved at the time of sewing is displayed on the identification object. A forming step of forming the correction pattern in the forming step, a second photographing step of photographing the object to be identified on which the correction pattern is formed by the photographing device, and a first photographed image photographed in the first photographing step. The position of the identifier provided on the identification target, and the identifier provided on the identification target in a second captured image captured in the second capturing step An analysis step of analyzing the position of the origin and the axial direction within the imaging range of the imaging device based on the position, and the origin position and the correction pattern formed on the identification target; and A reference position set as a reference, and an acquisition step of acquiring a reference direction previously set as the reference in the axial direction, and the reference position and the reference direction acquired in the acquisition step, and analyzed in the analysis step. A calculating step of calculating a correction amount including a relative position coordinate of the origin position with respect to the reference position and a relative rotation angle of the axial direction with respect to the reference direction based on the origin position and the axial direction. Adding the correction amount calculated in the calculation step to the movement amount when the moving mechanism conveys the cloth to the delivery position at the time of sewing; A sewing method is provided in which an adjusting step of adjusting a moving amount and an output step of outputting the moving amount adjusted in the adjusting step to the transport device are performed.

  The transport device according to the second aspect transports the cloth accurately to the delivery position. The sewing machine receives the cloth at the delivery position, and sews the cloth based on the reference position and the reference direction in which the origin position and the axial direction with respect to the delivery position are set in advance. Due to a shift due to vibration, a change in the system configuration, or the like, the reference position and the reference direction with respect to the delivery position may be changed. In this case, in the first photographing step, the photographing device photographs the first photographed image using the identification target, and in the second photographing step, the photographing device photographs the second photographed image. In the analyzing step, the control device analyzes a positional relationship between the holding mechanism and the identifier based on the first captured image, and analyzes a positional relationship between the identifier and the correction pattern based on the second captured image. Thus, the control device can determine the origin position and the amount of displacement in the axial direction with respect to the reference position and the reference direction as the correction amount. The conveying device adds the correction amount to the movement amount of the cloth, and conveys the cloth from the original delivery position to a new delivery position according to the correction amount. The sewing machine receives the cloth at the new delivery position, sews the cloth based on the reference position and the reference direction, and sew accurately without changing the setting of the reference position and the reference direction with respect to the original delivery position. be able to.

FIG. 2 is a perspective view of the sewing system 1. FIG. 2 is a plan view of the sewing system 1. It is the top view which expanded the principal part of the sewing system 1. FIG. 2 is a block diagram illustrating an electrical configuration of the PC. FIG. 4 is a block diagram illustrating an electrical configuration of the arm device 4. FIG. 3 is a block diagram illustrating an electrical configuration of the sewing machine 7. FIG. 4 is a diagram of an analysis image B based on a reference image A. FIG. 4 is a diagram of an analysis image D based on a captured image C. It is a flowchart of a sewing process. It is a flowchart of a correction information editing process. FIG. 3 is a diagram of an analysis image F1 based on a captured image E1. It is a figure of analysis image F2 based on photography picture E2. It is a figure of analysis image G. It is a figure of analysis image H.

  An embodiment of the present invention will be described with reference to the drawings. The following description uses left and right, front and rear, and upper and lower indicated by arrows in the figure. The configuration of the sewing system 1 will be described with reference to FIGS. The sewing system 1 includes a frame 2, a stocker 3, an arm device 4, a camera 5 (see FIG. 2), a transport device 6, a sewing machine 7, and a personal computer (referred to as “PC”) 10 (see FIG. 4).

  The frame 2 is configured by assembling a bar made of iron or aluminum into a rectangle. The installation plate 12 is installed on the front end side of the upper surface of the frame 2 and extends in the left-right direction and the front-back direction. The supply port 13 is formed at the front of the installation plate 12. The supply port 13 has a rectangular shape extending in the left-right direction in plan view, and penetrates the installation plate 12 in the up-down direction.

  The stocker 3 is provided below the supply port 13 and inside the frame 2. The stocker 3 has two stockers 3A and 3B arranged side by side. The stockers 3A and 3B can load a plurality of cloths 9 on the mounting tables 18 and 19, respectively. The stockers 3A and 3B move up the mounting tables 18 and 19 and supply the cloth 9 (see FIG. 8) to the “supply position” above the supply port 13 (see FIG. 3). Hereinafter, when the stockers 3A and 3B are collectively referred to as the stockers 3. The arm device 4, the transport device 6, and the sewing machine 7 are provided in order from the front side behind the stocker 3.

  The arm device 4 includes a holding device 45. The arm device 4 can selectively hold the cloth 9 supplied to the supply position by the stocker 3A and the cloth 9 supplied to the supply position by the stocker 3B. For example, it can also hold the cloth 9 alternately. The arm device 4 holds the cloth 9 supplied to the supply position by the stocker 3 with the holding device 45, passes through the “photographing position” located above the camera 5 (see FIG. 3), and “ To the "delivery position" (see FIG. 3).

  The camera 5 is provided on the right side of the arm device 4 and is disposed below the lower surface of the holding device 45. The frame member 16 (see FIG. 2) is provided above the camera 5 in the frame 2 and on the rear side of the installation plate 12. The frame-shaped member 16 has a rectangular opening 17 substantially at the center. The camera 5 photographs the lower surface of the holding device 45 positioned at the photographing position via the opening 17 from below. The region photographed by the camera 5 is referred to as a “photographing region”. When the holding device 45 is at the shooting position, at least a portion of the holding unit 36 of the holding device 45 that holds the cloth 9 is within the shooting region.

  The transport device 6 transports the cloth 9 transported to the sewing machine 7 by nipping the cloth 9 transported to the delivery position on the worktable 61 by the arm device 4 and moving backward. The sewing machine 7 receives and sews the cloth 9 carried by the carrying device 6. After the sewing, the sewing machine 7 transfers the sewn cloth 9 to the transport device 6 again. The transport device 6 clamps the sewn cloth 9 received from the sewing machine 7, moves forward, and transports the cloth 9 to the passage hole 62 on the work table 61. The sewn cloth 9 drops in the passage hole 62 and is loaded on the loading table 68 provided below the passage hole 62.

  The PC 10 (see FIG. 4) is, for example, a notebook PC and is arranged inside the frame 2. The PC 10 is electrically connected to the arm device 4, the camera 5, the transport device 6, and the sewing machine 7, and controls respective operations. The PC 10 of the present embodiment analyzes the image C (see FIG. 8) captured by the camera 5 and calculates the “holding position” of the cloth 9 on the lower surface of the holding device 45. The PC 10 compares the calculated holding position of the cloth 9 with the holding position of the reference cloth 8 (see FIG. 7) in the previously captured reference image A based on the delivery reference information described later, and thereby compares the cloth 9 with the reference cloth 8. Is calculated. The PC 10 controls the arm device 4 and places the cloth 9 at the delivery position on the workbench 61 so as to correct the shift amount of the holding position of the cloth 9.

  The structure of the arm device 4 will be described. The arm device 4 is an articulated robot arm, and for example, a known scalar robot can be applied. The arm device 4 includes a support portion 41, a first arm portion 42, a second arm portion 43, a ball screw 44, a holding device 45, and the like. The support portion 41 extends upward from the base portion 15 and has a tubular shape. The base portion 15 is fixed adjacent to the rear side of the installation plate 12 of the frame 2 and extends substantially horizontally. The support 41 accommodates a first drive motor 46 (see FIG. 5) therein. The output shaft of the first drive motor 46 projects upward and is coaxial with the column 41.

  The first arm portion 42 extends horizontally from the upper end of the support portion 41 and is connected to the output shaft of the first drive motor 46. The first arm section 42 is rotatable around the axis T1 of the support section 41 by driving the first drive motor 46. The second arm 43 extends horizontally above the first arm 42. One end of the second arm 43 is rotatably connected to the first arm 42 via a connection shaft whose axial direction is the vertical direction. The ball screw 44 extends in the up-down direction, and is inserted and screwed into the other end of the second arm 43. The ball screw 44 is a so-called ball screw spline shaft. The second arm 43 accommodates therein a second drive motor 47, a third drive motor 48, and a fourth drive motor 49. The second drive motor 47 is connected to the connection shaft. The second arm 43 is rotated about the axis T2 of the connection shaft by the driving of the second drive motor 47. The third drive motor 48 is connected to the ball screw 44 via a vertical transmission mechanism. When the third drive motor 48 is driven, the up-down transmission mechanism moves the ball screw 44 up and down. The holding device 45 is fixed to the lower end of the ball screw 44. Therefore, the holding device 45 moves up and down together with the ball screw 44. The fourth drive motor 49 is connected to the ball screw 44 via a rotation transmission mechanism. When the fourth drive motor 49 is driven, the rotation transmission mechanism rotates the ball screw 44, and the holding device 45 rotates about the axis T <b> 3 of the ball screw 44 together with the ball screw 44.

  The holding device 45 includes a base 35 and a flow path (not shown). The base 35 is a substantially rectangular member in plan view, and is fixed to the lower end of the ball screw 44. The lower surface of the base 35 is a holding portion 36 that holds the sheet-shaped cloth 9. The flow path is provided in the base 35 and communicates with a hole (not shown) provided in the holder 36. The flow path is connected to an air compressor (not shown) via an air tube (not shown). The solenoid valve 50 (see FIG. 5) is provided in a supply path of the air supplied by the air compressor. When the solenoid valve 50 is opened, the holding device 45 ejects the air supplied to the flow path from the hole, and sucks and holds the cloth 9 by the negative pressure generated between the holding unit 36 and the cloth 9. When the solenoid valve 50 is closed, the holding device 45 stops blowing air, and the cloth 9 is separated from the holding portion 36 by its own weight.

  The structure of the sewing machine 7 will be described. The sewing machine 7 includes a bed 71, a pillar 72, an arm 73, a sewing mechanism, and a horizontal movement mechanism. The bed portion 71 is installed on an arrangement table 70 arranged behind the frame 2. The bed portion 71 extends in the front-rear direction, and fixes the holding plate 75 to the front side on the upper surface. The holding plate 75 mounts a needle plate 76 (see FIG. 2). The upper surface of the needle plate 76 and the upper surface of the holding plate 75 are flush. The needle plate 76 has a needle hole. The pillar 72 extends upward from the rear side of the bed 71. The arm portion 73 extends forward from the upper end of the pillar portion 72 so as to face the upper surface of the bed portion 71, and has a front end portion 74 at the front end.

  The sewing mechanism includes a main motor 31 (see FIG. 6), a main shaft (not shown), a needle bar driving mechanism, a needle bar, a vertical shuttle, and the like. The main motor 31 is provided inside the pillar 72. The main shaft extends in the front-rear direction inside the arm 73 and is connected to the main motor 31. The needle bar drive mechanism is provided inside the front end 74 and is connected to the front end of the spindle. The needle bar is connected to the needle bar drive mechanism and extends downward from the front end 74. The needle bar has a sewing needle attached to the lower end. The needle bar drive mechanism moves the needle bar up and down with the rotation of the main shaft, and the sewing needle passes through the needle hole. The vertical shuttle is provided below the needle plate 76 and inside the bed 71, and accommodates a bobbin wound with a lower thread. The vertical shuttle is connected to the main shaft via a connection mechanism provided inside the bed 71 and the pillar 72, and rotates with the driving of the main motor 31.

  The horizontal movement mechanism includes a Y-axis motor 33 (see FIG. 6), an X-axis motor 32 (see FIG. 6), a holding arm 77, and the like. The Y-axis motor 33 moves the presser arm 77 in the Y-axis direction (front-back direction), and the X-axis motor 32 moves the presser arm 77 in the X-axis direction (left-right direction). The presser arm 77 includes a pair of air cylinders 78 arranged in the left-right direction. The holding arm 77 supports a pair of holding plates 79 arranged in the left-right direction at the front end so as to be vertically movable. The pair of holding plates 79 are L-shaped plate members as viewed from the left side, and are located above the holding plate 75. The pair of holding plates 79 move up and down, respectively, by driving the pair of air cylinders 78. The air cylinder 78 moves the holding plate 79 up and down between a holding position and a release position. The “pressing position” is the vertical position of the pressing plate 79 that presses the cloth 9 with the holding plate 75. The “release position” is a vertical position of the pressing plate 79 that is separated upward from the cloth 9 on the holding plate 75.

  The movable range of the presser arm 77 includes a start position, an end position, and a standby position. The “start position” is the right front end of the movable range of the presser arm 77 (see FIG. 3). When the presser arm 77 is at the start position, the presser plate 79 is located to the right of the needle bar. The “end position” is the left front end of the movable range of the presser arm 77 (see FIG. 3). When the presser arm 77 is at the end position, the presser plate 79 is located to the left of the needle bar. The “standby position” is the position of the presser arm 77 below the arm 73. When the presser arm 77 is at the standby position, the presser plate 79 is near the needle bar in plan view.

  The structure of the transport device 6 will be described. The transport device 6 includes a worktable 61, a passage hole 62, a transport mechanism 63, and the like. The work table 61 is a table extending in the left-right direction and the front-rear direction, and is supported at the upper end of the frame 2. The work table 61 is disposed behind the support 41 of the arm device 4 and in front of the holding plate 75 of the sewing machine 7. The upper surface of the worktable 61 is substantially flush with the upper surface of the holding plate 75. The upper surface of the worktable 61 can support the cloth 9. The passage hole 62 has a rectangular shape in a plan view, and penetrates the rear left portion of the worktable 61 in the up-down direction. The passage hole 62 is arranged in the front-rear direction with the left portion of the holding plate 75, and is located in front of the pressing arm 77 when in the end position. The cloth 9 after sewing can pass through the passage hole 62.

  The transport mechanism 63 is capable of transporting the cloth 9 placed on the worktable 61 by the arm device 4 to the sewing machine 7 and transporting the sewn cloth 9 sewn by the sewing machine 7 to the passage hole 62. The transport mechanism 63 includes a pair of support portions 64, a moving body 65, a right holding portion 66, a left holding portion 67, and the like.

  The pair of support portions 64 are fixed to the worktable 61, and are arranged in the left-right direction with the carrying area of the cloth 9 carried by the carrying mechanism 63 therebetween. Each support portion 64 includes a guide portion 81, a pair of support wall portions 82, a transport air cylinder 83, and the like. The pair of support wall portions 82 are arranged at an interval in the front-rear direction. The guide portion 81 has a columnar shape extending in the front-rear direction supported by the pair of support wall portions 82. The guide portion 81 supports the transport air cylinder 83 so as to be able to move back and forth. The transport air cylinder 83 is a rodless cylinder inserted through the guide portion 81. The transport air cylinder 83 is connected to both left and right ends of the moving body 65. The transport air cylinder 83 moves back and forth along the guide portion 81 by driving, and the moving body 65 moves back and forth.

  The moving body 65 is a plate-like member extending in the left-right direction. The moving body 65 can move back and forth integrally with the transport air cylinder 83. Therefore, the pair of guide portions 81 supports the movable body 65 so as to be able to move back and forth. The moving body 65 includes a right air cylinder 84 and a left air cylinder 85 on the upper surface. The right air cylinder 84 is disposed on the upper right side of the movable body 65, and the left air cylinder 85 is disposed on the upper left side of the movable body 65.

  The right holding portion 66 has a plate shape extending in the front-rear direction and the left-right direction, and is connected to the right air cylinder 84. The right holding portion 66 is located at a position aligned with the presser arm 77 at the start position in the front-rear direction. By driving the right air cylinder 84, the right holding portion 66 moves up and down between the holding position and the separation position. The “holding position” is the vertical position of the right holding portion 66 that holds the cloth 9 between the worktable 61 or the holding plate 75. The “separation position” is the vertical position of the right holding portion 66 that retreats upward from the cloth 9 supported by the work table 61 or the holding plate 75. The right holding portion 66 at the separated position is located above the pressing plate 79 at the release position.

  The left holding portion 67 has a plate shape extending in the front-rear direction and the left-right direction similarly to the right holding portion 66, and is connected to the left air cylinder 85. The left holding portion 67 is at a position aligned with the presser arm 77 at the start position in the front-rear direction. By driving the left air cylinder 85, the left holding portion 67 moves up and down between the holding position and the separation position. The “holding position” is the vertical position of the left holding portion 67 that holds the cloth 9 between the worktable 61 or the holding plate 75. The “separation position” is the vertical position of the left holding portion 67 that retreats upward from the cloth 9 supported by the work table 61 or the holding plate 75. The left holding portion 67 at the separated position is located above the holding plate 79 at the release position.

  When the transport air cylinder 83 is driven, the moving body 65 moves back and forth between the front position and the rear position. The “front position” is the front end of the movable range of the moving body 65 (see a two-dot chain line in FIG. 3). The moving body 65 at the front position is above the work table 61. The right holding portion 66 when the moving body 65 is at the front position overlaps the holding portion 36 of the holding device 45 when at the delivery position in plan view. The “rear position” is the rear end of the movable range of the moving body 65 (see the solid line in FIG. 3). The moving body 65 located at the rear position is above the holding plate 75. The right holding portion 66 when the moving body 65 is at the rear position overlaps with the holding plate 79 when the holding arm 77 is at the start position in plan view. When the moving body 65 is at the rear position, the left holding portion 67 overlaps the holding plate 79 when the holding arm 77 is at the end position in plan view. The moving body 65 stops at a middle position between the front position and the rear position. The “middle position” is substantially at the center of the movable range of the moving body 65 (see the dashed line in FIG. 3). When the moving body 65 is at the middle position, the left holding portion 67 is above the passage hole 62 on the work table 61.

  An electrical configuration of the PC 10 will be described with reference to FIG. The PC 10 has a CPU 21. The CPU 21 controls the PC 10. The CPU 21 has a built-in display control unit 24. The display control unit 24 is electrically connected to the display 28 and controls display of an image on the display 28. The CPU 21 has a built-in memory controller (not shown) and is electrically connected to the RAM 23. The RAM 23 stores various temporary data.

  The CPU 21 is electrically connected to the flash ROM 22, the storage device 25, the input unit 26, and the communication I / F 29 via the chipset 27. The chipset 27 is a series of circuits for managing transmission and reception of data between the CPU 21, the flash ROM 22, the storage device 25, the input unit 26, and the communication I / F 29. The flash ROM 22 stores a BIOS and the like. The storage device 25 is a non-volatile storage device such as a hard disk drive (HDD) and a solid state drive (SSD). The storage device 25 stores an OS, a program, data, and the like. The storage device 25 may be a memory card that is removable from the PC 10. The input unit 26 is, for example, a keyboard, a mouse, and the like. The input unit 26 detects various instructions from the worker and outputs the detected various instructions to the CPU 21. The communication I / F 29 is, for example, an interface for serial communication. The communication I / F 29 is electrically connected to the arm device 4, the camera 5, the transport device 6, and the sewing machine 7.

  The electrical configuration of the arm device 4 will be described with reference to FIG. The control unit 40 of the arm device 4 includes a CPU 51, a ROM 52, a RAM 53, a storage device 54, a communication I / F 55, an input / output I / F 60, and drive circuits 56 to 59. The CPU 51, the ROM 52, and the RAM 53 are electrically connected to the input / output I / F 60 via a bus. The CPU 51 controls the arm device 4 and executes processing according to various programs stored in the ROM 52. The ROM 52 stores various programs, various initialization parameters, and the like. The RAM 53 temporarily stores the operation results of the CPU 51, various data, and the like. The storage device 54 is electrically connected to the input / output I / F 60. The storage device 54 is nonvolatile and stores various data. The communication I / F 55 is electrically connected to the input / output I / F 60. The communication I / F 55 is, for example, an interface for serial communication. The communication I / F 55 connects to the communication I / F 29 of the PC 10.

  The drive circuits 56 to 59 are electrically connected to the input / output I / F 60. The drive circuits 56 to 59 are connected to the first drive motor 46, the second drive motor 47, the third drive motor 48, and the fourth drive motor 49, respectively. The input / output I / F 60 is electrically connected to the solenoid valve 50 of the holding device 45. The CPU 51 drives the solenoid valve 50.

  The electrical configuration of the sewing machine 7 will be described with reference to FIG. The control unit 90 of the sewing machine 7 includes a CPU 91, a ROM 92, a RAM 93, a storage device 94, a communication I / F 95, an input / output I / F 96, and drive circuits 97 to 99. The CPU 91, the ROM 92, and the RAM 93 are electrically connected to an input / output I / F 96 via a bus. The CPU 91 controls the sewing machine 7 and executes various calculations and processes related to sewing in accordance with various programs stored in the ROM 92. The ROM 92 stores various programs, various initialization parameters, and the like. The RAM 93 temporarily stores the operation result of the CPU 91, a pointer, a counter, and the like. The storage device 94 is electrically connected to the input / output I / F 96. The storage device 94 is non-volatile and stores sewing data, various setting information, and the like. The “sewing data” is data for moving the presser plate 79 so that a plurality of needle drop points for forming a stitch are sequentially positioned immediately below the sewing needle.

  The communication I / F 95 is electrically connected to the input / output I / F 96. The communication I / F 95 is, for example, an interface for serial communication. The communication I / F 95 connects to the communication I / F 29 of the PC 10. The drive circuits 97 to 99 are electrically connected to the input / output I / F 96. Drive circuit 97 is electrically connected to main motor 31. The CPU 91 controls the drive of the main motor 31 by controlling the drive circuit 97. The drive circuit 98 is electrically connected to the X-axis motor 32. The drive circuit 99 is electrically connected to the Y-axis motor 33. The input / output I / F 96 is electrically connected to the solenoid valve 89. The solenoid valve 89 is provided on a supply path of air supplied from the air compressor to the air cylinder 78. The CPU 91 drives and controls the air cylinder 78 by opening and closing the solenoid valve 89, and moves the holding plate 79 up and down.

  A series of operations of the sewing system 1 will be described with reference to FIGS. 1, 2 and 7 to 9. When sewing the cloth 9, the CPU 21 of the PC 10 executes a sewing process (see FIG. 9) described later, and outputs various control commands to the stocker 3, the arm device 4, the transport device 6, and the sewing machine 7. The supply instruction corresponds to the stocker 3 and is an instruction to supply the cloth 9 loaded on the mounting tables 18 and 19 to the supply position. The command corresponding to the arm device 4 includes a first movement command, a holding command, a second movement command, a third movement command, and a release command. The first movement command is a command for moving the holding device 45 above the supply position. The holding command is a command for holding the cloth 9 by the holding device 45. The second movement command is a command for moving the holding device 45 to the photographing position. The third movement command is a command for moving the holding device 45 above the delivery position. The release command is a command for releasing the cloth 9 held by the holding device 45.

  The commands corresponding to the transport device 6 include a first transport command, a second transport command, and a third transport command. The first transport command is a command to press the cloth 9 with the right holding portion 66 at the front position, move to the rear position, and release the cloth 9. The second transport command is a command for pressing the cloth 9 with the left holding portion 67 at the rear position, moving to the middle position, and releasing the cloth 9. The third transport command is a command to press the cloth 9 with the right holding portion 66 at the rear position, move to the front position, and release the cloth 9. Commands corresponding to the sewing machine 7 include a sewing command and a correction pattern creation command. The sewing command is a command for sewing the cloth 9 according to the sewing data. The correction pattern creation command is a command for creating correction patterns N0, N1, and N2 (see FIG. 12) on a correction sheet P (see FIG. 11) described later according to the correction pattern data.

  The CPU 21 performs a process of correcting a displacement of the cloth 9 in the execution of the sewing process. The cloths 9 before being transported are stacked in the stocker 3, but are not necessarily aligned. Therefore, when holding the cloth 9 at the supply position, the holding device 45 does not always hold the cloth 9 at the same position of the holding unit 36. The arm device 4 moves the holding device 45 above the supply position by a movement amount set to the initial value. Therefore, the holding device 45 holds the cloth 9 on the holding portion 36 while always maintaining the same positional relationship with the supply position. The arm device 4 moves the holding device 45 from above the supply position to the photographing position by a moving amount set to the initial value. The camera 5 captures an image of the holding unit 36 of the holding device 45 at the shooting position while holding the cloth 9. At this time, the image captured by the camera 5 is a captured image C (see FIG. 8). Therefore, in the captured image C, the holding position where the holding unit 36 holds the cloth 9 is a state where the holding device 45 shifts the position when the cloth 9 is arranged at the delivery position. The CPU 21 of the PC 10 executes a sewing process, and corrects a positional shift of the cloth 9 so that the cloth 9 is accurately positioned at the delivery position when the arm device 4 conveys the cloth 9 to the delivery position.

  When the arm device 4 moves the holding device 45 above the delivery position from the shooting position, the CPU 21 calculates a correction amount based on the result of the image analysis on the shot image C. The correction amount is calculated based on the analysis result of the captured image C, based on the positional relationship between the captured image C and the delivery reference position set in the image capturing area of the camera 5 based on the positional relationship with the delivery position.

  As shown in FIG. 7, the delivery reference position is set in advance as follows. The operator accurately arranges the reference cloth 8 used as a reference for conveying the cloth 9 by the arm device 4 at the delivery position. The arm device 4 moves the holding device 45 to the delivery position and holds the reference cloth 8. The arm device 4 moves the holding device 45 in the opposite direction from above the delivery position to the shooting position using the initial value of the movement amount. The camera 5 images the holding portion 36 of the holding device 45 that holds the reference cloth 8 at the shooting position, and sets the image as the reference image A. The CPU 21 stores the reference image A in the storage device 25 in, for example, a bitmap format. The CPU 21 performs image analysis on the reference image A, and stores the analysis image B indicating the outline 8A bordering the reference cloth 8 shown in the reference image A in the storage device 25, for example, in a transmission PNG format. In the analysis image B, the CPU 21 sets an image coordinate system in which the origin Q is the upper left corner of the inner edge of the opening 17 of the frame-shaped member 16 shown in the reference image A, for example.

  The CPU 21 creates the delivery reference information based on the result of the image analysis, and stores it in the storage device 25. The delivery reference information includes information on the outer shape of the reference cloth 8 obtained by the image analysis, information on the delivery reference position, needle drop reference information Z (see FIG. 7), and the like. The information on the delivery reference position includes, for example, information on the center of gravity position 8B and the moment axis 8C calculated based on the contour 8A. The position of the center of gravity 8B is coordinate data of an image coordinate system serving as a reference for specifying the position of the reference cloth 8 in the reference image A, that is, in the shooting area of the camera 5. The moment axis 8C is axis data of an image coordinate system which passes through the position of the center of gravity 8B and serves as a reference for specifying the inclination of the reference cloth 8 in the photographing area. A known method may be appropriately used for the method of calculating the center of gravity position 8B and the moment axis 8C.

  In the sewing process, the CPU 21 calculates the drive conditions of the arm device 4 (the first drive motor 46, the second drive motor 47, and the fourth drive motor 49) based on the position of the cloth 9 specified from the captured image C. I do. Therefore, the CPU 21 previously associates the image coordinate system of the captured image C with the coordinate system of the arm device 4 (referred to as “device coordinate system”). Accordingly, the CPU 21 controls the driving of the arm device 4 by adding the correction amount of the image coordinate system and the correction amount described later to the movement amount of the device coordinate system.

  As shown in FIG. 8, when calculating the correction amount in the sewing process, the CPU 21 uses the captured image C and the delivery reference information. The CPU 21 performs image analysis on the captured image C, and creates an analysis image D indicating a contour 9A that borders the cloth 9 shown in the captured image C in the same manner as described above. The CPU 21 calculates a center of gravity position 9B and a moment axis 9C of the cloth 9 based on the outline 9A, and specifies the information as a holding position information. A known method may be appropriately used for the method of calculating the center of gravity position 9B and the moment axis 9C. The CPU 21 acquires information on the delivery reference position (information on the center of gravity position 8B and the moment axis 8C) from the delivery reference information. The CPU 21 obtains a difference between the coordinates of the center of gravity position 9B and the coordinates of the center of gravity position 8B, and obtains coordinate correction data for correcting the position coordinates included in the movement amount. The CPU 21 obtains a difference between the inclination of the moment axis 9C and the inclination of the moment axis 8C, and obtains angle correction data for correcting the rotation angle included in the movement amount. The correction amount includes coordinate correction data and angle correction data. The CPU 21 specifies the corrected movement amount by adding the correction amount to the initial value of the movement amount in the third movement command. Thereby, the arm device 4 can correct the deviation of the holding position from the delivery reference position, and can accurately transport the cloth 9 to the delivery position.

  The CPU 21 can further correct by adding a correction amount to the movement amount specified in the third movement command. The correction amount is data used for correcting a deviation in the positional relationship between the delivery position and the needle entry point of the sewing machine 7. The transport device 6 of the present embodiment transports the cloth 9 from a delivery position where the arm device 4 transports the cloth 9 to a start position where the pressing plate 79 of the sewing machine 7 presses the cloth 9. As shown in FIG. 7, the needle drop points at which the sewing machine 7 forms the stitches according to the sewing data are determined based on the origin position 7A and the axial directions 7B and 7C. The origin position 7A is a reference position at which a needle is dropped on the cloth 9 during sewing. The axial direction 7B indicates the positive direction of the X-axis direction in which the presser arm 77 moves by driving the X-axis motor 32. The axial direction 7C indicates the positive direction in the Y-axis direction in which the presser arm 77 moves by driving the Y-axis motor 33. The origin position 7A and the axial directions 7B and 7C shown in the reference image A indicate the relative positional relationship between the reference cloth 8 and the origin position and the direction in which the reference cloth 8 can be moved during sewing. Therefore, when setting the delivery reference information using the reference cloth 8, the CPU 21 accurately associates the delivery position with the positional relationship between the origin position 7A and the axial directions 7B and 7C in advance. Since the delivery reference position corresponds to the delivery position, the delivery reference information includes information for associating the delivery reference position information with the needle drop reference information Z. The needle drop reference information Z shown in the analysis image B indicates a needle drop reference position Z0, a needle drop reference direction Z1 in the X-axis direction, and a needle drop reference direction Z2 in the Y-axis direction in the image coordinate system of the origin Q. The needle drop reference position Z0 is coordinate data indicating the origin position 7A based on the relative positional relationship with the reference cloth 8 shown in the reference image A in the image coordinate system. The needle drop reference direction Z1 is direction data indicating the axial direction 7B in the X-axis direction based on the relative positional relationship with the reference cloth 8 shown in the reference image A in the image coordinate system. The needle drop reference direction Z2 is direction data indicating an axial direction 7C in the Y-axis direction based on a relative positional relationship with the reference cloth 8 shown in the reference image A in the image coordinate system.

  The sewing system 1 may change the configuration of the transport device 6 or omit it from the system configuration. In this case, the positional relationship between the delivery position and the origin position 7A and the axial directions 7B and 7C is shifted. The CPU 21 executes a correction information change process described later, calculates a correction amount based on the needle drop reference information Z, and stores the correction amount in the storage device 25 as correction information. The correction amount includes coordinate correction data and angle correction data. In the third movement command, the CPU 21 specifies the movement amount corrected by adding the correction amount. Thereby, the arm device 4 can correct the deviation of the origin position 7A and the axial directions 7B and 7C from the delivery position, and can accurately transport the cloth 9 to the delivery position.

  The sewing process will be described. As shown in FIG. 9, when the operator operates the PC 10 and instructs execution of the sewing process, the CPU 21 reads a program of the sewing process from the storage device 25 and executes the program. The CPU 21 displays an input screen (not shown) on the display 28, and receives an input of the number of processes by an operation of an operator. The number of processes is the number of sewing products manufactured by sewing the cloth 9. The operator previously stores, for example, a number of cloths 9 in a number corresponding to the number of processings in the stocker 3A. The CPU 21 stores the number of processes input by the operator in the RAM 93, and sets the number of processes (S11). The number of processing may be set by reading what is input in advance by the operator and stored in the storage device 25 as a parameter. At this time, the CPU 21 sets the number of processes to zero. The number of processes is the number of repetitions of a series of processes performed by the sewing system 1.

  The CPU 21 outputs a supply command to the stocker 3 (S12). The stocker 3 supplies the cloth 9 loaded on the mounting table 18 to the supply position. When the supply of the cloth 9 is completed, the stocker 3 outputs a signal to notify the PC 10 of the completion of the supply. The CPU 21 outputs a first movement command to the arm device 4 (S13). The CPU 51 of the arm device 4 controls the first drive motor 46, the second drive motor 47, and the fourth drive motor 49, and moves the holding device 45 above the supply position of the stocker 3A. When the movement of the holding device 45 is completed, the CPU 51 outputs a signal notifying the PC 10 of the completion of the movement.

  The CPU 21 outputs a holding command to the arm device 4 (S15). The CPU 51 controls the third drive motor 48 to lower the ball screw 44 to a position where the holding unit 36 contacts the cloth 9 on the mounting table 18 located below. The CPU 51 opens the electromagnetic valve 50 and sucks and holds the cloth 9 on the holding unit 36. When the holding of the cloth 9 is completed, the CPU 51 outputs a signal for notifying the PC 10 of the completion of the holding. The CPU 21 outputs a second movement command to the arm device 4 (S16). After raising the holding device 45 by controlling the third drive motor 48, the CPU 51 controls the first drive motor 46, the second drive motor 47, and the fourth drive motor 49 to move the holding device 45 to the photographing position. When the movement of the holding device 45 is completed, the CPU 51 outputs a signal notifying the PC 10 of the completion of the movement.

  The CPU 21 outputs a shooting command to the camera 5 (S17). The camera 5 captures an image of the capturing area and transmits the captured image C to the PC 10. Upon receiving the photographed image C, the CPU 21 acquires the delivery reference information from the storage device 25 (S18), and executes an image analysis process on the photographed image C (S20). The CPU 21 generates an analysis image D indicating the outline 9A of the cloth 9 shown in the captured image C. The CPU 21 calculates the center of gravity position 9B and the moment axis 9C of the cloth 9 based on the outline 9A, and specifies the holding position of the cloth 9. The CPU 21 adjusts the driving conditions of the first drive motor 46, the second drive motor 47, and the fourth drive motor 49 necessary for placing the cloth 9 at the delivery position according to the specified holding position of the cloth 9 by a correction amount. (S21). The CPU 21 corrects the movement amount by adding the correction amount to the initial value of the movement amount when the arm device 4 moves the holding device 45 from the photographing position to the upper position of the delivery position (S22).

  The CPU 21 acquires the correction information from the storage device 25 (S23), adds the correction amount included in the correction information to the movement amount corrected in S22, and corrects the movement amount (S25). The CPU 21 outputs a third movement command to the arm device 4 (S26). The CPU 51 drives the first drive motor 46, the second drive motor 47, and the fourth drive motor 49 based on the movement amount calculated by the PC 10, and rotates the first arm 42, the second arm 43, and the ball screw 44. Move. The holding device 45 moves above the delivery position on the worktable 61. When the movement of the holding device 45 is completed, the CPU 51 outputs a signal notifying the PC 10 of the completion of the movement.

  The CPU 21 outputs a release command to the arm device 4 (S27). The CPU 51 controls the third drive motor 48 to lower the ball screw 44. The holding unit 36 descends while holding the cloth 9. The CPU 51 closes the electromagnetic valve 50 and releases the cloth 9 adsorbed on the holding unit 36. The cloth 9 is separated from the holding section 36 by its own weight, and is accurately located at the delivery position. When releasing the cloth 9, the CPU 51 outputs a signal notifying the completion of the release to the PC 10 after the holding device 45 is lifted.

  The CPU 21 outputs a first transport command to the transport device 6 (S28). The transport device 6 controls the transport air cylinder 83 to move the moving body 65 from the rear position to the front position. The right holding portion 66 moves above the cloth 9 placed at the delivery position. The transport device 6 controls the right air cylinder 84 to move the right holding portion 66 from the separated position to the holding position. The right holding section 66 holds the cloth 9 between the work table 61 and the right holding section 66. The transport device 6 controls the transport air cylinder 83 to move the moving body 65 from the front position to the rear position. The cloth 9 pressed by the right holding portion 66 moves rearward together with the moving body 65 while sliding sequentially with respect to the work table 61 and the holding plate 75. After the moving body 65 reaches the rear position, the transport device 6 controls the right air cylinder 84 and moves the right holding portion 66 to the separated position. The cloth 9 is located on the holding plate 75. When the transport device 6 transports the cloth 9, the transport device 6 outputs a signal notifying the completion of transport to the PC 10.

  The CPU 21 outputs a sewing command to the sewing machine 7 (S30). The CPU 91 of the sewing machine 7 controls the X-axis motor 32 and the Y-axis motor 33 to move the presser arm 77 from the standby position to the start position. When the presser arm 77 moves to the start position, the presser plate 79 moves between the cloth 9 and the right holding portion 66 located at the separated position. The CPU 91 controls the air cylinder 78 to move the holding plate 79 from the release position to the holding position. When the presser plate 79 presses the cloth 9 between itself and the holding plate 75, the cloth 9 can move together with the presser arm 77, and the sewing machine 7 receives the cloth 9.

  The CPU 91 reads the sewing data specified by the sewing command from the storage device 94 and starts the sewing operation according to the sewing data. The CPU 91 controls the X-axis motor 32 and the Y-axis motor 33 to move the presser arm 77 to a position where the cloth 9 is below the needle bar. After the cloth 9 moves below the needle bar, the CPU 91 controls the main motor 31 in synchronization with the X-axis motor 32 and the Y-axis motor 33. When the main motor 31 is driven, the needle bar and the vertical shuttle operate synchronously. The CPU 91 forms stitches for the predetermined number of stitches on the cloth 9 by synchronously driving the X-axis motor 32, the Y-axis motor 33, and the main motor 31. After forming the stitch, the CPU 91 stops driving the main motor 31. The CPU 91 drives the X-axis motor 32 and the Y-axis motor 33 to move the presser arm 77 to the end position. The sewn cloth 9 moves together with the presser plate 79 below the left holding portion 67. The CPU 91 controls the air cylinder to move the presser plate 79 to the release position. The sewn cloth 9 is placed on the holding plate 75. The CPU 91 controls the X-axis motor 32 and the Y-axis motor 33 to move the presser arm 77 to the standby position. The CPU 91 stops driving the X-axis motor 32 and the Y-axis motor 33. When completing the sewing operation, the CPU 91 outputs a signal notifying the completion of the sewing to the PC 10.

  The CPU 21 outputs a second transport command to the transport device 6 (S31). The transport device 6 controls the left air cylinder 85 to move the left holding portion 67 from the separated position to the holding position. The transport mechanism 63 receives the cloth 9 by the left holding portion 67 sandwiching the cloth 9 between the cloth 9 and the holding plate 75. The transport device 6 controls the transport air cylinder 83 to move the moving body 65 from the rear position to the middle position. With the movement of the moving body 65 to the middle position, the left holding portion 67 conveys the cloth 9 to the passage hole 62. The cloth 9 falls at the passage hole 62. The cloth 9 dropped at the passage hole 62 is loaded on the loading table 68. The transport device 6 moves the left holding portion 67 to the separated position, and returns the moving body 65 to the rear position. When the transport device 6 transports the cloth 9, the transport device 6 outputs a signal notifying the completion of transport to the PC 10.

  The CPU 21 adds 1 to the number of processes (S32), and determines whether the number of processes is smaller than the number of processes (S33). If the number of processes is smaller than the number of processes (S33: YES), the CPU 21 shifts the process to S12 and repeats a series of processes (S12 to S32) for processing the cloth 9. By repeating this operation, continuous automatic sewing of the cloth 9 can be executed. If the number of processes is equal to the number of processes (S33: NO), the CPU 21 ends a series of processes for processing the cloth 9.

  The correction information editing process will be described with reference to FIGS. The correction information is generated using a dedicated correction sheet P (see FIG. 11). The correction sheet P is, for example, a rectangular white paper with the identifier R drawn on the back surface. The identifier R has a first reference line L1, a second reference line L2, a first mark M1, and a second mark M2. The first reference line L1 is a straight line extending on the back surface of the correction sheet P. The second reference line L2 is a straight line extending perpendicular to the first reference line L1. The first reference line L1 is longer than the second reference line L2. One end of the first reference line L1 and one end of the second reference line L2 intersect at an intersection M0. The first mark M1 is formed near the other end of the first reference line L1 and on an extension of the first reference line L1. The second mark M2 is formed near the other end of the second reference line L2 on an extension of the second reference line L2. The first mark M1 and the second mark M2 each have a circular shape. The identifier R is used for aligning the origin position 7A and the axial directions 7B and 7C of the sewing machine 7 in the image coordinate system.

  As shown in FIG. 10, when the operator operates the PC 10 and instructs the execution of the correction information editing process, the CPU 21 reads the program of the correction information editing process from the storage device 25 and executes it. The CPU 21 displays an operation screen (not shown) on the display 28, and waits for an input of an operation for instructing that the arrangement of the correction sheet P at the supply position has been completed (S51: NO). When the operator arranges the correction sheet P at the supply position and instructs completion of the arrangement (S51: YES), the CPU 21 outputs a first movement command to the arm device 4 (S52). The holding device 45 moves above the supply position. The CPU 51 outputs a signal for notifying the PC 10 of the completion of the movement.

  The CPU 21 outputs a holding command to the arm device 4 (S53). The holding device 45 descends and holds the correction sheet P at the supply position on the holding unit 36. After raising the holding device 45 at the supply position, the CPU 51 outputs a signal notifying the PC 10 of the completion of the holding. The CPU 21 outputs a second movement command to the arm device 4 (S55). The holding device 45 moves to the shooting position. The CPU 51 outputs a signal for notifying the PC 10 of the completion of the movement.

  The CPU 21 outputs a shooting command to the camera 5 (S56). The camera 5 captures an image of the capturing area and transmits a captured image E1 (see FIG. 11) to the PC 10. The CPU 21 performs image analysis on the captured image E1 (S57), and generates an analysis image F1 indicating the identification information U based on the identifier R shown in the captured image E1. The identification information U is information indicating the identifier R appearing in the captured image E1 in the image coordinate system of the origin Q. The identification information U includes a reference point U0, a first axial direction U1, and a second axial direction U2. The reference point U0 is coordinate data indicating the position of the intersection M0 of the identifier R in the image coordinate system. The first axial direction U1 is direction data indicating a direction toward the first mark M1 along the first reference line L1. The second axial direction U2 is direction data indicating a direction toward the second mark M2 along the second reference line L2.

  The CPU 21 outputs a third movement command to the arm device 4 (S58). The holding device 45 moves above the delivery position. The CPU 51 outputs a signal for notifying the PC 10 of the completion of the movement. The CPU 21 outputs a release command to the arm device 4 (S60). The holding device 45 descends, releases the correction sheet P attracted to the holding unit 36, and arranges it at the delivery position. After raising the holding device 45 at the delivery position, the CPU 51 outputs a signal notifying the completion of release to the PC 10. The CPU 21 outputs a first transport command to the transport device 6 (S61). The transport device 6 moves the moving body 65 to the front position, and presses the correction sheet P at the delivery position with the right holding portion 66. The transport device 6 moves the moving body 65 to the rear position, and releases the correction sheet P transported on the work table 61 by the right holding portion 66. The correction sheet P is on the holding plate 75. The transport device 6 outputs a signal to notify the PC 10 of the completion of transport.

  The CPU 21 outputs a correction pattern creation command to the sewing machine 7 (S62). The sewing machine 7 moves the presser arm 77 to the start position, and presses the correction sheet P with the presser plate 79. The sewing machine 7 creates correction patterns N0, N1, and N2 on the correction sheet P according to the correction pattern data specified by the correction pattern creation command. As shown in FIG. 12, each of the correction patterns N0, N1, and N2 is a pattern composed of four needle drop points. Each pattern is formed on the correction sheet P by moving the correction sheet P to a position corresponding to a needle drop point according to the correction pattern data, and forming a hole at the needle drop point with sewing needles. The four holes are respectively formed at the four corners of a virtual square. The four holes forming the correction pattern N0 indicate the origin position 7A of the needle drop point of the sewing machine 7 by the intersection of the imaginary lines connecting the two diagonally located holes. The four holes forming the correction pattern N1 move the presser arm 77 by a predetermined length in the positive direction of the X-axis direction from the origin position 7A at the intersection of the virtual lines connecting the two diagonally located holes. The moved position 7D is shown. Therefore, the direction from the origin position 7A to the position 7D is the axial direction 7B of the holding arm 77 in the X-axis direction. The four holes forming the correction pattern N2 move the presser arm 77 by a predetermined length in the positive direction in the Y-axis direction from the origin position 7A at the intersection of the virtual lines connecting the two diagonally located holes. The moved position 7E is shown. Therefore, the direction from the origin position 7A to the position 7E is the axial direction 7C of the pressing arm 77 in the Y-axis direction. As shown in FIG. 10, after creating the correction patterns N0, N1, and N2, the sewing machine 7 moves the presser arm 77 to the start position, and releases the correction sheet P. The sewing machine 7 outputs a signal notifying the completion of the creation to the PC 10.

  The CPU 21 outputs a third transportation command to the transportation device 6 (S63). The transport device 6 presses the correction sheet P with the right holding portion 66. The transport device 6 moves the moving body 65 to the front position, and releases the correction sheet P transported on the work table 61 by the right holding portion 66. The correction sheet P is at the delivery position. After moving the moving body 65 to the rear position, the transport device 6 outputs a signal notifying the completion of transport to the PC 10. The CPU 21 outputs a third movement command to the arm device 4 (S65). The holding device 45 moves above the delivery position. The CPU 51 outputs a signal for notifying the PC 10 of the completion of the movement. The CPU 21 outputs a holding command to the arm device 4 (S66). The holding device 45 descends and holds the correction sheet P at the delivery position on the holding unit 36. After moving up the holding device 45 at the delivery position, the CPU 51 outputs a signal notifying the PC 10 of the completion of the holding. The CPU 21 outputs a second movement command to the arm device 4 (S67). The holding device 45 moves to the shooting position. The CPU 51 outputs a signal for notifying the PC 10 of the completion of the movement.

  The CPU 21 outputs a shooting command to the camera 5 (S68). The camera 5 captures an image of the capturing area and transmits a captured image E2 (see FIG. 12) to the PC 10. The CPU 21 performs an image analysis on the captured image E2 (S70), and generates an analysis image F2 indicating the identification information V based on the identifier R shown in the captured image E2 and the pattern information W based on the correction patterns N0, N1, and N2. Generate. As shown in FIG. 12, the identification information V is information indicating the identifier R appearing in the captured image E2 in the image coordinate system. The identification information V includes a reference point V0, a first axis direction V1, and a second axis direction V2. The reference point V0 is coordinate data indicating the position of the intersection M0 of the identifier R in the image coordinate system. The first axis direction V1 is direction data indicating a direction toward the first mark M1 along the first reference line L1. The second axis direction V2 is direction data indicating a direction toward the second mark M2 along the second reference line L2.

  The pattern information W indicates an origin position W0, an axial direction W1 in the X-axis direction, and an axial direction W2 in the Y-axis direction in the image coordinate system. The origin position W0 is coordinate data indicating the origin position 7A indicated by the correction pattern N0 in the captured image E2 in the image coordinate system. The axial direction W1 is direction data indicating, in the image coordinate system, the axial direction 7B of the X-axis direction indicated by the correction patterns N0 and N1 appearing in the captured image E2. The axial direction W2 is direction data indicating, in the image coordinate system, the axial direction 7C of the Y-axis direction indicated by the correction patterns N0 and N2 appearing in the captured image E2.

  The CPU 21 positions the pattern information W in the image coordinate system of the origin Q based on the identification information U and V and the pattern information W obtained by the image analysis (S71). As shown in FIG. 13, the CPU 21 generates an analysis image G in which the analysis image F2 is superimposed on the analysis image F1 such that the identification information U and the identification information V match in the image coordinate system of the origin Q. The CPU 21 specifies the position of the pattern information W of the analysis image F2 based on the position of the identification information U of the analysis image F2 in the image coordinate system of the origin Q.

  As shown in FIG. 10, the CPU 21 acquires the delivery reference information from the storage device 25. The delivery reference information includes information that associates information on the delivery reference position with the needle drop reference information Z. Therefore, the CPU 21 acquires the needle drop reference information Z in the image coordinate system of the origin Q based on the delivery reference information (S72).

  The CPU 21 calculates a correction amount based on the needle drop reference information Z and the pattern information W (S73). As shown in FIG. 14, the CPU 21 generates an analysis image H in which needle drop reference information Z based on the delivery reference information and pattern information W based on the analysis image G are displayed in the image coordinate system of the origin Q. The CPU 21 calculates coordinate correction data (ΔX, ΔY) for correcting the origin position W0 of the pattern information W to the needle drop reference position Z0 of the needle drop reference information Z based on the analysis image H. Based on the analysis image H, the CPU 21 calculates angle correction data (Δθ) for correcting the axial direction W2 of the pattern information W to the needle drop reference direction Z2 of the needle drop reference information Z. The angle correction data may be data for correcting the axial direction W1 of the pattern information W to the needle drop reference direction Z1 of the needle drop reference information Z. The coordinate correction data and the angle correction data are correction amounts for correcting a positional difference between the delivery position and the needle drop point of the sewing machine 7. As shown in FIG. 10, the CPU 21 stores the correction amount obtained by the calculation in the storage device 25 as correction information (S75).

  The CPU 21 outputs a third movement command to the arm device 4 (S76). The holding device 45 moves above the delivery position. The CPU 51 outputs a signal for notifying the PC 10 of the completion of the movement. The CPU 21 outputs a release command to the arm device 4 (S77). The holding device 45 descends, releases the correction sheet P attracted to the holding unit 36, and arranges it at the delivery position. After raising the holding device 45 at the delivery position, the CPU 51 outputs a signal notifying the completion of release to the PC 10. The CPU 21 ends the correction information editing process. The operator collects the correction sheet P at the delivery position.

  As described above, the arm device 4 accurately conveys the cloth 9 to the delivery position. The sewing machine 7 receives the cloth 9 at the delivery position, and sew the cloth 9 based on the needle drop reference position Z0 and the needle drop reference directions Z1, Z2 in which the origin position 7A and the axial directions 7B, 7C with respect to the delivery position are set in advance. The needle drop reference position Z0 and the needle drop reference directions Z1, Z2 with respect to the delivery position may be changed due to a shift due to vibration, a change in the system configuration, or the like. In this case, the camera 5 captures the captured image E1 using the correction sheet P in the processing of S56 of the correction information editing processing, and the camera 5 captures the captured image E2 in the processing of S68. In the process of S70, the CPU 21 of the PC 10 analyzes the positional relationship between the image coordinate system of the origin Q and the identifier R based on the captured image E1, and based on the captured image E2, the positions of the identifier R and the correction patterns N0, N1, and N2. Analyze the relationship. Thereby, the CPU 21 can obtain the deviation amounts of the origin position 7A and the axial directions 7B, 7C with respect to the needle drop reference position Z0 and the needle drop reference directions Z1, Z2 as the correction amount. The arm device 4 adds the correction amount to the movement amount of the cloth 9 in the processing of S25 of the sewing processing, and conveys the cloth 9 from the original delivery position to a new delivery position according to the correction amount. The sewing machine 7 receives the cloth 9 at the new delivery position and sews the cloth 9 based on the needle drop reference position Z0 and the needle drop reference directions Z1 and Z2. Sewing can be performed accurately without changing the setting of the needle drop reference directions Z1 and Z2.

  The transport device 6 can move the correction sheet P on which the sewing machine 7 has formed the correction patterns N0, N1, and N2 to a receiving position where the arm device 4 can receive the correction sheet. The receiving position in the above embodiment is an example of the receiving position. That is, the receiving position is within a range where the arm device 4 can move the holding device 45. Therefore, the arm device 4 can hold the correction sheet P by the holding device 45, and can convey the correction sheet P to the photographing position to photograph the photographed image E2.

  The sewing system 1 may change the needle drop reference position Z0 and the needle drop reference directions Z1, Z2 with respect to the delivery position by incorporating the transport device 6 into the system. In this case, the sewing system 1 obtains the amounts of deviation of the origin position 7A and the axial directions 7B, 7C with respect to the needle drop reference position Z0 and the needle drop reference directions Z1, Z2 as correction amounts, and can sew accurately on the cloth 9. .

  When a change occurs in the needle drop reference position Z0 and the needle drop reference directions Z1 and Z2 with respect to the delivery position, the sewing system 1 can easily use the correction sheet P on which the identifier R is formed in advance to easily change the needle drop reference position Z0 and the needle drop reference position Z0. The amount of deviation between the origin position 7A and the axial directions 7B and 7C with respect to the needle drop reference directions Z1 and Z2 is obtained as a correction amount, and sewing on the cloth 9 can be performed accurately.

  In the above description, the holding device 45 is an example of the “holding mechanism” of the present invention. The support 41, the first arm 42, the second arm 43, and the ball screw 44 are examples of the "moving mechanism" of the present invention. The arm device 4 is an example of the “transport device” of the present invention. The shooting region is an example of the “predetermined shooting range” of the present invention. The camera 5 is an example of the “photographing device” of the present invention. The PC 10 is an example of the “control device” of the present invention. The correction sheet P is an example of the “identification target” of the present invention. The CPU 21 executing the process in S58 is an example of the “first transport unit” of the present invention. The CPU 21 executing the process of S56 is an example of the “first photographing unit” of the present invention. The CPU 21 executing the process in S62 is an example of the “forming unit” of the present invention. The CPU 21 executing the process of S68 is an example of the “second photographing unit” of the present invention. The photographed image E1 is an example of the “first photographed image” of the present invention. The captured image E2 is an example of the “second captured image” of the present invention. The CPU 21 executing the process in S70 is an example of the “analyzing unit” of the present invention. The needle drop reference position Z0 is an example of the “reference position” of the present invention. The needle drop reference directions Z1 and Z2 are examples of the “reference direction” of the present invention. The CPU 21 executing the process of S72 is an example of the “acquiring unit” of the present invention. The CPU 21 executing the process of S73 is an example of the “calculating means” of the present invention. The CPU 21 executing the process of S25 is an example of the “adjustment unit” of the present invention. The CPU 21 executing the process of S26 is an example of the “output unit” of the present invention. The CPU 21 executing the process of S63 is an example of the “moving means” of the present invention. The CPU 21 executing the process in S67 is an example of the “second transport unit” of the present invention. The presser plate 79 is an example of the “cloth holding section” of the present invention. The transport device 6 is an example of the “mounting device” of the present invention.

  The processing in S58 is an example of the “transport step” of the present invention. The processing in S56 is an example of the “first imaging step” of the present invention. The process of S62 is an example of the “forming step” of the present invention. The processing in S68 is an example of the “second imaging step” of the present invention. The process of S70 is an example of the “analysis step” of the present invention. The process of S72 is an example of the “acquisition step” of the present invention. The process of S73 is an example of the “calculation step” of the present invention. The process of S25 is an example of the “adjustment step” of the present invention. The process of S26 is an example of the “output step” of the present invention.

  The present invention can be variously modified in addition to the above embodiment. The sewing system 1 includes the transport device 6 between the arm device 4 and the sewing machine 7. For example, the transport device 6 is omitted, and the sewing device 7 directly receives the cloth 9 transported to the predetermined delivery position by the arm device 4. It may be.

  In the transport device 6, in the correction information editing process, the sewing machine 7 transports the correction sheet P on which the correction patterns N0, N1, and N2 have been formed to the delivery position, but the transport destination may not be the delivery position. In this case, the transport device 6 may transport the correction sheet P to a position where the holding device 45 of the arm device 4 can hold the correction sheet P. Alternatively, the arm device 4 may directly receive the correction sheet P after forming the correction patterns N0, N1, and N2 from the sewing machine 7. Alternatively, for example, the operator may temporarily stop the correction information editing process, move the correction sheet P from the sewing machine 7 to the delivery position or the like, and then restart the correction information editing process.

  As the correction sheet P, a sheet-shaped backing sheet is used, but any sheet-shaped sheet such as a cloth or a plate that can form the correction patterns N0, N1, and N2 may be used. The identifier R may not have the first mark M1 and the second mark M2.

  The arm device 4 is a “scalar robot” having an articulated robot arm, but may be a robot arm having another structure. The stocker 3 includes two stockers 3A and 3B, but may include one or three or more. The mechanism for holding the cloth 9 in the holding device 45 may be other than the above embodiment. In the sewing system 1, the PC 10 controls the operations of the arm device 4, the transport device 6, and the sewing machine 7. However, for example, the PC 10 is omitted, and the CPU 51 of the arm device 4, the CPU of the transport device 6, Any of the CPUs 91 may integrally control the operation of the sewing system 1.

Reference Signs List 1 sewing system 4 arm device 5 camera 6 transport device 7 sewing machine 7A origin position 7B axial direction 7C axial direction 9 cloth 10 PC
21 CPU
41 support part 42 first arm part 43 second arm part 44 ball screw 45 holding device 79 holding plate C, E1, E2 photographed image L1 first reference line L2 second reference line M0 intersection N0, N1, N2 correction pattern P correction Sheet R identifier W0 Origin position W1, W2 Axial direction Z0 Needle drop reference position Z1, Z2 Needle drop reference direction

Claims (5)

Sewing machine,
A holding mechanism capable of holding a cloth sewn by the sewing machine, and a transfer device including a moving mechanism capable of moving the holding mechanism;
An imaging device that faces the cloth held by the holding mechanism and shoots a predetermined imaging range;
The sewing machine, comprising a control device for controlling the drive of the transport device and the imaging device,
Under the control of the control device, the transport device controls the movement of the holding mechanism by the moving mechanism based on a captured image captured by the capturing device, and transports the cloth to a delivery position for delivering the cloth to the sewing machine. A sewing system in which the sewing machine sew the cloth based on sewing data;
The control device includes:
A first transport unit that transports an identification target object provided with a predetermined identifier to a sheet that can be transported by the transport device to the delivery position by the transport device,
In the process in which the first transport means transports the identification target, first imaging means for capturing the identification target by the imaging device,
By the sewing operation of the sewing machine that has received the identification target, the sewing machine performs the identification of a correction pattern indicating an origin position that is a reference of a position where a needle is dropped on the cloth at the time of sewing, and an axial direction that is a direction in which the cloth is moved at the time of sewing. Forming means for forming on the object;
A second photographing means for photographing the object to be identified on which the correction means has formed the correction pattern by the photographing device,
The position of the identifier provided on the object to be identified in the first photographed image photographed by the first photographing means, and the position of the identifier provided to the object to be identified in the second photographed image photographed by the second photographing means Analysis means for analyzing the origin position and the axial direction within the imaging range of the imaging device, based on the origin position and the correction pattern formed on the identification object, and
A reference position previously set as a reference of the origin position, and an obtaining unit for obtaining a reference direction previously set as a reference in the axial direction;
Based on the reference position and the reference direction acquired by the acquisition unit and the origin position and the axial direction analyzed by the analysis unit, relative position coordinates of the origin position with respect to the reference position; Calculating means for calculating a correction amount including a relative rotation angle of the axial direction with respect to a direction,
Adjusting means for adjusting the moving amount by adding the correction amount calculated by the calculating means to a moving amount when the moving mechanism conveys the cloth to the delivery position during sewing;
Output means for outputting the movement amount adjusted by the adjustment means to the transport device. The control device includes:
The moving means for moving the identification target on which the correction means has formed the correction pattern to a receiving position at which the transport device can receive,
2. The transport device according to claim 1, wherein the transport device includes a second transport unit that transports the identification target object, which has been moved to the delivery position by the moving unit, to a photographing position where the photographing device can photograph. Sewing system. The sewing machine includes a cloth holding unit that moves in the axial direction while holding the cloth during sewing,
The sewing system according to claim 1, further comprising a mounting device that receives the cloth conveyed to the delivery position by the conveyance device and attaches the cloth to the cloth holding unit. The object to be identified is
It has a first reference line extending in a first direction and a second reference line extending in a second direction intersecting with the first direction, and the first reference line and the second reference line intersect at an intersection. The sewing system according to any one of claims 1 to 3, wherein the sheet is a sheet on which the identifier is formed. Sewing machine,
A holding mechanism capable of holding a cloth sewn by the sewing machine, and a transfer device including a moving mechanism capable of moving the holding mechanism;
An imaging device that faces the cloth held by the holding mechanism and shoots a predetermined imaging range;
The sewing machine, comprising a control device for controlling the drive of the transport device and the imaging device,
Under the control of the control device, the transport device controls the movement of the holding mechanism by the moving mechanism based on a captured image captured by the capturing device, and transports the cloth to a delivery position for delivering the cloth to the sewing machine. In a sewing system in which the sewing machine sew the cloth based on sewing data, a control method executed by the control device,
The control device includes:
A transport step of transporting the identification target object provided with a predetermined identifier to a sheet that can be transported by the transport device, to the delivery position by the transport device,
In the process of transporting the identification target in the transporting step, a first imaging step of capturing the holding mechanism holding the identification target by the imaging device,
By the sewing operation of the sewing machine that has received the identification target, the sewing machine performs the identification of a correction pattern indicating an origin position that is a reference of a position where a needle is dropped on the cloth at the time of sewing, and an axial direction that is a direction in which the cloth is moved at the time of sewing. A forming step for forming on the object;
A second photographing step of photographing the identification target object having the correction pattern formed in the forming step by the photographing device,
The position of the identifier provided on the identification target in the first captured image captured in the first capturing step, and the identifier provided on the identification target in the second captured image captured in the second capturing step An analysis step of analyzing the origin position and the axial direction within the imaging range of the imaging device, based on the position of, and the origin position and the correction pattern formed on the identification target object,
An acquisition step of acquiring a reference position previously set as a reference of the origin position, and a reference direction previously set as a reference of the axial direction,
The reference position and the reference direction acquired in the acquiring step, and the origin position and the axial direction analyzed in the analysis step, based on the relative position coordinates of the origin position with respect to the reference position, A calculating step of calculating a correction amount including a relative rotation angle of the axial direction with respect to the reference direction;
An adjusting step of adjusting the moving amount by adding the correction amount calculated in the calculating step to a moving amount when the moving mechanism conveys the cloth to the delivery position during sewing;
Outputting the movement amount adjusted in the adjusting step to the transport device.

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