JP3637329B2 - Linking method and linking apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linking method and a linking apparatus for over-stitching a knitted fabric.
[0002]
[Prior art]
The knitted fabric that is the material of the knitted product is a knitted stitch that is larger than the other stitches (hereinafter simply referred to as the knitted stitch) so that the knitted stitch is properly stitched to the specified size and shape when the stitch is stitched. ) Loose course is organized.
For this reason, conventionally, after an operator pulls and spreads the knitted fabric by hand, the knitted fabric is seen through, and the point stitches are pierced through each of the folds constituting the loose course.
This operation is similarly performed in the case of a circular knitted fabric knitted like a sock. First, an operator puts both hands into the opening of the circular knitted fabric and pulls the circular knitted fabric to work. After seeing the knitted fabric on the back side as seen from the person's side, check the overburden, pierce the point needle through the overburden, and then perform the same operation on the near side knitted fabric, and overlock They pierced each other through the same point needle and performed overlock stitching.
[0003]
However, it has been very difficult to pierce the point needle through the edge because the edge is only slightly larger than an ordinary stitch. In particular, in the case of circular knitted fabrics, it is difficult to stretch the knitted fabric on the near side after piercing the point needle into the knitted fabric on the back side, and this problem is remarkable. As a result, it takes a great deal of time to perform overlock stitching, and problems such as overlock stitching and overlock stitching occur, resulting in poor product yield.
[0004]
For this reason, as disclosed in JP-A-11-207061 and JP-A-11-207062, an insertion body for extending the knitted fabric by inserting it into a circular knitted fabric having an overhang, and stretching by the insertion body Detected by an image capturing means for capturing an image of the edge of the knitted fabric, an edge position detecting means for detecting the position of the edge by performing image processing on the image captured by the image capturing means, and an edge position detecting means. A knitted fabric, comprising means for associating point needles with the positions of the lashes, means for piercing the point needles corresponding to each of the burrs, and a sewing mechanism for performing darning sewing based on the pierced point needles. Each position of the knitted fabric is repeatedly detected by detecting the position of the edge of the stitch, aligning the point needle corresponding to the detected eye, and inserting the point needle corresponding to the detected eye After piercing the point needles, the linking device that performs sewing overlock by sewing mechanisms have been developed.
[0005]
[Problems to be solved by the invention]
However, such a conventional linking apparatus has the following problems.
Since the edge of each end (hereinafter referred to as V point) is on the side of the insertion body after the sock is inserted into the insertion body, it is difficult to detect by image processing and the point needle is pierced automatically. Since it is difficult, the V point needle is manually inserted into the V point, and a hole having a predetermined area inside a predetermined distance from the V point is used as an initial edge, and the position of the edge is sequentially inward. It was detected and the corresponding point needle was pierced. However, the vicinity of the V point is close to the cloth folding position, and the position and size are likely to change depending on the attachment. In particular, on the front side, there is a large stitch called a toe gore line, and this makes a complex stitch structure near the overburden. For this reason, there have been problems such as detection of an initial stitch by image processing that requires no assistance from the operator, or that a false stitch is detected and the stitch is deviated from the stitch.
[0006]
SUMMARY OF THE INVENTION Therefore, an object of the present invention is to solve the above-mentioned problem, and to quickly and accurately pierce a point needle into a knit stitch knitted on a knitted fabric, and to link the knitted fabric firmly and It is to provide a linking device.
[0007]
[Means for Solving the Problems]
  The invention of claim 1 includes a step of stretching the knitted fabric with the linking target portions facing each other, a step of capturing an image of the stretched knitted fabric, and a step of detecting the position of the edge of the knitted fabric from the captured image And a step of aligning a point needle corresponding to the position of the detected heel, a step of piercing the point needle corresponding to the detected heel, and a point needle pierced by each of the edges of the knitted fabric A step of setting a reference line for detecting an initial stitch near the end of the knitted fabric, and detecting a start stitch at a predetermined distance from the end of the knitted fabric. Detecting by detecting the starting edge, detecting the edge from the detected starting edge toward the detection reference line, and tracking the edgeShiEye-catchingCenter of gravityDetection reference line withAt the enddetectionShiA linking method characterized by including a step of making a shading eye an initial shading.
  According to the present invention, the start edge is detected by detecting the edge inside the predetermined distance from the edge of the knitted fabric, and the initial edge is determined by tracing the edge from the start edge to the edge of the knitted fabric. Therefore, it is possible to suppress undetected and erroneous detection of the initial stitches, puncture the point needles into the stitches quickly and accurately, and to link the knitted fabric firmly.
[0008]
In the invention according to claim 2, the step of detecting the start edge includes a step of setting a predetermined region inside a predetermined distance from the end of the knitted fabric and detecting a hole having a predetermined area or more, and among the detected holes Extracting the hole having the largest area, comparing the area of the upper hole and the lower hole among the holes adjacent to the left and right of the extracted hole having the largest area, and the upper hole A step where the upper hole is sharpened when the area of the hole is larger than the area of the lower hole, and the hole having the largest area detected when the area of the lower hole is larger than the area of the upper hole. The linking method according to claim 1, wherein the linking method includes a step of making the edge.
In the present invention, in the detection of the start edge for detecting the initial edge, based on the characteristics of the stitch, the hole having the maximum area is extracted from the detected hole having a predetermined area or larger, and adjacent to the hole. By comparing the areas of the upper and lower holes on either the left or right side, the overturning point is determined. It is possible to suppress and puncture the point needle into the overburst quickly and accurately, and to link the knitted fabric firmly.
[0009]
According to a third aspect of the present invention, the step of setting the detection reference line of the initial edge is a step of setting a predetermined region near the edge of the knitted fabric to detect a hole having a predetermined area or more, and a step of detecting the detected hole The linking method according to claim 1, comprising: a step of selecting a hole closest to an end of the knitted fabric, and a step of setting a detection reference line for an initial edge from the position of the selected hole. It is.
In the present invention, a hole having a predetermined area or more is detected in the vicinity of the edge of the knitted fabric, and the detection reference line of the initial edge is set from the position of the hole closest to the edge of the knitted fabric. Even when detecting the front edge of the front side with a large stitch called a gore line, the detection of the initial edge of the edge and the false detection are suppressed, and the point needle is pierced through the edge quickly and accurately. Can be linked strongly.
[0010]
  According to a fourth aspect of the present invention, a knitted fabric stretching means for stretching a knitted fabric with the linking object portions facing each other, an imaging means for capturing an image of the knitted fabric stretched by the knitted fabric stretching means, and an imaging means. A point position detecting means for detecting the position of the sharp eye, a point needle positioning means for aligning a point needle corresponding to the position of the sharp eye detected by the point position detecting means, and a detected point eye A linking device comprising point needle piercing means for piercing a point needle corresponding to the needle, and over stitching means for performing over stitch sewing based on the point needle pierced by each point of the knitted fabric of the knitted fabric by the point needle piercing means. Detecting reference line setting means for setting a detection reference line for an initial edge near the edge of the knitted fabric, and a start edge at a predetermined distance from the edge of the knitted fabric. A start linking loops detecting means for detecting, and linking loops tracking means for tracking the linking loops toward the detection reference line is set from the start linking loops detected, detected by darning stitches tracking meansShiEye-catchingCenter of gravityDetection reference line withAt the enddetectionShiAn linking device comprising an initial edge detection means that uses an edge as an initial edge.
  According to the present invention, the start edge is detected by detecting the edge inside the predetermined distance from the edge of the knitted fabric, and the initial edge is determined by tracing the edge from the start edge to the edge of the knitted fabric. Therefore, it is possible to suppress undetected and erroneous detection of the initial stitches, puncture the point needles into the stitches quickly and accurately, and to link the knitted fabric firmly.
[0011]
According to a fifth aspect of the present invention, the start edge detecting means includes a detecting means for setting a predetermined area inside a predetermined distance from the end of the knitted fabric to detect a hole having a predetermined area or more, and a maximum of the detected holes. An extraction means for extracting a hole having an area of the above, a comparison means for comparing the areas of the upper hole and the lower hole among the holes adjacent to the left or right of the hole having the detected maximum area, and the upper Over the top hole when the hole area is larger than the lower hole area, and over the hole with the largest area detected when the lower hole area is larger than the upper hole area The linking device according to claim 4, further comprising: a determining unit.
In the present invention, in the detection of the start edge for detecting the initial edge, based on the characteristics of the stitch, the hole having the maximum area is extracted from the detected hole having a predetermined area or larger, and adjacent to the hole. By comparing the areas of the upper and lower holes on either the left or right side, the overturning point is determined. It is possible to suppress and puncture the point needle into the overburst quickly and accurately, and to link the knitted fabric firmly.
[0012]
According to a sixth aspect of the invention, the detection reference line setting means includes a detection means for setting a predetermined region at the end of the knitted fabric to detect a hole having a predetermined area or more, and an end of the knitted fabric among the detected holes. 6. The linking device according to claim 4, further comprising selection means for selecting a hole closest to, and setting means for setting a detection reference line for an initial edge from the position of the selected hole.
In the present invention, a hole having a predetermined area or more is detected in the vicinity of the edge of the knitted fabric, and the detection reference line of the initial edge is set from the position of the hole closest to the edge of the knitted fabric. Even when detecting the front edge of the front side with a large stitch called a gore line, the detection of the initial edge of the edge and the false detection are suppressed, and the point needle is pierced through the edge quickly and accurately. Can be linked strongly.
[0013]
The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a schematic configuration diagram of a main body mechanism according to an embodiment of the linking apparatus of the present invention. In the figure, a main body mechanism 100 of the linking device includes an insertion body 110 that inserts and extends a sock W, a needle piercing mechanism 120 that pierces a point needle through the heel K of the extended sock W, and a garment K A CCD camera 140 for picking up images, an image processing unit for inputting an image signal from the CCD camera 140 and performing image processing to detect the position of the edge K, and a mechanism control unit for controlling the main body mechanism. The computer 150 includes a sequencer 160 that receives the control signal from the computer 150 and controls the needle piercing mechanism 120, and a driver 170 that receives the control signal from the sequencer 160 and drives each actuator of the needle piercing mechanism 120. .
[0015]
The insertion body 110 has a certain thickness and has a width such that when the sock W is inserted, the sock W is extended right and left appropriately. In addition, the insertion body 110 includes fixtures 112a and 112b that fix the sock W by stretching it up and down appropriately when the sock W is inserted. Accordingly, the edge K of the sock W is appropriately expanded vertically and horizontally, so that the image captured by the CCD camera 140 is processed by the computer 150 so that the position of the edge K can be automatically detected.
The insertion body 110 also serves as an illumination device for photographing the edge K with a CCD camera, and EL panels are attached to both surfaces of the insertion body 110 (not shown). As a result, the CCD camera 140 captures the image of the sock W as a bright hole and a dark fiber portion. In this way, by illuminating the CCD camera 140 from the back side of the sock W and detecting the transmitted light, the hole of the edge K can be captured with good contrast. Needless to say, the illumination is not limited to the EL panel, and an array of LEDs, electric lamps, and the like may be used, and illumination may be performed using a fiber light guide, a light guide plate, or the like. Even when other illumination methods are used, it is preferable that the transmitted light is detected by illuminating the CCD camera 140 from the back side of the sock W in order to capture the hole of the edge K with good contrast.
[0016]
FIG. 2 shows a schematic configuration of a point needle for performing overlock stitching. The point needles 132 need to be arranged at a predetermined interval in order to perform overlock sewing with a sewing machine mechanism (not shown), and are arranged in a needle box 130 having grooves of a predetermined interval as shown in the figure. Further, special V-point needles 134 are provided at both ends for piercing the over-edge K of both ends of the sock W, and are manually set in advance at the over-edge K of both ends. The V-point needle 134 is arranged so as to be movable left and right during the puncturing process of the point needle, and when the puncture of all the point needles 132 is completed at each overburden K of the sock W, the V-point needle 134 is placed in the needle box 130. Locked and delivered to the sewing machine mechanism.
[0017]
3 and 4 show a schematic configuration of the needle piercing mechanism 120. FIG. As illustrated, the needle piercing mechanism 120 includes a base 122, a needle box 130 fixed on the base 122, and a needle push-out mechanism 124 fixed on the base 122.
The needle push-out mechanism 124 moves in accordance with the interval between the point needles 132 of the needle box 130, and the feed mechanism 126 that selects the point needle 132 to be pushed out and pushes out the selected point needle 132 and punctures the heel K of the sock W. And an actuator 128 passing therethrough. The feed mechanism 126 can be formed by NC using a ball screw or the like, and the actuator 128 can be formed by using a pneumatic actuator or a solenoid, but more simply, the actuator 128 is driven by a spring, and the feed mechanism 126 pushes out the needle. A point plate 132 may be pushed out in order by providing a plate to be locked and removing the plate at regular intervals.
[0018]
The needle piercing mechanism 120 has a base 122 mounted on a table (not shown) capable of two-dimensional positioning up and down, left and right, and positions the point needle 132 to be pushed at the overlying K of the sock W based on a command from the sequencer 160. Can be combined.
The needle push-out mechanism 124 is equipped with a CCD camera 140 and moves together with the needle push-out mechanism 124. The center of the visual field of the CCD camera 140 is substantially coincident with the position of the surface of the sock W through which the point needle 132 pushed out by the actuator 128 is pierced. Accordingly, by bringing the center of the overturn K of the sock W almost at the center of the CCD camera 140, the corresponding point needle 132 can be pierced through the overturn K, and coordinate conversion is facilitated.
[0019]
The needle piercing mechanism 120 and the CCD camera 140 are provided with the same on both sides of the front and back surfaces, and the point needle 132 is pierced by detecting the overburden K independently for each of the front side and the back side. When all the point needles 132 have been pierced, the needle piercing mechanism 120 is returned to the initial position, the positions of the front and back needles are aligned, and the insertion body 110 is pulled out. Here, since the point needle 132 is pressed against the insertion body 110 by air pressure or the like, the sock W is attached to the front side needle and the back side needle without coming off the needle. Finally, the sock W is brought to one side and overlock sewing is performed by the sewing machine mechanism.
[0020]
In the above embodiment, the needle piercing mechanism 120 has been described as using the point needles 132 on both the front side and the back side. However, the needles on the opposite side to the point needles 132 to be finally stitched may be a simple guide. Alternatively, a sheath-like member that is coupled to the point needle 132 when the point needle 132 is brought into contact with each other may be used.
Needle piercing mechanism 120 does not necessarily have to be provided on both sides, for example, it is provided only on the front side. After all point needles 132 have been pierced through each overhead K on the front side, insertion body 110 is divided into upper and lower points. A slit is provided in the portion where the needle is pierced, and the position of the back side stitch is detected by the CCD camera 140 on the back side, and the position of the corresponding point needle 132 of the needle piercing mechanism 120 on the front side is aligned with the back side stitch K. The point needle 132 may be pierced completely to the back.
[0021]
Next, the stitch position detection process for detecting the position of the stitch by performing image processing on the stitch image captured by the CCD camera 140 will be described.
FIG. 9 shows an example of the processing flow of the edge position detection processing. As shown in the figure, an image is input from the CCD camera 140 (S184), a predetermined detection area is set (S186), and the input image is binarized (S188).
The threshold value for binarization is a discriminant analysis method (so-called Otsu's method) that obtains a density histogram of an image in a predetermined area and selects a threshold value that maximizes the variance between classes when the obtained density histogram is divided into two classes. Was used to determine. This is because in the P tile method in which the ratio of one pixel in a binary image is set to a threshold value P, when the fabric is loosened or pulled too much, the area ratio is constant, so stitches are connected or stitched. This is because there is a problem that the threshold value cannot be obtained when the cloth method is loosened and the bimodality of the density histogram collapses even in the mode method in which the valley of the density histogram is found and used as the threshold value. Yes, the discriminant analysis method can automatically determine the threshold even if the bimodality is lost.
Needless to say, the threshold value for binarization may be a fixed threshold value when the illumination conditions are stable. In addition, although description of input image preprocessing is omitted, it is preferable to perform noise removal such as smoothing before binarization.
[0022]
Next, the binary image is labeled to detect a hole having a predetermined area or more (S190). Further, the position of the edge is predicted (S192), which will be described later, the center of gravity of the label closest to the predicted position is defined as the edge (S194), and it is determined from the distance from the predicted position whether the edge is correct (S196). The detected center of gravity is converted into mechanical system position coordinates (S198).
[0023]
  FIG. 16 shows an example of an image captured by the CCD camera 140 with a normal edge. As shown in the figure, the stitches are knitted on a large scale so that they can be easily distinguished from other stitches, but the stitches that are paired with the stitches are also large due to their structure. The size relationship between the knitting stitches and the paired stitches varies depending on the socks, but neither is smaller than the other stitches. Therefore, the detection of the overburst is performed using the structural feature that the overlock and the pair of stitches are larger than the other stitches.
  Since the stitches are intertwined with each other, even if force is applied to a certain point, it affects the surroundings widely, the overall stitch changes gently, and the pitch of the stitches is almost one.DefinitelyIt has the property of becoming.
  Therefore, if the basic X pitch is obtained by dividing the width of the sock W stretched by the insertion body 110 by the number of the overturns, and the overturn of the socks W is set almost horizontally, the known overturn position is The next edge position can be predicted by the following equation.
  Next rounding predicted X position = known rounding X position + basic X pitch
Therefore, the stitch closest to the predicted position as shown in FIG. 17 can be detected as the next stitch. Here, since the shape of the stitch is close to an elliptical shape, the position of the stitch is considered to be the center of gravity of the stitch. Therefore, the center of gravity of the stitch closest to the predicted position is set as the overhang position (this is called a direct detection method).
[0024]
However, it may be deformed in the vertical direction, and the possibility of erroneous detection is increased only by the above detection method. Therefore, as shown in FIG. 18, a method of precisely detecting using a stitch that forms a pair of overbursts (this is called a precision detection method) may be used in combination. In this case, the next stitch position can be predicted from the known stitch position by the following equation.
Next stitch prediction X position = known stitch X position + 1/2 basic X pitch
Next stitch prediction Y position = known stitch Y position ± basic Y pitch
[0025]
Since normal edges are arranged in a relatively regular manner except for the vicinity of both ends, here, the edge is first obtained by the direct detection method, and the predicted position is compared with the detected center of gravity. When the distance is more than a predetermined distance, it is detected again with a precision detection method. As a result, it is possible to efficiently detect the edge and reduce the processing time.
FIG. 24 shows an example in which the edge position detection is performed by the processing as described above. (A) shows the set detection area, (b) shows the result of labeling processing in the detection area, and (c) shows the result of detecting the edge position from the center of gravity of the label closest to the predicted position.
[0026]
In the above-described embodiment, the process of predicting the next edge position and using the center of gravity of the nearest label as the edge is used, but the label adjacent to the known edge is traced without using the prediction information. Then, the next edge may be detected, and the center of gravity may be set as the position of the next edge.
[0027]
Next, an initial edge detection process will be described.
Among the detection of the edge, the initial edge is the stitch that is difficult to detect. The initial edge is the edge closest to the V point. FIG. 19 shows an example of an image around the front edge of the front side, and FIG. 20 shows an example of an image around the back edge of the initial edge. As shown in the figure, the vicinity of the V point is close to the cloth folding position, and especially on the front side, the influence of the toe gore line is added to form a complicated stitch structure, and it is possible to directly detect the initial stitch from the V point. difficult.
However, the initial edge has a fixed positional relationship with other edges, so that the predicted position of the initial edge can be calculated. Further, it is difficult to detect the edge of the V point due to the deformation, but it can be detected because the edge of the edge at some distance from the V point is stable. Therefore, the edge at a position away from the V point is detected first, and the edge line is traced in the reverse direction from there to detect the initial edge.
[0028]
  The detection of the initial edge is slightly different between the front side and the back side, but both are difficult to detect from the V point.GCalled “Kagari eyes”). FIG. 21 shows the setting detection area of the start edge. Among these, the largest stitch is detected. Depending on the sock, there are cases where the area of the over stitch and the pair of stitches are the same, and it may not be known whether the detected stitch is the over stitch or the pair of stitches. For this reason, it is determined whether or not the stitches are paired by using the property that the stitches paired with the stitches are larger than the other stitches. That is, as shown in FIG. 22, the stitches adjacent to the diagonally upper and lower stitches detected in the set area are detected, and the respective areas A1 and A2 are obtained. A1 and A2 are compared, and when A1 is large, it is determined that the diagonally upper stitch is an over stitch and the detected stitch is a paired stitch, and when A2 is large, the diagonally lower stitch is a pair. It is determined that the detected stitch is an over stitch.
[0029]
FIG. 10 shows an example of the processing flow of the start edge detection process. As shown in the figure, an image is input (S142), a detection area is set (S144), binarized (S146), and a hole larger than a predetermined area is detected by labeling, as in the normal edge detection. (S148). Next, the hole with the largest area is extracted (S150), and the areas of the upper left hole and the lower left hole are compared (S152). When the area on the upper left is large, the hole on the upper left is used as an edge (S156). In addition, when the area of the lower left hole is large, the hole with the largest area is defined as the edge (S158).
[0030]
  Next, from the detected start edge, the edge line is back-tracked by a precision detection method to detect the final initial edge.
  In determining the final initial edge, the position of the initial edge tends to change on the front side due to the influence of the gore line. However, a large stitch is knitted at the place where the stitch line and the gore line are connected, and the initial stitch is always present at the upper right of this large stitch. Therefore, first, the right end X coordinate of this large stitch is obtained. Since this stitch is the largest stitch, it can be easily detected. When the edge line is back-tracked by the precision detection method, the X coordinate is eventually approached. The edge closest to the X coordinate is set as the initial edge on the front side.
  FIG. 11 shows an example of the processing flow of the front side initial edge detection processing. First, the camera is moved near the left end (S160), an image is input (S162), a detection area is set (S164), and the image is binarized (S166). A binary image is labeled to detect a hole having a predetermined area or more (S168), and a hole closest to the left end is selected from the detected holes (S170), and a detection reference line is set at a predetermined distance from the right end of the hole. Set (S172). Next, the camera is moved to the start edge detection position (S174), and the start edge is detected (S176). Then, the back edge is traced back from the start edge toward the detection reference line (S178), and when the center of gravity of the detected edge exceeds the detection reference line (S180), the last detected edge is regarded as the initial edge. (S182).
  Here, the detection reference line isThe hole closest to the left edgeI set it about 1 pitch right from the right end of.
  FIG. 25 shows an example in which the front side initial edge detection processing is performed by the processing as described above. Here, a detection reference line is set at the right end of a large stitch near the V point as shown in (a), a start edge is detected as shown in (b), and (c)ofIn this way, the sharpness is traced by the precision detection method, and the initial sharpness is detected as shown in (d).
[0031]
As for the back side, the shape of the initial edge is not greatly changed, so the edge line is back-detected with a precision analysis method, a detection reference line is set a certain distance inside from the V point, and the detection line is exceeded. The eyes are initially bent. Here, the detection reference line is 1.5 times the basic X pitch.
FIG. 12 shows a processing flow of the backside initial edge detection processing. First, a detection reference line is set inside a predetermined distance from the left end (S130), the camera is moved to the start edge detection position (S132), and the start edge is detected (S134). The edge is traced from the start edge toward the detection reference line (S136). When the center of gravity of the detected edge exceeds the detection reference line (S138), the last detected edge is set as the initial edge (S140). ).
[0032]
Next, a process for determining whether or not the detected hole is a sharp edge will be described. In tracking the edge of the edge position detection process or the initial edge detection process, before determining the detected hole as the edge, it is determined whether it is clearly mistaken when viewed from the detection location. Here, as shown in FIG. 23, a predetermined range is defined based on the predicted position of the stitch, and if the center of gravity of the stitch is within the range, it is determined that the stitch is a stitch. The predetermined range was set to ± 1 / 4X pitch in the X direction and ± 1 / 2Y pitch in the Y direction centering on the expected position of the edge.
If the detected head is not within this range, switch to the precision analysis method in the case of the direct detection method and re-detect it, or in the case of the precision detection method, use the above-mentioned start edge detection process to correct it again. Is detected.
If human assistance is possible, switch to manual mode, for example, allowing a human to look at the monitor and specify the correct overturn position, and predict the next overturn position based on that position for automatic processing. It may be continued.
[0033]
  Hereinafter, some embodiments of the linking apparatus of the present invention will be described.
  FIG. 5 shows an operation flow according to the first embodiment of the linking apparatus of the present invention, in which the V-point hand is manually processed.
  First, the sock W is inserted through the insertion body 110 and stretched left and right (S100), and the V-point needle 134 is inserted into the V-point (S102). The sock W is stretched up and down and fixed with the fixtures 112a and 112b (S104), and a jig is put on the toe of the sock W to hang down (S106).
  As shown in FIG. 26, the jig is inserted into the toe, before the jig is inserted, the knitted fabric is left on the toe side, resulting in a difference in tension between the front and back sides, and the front edge line is curved as shown in the left figure. This is because it is not aligned with the back edge line. Therefore, by inserting the toe drooping jig 114 as shown in the above figure into the toe portion of the sock W, the sharp line is aligned as shown in the right figure, and it becomes easy to detect the sharp line K, and the point needle The alignment time is shortened.
  Next, the following point needle piercing process is performed on both the front side and the back side.
  First, an initial edge detection process (S108a, b) is performed to determine an initial edge. Next, the camera is moved to the target edge position (S110a, b), the edge position is detected (S112a, b), and the point hand corresponding to the detected edge position is aligned (S114a, b). Then, the point needle corresponding to the detected eye is pierced (S116a, b) until all the eye ends are completed (S118a, b).
  Here, the movement of the camera to the target edge position (S110a, b) means the movement of the camera by advancing the needle pushing mechanism 124 to the next point needle. Then, the needle piercing mechanism 120 may be moved simultaneously so that it is reflected in the center of the visual field of the camera.
  For the first time, since the edge position detected by the initial edge detection process (S108a, b) can be used, the movement of the camera (S110a, b) and the edge position detection process (S112a, b) can be omitted.
  When the puncturing process of the point needle is completed for all the overburdens, the point needle is returned to the initial position (S120a, b).
  Finally, when both the front side and the back side are finished, the insertion body 110 is pulled out (S122), the sock W is moved to one point needle (S124), and overlock sewing is performed (S126).
[0034]
FIG. 6 shows an operation flow according to the second embodiment of the linking apparatus of the present invention, in which V-point processing is performed semi-automatically using a temporary fixing needle.
As shown in FIG. 27, the temporary fixing needle 116 is a jig that pierces the V-points at both ends of the sock in advance before setting the sock W on the insertion body 110. By coupling with the V-point needle 134 after the insertion, the processing of the V-point needle 134 can be performed in the same manner as other point needles, and the working efficiency is improved.
For this reason, the temporary fixing needle 116 is inserted in advance at the V point of the sock W (S200), the sock W is inserted through the insertion body 110 and the right and left are extended (S202), and the sock W is extended and fixed vertically (S202). S204), the toe drooping jig 114 is put on the toes and suspended (S206), and the V point needle 134 is pierced into the sock W using the temporary fixing needle 116 as a guide (S208).
As a result, a state in which the V-point needle 134 is set to the V-point of the sock W set on the insertion body 110 can be easily generated, and thereafter, over stitching is performed by the same processing as in the first embodiment (S228). ).
[0035]
FIG. 7 shows an operation flow according to the third embodiment of the linking apparatus of the present invention, using an insertion body 110 having both ends tapered, and including all of the insertion of the V point needle into the V point of the sock W. The point needle piercing process is automatically performed.
As shown in FIG. 28, by inserting the sock W through the insertion body 110 having both ends tapered, it is possible to detect and detect the over-edges near both ends of the sock W. The point needle piercing operation is fully automated.
First, the sock W is inserted into the insertion body 110 having both ends tapered and stretched left and right (S300), the sock W is stretched up and down (S302), and the toe drooping jig 114 is put on the toe. It hangs down (S304). The subsequent point needle piercing process is the same as in the first embodiment, but the initial edge detection process detects the V point. In the V point detection process, the start edge is detected, the edge is traced toward the edge, and the edge closest to the edge is detected in the same manner as the initial edge detection process described above. Can be performed by setting V as the V point.
[0036]
FIG. 8 shows an operation flow according to the fourth embodiment of the linking apparatus of the present invention. The insertion body 110 is divided into upper and lower parts and slits are provided in the puncture portion of the point needle. The point needle can be pierced.
The sock W is inserted through the vertically split insertion body 110 to extend left and right (S700), and the V-point needle 134 is inserted (S702). Further, the sock W is stretched up and down to be fixed (S706), the toe drooping jig 114 is put on the toe and hung down (S706), and the insertion body 110 is separated vertically to form a slit (S708).
Next, an initial edge detection process (S710a, b) is performed to determine an initial edge.
The camera is moved to the target edge position (S712a, b), and the edge position is detected (S714a, b). The point needle is aligned with the front edge position (S716), and the point needle is pierced only on the front side (S718). In addition, the point needle is aligned with the back side edge position (S720), and the point needle is pierced to the back side (S722). The above processing is repeated from S712a and b until it is finished for all the edges (S724).
When the point needle is pierced through all the overburdens, the insertion body 110 is pulled out (S726), and overlock stitching is performed with the point needles (S728).
Thereby, the single needle piercing mechanism 120 can perform the puncturing process of the point needles on both side edges, and also eliminates the need for the needle butting process, thereby shortening the processing time.
[0037]
In any of the above embodiments, the CCD camera 140 is mounted on the needle push-out mechanism 124 of the needle piercing mechanism 120, and the center of the visual field is the position where the point needle 132 pushed out by the needle push-out mechanism 124 is pierced into the sock W. However, the present invention is not limited to this, and the CCD camera 140 may be mounted on a mechanism for positioning independently of the needle insertion mechanism 120. Further, for example, a high-resolution CCD camera may be used, the CCD camera may be fixedly installed, and the entire shading line of the sock W may be simultaneously imaged to sequentially move the image processing range.
[0038]
In the above embodiment, in order to prevent the bend line on the toe side from being curved, it has been described that the toe hanging jig 114 is inserted into the toe. However, a gripping mechanism for gripping the toe is provided, and the toe is gripped by the gripping mechanism. May be pulled downward to achieve the same effect.
[0039]
In the above embodiment, the insertion body 110 has been described as having a width that can be given a predetermined stretched state when the sock W is inserted, but a mechanism that expands and contracts to the left and right is provided, and when the sock W is inserted, it is easy to insert. The width may be set so that after the sock W is inserted, a predetermined stretched state can be extended.
[0040]
In the above embodiment, the upper and lower stretches of the sock W have been described as being manually stretched and fixed by the fixtures 112a and 112b. However, for example, one side is a roller mechanism, and after inserting the sock through the insertion body 110, the roller mechanism is By driving, the sock W may be extended vertically.
[0041]
Next, processing for estimating the amount of movement of the edge position by the already pierced point needle and performing point needle alignment will be described. As shown in FIG. 13, the detected edge position is set to the target position, the corresponding point hand position is set to the current position (S400), and the amount obtained by subtracting the current position from the target position is set as the movement amount (S402). The expected amount of movement of the shadow is estimated from the amount (S404).
Here, the expected amount of movement of the sharp eye may be multiplied by a certain coefficient as being proportional to the amount of movement of the point hand, and may be obtained by using an approximate expression obtained by experiment or by subtracting a function table. Also good.
Then, the expected amount of movement of the eye is added to the target position, the amount of movement is added to the current position (S406), and the process is repeated from S402 until the difference between the target position and the current position falls within the allowable error range (S408).
Finally, when the difference between the target position and the current position falls within the allowable error range, the point hand is aligned with the target position (S410).
As a result, the position can be aligned at one time without actually moving the point hand, so that the working time is shortened.
[0042]
In the above embodiment, the calculation is repeated until the target position and the current position converge below the allowable error. However, the present invention is not limited to this, and the calculation formula is obtained from the recurrence formula once. The movement amount of the point hand may be obtained by calculation, or the movement amount of the point hand may be obtained by referring to the function table once.
[0043]
Next, during the point needle alignment process, the point needle that has already been pierced moves, so that the next bow moves, the position of the bow is detected, and the point needle is aligned repeatedly. Therefore, a method for preventing the problem that the movement amount of the point needle is accumulated and the point needle is detached from the insertion body will be described.
As shown in FIG. 14, the camera is moved to the target edge position (S500), the edge position detection process is performed (S502), and the position of the point needle, as in the normal point needle piercing process flow. An alignment process is performed (S504), and the point needle is pierced (S506). However, after the point needle is finally returned to the initial position every time (S508), the next edge position detection process is performed.
As a result, the point needle is always returned to the origin when detecting the position of the next edge, so the problem is that the amount of movement is accumulated due to the movement of the next edge by the already pierced point needle. Is done.
[0044]
Next, a description will be given of a method for improving the problem that, during the point needle piercing operation, a portion other than the portion where the position of the overburden is detected is always stretched and a burden is imposed on the entire knitted fabric.
FIG. 29 is a conceptual diagram of a partial stretching mechanism that partially stretches the knitted fabric. As shown in the figure, rollers 118a and 118b that partially extend the knitted fabric imaged by the CCD camera 140 are pressed against the sock W inserted through the insert 110, and the upper roller 118a Pulling upward, the lower roller 118b pulls the sock W downward. Thereby, it is possible to extend only the vicinity of the edge to be detected. These rollers 118a and 118b are mounted on the needle push-out mechanism 124 together with the CCD camera 140, and can selectively stretch the knitted fabric in the vicinity of the fold stitch to which the selected point needle 132 is pierced.
FIG. 15 shows a method of performing a point needle piercing process using such a partial extension mechanism. As shown in the figure, the camera is moved to the target edge position (S600), the partial extension mechanism is activated (S602), the edge position is detected (S604), the point hand is aligned (S606), and the point hand is moved. Is inserted (S608), and the partial extension mechanism is released (S610). The above processing is repeated until all the edges are processed (S612).
Since the point needle needs to be aligned while the partial extension mechanism is in operation, it is locked to the insertion body 110 when the partial extension mechanism is in operation, and is locked to the needle push-out mechanism 124 after the partial extension mechanism is released. To be configured.
In the above embodiment, only the vertical expansion is performed partially, but a function of performing partial horizontal expansion may be added. For example, the rollers may be arranged in four diagonal directions and the socks W may be pulled in directions away from the center.
[0045]
In the above embodiment, the sock is taken up as an object of linking. However, the present invention is not limited to this, and any knitting can be used as long as the knitted fabric having the knitted stitches is stitched together. The present invention can be applied to the ground, and the effects of the present invention are achieved.
[0046]
【The invention's effect】
As described above, according to the present invention, it is possible to automatically and quickly and accurately perform the point needle piercing operation to the knot stitch knitted on the knitted fabric, and to strongly link the knitted fabric.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of a main body mechanism according to an embodiment of a linking apparatus of the present invention.
FIG. 2 is an illustrative view of a point hand.
FIG. 3 is a plan view of a needle piercing mechanism.
FIG. 4 is a side view of a needle piercing mechanism.
FIG. 5 is an operation flowchart according to the first embodiment (V-point manual processing type) of the linking apparatus of the present invention;
FIG. 6 is an operation flowchart according to the second embodiment (semi-automatic) of the linking apparatus of the present invention.
FIG. 7 is an operation flowchart according to the third embodiment (automatic) of the linking apparatus of the present invention.
FIG. 8 is an operation flowchart according to the fourth embodiment (single needle type) of the linking apparatus of the present invention;
FIG. 9 is a process flow diagram according to an embodiment of the edge position detection process;
FIG. 10 is a process flowchart according to an embodiment of a start edge detection process.
FIG. 11 is a processing flowchart according to an embodiment of the front side initial edge detection processing;
FIG. 12 is a process flowchart according to an embodiment of the back side initial edge detection process;
FIG. 13 is a process flow according to an embodiment of the point hand alignment process.
FIG. 14 is a process flowchart according to an embodiment of the needle return process.
FIG. 15 is a processing flowchart according to an embodiment of the partial expansion mechanism.
FIG. 16 is an image example of a normal edge.
FIG. 17 is an explanatory diagram of an edge detection method.
FIG. 18 is an explanatory diagram of an edge detection method.
FIG. 19 is an image example of a front side initial edge.
FIG. 20 is an image example of a back side initial edge.
FIG. 21 is an explanatory diagram of a detection area for a start edge.
FIG. 22 is an explanatory diagram of a start edge detection process.
FIG. 23 is an explanatory diagram of an edge determination process.
FIG. 24 is an example of image processing for edge position detection processing;
FIG. 25 is an image processing example of initial edge detection processing;
FIG. 26 is an explanatory diagram of a toe drooping jig for socks.
FIG. 27 is an explanatory view of a temporary fixing needle for semi-automatic processing.
FIG. 28 is an explanatory diagram of a double-end tapered insertion body.
FIG. 29 is a conceptual diagram of a partial extension mechanism.
[Explanation of symbols]
100 Main unit mechanism of linking device
110 Insert
114 toe drooping jig
116 Temporary fixing needle
118a, 118b Partial extension roller
120 Needle penetration mechanism
124 Needle push-out mechanism
130 needle box
132 point hand
140 CCD camera
150 computers
160 Sequencer
170 drivers
W socks
K

Claims (6)

A step of stretching the knitted fabric with the linking object portions facing each other, a step of capturing an image of the stretched knitted fabric, a step of detecting the position of the edge of the knitted fabric from the captured image, and the detection A step of aligning a point needle corresponding to the position of the overburden, a step of penetrating the corresponding point needle into the detected overburden, and A linking method including the step of overlocking based on
And as factory to set the initial darning stitch of the detection reference line near the end of the knitted fabric,
Detecting a start edge at a predetermined distance inside from an end of the knitted fabric;
Tracing the edge from the detected start edge toward the set detection reference line;
Characterized in that it comprises a step of an initial linking loops by detecting Taka rising th last After exceeds the detection reference line centroid is the set of the detected Taka rising eyes by tracking the linking loops, linking methods. The step of detecting the start edge is,
Detecting a hole having a predetermined area or more by setting a predetermined area inside a predetermined distance from an end of the knitted fabric;
The step of extracting the hole having the largest area among the detected holes, and the area of the upper hole and the lower hole among the holes adjacent to the left or right of the hole having the extracted maximum area A step of comparing;
When the upper hole has an area larger than the area of the lower hole,
The linking method according to claim 1, further comprising a step of making a hole having the detected maximum area when the area of the lower hole is larger than the area of the upper hole. The step of setting the detection reference line of the initial edge is,
Detecting a hole having a predetermined area or more by setting a predetermined region near an end of the knitted fabric;
Selecting the hole closest to the end of the knitted fabric among the detected holes;
The linking method according to claim 1, further comprising: setting a detection reference line for the initial edge from the position of the selected hole. A knitted fabric stretching means for stretching a knitted fabric with the linking target portions facing each other, an imaging means for capturing an image of the knitted fabric stretched by the knitted fabric stretching means, and a lash that is imaged by the imaging means Edge position detecting means for detecting the position, point needle positioning means for aligning a point needle corresponding to the position of the edge detected by the edge position detecting means, and the correspondence corresponding to the detected edge A linking apparatus comprising point needle piercing means for piercing a point needle to be pierced, and overlock stitching means for performing overhead stitching based on the point needle pierced by each point of the knitted fabric of the knitted fabric by the point needle piercing means. And
A detection reference line setting means for setting a detection reference line of an initial edge near the edge of the knitted fabric;
A start edge detecting means for detecting a start edge at a predetermined distance from the end of the knitted fabric;
A cross-tracking means for tracking a cross-link from the detected start cross-link toward the set detection reference line;
And an initial edge detection means for making the edge detected last when the gravity center detected by the edge tracking means exceeds the set detection reference line as an initial edge. , Linking equipment. The start edge detection means is:
Detecting means for detecting a hole having a predetermined area or more by setting a predetermined area inside a predetermined distance from an end of the knitted fabric;
Extraction means for extracting a hole having the largest area among the detected holes;
Comparison means for comparing the area of the upper hole and the lower hole among the holes adjacent to the left or right of the hole having the detected maximum area,
When the upper hole area is larger than the lower hole area, the upper hole is defined as the edge, and the maximum detected when the lower hole area is larger than the upper hole area. The linking apparatus according to claim 4, further comprising a determining unit that uses a hole having an area of The detection reference line setting means includes
Detecting means for detecting a hole having a predetermined area or more by setting a predetermined region at an end of the knitted fabric;
A selection means for selecting a hole closest to an end of the knitted fabric among the detected holes;
The linking apparatus according to claim 4, further comprising setting means for setting a detection reference line for the initial edge from the position of the selected hole.

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