JP7093217B2 - Sewing system - Google Patents

Description

The present invention relates to a sewing system.

In the process of manufacturing a garment having a tubular portion such as a cuff or a hem, a hem stitch is performed in which the end portion of the tubular portion of the garment is folded back to generate a folded portion, and the generated folded portion is sewn with sewing thread. Patent Document 1 discloses an example of a sewing machine capable of performing hem stitching.

Jikkenhei 04-07874 Gazette

If the width of the folded portion is uneven or the seams at the folded portion are disordered, the quality of the garment produced is deteriorated.

An aspect of the present invention is to produce high quality garments with high efficiency.

According to the aspect of the present invention, a sewing machine having a needle bar that holds the sewing machine needle and reciprocates, and a sewing machine that is inserted into the tubular portion of the sewing object and supports the sewing object with the first axis as the center. The supply roller that rotates to supply the sewing object to the sewing position directly below the sewing machine needle, and the sewing machine that is inserted into the tubular portion and supports the sewing object while rotating around the second axis. It has a collection roller that collects the sewing object from the sewing position, a transfer device that transfers the sewing object in the transfer direction at the sewing position, and an end portion of the sewing object supplied to the sewing position. Acquired by the folding device, an image pickup device for photographing the sewing object supplied to the sewing position, a drive device capable of moving the supply roller in a direction parallel to the first axis, and the image pickup device. A sewing system including a control device for controlling the drive device based on image data of the sewing object is provided.

According to the aspect of the present invention, high quality clothing can be produced with high efficiency.

FIG. 1 is a side view schematically showing an example of a sewing system according to the present embodiment. FIG. 2 is a plan view schematically showing an example of the sewing system according to the present embodiment. FIG. 3 is a side sectional view showing an example of the folding device according to the present embodiment. FIG. 4 is a functional block diagram showing an example of the control device according to the present embodiment. FIG. 5 is a flowchart showing an example of the sewing method according to the present embodiment. FIG. 6 is a flowchart showing an example of the initial adjustment step according to the present embodiment. FIG. 7 is a schematic diagram for explaining the initial adjustment step according to the present embodiment. FIG. 8 is a diagram schematically showing an example of image data acquired by the fabric edge camera according to the present embodiment. FIG. 9 is a flowchart showing an example of the hem sewing step according to the present embodiment. FIG. 10 is a diagram schematically showing an example of a boundary portion between a fabric end portion and a hem end portion according to the present embodiment. FIG. 11 determines whether or not the boundary portion has passed through the photographing area of the fabric edge camera based on the image data of the edge of the sewing object acquired by the fabric edge camera according to the present embodiment. It is a figure for demonstrating the method. FIG. 12 determines whether or not the boundary portion has passed through the photographing area of the hem end camera based on the image data of the end of the sewing object acquired by the hem end camera according to the present embodiment. It is a figure for demonstrating the method. FIG. 13 is a diagram schematically showing an example of image data of sewing thread acquired by the sewing thread camera according to the present embodiment.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[Sewing system]
The sewing system 1 according to the present embodiment will be described. In this embodiment, the positional relationship of each part will be described based on the local coordinate system defined in the sewing system 1. The local coordinate system is defined by the XYZ Cartesian coordinate system. The direction parallel to the X-axis in the predetermined plane is defined as the X-axis direction. The direction parallel to the Y-axis in a predetermined plane orthogonal to the X-axis is defined as the Y-axis direction. The direction parallel to the Z axis orthogonal to the predetermined surface is defined as the Z axis direction. Further, in the present embodiment, the plane including the X-axis and the Y-axis is appropriately referred to as an XY plane. A plane including the X-axis and the Z-axis is appropriately referred to as an XZ plane. The plane including the Y-axis and the Z-axis is appropriately referred to as a YZ plane. The XY plane is parallel to the predetermined plane. The XY plane, the XZ plane, and the YZ plane are orthogonal to each other. Further, in the present embodiment, the XY plane and the horizontal plane are parallel. The Z-axis direction is the vertical direction. The + Z direction is upward and the −Z direction is downward. The XY plane may be inclined with respect to the horizontal plane.

FIG. 1 is a side view schematically showing an example of the sewing system 1 according to the present embodiment. FIG. 2 is a plan view schematically showing an example of the sewing system 1 according to the present embodiment.

The sewing system 1 hem-sews the sewing object S. The hem sewing means that the end Ec of the tubular portion TP of the sewing object S is folded back to generate a folded portion PR, and the generated folded portion PR is sewn with the sewing thread ST. The sewing object S is clothing such as a T-shirt. The tubular portion TP is the hem of clothing. The tubular portion TP may be the cuffs of clothing.

The back surface Sb of the sewing object S means a surface that comes into contact with the garment that is already worn by the wearer or the wearer when worn by the wearer. The surface Sf of the object to be sewn S means a surface facing outward without contacting the wearer or the garment already worn by the wearer when worn by the wearer.

As shown in FIGS. 1 and 2, the sewing system 1 includes a sewing machine 2, a transfer device 3 for transferring the sewing object S, a folding device 4 for folding back an end Ec of the sewing object S, and a sewing object S. The image pickup device 5 for photographing the image, the drive device 6, and the control device 7 are provided.

(sewing machine)
The sewing machine 2 is inserted into the sewing machine head 20, the needle rod 22 that holds the sewing machine needle 21 and reciprocates in the Z-axis direction, the presser member 23 that presses the sewing object S, and the tubular portion TP of the sewing object S. The needle plate 24 that supports the back surface Sb of the sewing object S, the upper belt mechanism 25 that is arranged at a position facing the front surface Sf of the sewing object S and sends the sewing object S in the transfer direction, and the sewing object S. It has a lower belt mechanism 26 that is arranged at a position facing the back surface Sb and feeds the sewing object S in the transfer direction.

The sewing machine head 20 supports the needle bar 22 so as to be reciprocally movable in the Z-axis direction. The sewing machine head 20 has an actuator 27 that generates power for reciprocating the needle bar 22, and a power transmission mechanism 28 that transmits the power generated by the actuator 27 to the needle bar 22.

The needle bar 22 holds the sewing machine needle 21 and reciprocates in the Z-axis direction. The needle bar 22 is supported by the sewing machine head 20. The needle bar 22 is arranged above the needle plate 24 and can face the surface Sf of the sewing object S. Two sewing machine needles 21 are arranged in the X-axis direction. The needle bar 22 holds two sewing machine needles 21 and reciprocates in the Z-axis direction. The sewing thread ST (upper thread) is hung on the sewing machine needle 21.

The pressing member 23 presses the sewing object S from above. The pressing member 23 is supported by the sewing machine head 20. The pressing member 23 is arranged above the needle plate 24 and comes into contact with the surface Sf of the sewing object S. The pressing member 23 holds the sewing object S between the pressing member 23 and the needle plate 24.

The needle plate 24 is inserted into the tubular portion TP of the sewing object S and supports the back surface Sb of the sewing object S. The needle plate 24 supports the sewing object S from below. A hook (not shown) is arranged below the needle plate 24. The kettle houses the bobbins in the bobbin case. The hook rotates in synchronization with the reciprocating movement of the needle bar 22. Sewing thread ST (bobbin thread) is supplied from the hook.

When the needle bar 22 descends, the sewing machine needle 21 held by the needle bar 22 penetrates the sewing object S and passes through the hole provided in the needle plate 24. When the sewing machine needle 21 passes through the hole of the needle plate 24, the bobbin thread supplied from the hook is hung on the upper thread hung on the sewing machine needle 21. The sewing machine needle 21 rises with the bobbin thread hooked on the needle thread. The needle bar 22 reciprocates in the Z-axis direction in synchronization with the transfer of the transfer device 3. As a result, the sewing object S is sewn with the sewing thread ST.

In the following description, the position immediately below the sewing machine needle 21 is appropriately referred to as the sewing position PS. In the XY plane, the sewing position PS coincides with the position of the sewing machine needle 21. At the sewing position PS, the sewing machine needle 21 penetrates the sewing object S. Two sewing machine needles 21 are provided, and the sewing position PS is defined at two locations.

The upper belt mechanism 25 is arranged above the sewing object S arranged at the sewing position PS. The upper belt mechanism 25 includes a belt 25B that comes into contact with the surface Sf of the sewing object S, a motor 25M that generates power to move the belt 25B, and a plurality of pulleys 25P that support the belt 25B. The belt 25B is annular. When the motor 25M operates, the belt 25B supported by the plurality of pulleys 25P rotates. The belt 25B in contact with the surface Sf of the sewing object S moves in the transfer direction of the sewing object S by the transfer device 3.

The lower belt mechanism 26 is arranged below the sewing object S arranged at the sewing position PS. The lower belt mechanism 26 has a belt 26B that contacts the back surface Sb of the sewing object S, a motor 26M that generates power to move the belt 26B, and a plurality of pulleys 26P that support the belt 26B. The belt 26B is annular. When the motor 26M operates, the belt 26B supported by the plurality of pulleys 26P rotates. The belt 26B in contact with the back surface Sb of the sewing object S moves in the transfer direction of the sewing object S by the transfer device 3.

(Transfer device)
The transfer device 3 transfers the sewing object S in the transfer direction at the sewing position PS. The transfer direction of the sewing object S by the transfer device 3 is the + Y direction.

The transfer device 3 is a supply roller that is inserted into the tubular portion TP of the sewing object S and rotates around the first axis AX1 while supporting the sewing object S to supply the sewing object S to the sewing position PS. 31 and a recovery roller 32 that is inserted into the tubular portion TP of the sewing object S and rotates around the second axis AX2 while supporting the sewing object S to collect the sewing object S from the sewing position PS. Has.

Further, the transfer device 3 is a rotary motor 33 connected to the supply roller 31 to generate power for rotating the supply roller 31, and a rotary motor connected to the recovery roller 32 to generate power to rotate the recovery roller 32. With 34.

The supply roller 31 is arranged on the −Y side, which is upstream in the transfer direction from the sewing position PS. The recovery roller 32 is arranged on the + Y side, which is the downstream side in the transfer direction from the sewing position PS.

The first axis AX1 is the rotation center axis of the supply roller 31. The second axis AX2 is the rotation center axis of the recovery roller 32. The first axis AX1 and the second axis AX2 are parallel to each other. Each of the first axis AX1 and the second axis AX2 is parallel to the X axis.

The supply roller 31 and the recovery roller 32 are inserted into the tubular portion TP of the sewing object S, and rotate in the same direction and at the same speed in a state of being in contact with the back surface Sb of the sewing object S. As a result, the sewing object S is transferred in the transfer direction at the sewing position PS.

The transfer device 3 orbits the sewing object S around the supply roller 31 and the recovery roller 32. The sewing machine 2 sews the folded-back portion PR of the sewing object S generated by the folded-back device 4 with the sewing thread ST. The transfer device 3 transfers the folded portion PR of the sewing object S sewn by the sewing thread ST in the sewing machine 2 to the supply roller 31 via the recovery roller 32.

Further, the transfer device 3 has a support member 35 that supports the sewing object S to be transferred to the sewing position PS. The support member 35 is arranged between the supply roller 31 and the sewing position PS. The support member 35 has an upper surface 36 facing the back surface Sb of the sewing object S. The upper surface 36 is a flat surface. The support member 35 supports the back surface Sb of the sewing object S. The support member 35 functions as a guide member for guiding the transferred object S to be sewn.

(Folding device)
The folding device 4 folds the end Ec of the sewing object S supplied to the sewing position PS. The folding device 4 is arranged between the supply roller 31 and the sewing position PS.

FIG. 3 is a side sectional view showing an example of the folding device 4 according to the present embodiment. As shown in FIGS. 2 and 3, the folding device 4 has an inlet 41 into which the end Ec of the sewing object S before being folded is inserted, and a bending passage connected to the inlet 41 and capable of folding the sewing object S. It has a 42 and an outlet 43 connected to the bending passage 42 and to which the folded portion PR of the sewing object S generated in the bending passage 42 is sent out. The folding device 4 folds the end Ec of the sewing object S toward the back surface Sb.

The entrance 41 includes a front entrance 41A that opens to the −X side and a side entrance 41B that opens to the −Y side. The exit 43 opens to the + Y side.

The folding device 4 includes a support plate 44 that supports the back surface Sb of the sewing object S, and a guide member that guides the end Ec of the sewing object S so that the end Ec of the sewing object S is folded back toward the back surface Sb. It has 45 and. The bending passage 42 is provided between the support plate 44 and the guide member 45.

The guide member 45 has an overhang portion 45A arranged on the + Z side of the upper surface of the support plate 44, and a main body portion 45B arranged on the −Z side of the lower surface of the support plate 44. In the XY plane, the + X side end of the support plate 44 and the overhang portion 45A overlap. The front entrance 41A is provided between the upper surface of the support plate 44 and the end portion of the overhang portion 45A on the −X side.

In the XZ plane, the bending passage 42 is provided between the introduction portion 42A connected to the inlet 41 and provided between the upper surface of the support plate 44 and the overhang portion 45A, and between the lower surface of the support plate 44 and the main body portion 45B. It has an accommodating portion 42B and a bent portion 42C connecting the introduction portion 42A and the accommodating portion 42B.

The end Ec of the sewing object S transferred from the −Y side of the folding device 4 to the folding device 4 is inserted into the introduction portion 42A of the bending passage 42 via the front entrance 41A and the side entrance 41B. After the end portion Ec is inserted into the introduction portion 42A, when the sewing object S is transferred in the + Y direction, the end portion Ec of the sewing object S is guided by the guide member 45 and the bending portion 42C of the bending passage 42. And move to the accommodating portion 42B. As a result, the end portion Ec of the sewing object S is folded back to the back surface Sb side of the sewing object S, and the folded portion PR is generated. The folded-back portion PR of the sewing object S generated by the bending passage 42 is sent out from the outlet 43 that opens to the + Y side, and is transferred to the sewing position PS.

The folding device 4 has a supply port 46 capable of supplying gas to the accommodating portion 42B, and a gas supply device 48 for supplying gas to the supply port 46 via an internal flow path 47 provided in the guide member 45. The supply port 46 supplies gas in the −X direction. The end Ec of the sewing object S inserted up to the boundary between the accommodating portion 42B and the bent portion 42C moves in the −X direction in the accommodating portion 42B by the force of the gas supplied from the supply port 46. As a result, the end Ec of the sewing object S is smoothly folded back by the action of the shape of the bending passage 42 and the force of the gas supplied from the supply port 46.

(Image pickup device)
The image pickup apparatus 5 photographs the sewing object S supplied to the sewing position PS. The image pickup apparatus 5 photographs the sewing object S between the supply roller 31 and the folding device 4. The image pickup apparatus 5 photographs the sewing object S from above the sewing object S.

The image pickup apparatus 5 acquires image data of the end Ec of the sewing object S before being folded back by the folding device 4. Further, the image pickup apparatus 5 acquires image data of the end portion Eh of the sewing object S after being folded back by the folding device 4. Further, the image pickup apparatus 5 acquires image data of the sewing thread ST that has sewn the folded-back portion PR.

In the following description, the end Ec of the sewing object S before being folded by the folding device 4 is appropriately referred to as a fabric end Ec, and the end Eh of the sewing object S after being folded by the folding device 4 is appropriately referred to as a fabric end Ec. As appropriate, it is referred to as a hem end Eh. Further, the fabric end portion Ec and the hem end portion Eh are appropriately collectively referred to as an end portion E.

The sewing object S orbits around the supply roller 31 and the recovery roller 32. In the photographing area of the image pickup device 5, the fabric end Ec of the sewing object S before passing through the folding device 4, the hem of the sewing object S after passing through the folding device 4 and passing through the sewing machine 2 and the recovery roller 32. Each of the end portion Eh and the sewing thread ST of the folded-back portion PR sewn in the sewing machine 2 is arranged. The image pickup apparatus 5 can acquire image data of the fabric end portion Ec, image data of the hem end portion Eh, and image data of the sewing thread ST of the folded portion PR.

The image pickup apparatus 5 includes a fabric end camera 51 for acquiring image data of the fabric end Ec, a hem end camera 52 for acquiring image data of the hem end Eh, and a sewing thread of the folded portion PR. It includes a sewing thread camera 53 for acquiring ST image data.

The position of the fabric end camera 51 in the X-axis direction is determined so that the fabric end Ec of the sewing object S transferred by the transfer device 3 is arranged in the photographing region of the fabric end camera 51. The position of the hem end camera 52 in the X-axis direction is determined so that the hem end Eh of the sewing object S transferred by the transfer device 3 is arranged in the photographing area of the hem end camera 52. The position of the sewing thread camera 53 in the X-axis direction is determined so that the sewing thread ST of the folded portion PR of the sewing object S transferred by the transfer device 3 is arranged in the photographing area of the sewing thread camera 53. In the present embodiment, the fabric end Ec is folded back to the −X side in the folding device 4. Of the fabric end camera 51, the hem end camera 52, and the sewing thread camera 53, the fabric end camera 51 is arranged on the most + X side, and the sewing thread camera 53 is + X next to the fabric end camera 51. It is arranged on the side, and the camera 52 for the hem end is arranged on the most −X side.

The support member 35 is arranged below the image pickup device 5. A light source 37 is arranged inside the support member 35. The light source 37 emits illumination light that illuminates the sewing object S arranged between the image pickup apparatus 5 and the support member 35. The upper surface 36 of the support member 35 includes the upper surface of the light guide plate 38 capable of transmitting illumination light. The illumination light emitted from the light source 37 passes through the light guide plate 38 and then is emitted upward from the upper surface 36. The upper surface 36 of the light guide plate 38 emits surface light. The light guide plate 38 illuminates the sewing object S with a uniform illuminance distribution. The sewing object S arranged between the image pickup apparatus 5 and the support member 35 is illuminated by the support member 35 from the back surface Sb. The support member 35 functions as a lighting device that illuminates the sewing object S from the back surface Sb. The image pickup apparatus 5 photographs the sewing object S illuminated by the illumination light.

(Drive)
The drive device 6 moves the supply roller 31 in the X-axis direction parallel to the first axis AX1. The drive device 6 includes a linear actuator that generates power for moving the supply roller 31 in the X-axis direction. By moving the rotary motor 33 in the X-axis direction, the drive device 6 moves the supply roller 31 in the X-axis direction together with the rotary motor 33. The drive device 6 may move the supply roller 31 in the X-axis direction by moving the shaft member connecting the rotary motor 33 and the supply roller 31 in the X-axis direction.

A frictional force is generated between the supply roller 31 and the sewing object S supported by the supply roller 31. When the supply roller 31 moves in the X-axis direction, the sewing object S supported by the supply roller 31 moves in the X-axis direction together with the supply roller 31.

(Control device)
The control device 7 controls the drive device 6 based on the image data of the sewing object S acquired by the image pickup device 5.

FIG. 4 is a functional block diagram showing an example of the control device 7 according to the present embodiment. The control device 7 outputs a control signal for controlling the sewing system 1. The control device 7 includes a computer system. The control device 7 includes an arithmetic processing device 7A including a processor such as a CPU (Central Processing Unit), a non-volatile memory such as ROM (Read Only Memory) or storage, and a volatile memory such as RAM (Random Access Memory). It has a storage device 7B including the above, and an input / output interface 7C including an input / output circuit capable of inputting / outputting signals and data.

The input / output interface 7C of the control device 7 includes an actuator 27 for moving the needle rod 22 in the Z-axis direction, a motor 25M for the upper belt mechanism 25, a motor 26M for the lower belt mechanism 26, and rotation for rotating the supply roller 31. The motor 33, the rotary motor 34 that rotates the recovery roller 32, the drive device 6 that moves the supply roller 31 in the X-axis direction, and the image pickup device 5 are connected.

The arithmetic processing device 7A includes an image data acquisition unit 71, a calculation unit 72, a determination unit 73, a sewing machine control unit 74, a transfer device control unit 75, and a drive device control unit 76.

The image data acquisition unit 71 acquires the image data of the sewing object S acquired by the image pickup device 5 from the image pickup device 5. The image data acquisition unit 71 acquires image data of the fabric end portion Ec from the fabric end portion camera 51. The image data acquisition unit 71 acquires image data of the hem end portion Eh from the hem end portion camera 52. The image data acquisition unit 71 acquires image data of the sewing thread ST from the sewing thread camera 53.

The calculation unit 72 performs a predetermined calculation process based on the image data acquired by the image data acquisition unit 71.

The determination unit 73 executes a predetermined determination process based on the calculation result of the calculation process performed by the calculation unit 72.

The sewing machine control unit 74 outputs a control signal for controlling each of the actuator 27, the motor 25M, and the motor 26M. The sewing machine control unit 74 controls the motor 25M and the motor 26M so that the belt 25B and the belt 26B move in synchronization with the transfer of the transfer device 3.

The transfer device control unit 75 outputs a control signal for controlling each of the rotary motor 33 and the rotary motor 34. The transfer device control unit 75 controls the rotary motor 33 and the rotary motor 34 so that the supply roller 31 and the recovery roller 32 rotate in the same direction at the same speed.

The drive device control unit 76 outputs a control signal for controlling the drive device 6 based on the image data of the sewing object S acquired by the image data acquisition unit 71.

The storage device 7B has a sewing position storage unit 77. The sewing position storage unit 77 stores the sewing position PS in the XY plane. The sewing position PS is a position directly below the sewing machine needle 21, and is known data derived from, for example, the design data of the sewing machine 2.

[Sewing method]
Next, a sewing method using the sewing system 1 according to the present embodiment will be described. FIG. 5 is a flowchart showing an example of the sewing method according to the present embodiment. As shown in FIG. 5, the sewing method includes an initial adjustment step SP1 for adjusting the position of the sewing object S mounted on the transfer device 3 before performing hem sewing, and a folded portion while transferring the sewing object S. It has a hem sewing step SP2 that generates a PR and sews the generated folded-back portion PR with a sewing thread ST.

(Initial adjustment step)
The initial adjustment step SP1 will be described. FIG. 6 is a flowchart showing an example of the initial adjustment step according to the present embodiment. FIG. 7 is a schematic diagram for explaining the initial adjustment step according to the present embodiment.

The operator attaches the sewing object S to the transfer device 3 (step SP11). The operator attaches the sewing object S to the supply roller 31 and the collecting roller 32 so that the needle plate 24, the supply roller 31, and the recovery roller 32 are each inserted into the tubular portion TP of the sewing object S. .. A part of the sewing object S is arranged between the sewing machine needle 21 and the needle plate 24. A part of the back surface Sb of the sewing object S is supported by the supply roller 31. A part of the back surface Sb of the sewing object S is supported by the recovery roller 32.

FIG. 7A is a diagram schematically showing the sewing object S mounted on the supply roller 31 and the recovery roller 32. The operator attaches the sewing object S to the supply roller 31 and the recovery roller 32 so that a part of the fabric end Ec of the sewing object S is arranged at the inlet 41 of the folding device 4. The operator does not need to insert the fabric end Ec of the sewing object S up to the bent portion 42C or the accommodating portion 42B of the bent passage 42, and may arrange it at the inlet 41 or the introduction portion 42A. When the worker attaches the sewing object S to the supply roller 31 and the recovery roller 32, the operator may roughly adjust the position of the fabric end Ec in the X-axis direction. The operator is supported by the supply roller 31 and the recovery roller 32 in a stretched state without twisting or folding back the fabric end Ec of the sewing object S in each of the supply roller 31 and the recovery roller 32. In addition, the shape of the object to be sewn S is adjusted.

After the object S to be sewn is attached to the supply roller 31 and the recovery roller 32, the camera 51 for the fabric end portion of the image pickup apparatus 5 is the fabric end portion of the object S to be sewn supported by the supply roller 31 and the recovery roller 32. Ec is photographed (step SP12).

The drive device control unit 76 drives the fabric end Ec so as to move to the target position TL defined in the folding device 4 based on the image data of the fabric end Ec acquired by the fabric end camera 51. The device 6 is controlled to adjust the position of the supply roller 31 in the X-axis direction to adjust the position of the fabric end Ec in the X-axis direction (step SP13).

FIG. 8 is a diagram schematically showing an example of image data acquired by the fabric edge camera 51 according to the present embodiment. As shown in FIG. 8, the fabric end camera 51 acquires image data of the fabric end Ec. The fabric end camera 51 acquires the image data of the index RL indicating the target position TL of the fabric end Ec together with the image data of the fabric end Ec.

The target position TL is the target position of the fabric end Ec in the X-axis direction defined in the folding device 4. The target position TL is defined in the folding device 4 so that the hem width Ws indicating the width of the folding portion PR becomes the target value Wr. By arranging the fabric end portion Ec at the target position TL, the folded portion PR is generated at the hem width Ws of the target value Wr.

As shown in FIG. 3, the target position TL is a position moved in the + X direction by the target value Wr from the most + X side portion of the bent portion 42C of the bent passage 42. With the fabric end Ec arranged at the inlet 41 of the bending passage 42, the fabric end Ec is moved in the + X direction so that the fabric end Ec is arranged at the target position TL. Is inserted into the bending passage 42 and folded back in the bending passage 42 so that the hem width Ws becomes the target value Wr.

The index RL is provided at the same position as the target position TL in the X-axis direction. The index RL may be provided on the upper surface 36 of the support member 35, may be provided on a part of the optical system of the cloth end camera 51, or may be provided inside the cloth end camera 51. It may be provided on an index member. In the example shown in FIG. 8, the index RL is a line-shaped pattern extending in the Y-axis direction.

The image data of the fabric end Ec of the sewing object S and the image data of the index RL acquired by the fabric end camera 51 are output to the control device 7. The image data acquisition unit 71 acquires the image data of the fabric edge Ec and the image data of the index RL from the fabric edge camera 51.

The drive device control unit 76 has the fabric end portion of the sewing object S at the target position TL defined in the folding device 4 based on the image data of the fabric end portion Ec of the sewing object S acquired by the image data acquisition unit 71. A control signal for controlling the drive device 6 is output so that Ec moves. In the present embodiment, the drive device control unit 76 has two image data (fabric edge) based on the image data of the fabric end Ec of the sewing object S acquired by the image data acquisition unit 71 and the image data of the index RL. A control signal for controlling the drive device 6 is output so that the fabric end Ec of the sewing object S and the index RL coincide with each other in the image data of the unit Ec and the image data of the index RL).

As shown in FIG. 8, the index RL exists on the + X side of the fabric end portion Ec. When the supply roller 31 supporting the sewing object S moves in the + X direction, the fabric end Ec also moves in the + X direction. When the fabric end Ec moves in the + X direction so as to match the index RL, the fabric end Ec is inserted to the accommodating portion 42B of the bending passage 42 in the folding device 4, so that the hem width Ws becomes the target value Wr. In addition, it is folded back in the bending passage 42.

7 (B) and 7 (C) are diagrams schematically showing a state in which a control signal is output to the drive device 6 and the supply roller 31 supporting the sewing object S moves in the X-axis direction. As shown in FIG. 7B, in the drive device control unit 76, the fabric end Ec is parallel to the Y-axis direction and the fabric end Ec is parallel to the Y-axis direction based on the image data of the fabric end Ec acquired by the image data acquisition unit 71. The position of the supply roller 31 in the X-axis direction is adjusted so that the fabric end portion Ec is arranged at the inlet 41 or the introduction portion 42A of the folding device 4. After the dough end Ec is parallel to the Y-axis direction and the dough end Ec is arranged at the inlet 41 or the introduction portion 42A of the folding device 4, as shown in FIG. 7C, the drive device control unit 76 X moves the fabric end Ec to the target position TL defined in the folding device 4 based on the image data of the fabric end Ec acquired by the image data acquisition unit 71 and the image data of the index RL. The position of the supply roller 31 in the axial direction is adjusted.

Further, the control device 7 operates the gas supply device 48. By operating the gas supply device 48, gas is supplied from the supply port 46 to the accommodating portion 42B of the bending passage 42. As a result, the fabric end portion Ec is folded back in the folding device 4, and the folded portion PR is generated.

After the folding section PR is generated in the folding device 4, the transfer device control unit 75 outputs a control signal to the rotary motor 33 and the rotary motor 34, and supplies the folded section PR so as to be arranged at the sewing position PS. The roller 31 and the recovery roller 32 are rotated.

FIG. 7D is a diagram schematically showing a state in which a control signal is output to the rotary motor 33 and the rotary motor 34, and the folded portion PR generated by the folding device 4 is moved to the sewing position PS. As shown in FIG. 7D, the transfer device control unit 75 rotates the supply roller 31 and the recovery roller 32 by a specified angle so that the folding unit PR generated in the folding device 4 is arranged at the sewing position PS. Then, the position of the folded portion PR in the transfer direction is adjusted (step SP14).

As a result, the initial adjustment step SP1 is completed. When the operator attaches the sewing object S to the transfer device 3, even if the position of the fabric end Ec in the X-axis direction is roughly adjusted, the fabric end Ec of the sewing object S is photographed by the image pickup device 5 and the fabric is taken. By controlling the drive device 6 based on the image data of the end portion Ec, the sewing system 1 can generate the folded portion PR with the hem width Ws of the target value Wr. Even if the skill of the operator is immature, the sewing system 1 can arrange the folded-back portion PR generated with the hem width Ws of the target value Wr at the sewing position PS. Further, in the initial adjustment step SP1, the folded portion PR generated at the hem width Ws of the target value Wr is arranged at the sewing position PS, so that the sewing system 1 can immediately start the hem sewing step SP2.

(Hem sewing step)
Next, the hem sewing step SP2 will be described. FIG. 9 is a flowchart showing an example of the hem sewing step according to the present embodiment.

The image pickup apparatus 5 starts photographing the sewing object S (step SP21). The image data of the sewing object S acquired by the image pickup device 5 is output to the control device 7. The image data acquisition unit 71 acquires the image data of the sewing object S.

The control device 7 starts hem sewing (step SP22). The sewing machine control unit 74 outputs a control signal for operating the actuator 27. By the operation of the actuator 27, the needle bar 22 holding the sewing machine needle 21 reciprocates in the Z-axis direction. Further, the sewing machine control unit 74 outputs a control signal for operating the motor 25M and the motor 26M. The operation of the motor 25M moves the belt 25B in contact with the front surface Sf of the sewing object S, and the operation of the motor 26M moves the belt 26B in contact with the back surface Sb of the sewing object S. Further, the transfer device control unit 75 outputs a control signal for operating the rotary motor 33 and the rotary motor 34. By the operation of the rotary motor 33, the supply roller 31 rotates while supporting the back surface Sb of the sewing object S. By the operation of the rotation motor 34, the recovery roller 32 rotates while supporting the back surface Sb of the sewing object S. The fabric end Ec of the sewing object S is folded back in the folding device 4. The folded portion PR of the sewing object S generated by the folding device 4 is transferred to the sewing position PS. The sewing machine 2 sews the folded-back portion PR transferred to the sewing position PS with the sewing thread ST.

In the determination unit 73, the boundary portion Es between the fabric end portion Ec and the hem end portion Eh captures the photographing area of the image pickup device 5 based on the image data of the end portion E of the sewing object S acquired by the image data acquisition unit 71. It is determined whether or not the data has passed (step SP23).

FIG. 10 is a diagram schematically showing an example of the boundary portion Es between the fabric end portion Ec and the hem end portion Eh according to the present embodiment. The transfer device 3 orbits the sewing object S around the supply roller 31 and the recovery roller 32. The transfer device 3 transfers the folded portion PR of the sewing object S sewn by the sewing thread ST in the sewing machine 2 to the supply roller 31 via the recovery roller 32. Therefore, as shown in FIG. 10, the folded-back portion PR sewn by the sewing thread ST in the sewing machine 2 moves from the supply roller 31 to the photographing region of the image pickup apparatus 5. That is, the folded-back portion PR moves from the −Y side of the image pickup device 5 to the photographing region of the image pickup device 5 via the recovery roller 32 and the supply roller 31. On the + Y side of the folding portion PR, the fabric end portion Ec before being transferred to the folding device 4 is arranged.

As shown in FIG. 10, the boundary portion Es between the fabric end portion Ec and the hem end portion Eh of the folded portion PR includes an inclined portion of the end portion E of the sewing object S. The boundary portion Es is inclined with respect to the transfer direction (Y-axis direction). The determination unit 73 determines whether or not the end portion E of the sewing object S arranged in the photographing region of the image pickup apparatus 5 is an inclined portion based on the image data of the end portion E of the sewing object S. be able to.

Hereinafter, an example of a method for determining the boundary portion Es will be described. FIG. 11 shows whether the boundary portion Es has passed the photographing region of the fabric end camera 51 based on the image data of the end E of the sewing object S acquired by the fabric end camera 51 according to the present embodiment. It is a figure for demonstrating the method of determining whether or not. FIG. 12 shows whether the boundary portion Es has passed the photographing region of the hem end camera 52 based on the image data of the end E of the sewing object S acquired by the hem end camera 52 according to the present embodiment. It is a figure for demonstrating the method of determining whether or not.

Whether or not the boundary portion Es has passed through the photographing region of the fabric end camera 51 based on the image data of the end E of the sewing object S acquired by the fabric end camera 51 with reference to FIG. A method of determining whether or not the data will be described. As described above, the position of the fabric end camera 51 in the X-axis direction so that the fabric end Ec of the sewing object S transferred by the transfer device 3 is arranged in the photographing area of the fabric end camera 51. Is determined. When the boundary portion Es does not pass through the shooting area of the fabric edge camera 51, the fabric edge Ec is arranged in the shooting area of the fabric edge camera 51 as shown in FIG. 11 (A). .. In the photographing region of the cloth edge camera 51, the cloth edge Ec is substantially parallel to the transfer direction (Y-axis direction). Further, in the photographing region of the fabric end portion camera 51, the fabric end portion Ec is arranged at the central portion in the X-axis direction.

In the photographing region of the fabric end camera 51, the region on the + X side of the fabric end Ec is the upper surface 36 of the support member 35. The position of the photographing region of the fabric end camera 51 is determined so that the surface Sf of the sewing object S and the upper surface 36 of the support member 35 are simultaneously arranged in the photographing region of the fabric end camera 51.

As shown in FIG. 11, the calculation unit 72 sets the window Wa and the window Wb in the image data acquired by the camera 51 for the edge of the cloth. The window Wa and the window Wb are set at intervals in the Y-axis direction. The window Wa and the window Wb are set at the same position in the Y-axis direction. Further, the shape and size of the window Wa and the shape and size of the window Wb are the same. The window Wa and the window Wb are rectangular. The window Wa and the window Wb may be circular, for example.

The calculation unit 72 extracts edges in each of the window Wa and the window Wb, and calculates the position of the end portion E in the XY plane and the inclination angle with respect to the transfer direction (Y-axis direction). The boundary between the area where the sewing object S is arranged and the area where the sewing object S is not arranged on the upper surface 36 corresponds to the end portion E. When the illumination light is emitted from the upper surface 36, the illumination light emitted from the region of the upper surface 36 where the sewing object S is arranged is blocked by the sewing object S. Of the upper surface 36, the contrast between the area where the sewing object S is arranged and the area where the sewing object S is not arranged is large. Therefore, the calculation unit 72 can calculate the position and the inclination angle of the end portion E with high accuracy by edge extraction based on the image data acquired by the fabric end portion camera 51.

The calculation unit 72 calculates the center point Ca of the edge (edge E) in the window Wa. Further, the calculation unit 72 calculates the center point Cb of the edge (end portion E) in the window Wb. The determination unit 73 determines whether or not the end portion E is the boundary portion Es (inclined portion) based on the relative position between the center point Ca and the center point Cb.

As shown in FIG. 11A, when the distance between the center point Ca and the center point Cb in the X-axis direction is less than the first threshold value, the determination unit 73 is arranged in the photographing region of the fabric end camera 51. It is determined that the end portion E is the fabric end portion Ec, and the boundary portion Es does not pass through the photographing region of the fabric end portion camera 51.

As shown in FIG. 11B, when the distance between the center point Ca and the center point Cb in the X-axis direction is equal to or greater than the first threshold value, the determination unit 73 is arranged in the photographing region of the fabric end camera 51. It is determined that the end portion E is the boundary portion Es, and the boundary portion Es passes through the photographing region of the fabric end portion camera 51.

The first threshold value is a predetermined value for the distance between the center point Ca and the center point Cb in the X-axis direction, and is stored in the storage device 7B.

In this way, the windows Wa and Wb are set in the image data of the end portion E acquired by the camera 51 for the fabric end portion, and the edge extraction is performed in the windows Wa and Wb, so that the determination unit 73 is the boundary portion. It can be determined whether or not Es has passed through the photographing area of the cloth edge camera 51.

Next, with reference to FIG. 12, the boundary portion Es passes through the photographing region of the hem end camera 52 based on the image data of the end E of the sewing object S acquired by the hem end camera 52. A method of determining whether or not this has been done will be described. As described above, the position of the hem end camera 52 in the X-axis direction so that the hem end Eh of the sewing object S transferred by the transfer device 3 is arranged in the photographing area of the hem end camera 52. Is determined. When the boundary portion Es does not pass through the shooting area of the hem end camera 52, the sewing object S is arranged in the shooting area of the hem end camera 52 as shown in FIG. 12 (A). ..

When the boundary portion Es passes through the shooting area of the heme end camera 52, the heme end Eh is arranged in the shooting area of the heme end camera 52 as shown in FIG. 12 (B). In the photographing region of the hem end camera 52, the hem end Eh is arranged substantially parallel to the transfer direction (Y-axis direction). Further, in the photographing region of the camera 52 for the hem end portion, the hem end portion Eh is arranged at the central portion in the X-axis direction.

In the photographing region of the hem end camera 52, the region on the + X side of the hem end Eh is the upper surface 36 of the support member 35. The position of the hem end camera 52 is determined so that the surface Sf of the sewing object S and the upper surface 36 of the support member 35 are simultaneously arranged in the photographing region of the hem end camera 52.

As shown in FIG. 12, the calculation unit 72 sets the window W in the image data acquired by the hem end camera 52. The window W is set in the center of the shooting area of the hem end camera 52. The window W has a rectangular shape. The window W may be circular, for example.

The calculation unit 72 extracts the edge in the window W and calculates the position of the end portion E. As shown in FIG. 12A, when the boundary portion Es does not pass through the photographing area of the hem end camera 52, the sewing object S is arranged in the entire window W. The calculation unit 72 cannot extract edges in the window W.

When the boundary portion Es passes through the photographing area of the hem end camera 52 and the hem end Eh is arranged in the photographing area of the hem end camera 52, the hem end Eh is arranged in the window W. The boundary between the area where the sewing object S is arranged and the area where the sewing object S is not arranged on the upper surface 36 corresponds to the hem end portion Eh. When the illumination light is emitted from the upper surface 36, the illumination light emitted from the region of the upper surface 36 where the sewing object S is arranged is blocked by the sewing object S. Of the upper surface 36, the contrast between the area where the sewing object S is arranged and the area where the sewing object S is not arranged is large. Therefore, the calculation unit 72 can calculate the position of the heme end portion Eh with high accuracy by edge extraction.

The calculation unit 72 calculates the center point C of the hem end portion Eh in the window W. The determination unit 73 determines whether or not the end portion E is the boundary portion Es based on the position of the center point C.

As shown in FIG. 12A, when the edge cannot be extracted, the determination unit 73 determines that the boundary portion Es has not passed through the photographing region of the hem end camera 52.

As shown in FIG. 12B, when the center point C is calculated by edge extraction and the center point C and the center of the window W coincide with each other, the determination unit 73 has the boundary portion Es of the hem end camera 52. It is determined that the image has passed the shooting area.

In this way, the window W is set in the image data of the end portion E acquired by the camera 52 for the hem end portion, and the edge extraction is performed in the window W, so that the determination unit 73 has the boundary portion Es at the hem end. It is possible to determine whether or not the image has passed the photographing area of the unit camera 52.

As described above, in step SP23, the determination unit 73 has the boundary portion Es of the image pickup apparatus 5 based on at least one of the determination method described with reference to FIG. 11 and the determination method described with reference to FIG. It is possible to determine whether or not the image has passed the shooting area.

When it is determined in step SP23 that the boundary portion Es has not passed through the photographing region (step SP23: No), the determination unit 73 determines that the end portion E transferred from the photographing region of the imaging device 5 to the folding device 4 is the boundary portion E. It is determined that it is part Es. The drive device control unit 76 controls the drive device 6 so that the boundary portion Es is transferred to the folding device 4, and adjusts the position of the supply roller 31 in the X-axis direction (step SP24). That is, the drive device control unit 76 controls the drive device 6 so that the fabric end portion Ec moves to the target position TL.

When it is determined in step SP23 that the boundary portion Es has passed the photographing region (step SP23: Yes), the determination unit 73 transfers the end portion E from the photographing region of the imaging device 5 to the folding device 4, and the end portion E is a hem end portion. It is determined that it is Eh. The drive device control unit 76 controls the drive device 6 so that the hem end portion Eh is not transferred to the folding device 4, and adjusts the position of the supply roller 31 in the X-axis direction (step SP25). That is, the drive device control unit 76 controls the drive device 6 so that the hem end portion Eh is not inserted into the inlet 41 of the folding device 4. The drive device control unit 76 sets the position of the supply roller 31 in the X-axis direction after the boundary portion Es has passed through the photographing region of the image pickup device 5 so that the hem end portion Eh does not enter the bending passage 42. Is maintained at the position in the X-axis direction of the supply roller 31 before passing through the photographing region of the image pickup apparatus 5. That is, the drive device control unit 76 has a position in the X-axis direction of the supply roller 31 before the boundary portion Es passes through the imaging region of the image pickup device 5, and after the boundary portion Es has passed through the imaging region of the image pickup device 5. The drive device 6 is controlled so that the position of the supply roller 31 in the X-axis direction is substantially equal to the position. This prevents the hem end Eh from being further folded back.

After the boundary portion Es has passed through the photographing region of the image pickup apparatus 5, the sewing thread ST of the folded portion PR is arranged in the photographing region of the sewing thread camera 53. The sewing thread camera 53 photographs the sewing thread ST of the folded-back portion PR. The image data acquisition unit 71 acquires image data of the sewing thread ST from the sewing thread camera 53.

The calculation unit 72 calculates the position of the sewing thread ST in the X-axis direction based on the image data of the sewing thread ST acquired by the image data acquisition unit 71 (step SP26).

FIG. 13 is a diagram schematically showing an example of image data of sewing thread ST acquired by the sewing thread camera 53 according to the present embodiment. A seam of the sewing thread ST is formed on the folded portion PR. Since there are two sewing machine needles 21, two stitches are formed in parallel with the folded-back portion PR. Each of the two seams extends in the Y-axis direction.

The sewing thread camera 53 photographs the sewing thread ST including the start end EP of the seam. The seam start end EP is a portion where hem sewing is started in the folded-back portion PR. The sewing machine camera 53 acquires image data of the sewing thread ST including the start end EP in a state where the operation of the sewing machine 2 and the operation of the transfer device 3 are stopped.

The calculation unit 72 calculates the position of the sewing thread ST including the start end EP based on the image data of the sewing thread ST. For example, the calculation unit 72 detects the edge of the image data of the sewing thread ST and calculates the position of the sewing thread ST by template matching. The calculation unit 72 calculates the center line CL of the two sewing thread STs from the positions of the two sewing thread STs. The calculation unit 72 calculates the difference between the calculated center line CL and the target line DL.

The target line DL means the target position of the center line CL in the X-axis direction. The target line DL is a line passing through the centers of the two sewing positions PS. The sewing position storage unit 77 of the storage device 7B stores the sewing position PS in the X-axis direction. The calculation unit 72 can calculate the target line DL based on the storage data stored in the sewing position storage unit 77.

When hem sewing is performed while rotating the sewing object S, it is preferable that the start end EP of the seam returns to the sewing position PS from the viewpoint of the aesthetic appearance of the folded-back portion PR. That is, it is preferable that the start end EP and the end end of the seam coincide with each other. The end end portion of the seam is a portion where the hem sewing is completed in the folded portion PR.

The determination unit 73 determines whether or not the sewing thread ST is at the target position in the X-axis direction based on the center line CL and the target line DL calculated by the calculation unit 72 (step SP27).

When the difference between the center line CL and the target line DL in the X-axis direction is less than the second threshold value, the determination unit 73 determines that the sewing thread ST is in the target position in the X-axis direction. When the difference between the center line CL and the target line DL in the X-axis direction is equal to or greater than the second threshold value, the determination unit 73 determines that the sewing thread ST is not at the target position in the X-axis direction.

The second threshold value is a predetermined value for the difference between the center line CL and the target line DL in the X-axis direction, and is stored in the storage device 7B.

When it is determined in step SP27 that the sewing thread ST is in the target position (step SP27: Yes), the drive device control unit 76 restarts hem sewing while maintaining the position of the supply roller 31 in the X-axis direction. (Step SP28). The transfer device control unit 75 transfers the folded unit PR to the sewing machine 2. The seam start end EP of the folded portion PR is transferred to the sewing position PS. The sewing machine control unit 74 reciprocates the needle bar 22 holding the sewing machine needle 21 in the Z-axis direction. As a result, the folded portion PR is sewn with the sewing thread ST so that the start end EP and the end end of the seam coincide with each other.

When it is determined in step SP27 that the sewing thread ST is not at the target position (step SP27: No), the drive device control unit 76 drives the sewing thread ST so that the position of the sewing thread ST and the sewing position PS coincide with each other in the X-axis direction. The device 6 is controlled (step SP29). That is, the drive device control unit 76 adjusts the position of the supply roller 31 in the X-axis direction so that the center line CL coincides with the target line DL.

After the position of the supply roller 31 in the X-axis direction is adjusted and the position of the sewing thread ST (starting end EP) in the X-axis direction is adjusted, the drive device control unit 76 restarts hem sewing (step SP28). The transfer device control unit 75 transfers the folded unit PR to the sewing machine 2. The seam start end EP of the folded portion PR is transferred to the sewing position PS. The sewing machine control unit 74 reciprocates the needle bar 22 holding the sewing machine needle 21 in the Z-axis direction. As a result, the folded portion PR is sewn with the sewing thread ST so that the start end EP and the end end of the seam coincide with each other.

In this way, the drive device control unit 76 controls the drive device 6 so that the start end EP of the seam of the sewing thread ST of the folded portion PR is transferred to the sewing position PS based on the image data of the sewing thread ST. be able to.

As described above, a garment having a high-quality folded-back portion PR in which the start end portion EP and the end end portion coincide with each other is manufactured.

[effect]
As described above, the sewing system 1 capable of performing hem sewing is supplied based on the image pickup device 5 that acquires the image data of the sewing object S supplied to the sewing position PS and the image data of the sewing object S. A drive device 6 for adjusting the position of the roller 31 in the X-axis direction is provided. As a result, in the initial adjustment step SP1, the work of inserting the fabric end portion Ec into the bending passage 42 so that the hem width Ws becomes the target value Wr can be smoothly performed. In the hem sewing step SP2, it is possible to prevent the folded-back portion PR from being further folded back, and it is possible to match the start end portion EP and the end end portion of the seam. Therefore, the sewing system 1 can produce high-quality garments with high efficiency.

Further, the folding device 4 is arranged between the supply roller 31 and the sewing position PS, the sewing machine 2 sews the folded portion PR of the sewing object S generated by the folding device 4 with the sewing thread ST, and the transfer device 3 uses the sewing thread ST. The folded portion PR sewn by the sewing thread ST is transferred to the supply roller 31 via the recovery roller 32, and the image pickup apparatus 5 photographs the sewing object S between the supply roller 31 and the folding device 4. Therefore, the image pickup apparatus 5 can acquire image data of each of the sewing thread ST of the fabric end portion Ec, the hem end portion Eh, and the folded portion PR.

Further, the image pickup apparatus 5 acquires the image data of the fabric end portion Ec, and the drive device control unit 76 sets the sewing object at the target position TL defined in the folding device 4 based on the image data of the fabric end portion Ec. The drive device 6 is controlled so that the fabric end Ec of S moves. As a result, when the operator attaches the sewing object S to the transfer device 3 in the initial adjustment step SP1, the folding back generated with the hem width Ws of the target value Wr is simply adjusted by roughly adjusting the position of the sewing object S. The portion PR can be smoothly arranged at the sewing position PS. Further, in the initial adjustment step SP1, the folded portion PR generated at the hem width Ws of the target value Wr is arranged at the sewing position PS, so that the hem sewing step SP2 can be started immediately. As a result, work efficiency is improved, and clothing can be manufactured with high efficiency. Further, in the hem sewing step SP2, the drive device control unit 76 sets the fabric end Ec at the target position TL based on the image data of the fabric end Ec while the sewing machine 2 and the transfer device 3 are operating. By controlling the drive device 6 so as to move, it is possible to generate a folded portion PR having a uniform hem width Ws.

For example, in the initial adjustment step SP1, it is highly likely that it is difficult for the operator to manually insert the fabric end Ec into the bending passage 42 so that the hem width Ws becomes the target value Wr. In particular, when the skill of the worker is immature, it may take a long time to attach the sewing object S to the transfer device 3 while inserting the fabric end Ec into the bending passage 42.

Since the position of the supply roller 31 in the X-axis direction is adjusted based on the image data acquired by the camera 51 for the edge of the fabric, when the operator attaches the sewing object S to the transfer device 3, the sewing object S is adjusted. All you have to do is roughly adjust the position of. After the sewing object S is attached to the transfer device 3, the drive device control unit 76 adjusts the position of the supply roller 31 in the X-axis direction based on the image data of the fabric end Ec acquired by the image pickup device 5. By doing so, the fabric end portion Ec can be inserted into the bending passage 42 so that the hem width Ws becomes the target value Wr.

Further, the image pickup apparatus 5 acquires the image data of the cloth end portion Ec and the image data of the index RL indicating the target position TL. As a result, the drive device control unit 76 controls the drive device 6 so that the fabric end Ec of the sewing object S and the index RL match in the image data, thereby targeting the fabric end Ec in the folding device 4. The hem width Ws can be set to the target value Wr by moving to the position TL.

The image pickup apparatus 5 acquires the image data of the end portion E of the sewing object S, and the determination unit 73 together with the fabric end portion Ec and the hem end portion Eh based on the image data of the end portion E of the sewing object S. It is determined whether or not the boundary portion Es of the image has passed the imaging region of the image pickup device 5, and the drive device 6 is controlled so that the hem end portion Eh is not transferred to the folding device 4. As a result, it is possible to prevent the hem end portion Eh from being further folded back, and it is possible to suppress deterioration in the quality of the manufactured clothing.

When a folded portion PR is generated in the sewing object S while rotating around the supply roller 31 and the recovery roller 32 and sewn with the sewing thread ST, the folded portion PR generated by the folding device 4 and the sewing machine 2 is the recovery roller 32 and It is arranged in the photographing area of the image pickup apparatus 5 via the supply roller 31. When the hem end Eh of the folded portion PR is erroneously recognized as the fabric end Ec, the drive device control unit 76 sets the supply roller 31 in the + X direction so that the hem end Eh is arranged at the target position TL. May move to. As shown in FIG. 10, each of the fabric end portion Ec and the hem end portion Eh is substantially parallel to the transfer direction (Y-axis direction) by the transfer device 3, and is obtained from the image data acquired by the image pickup device 5. It can be difficult to distinguish between the fabric edge Ec and the hem edge Eh. If the heme end Eh is transferred to the folding device 4, the heme end Eh may be further folded back by the folding device 4.

The calculation unit 72 can distinguish between the fabric end portion Ec and the hem end portion Eh by setting a window in the image data and extracting edges. Therefore, the drive device control unit 76 can adjust the position of the supply roller 31 in the X-axis direction so that the fabric end portion Ec is transferred to the folding device 4 and the hem end portion Eh is not transferred to the folding device 4. ..

The image pickup apparatus 5 acquires the image data of the sewing thread ST, and the drive device control unit 76 transfers the start end RP of the stitch of the sewing thread ST of the folded portion PR to the sewing position PS based on the image data of the sewing thread ST. The drive device 6 is controlled so as to be so. As a result, the start end EP and the end end of the seam can be matched, and the sewing system 1 can produce high-quality garments.

The calculation unit 72 calculates the position of the sewing thread ST in the X-axis direction based on the image data of the sewing thread ST, and the drive device control unit 76 so that the position of the sewing thread ST and the sewing position PS match in the X-axis direction. , Control the drive device 6. As a result, the stitches of the sewing thread ST are suppressed from being disturbed, and the sewing system 1 can produce high-quality garments.

[Other embodiments]
In the above-described embodiment, the needle bar 22 holds two sewing machine needles 21. The needle bar 22 may hold one sewing machine needle 21 or may hold three or more sewing machine needles 21.

In the above-described embodiment, the sewing object S photographed by the image pickup apparatus 5 is illuminated from the back surface Sb by the support member 35. A lighting device that illuminates the sewing object S from the surface Sf may be provided. The image pickup apparatus 5 may photograph the sewing object S illuminated from the surface Sf.

When the position of the end Ec of the sewing object S is detected based on the image data acquired by the image pickup apparatus 5, the sewing object S and the sewing object S are required to improve the detection accuracy of the position of the end Ec. It is preferable that the contrast with the support member 35 that supports the above is high. For example, when sewing a white object to be sewn S, the upper surface of the support member 35 is preferably black, and when sewing a black object to be sewn S, the upper surface of the support member 35 is preferably white. Therefore, when the sewing object S is illuminated from the surface Sf, a pattern for increasing the contrast with the sewing object S may be provided on the upper surface of the support member 35. For example, a striped pattern in which the white region and the black region are alternately arranged in the transfer direction of the sewing object S may be provided on the upper surface of the support member 35, or the white region and the black region are arranged in a matrix. The grid pattern may be provided on the upper surface of the support member 35. By providing such a pattern, high contrast between the sewing object S and the supporting member 35 can be obtained without replacing the support member 35 regardless of whether the sewing object S is white or black. Can be done.

In the above-described embodiment, the image pickup device 5 and the support member 35 face each other, and the upper surface 36 of the support member 35 is arranged in the photographing region of the image pickup device 5. The image pickup device 5 and the supply roller 31 may face each other, and the surface of the supply roller 31 may be arranged in the photographing region of the image pickup device 5. Further, a pattern for increasing the contrast with the sewing object S described above may be provided on the surface of the supply roller 31.

In the above-described embodiment, the start position (position of the start end EP) and the end position (position of the end end) of the hem sewing may be specified in the sewing object S. For example, when a sewn portion in which the front body and the back body are sewn is present in the sewing object S, the hem sewing start position and the hem sewing end position may be defined in the sewn portion. The fabrics overlap at the sewn part between the front body and the back body. Therefore, the thickness of the sewn portion is thicker than the thickness of the fabric other than the sewn portion. By defining the start position and the end position of the hem stitch in the stitched portion, the start end EP and the end end of the seam can be made inconspicuous.

When positioning the start end EP and the end end of the hem stitch on the stitched portion, it is necessary to detect the position of the stitched portion. According to the above-described embodiment, the image data of the sewing object S is acquired by the image pickup apparatus 5 in a state where the sewing object S is illuminated from the back surface Sb, and the position of the stitched portion is detected based on the image data. Can be done. As described above, the thickness of the sewn portion is thicker than the thickness of the fabric other than the sewn portion. Therefore, when the object S to be sewn is illuminated from the back surface Sb, there is a difference between the image data of the sewn portion and the image data of the fabric other than the sewn portion. For example, the brightness of the image data of the stitched portion is lower than the brightness of the image data of the fabric other than the stitched portion. That is, in the image data, the sewn portion has a darker color than the fabric other than the sewn portion. The position of the sewn portion can be detected by the difference between the image data of the sewn portion and the image data of the fabric other than the sewn portion.

1 ... sewing system, 2 ... sewing machine, 3 ... transfer device, 4 ... folding device, 5 ... image pickup device, 6 ... drive device, 7 ... control device, 7A ... arithmetic processing device, 7B ... storage device, 7C ... input / output interface , 20 ... sewing machine head, 21 ... sewing machine needle, 22 ... needle bar, 23 ... pressing member, 24 ... needle plate, 25 ... upper belt mechanism, 25B ... belt, 25M ... motor, 25P ... pulley, 26 ... lower belt mechanism, 26B ... belt, 26M ... motor, 26P ... pulley, 27 ... actuator, 28 ... power transmission mechanism, 31 ... supply roller, 32 ... recovery roller, 33 ... rotary motor, 34 ... rotary motor, 35 ... support member, 36 ... top surface , 37 ... light source, 38 ... light guide plate, 41 ... entrance, 41A ... front entrance, 41B ... side entrance, 42 ... bending passage, 42A ... introduction part, 42B ... accommodating part, 42C ... bending part, 43 ... exit, 44 ... Support plate, 45 ... Guide member, 45A ... Overhang part, 45B ... Main body part, 46 ... Supply port, 47 ... Internal flow path, 48 ... Gas supply device, 51 ... Fabric end camera, 52 ... Hem end Camera, 53 ... Camera for sewing thread, 71 ... Image data acquisition unit, 72 ... Calculation unit, 73 ... Judgment unit, 74 ... Sewing machine control unit, 75 ... Transfer device control unit, 76 ... Drive device control unit, 77 ... Sewing position memory Part, AX1 ... 1st axis, AX2 ... 2nd axis, C ... center point, Ca ... center point, Cb ... center point, CL ... center line, DL ... target line, E ... end, Ec ... fabric edge Part, Eh ... hem end, EP ... start end, PR ... folded part, PS ... sewing position, RL ... index, S ... sewing object, Sb ... back surface, Sf ... front surface, ST ... sewing thread, TL ... target position , TP ... tubular part, W ... window, Wa ... window, Wb ... window.

Claims (7)

A sewing machine with a needle bar that holds the sewing machine needle and moves back and forth,
A supply roller that is inserted into the tubular portion of the sewing object and rotates about the first axis while supporting the sewing object to supply the sewing object to the sewing position directly below the sewing machine needle, and the above. It has a collection roller that is inserted into a tubular portion and rotates around a second axis while supporting the sewing object to collect the sewing object from the sewing position, and has the sewing object at the sewing position. A transfer device that transfers objects in the transfer direction, and
A folding device that folds back the end of the sewing object supplied to the sewing position, and
An image pickup device that photographs the sewing object supplied to the sewing position, and
A drive device capable of moving the supply roller in a direction parallel to the first axis,
A control device for controlling the drive device based on the image data of the sewing object acquired by the image pickup device is provided .
The folding device is arranged between the supply roller and the sewing position.
The sewing machine sews the folded portion of the sewing object generated by the folding device with sewing thread.
The transfer device transfers the folded portion sewn with the sewing thread to the supply roller via the recovery roller.
The image pickup device photographs the sewing object between the supply roller and the folding device.
The image pickup device acquires image data of the end portion of the sewing object before it is folded back, and obtains image data.
The control device controls the drive device so that the end portion of the sewing object moves to the target position specified by the folding device based on the image data of the end portion of the sewing object.
The folding device has an inlet into which an end portion of the sewing object before being folded is inserted, and a bending passage connected to the entrance and capable of folding the sewing object.
The target position is defined by the folding device so that the width of the folding portion becomes the target value.
Sewing system. The image pickup apparatus acquires the image data of the end portion of the sewing object before being folded back and the image data of the index indicating the target position.
The control device controls the drive device so that the end portion of the sewing object and the index match in the two image data.
The sewing system according to claim 1 . A sewing machine with a needle bar that holds the sewing machine needle and moves back and forth,
A supply roller that is inserted into the tubular portion of the sewing object and rotates about the first axis while supporting the sewing object to supply the sewing object to the sewing position directly below the sewing machine needle, and the above. It has a collection roller that is inserted into a tubular portion and rotates around a second axis while supporting the sewing object to collect the sewing object from the sewing position, and has the sewing object at the sewing position. A transfer device that transfers objects in the transfer direction, and
A folding device that folds back the end of the sewing object supplied to the sewing position, and
An image pickup device that photographs the sewing object supplied to the sewing position, and
A drive device capable of moving the supply roller in a direction parallel to the first axis,
A control device for controlling the drive device based on the image data of the sewing object acquired by the image pickup device is provided.
The folding device is arranged between the supply roller and the sewing position.
The sewing machine sews the folded portion of the sewing object generated by the folding device with sewing thread.
The transfer device transfers the folded portion sewn with the sewing thread to the supply roller via the recovery roller.
The image pickup device photographs the sewing object between the supply roller and the folding device.
The image pickup device acquires image data of the end portion of the sewing object, and obtains image data.
Based on the image data of the end portion of the sewing object, the control device captures the boundary portion between the end portion of the sewing object before being folded and the end portion of the sewing object after being folded. It is determined whether or not the image has passed through the photographing area of the device, and the drive device is controlled so that the end portion of the sewing object after being folded is not transferred to the folded device.
Sewing system. The control device sets a window in the image data, extracts an edge in the window, and determines whether or not the boundary portion has passed the photographing region.
The sewing system according to claim 3 . The boundary includes an inclined portion at the end of the object to be sewn.
The sewing system according to claim 3 or 4 . A sewing machine with a needle bar that holds the sewing machine needle and moves back and forth,
A supply roller that is inserted into the tubular portion of the sewing object and rotates about the first axis while supporting the sewing object to supply the sewing object to the sewing position directly below the sewing machine needle, and the above. It has a collection roller that is inserted into a tubular portion and rotates around a second axis while supporting the sewing object to collect the sewing object from the sewing position, and has the sewing object at the sewing position. A transfer device that transfers objects in the transfer direction, and
A folding device that folds back the end of the sewing object supplied to the sewing position, and
An image pickup device that photographs the sewing object supplied to the sewing position, and
A drive device capable of moving the supply roller in a direction parallel to the first axis,
A control device for controlling the drive device based on the image data of the sewing object acquired by the image pickup device is provided.
The folding device is arranged between the supply roller and the sewing position.
The sewing machine sews the folded portion of the sewing object generated by the folding device with sewing thread.
The transfer device transfers the folded portion sewn with the sewing thread to the supply roller via the recovery roller.
The image pickup device photographs the sewing object between the supply roller and the folding device.
The image pickup device acquires image data of the sewing thread and obtains image data.
Based on the image data of the sewing thread, the control device controls the driving device so that the start end of the seam of the sewing thread of the folded portion is transferred to the sewing position.
Sewing system. The control device calculates the position of the sewing thread in the direction parallel to the first axis based on the image data of the sewing thread, and determines the position of the sewing thread and the sewing position in the direction parallel to the first axis. Control the drive so that
The sewing system according to claim 6 .

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