JPH0623170A - Working cloth matching device - Google Patents

Abstract

PURPOSE:To shorten moving time by directly moving working cloth while correcting the position deviation from a set position concerning the outline contour line and or pattern. CONSTITUTION:A first holder 47 and a second holder to respectively hold a pair of working cloth are provided movable in an XY direction and around a perpendicular axis, the respective working cloth is image picked up by first and second image sensors 50 and 51, and the deviation amount and deviation angle in the XY direction from the prescribed set position concerning the outline contour line and/or pattern are calculated. Then, the first holder 47 and the second holder are moved so as to move the working cloth to a prescribed matching position (stitch forming position) while correcting the deviation amount and the deviation angle so as to cancel them.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work cloth aligning device,
In particular, the present invention relates to a device in which a position related to an outer contour line and / or a handle of a work cloth is detected and the amount of deviation from a set position is corrected and the work cloth is directly transferred to a predetermined alignment position.

[0002]

2. Description of the Related Art Conventionally, the positional deviation of a work cloth is corrected so that the outer contour lines of one or two work cloths are set at preset positions, and the position-corrected work cloth is sewn. Various types of work cloth aligning devices have been proposed for transferring to a predetermined aligning position such as a position. For example, JP-A-6
In Japanese Laid-Open Patent Publication No. 3-164991, three substantially horizontal plates are provided on the upper and lower sides, and an edge guide having an abutment (abutting member) interposed between the three plates is provided on the front side of the needle plate, and the lower plate is provided. The lower work cloth inserted between the intermediate plate and the intermediate plate and the upper work cloth inserted between the intermediate plate and the upper plate with compressed air so that one straight side edge of the upper work cloth contacts the straight side end surface of the abutment. Processing in which each workpiece moves in the direction orthogonal to the cloth feed direction until it comes into contact with it, and then moves in the cloth feed direction to a predetermined setting position, while simultaneously moving both work cloths aligned at the setting position to the predetermined sewing position. A cloth aligning device is described.

[0003]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
In the work cloth aligning device described in Japanese Patent No. 4991, in order to correct the position of the work cloth set on the edge guide, one side end of the work cloth is moved to a set position while being brought into contact with the abutment, and then, Since the work cloth is moved to the sewing position, the number of times the work cloth is transferred is large, and the transfer direction at the time of transfer is not only the cloth feed direction but also the direction orthogonal to the cloth feed direction. The correction accuracy of the work cloth is not stable due to the strength, especially the position correction in the direction orthogonal to the cloth feed direction is difficult to stabilize, the seam allowance becomes unstable, and there are many work cloth transfer processes. Since it is transferred to the sewing position after position correction, there is a problem that the preparation time before the start of sewing becomes long.

An object of the present invention is to directly transfer a work cloth to an alignment position while correcting a positional deviation of the outer contour line and / or the handle from a set position so that the work cloth can be accurately and surely corrected to the alignment position. It is an object of the present invention to provide a work cloth aligning device that can reduce the transfer time of the work cloth.

[0005]

A work cloth aligning apparatus according to the present invention is supported by a machine frame so as to be movable independently in the X and Y directions in a horizontal XY plane and rotatable about a vertical axis. , A work cloth holding means for holding at least a part of the work cloth arranged on the XY plane, a drive means for moving and driving the work cloth holding means in the XY plane and a swiveling drive about a vertical axis, and an XY plane. Image pickup means for picking up at least a part of the work cloth placed in a predetermined image pickup area, storage means for storing the image data picked up by the image pickup means, and work cloth based on the image data received from the storage means. Detecting at least one of the outer contour line and the pattern, and regarding the detected outer contour line and / or pattern,
A calculation means for calculating a deviation amount in the XY directions from a preset setting position and a deviation angle about the vertical axis, and a deviation amount obtained by the calculation means in a state where the work cloth is held by the work cloth holding means. And a control means for controlling the driving means so as to transfer the work cloth to a preset alignment position while performing correction so as to eliminate the deviation angle.

[0006]

In the work cloth aligning apparatus according to the present invention, at least a part of the work cloth placed in a predetermined image pickup area in the horizontal XY plane is picked up by the image pickup means, and the image data picked up by the image pickup means is obtained. It is stored in the storage means.
The calculation means detects at least one of the outer contour line and the pattern of the work cloth based on the image data received from the storage means, and sets a preset position related to the detected outer contour line and / or pattern. The amount of deviation in the XY directions from and the deviation angle around the vertical axis are calculated. The control means causes the work cloth holding means to hold the work cloth, receives the calculation result from the calculation means, and transfers the work cloth to a preset alignment position while correcting so as to eliminate the deviation amount and the deviation angle. Drive means is controlled. Therefore, the work cloth holding means moves and drives the work cloth in the X and Y directions in the XY plane and swivels about the vertical axis to move the work cloth while correcting the position, and thus the work cloth held by the work cloth holding means. When the cloth is transferred to the alignment position, the positional deviation is accurately and reliably corrected.

[0007]

According to the work cloth aligning device of the present invention,
A work cloth holding means, an image pickup means, a calculation means, a control means, and the like are provided to eliminate the deviation amount and the deviation angle from the set position regarding the contour line and / or the pattern of the work cloth detected based on the imaged image data. As described above, the work cloth is directly transferred to the preset alignment position while being corrected while being held by the work cloth holding means, so the positional deviation can be corrected accurately and reliably, and the preparation time for sewing can be significantly increased. It can be shortened.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. In this embodiment, while aligning two work cloths on which the same pattern (striped pattern) is drawn with an outer contour line or a pattern,
This is a case where the present invention is applied to a work cloth aligning device for transferring to a sewing position where sewing is possible with a lock stitch sewing machine. First, a lock stitch sewing machine SM for sewing a work cloth will be described. A balance drive mechanism driven by a sewing machine main shaft that is rotationally driven by a sewing machine motor, a needle bar vertical drive mechanism, a feed dog drive mechanism, a thread catcher, an automatic This is a general sewing machine equipped with a thread trimming device and the like. Further, in this sewing machine SM, the presser bar having the presser foot attached to the lower end is switched between a pressing position for pressing the work cloth and a rising position by, for example, a solenoid (see FIG. 3), and a needle bar. When is at the needle up position, the needle position sensor (see FIG. 3) 12 including a photo sensor outputs a needle up signal. Incidentally, in FIG. 1, reference numeral 13 is a sewing needle attached to the lower end of the needle bar,
Reference numeral MB is a bed portion, and reference numeral Q is a needle drop position on the bed portion MB.

Next, the work cloth aligning device 20 arranged on the front side of the sewing machine SM will be described with reference to FIGS. 1 and 2. The aligning device 20 includes a Y-direction drive mechanism 21 that moves the work cloths W1 and W2 in the Y-direction (front-back direction) within a horizontal XY plane, and an X-direction (left-right direction) orthogonal to the Y-direction.
X-direction drive mechanism 22 for moving to and a swing drive mechanism 23 for horizontally turning around a vertical axis parallel to the Z direction (vertical direction) orthogonal to the Y direction and the X direction via holding bodies 47 and 48 described later. And the mechanisms 21 to 23 will be described.

In front of the sewing machine SM, a supporting base 25 extending in the Y direction and having side plates 26 attached to the front and rear ends thereof and having a predetermined width is horizontally supported by a machine frame (not shown). A first Y-direction ball screw shaft (hereinafter, referred to as a first Y-direction shaft) 27 is disposed in parallel with the support base 25 on an upper side of the 25, and a second Y-direction ball screw shaft (hereinafter, a second Y-direction shaft) is disposed on the lower side thereof. 2)
8 are arranged in parallel with the support base 25, and these two Y-direction shafts 27, 28 have a pair of side plates 2 at their front and rear ends.
6 are rotatably supported respectively. Further, on the front side plate 26, a first Y-direction drive motor (hereinafter, referred to as a first Y motor) 29 and a second Y-direction drive motor (hereinafter, referred to as a second Y motor).
A motor 30 is fixed, the drive shaft of the first Y motor 29 is connected to the first Y direction shaft 27, and the drive shaft of the second Y motor 30 is connected to the second Y direction shaft 28. The motors 29 and 30 are stepping motors.

The first Y-direction shaft 27 is screwed to the ball screw nut at the base end of the first Y-direction movable base 31 slidably abutting on the upper surface of the support base 25 and arranged in the X-direction. The second Y-direction shaft 28 is screwed to the ball screw nut at the base end of the second Y-direction movable base 32, which slidably contacts the lower surface of the support base 25 and is arranged in the X-direction. Therefore, the first Y-direction shaft 27 is rotated by the first Y-motor 29 and the first Y-direction movable base 31 is moved in the front-rear direction. Similarly, the second Y motor 30 causes the second Y motor 30 to
The Y-direction shaft 28 rotates and the second Y-direction movable base 32 moves in the front-rear direction.

A first X-direction ball screw shaft (hereinafter, simply referred to as a first X-direction shaft) 33 arranged on the first Y-direction movable base 31 in parallel with the first Y-direction movable base 31 has left and right ends thereof on both left and right sides of the first Y-direction movable base 31. A second X-direction ball screw shaft (hereinafter, referred to as a second X-direction shaft) 34, which is rotatably supported on the wall and is arranged in parallel with the second Y-direction movable base 32, has second left and right ends in the second Y direction. The movable base 32 is rotatably supported on both left and right side walls. A first X-direction drive motor (hereinafter, referred to as a first X motor) 35 is fixed to a side wall of the first Y-direction movable base 31, and a second X-direction drive motor (hereinafter, referred to as a second X motor) is fixed to a side wall of the second Y-direction movable base 32. ) 36 is fixed and the first X
The drive shaft of the motor 35 is connected to the first X direction shaft 33, and the drive shaft of the second X motor 36 is connected to the second X direction shaft 3.
Connected to four. The motors 35 and 36 are stepping motors.

The first X-direction shaft 33 is screwed to the ball screw nut of the front end of the first X-direction movable base 37 slidably abutting on the upper surface of the first Y-direction movable base 31 and arranged in the front-rear direction. The ball screw nut at the front end of the second X-direction movable base 38, which is slidably in contact with the lower surface of the second Y-direction movable base 32 and is arranged in the front-rear direction, is L-shaped in side view. 34 is screwed together.
Therefore, the first X motor 35 causes the first X-direction shaft 3 to move.
3 rotates and the 1st X direction movable stand 37 is moved to the left-right direction. Similarly, the second X-direction shaft 34 is rotated by the second X-motor 36 to move the second X-direction movable base 38 in the left-right direction.

On the other hand, as shown in FIGS. 1 and 2, at the rear end of the first X-direction movable base 37, there is provided a first swivel arm 39 which extends leftward in a crank shape and holds the upper work cloth W1. A second swivel arm 40, which is pivoted horizontally at its end and extends leftward in a crank shape to hold the lower work cloth W2, is attached to the rear end of the second X-direction movable base 38 at its base end. A second swivel motor that is pivotally mounted so that it can swivel horizontally and that swivels and drives the first swivel arm 39 is fixed to the rear end of the first X-direction movable base 37 and swivels and drives the second swivel arm 40. 42 is fixed to the rear end of the second X-direction movable base 38. It should be noted that the front end portions of the two swivel arms 39 and 40 are bent horizontally rearward so that the upper work cloth W1 and the lower work cloth W2 can be securely held.
The holding portion 39a and the second holding portion 40a are formed respectively. Therefore, the first swing motor 41 rotates the first swing arm 39 about the drive shaft of the first swing motor 41, and the second swing motor 42 moves the second swing arm 40 about the drive shaft of the second swing motor 42. Is rotated as.
The motors 41 and 42 are stepping motors.

Further, as shown in FIGS. 1 and 2, the first holding member 43, which is disposed in the upper side of the first holding portion 39a and is substantially L-shaped in a plan view, is shown in a clamp position shown by a solid line and a two-dot chain line. The second holding member 44, which is pivotally mounted at its right end so as to be vertically swingable over the swing position, and which is also arranged below the second holding portion 40a and which is substantially L-shaped in plan view, is shown by a solid line. It is pivotally mounted at its right end so as to be vertically swingable between the clamp position shown by and the swing position shown by the two-dot chain line. Moreover, in order to swing the first holding member 43, the first air cylinder 45 is connected over the first swivel arm 39 and the first holding member 43, and the second holding member 44 is swung. Second
A second air cylinder 46 is connected to the swivel arm 40 and the second holding member 44. The first holding portion 39a
And the first holding member 43 constitute a first holding body 47 that clamps the upper work cloth W1, and the second holding portion 40a and the second holding portion 40a.
The holding member 44 constitutes a second holding body 48 for clamping the lower work cloth W2. Therefore, both holders 47 and 48
Is configured to be independently movable in the X and Y directions in a horizontal XY plane and rotatable about a vertical axis.

As shown in FIG. 2, when the piston rod 45a of the first air cylinder 45 advances, the first holding member 4
3 is switched to the clamp position, the work cloth W1 is securely clamped by the first holding body 47, and similarly, when the piston rod 46a of the second air cylinder 46 advances, the second holding member 44 is switched to the clamp position. The work cloth W2 is securely clamped by the second holding body 48.

As shown in FIG. 2, both swivel arms 39.4
Between 0, a separation plate 49 fixed to the support base 25 is horizontally provided at the base end, and the work cloths W1 and W2 clamped by the two holding bodies 47 and 48 are separated at the tip end thereof. A rectangular enlarged portion 49a is formed in the. on the other hand,
In order to detect a part of the work cloth W1 clamped by the first holding body 47 by color imaging, a two-dimensional first image composed of a CCD (charge coupled device) having a color filter built in above the enlargement portion 49a. A sensor 50 is provided, and similarly, in order to detect a part of the work cloth W2 clamped by the second holding body 48 by color imaging, a second image sensor 50 similar to the first image sensor 50 is provided below the enlarged portion 49a. An image sensor 51 is provided. Therefore, the first
The image sensor 50 images a part of the work cloth W1 arranged on the upper side of the separation plate 49, that is, a predetermined range, and outputs a color image signal, and the second image sensor 51 is also arranged on the lower side of the separation plate 49. A predetermined range of the work cloth W2 is imaged and a color image signal is output. It should be noted that the predetermined area of the square imaged by the first image sensor 50 is separated by the separation plate 4
9 is a first image pickup area PE1, and a predetermined square area imaged by the second image sensor 51 is a second image pickup area PE2 in the separation plate 49 (see FIG. 13). Both image pickup areas PE1 and PE2 have the same size. And separation plate 49
However, the respective sides of the two imaging areas PE1 and PE2 are parallel to the X direction or the Y direction. Here, when both holding bodies 47 and 48 are in the positional relationship shown in FIG. 13 with respect to the imaging regions PE1 and PE2, the imaging positions of both holding bodies 47 and 48 are referred to.

Further, as shown in FIG. 1, the air cylinder 52 is used so that the set position becomes clear when the cloth corners of both work cloths W1 and W2 are manually set in these imaging areas PE1 and PE2. The position is switched between the ascending position and the descending position, and the imaging regions PE1 and PE2 are in the descending position.
Indicating member 5 for indicating each of two adjacent area boundary lines
3 is provided.

As shown in FIG. 1, a support table 54 for supporting the work cloths W1 and W2 set on both holders 47 and 48 in parallel with the separating plate 49 is arranged at the same level as the bed portion MB. Has been done. A portion of the support table 54 corresponding to the enlarged portion 49a is cut out to be somewhat larger than the enlarged portion 49a, and the cut portion is transparent so that the second image sensor 51 can image the work cloth W2. Glass 55 is attached.

Next, the control system of the matching device 20 built in the control box CB is constructed as shown in the block diagram of FIG. First / second image sensor 50
Reference numeral 51 designates a selection switch 62, a seam allowance setting switch 63, and a work cloth W for selectively selecting external contour line matching, external shape / pattern matching, or pattern matching via the A / D converters 60 and 61.
The automatic insertion switch 64 for automatically inserting 1 / W2 into the imaging areas PE1 and PE2, the re-insertion switch 65 operated when the work cloths W1 and W2 are re-inserted, and the work cloth alignment control are continuously performed. An automatic start switch 66 that is automatically performed, a manual start switch 67 that is manually performed, and a work cloth set switch 68 that is operated when the setting of the work cloth by manual operation is completed are connected to the input port 80 of the control device C (FIG. 4). reference).

The controller C has a main CPU 81 which mainly controls the position correction of the work cloth W1 and a ROM 82 and R which are connected to the CPU 81 via a bus such as a data bus.
AM83, input port 80, output port 84, drive circuit 85, slave CPU for controlling position correction of work cloth W2
86 and a ROM connected to this CPU 86 via a bus
87, RAM 88, output port 89, drive circuit 90 and the like. The CPU 81 and the CPU 86 are connected via the interface 91. The first electromagnetic switching valve 71 drives the first air cylinder 45 to move in and out, the second electromagnetic switching valve 72 drives the second air cylinder 46 to move in and out, and the third electromagnetic switching valve 73 drives the air cylinder 52.
To move in and out. The warning indicators 75 and 76 are for prompting the resetting of the work cloth W1 and the work cloth W2.

Next, the routine for the alignment control of both work cloths W1 and W2 performed by the controller C of the alignment device 20 will be described with reference to the flowcharts of FIGS.
The control program is stored in the ROM 82 in advance. Further, Si (i = 1, 2, 3, ...) In the figure is each step. This control starts when the power is turned on,
First, the first and second Y motors 29 and 30, the first and second X motors 35 and 36, and the first and second turning motors 41 and 42 are driven, respectively, and the first and second holding bodies 47 and 48 are respectively illustrated. Thirteen
The first / second electromagnetic switching valve 71.
・ Initial setting such as driving 72 to switch the first and second holding members 43 and 44 to the swing position and further driving the third electromagnetic switching valve 73 to drive the indicator member 53 to the lowered position is executed. (S1).

After that, when the work cloths W1 and W2 are conveyed to a predetermined position by a work cloth loading device (not shown), a set completion signal input from the loading device is received, or the work cloths W1 and W2 are manually operated. When a setting completion signal is received from the work cloth setting switch 68 operated after being set to a predetermined position (S2: Yes), the switch signal from the selected selection switch 62 is read (S3),
The CPU 86 is instructed to execute the set control for setting the work cloth W2 in the second imaging area PE2 (S4).

Next, with respect to the work cloth W1, the first image pickup area P
The CPU 81 executes the set control for setting E1 as follows. First, the case where the automatic start switch 66 and the automatic insertion switch 64 are OFF will be described. When the manual start switch 67 is operated after the determination in S5 is No (S6: Yes), the warning display 7
5 is turned on (S7: Yes), the turning off is released (S8), and image data obtained by A / D converting the image signal in the first imaging region PE1 captured by the first image sensor 50 (hereinafter, image) Data) is read and stored in the image data memory of the RAM 83 (S9).
Here, this image data includes a number of data corresponding to a large number of pixels of the CCD, and moreover, "0" to "25".
It is the data of the density value of the "5" stage.

Next, the ratio (detection ratio) D of the work cloth W1 in the first image pickup area PE1 is calculated based on this image data (S10). For example, as shown in FIG. 13, when the cloth angle of the work cloth W1 is set to the position shown by the solid line with respect to the first imaging region PE1,
As shown in, the number of detected image data at the density value a corresponding to the separating plate 49 is N1, and the detected number of image data at the density value b corresponding to the work cloth W1 is N2. That is, when the detection number N2 is added to the detection number N1, the total number of pixels N of the CCD is N, and therefore the detection ratio D of the detection number N2 to the total number of pixels N is obtained. Here, when the cloth angle of the work cloth W1 is set to the position indicated by the two-dot chain line with respect to the first imaging region PE1, the detection number N1 decreases and the detection number N2 increases, as shown in FIG. The detection ratio D of the detected work cloth W1 increases.

Next, since the automatic insertion switch 64 is OFF, after the determination in S11 is No, when the detection ratio D of the work cloth W1 is the set value A (for example, 45%) or more (S1).
2: Yes) The process proceeds to S43, but when it is smaller than the set value A (S12: No), the warning indicator 75 is turned on (S13) and the process returns to S2.

Next, the automatic start switch 66 is turned off.
In addition, the case where the automatic insertion switch 64 is ON will be described. After the determination in S5 is No, S6 is executed as described above.
After S10 is executed, it is determined as Yes in S11, and when the detection ratio D of the work cloth W1 is equal to or more than the set value B (for example, 10%) and equal to or more than the set value A (S14 / S15: Y
es), the process proceeds to S43, but when it is smaller than the set value B (S14: No), the work cloth W is processed by S16 to S18.
1 is automatically inserted into the first imaging area PE1. First, for example, the length of one side of the first imaging region PE1 (about 10) is set so that the detection ratio D of the work cloth W1 becomes equal to or more than the set value A.
In order to move the first holding body 47 from the current imaging position to the −Y side and to the −X side by a predetermined amount based on a predetermined movement amount that is substantially equivalent to (cm), the first Y motor 29 and the first X motor 35 are driven respectively (S1
6), the work cloth W1 is clamped by the first holding body 47 (S
17) Further, based on this predetermined amount, the first holding body 47 is moved back to the original imaging position, and the work cloth W1 is automatically inserted into the first imaging area PE1 (S18).

Next, the image data of the automatically inserted work cloth W1 is read (S19), the detection ratio D of the work cloth W1 is calculated (S20), and when the detection ratio D is equal to or greater than the set value A ( If the value is smaller than the set value A (S21: No), the clamp of the work cloth W1 by the first holding body 47 is released (S22: Yes) and S44. Further, when the detection ratio D is equal to or larger than the set value B (S23: Yes), the work cloth W1 is automatically inserted again by S25 to S28, but when it is smaller than the set value B (S23: No), a warning process is performed. (S13),
Return to S2.

When the detection ratio D is smaller than the set value A and is equal to or larger than the set value B (S15: No, S23: Y).
es), that is, when the work cloth W1 is set at the position shown by the solid line in FIG. 13, the two outer contours of the work cloth W1 in which the change in the density value corresponding to each pixel is large based on the image data. The intersection point (cloth angle) P of the line is obtained, and further, the moving amount (dx, dy) from this intersection point P to the predetermined point O where the detection ratio D is equal to or greater than the set value A is obtained (S25), and the first holding The first Y motor 29 and the first X motor 35 are respectively driven so that the body 47 moves toward the −Y side by the movement amount dy and moves toward the −X side by the movement amount dx (S2).
6), based on these movement amounts dx · dy, the first holding member 4
7 is moved back to the original imaging position (S28).

Next, the image data of the work cloth W1 after the movement is read again (S29), the detection ratio D of the work cloth W1 to the first image pickup area PE1 is calculated (S30), and this detection ratio D is set. When A or more (S31: Ye
s), the process proceeds to S44, but when it is smaller than the set value A (S31: No), the clamp of the work cloth W1 is released (S32), a warning process is performed (S33), and No in S34.
After the determination is made, the process returns to S2.

Next, the case where the automatic start switch 66 and the automatic insertion switch 64 are ON will be described.
After 5 is determined as Yes, the image data is read (S
36), the detection ratio D of the work cloth W1 with respect to the first imaging region PE1 is calculated (S37), and when this detection ratio D is smaller than the set value B (S38: No), warning processing is performed (S39), and S2 is executed. Return. However, when the detection ratio D is equal to or higher than the set value B (S38: Yes), the warning display is canceled (S40: Yes, S41), and when the detection ratio D is equal to or higher than the set value A (S42: Yes), S4.
3, but when it is smaller than the set value A (S4
2: No), S25 to S30 described above are executed. As a result, when the detection ratio D exceeds the set value A, S
If the value is smaller than the set value A as before, however, S32 to S34 are further executed, and the re-insertion of the work cloth W1 is prompted.

When the determinations in S12, S15 and S42 are Yes, the work cloth W1 is clamped by the first holding body 47 (S43), and S21 and S31.
When YES is determined, S44 is repeated until the setting of the work cloth W2 is completed and the setting completion signal is input from the CPU 86.

By the way, the CPU 86 executes the same control as S5 to S43 of this control on the work cloth W2 based on the control program for the work cloth setting control stored in the ROM 87 to process the second image pickup area PE2. Cloth W
When the detection ratio D of 2 exceeds the set value A, the main C
A set completion signal for the work cloth W2 is output to the PU 81.

Then, the third switching solenoid valve 73 is driven to move the indicating member 53 to the raised position (S45), and the contour contour matching is performed based on the switch signal from the selection switch 62 read previously. Sometimes (S46: Yes), CPU
The 86 is instructed to execute the outer shape contour line matching control for the work cloth W2 (S47), and the outer shape contour line matching processing control (see FIG. 10) is executed for the work cloth W1 (S4).
8). When the pattern is matched (S46: No, S4
9: Yes), the CPU 86 is instructed to execute the pattern matching control for the work cloth W2 (S50), and the pattern matching processing control (see FIG. 11) is executed for the work cloth W1 (S).
51). When the shape and the pattern are matched (S46 / S49: No), the CPU 86 is instructed to execute the shape / pattern matching control for the work cloth W2 (S5).
2), shape / pattern matching process control for the work cloth W1 (Fig. 1
2) is executed (S53).

First, the outer shape matching control of the work cloth W1 will be described below, but the outer shape matching control of the work cloth W2 is the same as the outer shape matching control of the work cloth W1 and the description thereof will be omitted. This control will be described with reference to FIGS. 16 to 21. For example, the image data in the first imaging region PE1 of the work cloth W1 set as shown in FIG. 16 is read and stored in the image data memory ( S6
0), the binarization processing is executed with the density value f slightly smaller than the largest density value a corresponding to the separating plate 49 as a threshold value (FIG. 17), and the detection area of the work cloth W1 indicated by the diagonal lines in FIG. Required (S61). The density value of the work cloth W1 is indicated by b, and the density value of the pattern (striped pattern) is indicated by c. Then R
For each density value data stored in the image data memory of AM83, a two-dimensional differentiation process is executed using a spatial filter composed of a plurality of coefficients (for example, a Laplacian filter shown in FIG. 19), and as shown in FIG. As shown, the image data obtained by extracting the outer contour portion of the work cloth W1 is obtained (S62).

Next, two outer contour lines y = a ₁ x + b ₁ and y = a ₂ x + b ₂ respectively corresponding to the outer contour portions in this image data in the xy coordinate system assumed on the XY plane.
Are calculated respectively (S63). That is, the equation y = a ₁ x + b ₁ is transformed into b ₁ = −a by the Hough transform.
Converted to ₁ x + y, a ₁ and b ₁ are regarded as variables, and a
Consider the b-plane. Therefore, on the ab plane, the points (x ₁ , y ₁ ), (x ₂ , y ₂ ) ... Corresponding to the contour lines included in the xy plane shown in FIG.
And a “intercept”, there is a straight line at each point. Based on the point (a, b) where these straight lines intersect, x
The slope a and the intercept b on the y plane are obtained. Similarly, when there are two straight lines on the xy plane, there are two intersections of the straight lines on the ab plane, and x from these two intersections.
Two outline contours on the y plane can be obtained respectively.

Next, the cloth angle of the work cloth W1 is the reference position O (Xo, Yo) in consideration of the seam allowance amount on the XY plane described later.
And the outline contour y = a ₁ x + b ₁ is parallel to the Y direction, a displacement amount is calculated to determine a displacement amount and a displacement angle for correcting the position of the work cloth W1 at a preset setting position. (S64). That is, as shown in FIG.
First, two contour lines y = a ₁ x + b ₁ and y = a ₂ x + b ₂
With respect to, with respect to the xy coordinate system in which the coordinate origin in the first imaging region PE1 is g, the rotation center of the first holding body 47 is the coordinate origin G.
The coordinates are converted into a horizontal XY coordinate system, and the contour lines Y = A ₁ X + B ₁ and Y = A ₂ X + B ₂ after the coordinate conversion are obtained. Therefore, the shift angle dθ and the shift amount dX · dY required for the position correction are obtained as follows.

In FIG. 21, the contour line Y = A ₁ X + B ₁
The upper point m is an intersection with the perpendicular line L drawn from the coordinate origin G to the contour line Y = A ₁ X + B ₁ , and the point n is two contour lines Y = A.
It is the intersection of ₁ X + B ₁ and Y = A ₂ X + B ₂ . here,
In the figure, the first set position of the work cloth W1 is shown by a solid line, and the virtual position rotated counterclockwise by the deviation angle dθ is shown by a two-dot chain line. Therefore, the two contour lines Y = A ₁ X + B ₁ , Y
The coordinate (Xn, Yn) of the point n is calculated from = A ₂ X + B ₂ . Next, since the perpendicular L is orthogonal to the contour line Y = A ₁ X + B ₁ and passes through the origin G, the perpendicular L becomes Y = −X / A ₁ , and the coordinates (Xm, Ym) of the point m are obtained. Next, the deviation angle dθ is obtained from the inclination A _{1 of the} perpendicular line L. Next, using the coordinates (Xm, Ym) of the point m, the coordinates ((Xm ²
+ Ym ² ) ^1/2 , 0) is required. Further, for the coordinates (XN, YN) of the point N, using the coordinates (Xn, Yn) of the point n,
XN = Xncos (dθ) −Ynsin (dθ), YN
= Xnsin (dθ) + Yncos (dθ), so dX = Xo−XN and dY = Yo−YN.

Furthermore, finally, based on the preset movement amount from the reference position O to the sewing position (preset alignment position), the X-direction movement amounts DX and Y to the sewing position are obtained.
The directional movement amount DY is calculated (S65). Then, when the alignment completion signal is input from the CPU 86 for the work cloth W2 (S54: Yes), the work cloth W1 and W2 are processed.
Based on the X-direction movement amount DX and the Y-direction movement amount DY and the deviation angle dθ with respect to
.. 42 are respectively driven, both work cloths W1 and W2 are directly moved to the sewing position substantially simultaneously while correcting the deviations respectively (S55), and this control ends. After that, when the needle bar is not in the raised position, the sewing machine motor 10 is driven to move the needle bar to the raised position, while the presser bar solenoid 11 is driven to switch the presser bar to the pressed position. Good.

The pattern matching control of the work cloth W1 will be described below. The pattern matching control of the work cloth W2 is the same as the pattern matching control of the work cloth W1, and the description thereof will be omitted.
This control is substantially the same as the above-described outer shape matching control. For example, the image data in the first imaging region PE1 of the work cloth W1 set as shown in FIG. 16 is read (S7).
0), the binarized data obtained by binarizing the image data with the density value f slightly smaller than the largest density value a corresponding to the separating plate 49 as a threshold value and the density value c corresponding to the striped pattern. The image data obtained by extracting only the striped pattern is obtained based on the binarized data that is binarized with the density value slightly smaller than the threshold value (S71), and the two-dimensional differentiation process is performed using the spatial filter. This is executed, and the image data in which the contour portion of the striped pattern is extracted is obtained (S72).

Next, for example, as shown in FIG.
The equation of the two striped pattern lines j and k is obtained in the same manner as the contour matching control described above (S73), and the intersection point t of these two striped pattern lines j and k is determined as the reference position O (Xo, Xo,
(Yo) and the striped pattern line k is parallel to the Y direction, a displacement amount calculation is performed to obtain a displacement amount and a displacement angle of the striped pattern with respect to a preset setting position (S74), and finally, Based on a preset distance from the reference position O to the sewing position, the X-direction movement amount DX and the Y-direction movement amount DY to the sewing position are calculated (S75). Then, when the alignment completion signal is input from the CPU 86 for the work cloth W2 (S54: Yes), both work cloths W1 and W
2 is moved directly to the sewing position while correcting the deviation of the striped pattern (S55), and this control ends.

Next, the outer shape / pattern matching control of the work cloth W1 will be described below. The outer shape / pattern matching control of the work cloth W2 is the same as the outer shape / pattern matching control of the work cloth W1. Omit it. In this control, S80 to S84
Is the same as S60 to S64, the description thereof will be omitted.
S85 and subsequent steps will be described with reference to FIGS.

Work cloth W set as shown in FIG.
The image data of No. 1 is read again (S85), and this image data is binarized with the density value f slightly smaller than the density value a corresponding to the separating plate 49 as the threshold value, as described in FIG. The image data in which only the striped pattern is extracted is obtained based on the binarized data and the binarized data which is binarized with the density value slightly smaller than the density value c corresponding to the striped pattern as a threshold value (S86). As shown in FIG. 23, the image data is subjected to coordinate conversion so that the image data is rotated in the same direction by the shift angle dθ obtained in S84 and the corner portion is matched with the corner of the imaging region PE1 (S87). ), FIG. 24
As shown in, the x-direction handle position (xp1, xp
2) is calculated, and as shown in FIG. 25, the y-direction handle position (yp1, yp2) with respect to the y-axis is calculated (S1).
88), terminates this control and returns.

When the pattern position of the work cloth W1 is used as a reference, the work cloth W1 is added with the deviation amount and the deviation angle obtained in S84 to the set predetermined distance to the sewing position. Further, with respect to the work cloth W2, the final deviation amount and deviation angle obtained by adding the deviation amount and deviation angle obtained in S84 and the deviation amount of the striped pattern to the set predetermined distance to the sewing position are When both work cloths W1 and W2 are applied, they are directly moved to the sewing position while correcting the deviations of the outer shape and the striped pattern (S55), and this control is ended.

As described above, whichever of the position correction relating to the outer contour line, the position correction relating to the pattern, and the position correction relating to the outer shape / pattern is selected by the selection switch 62, the outer shape and the outer shape of the work cloths W1 and W2 are selected. / Or because the work cloth is directly transferred to the sewing position while being corrected while being held by the holding bodies 47 and 48 so that the deviation amount and the deviation angle from the set position obtained with respect to the handle are eliminated, the positional deviation Can be corrected accurately and surely, and the preparation time for sewing can be greatly shortened.

Further, the work cloth aligning device 20 is provided with a pair of aligning mechanisms so that the two work cloths W1 and W2 can be respectively corrected for deviations. It is possible to greatly simplify the sewing operation for matching one of the outer shape and / or the handle and sewing.

Incidentally, the work cloth aligning device 20 is changed to an aligning device which transfers the work cloth to the aligning position while correcting the position of only one work cloth, and the position-corrected work cloth is set at a sewing position or a stock position. It may be transferred to the aligned position. Further, as shown in FIG. 26, the work cloth aligning device 20A can be configured such that the first image sensor 50 is supported by the first X-direction movable base 37.

By the way, as shown in FIG. 27, the matching device 2
It is also possible to configure 0B. That is, the base end portion of the first swing arm 100 is pivotally attached to a support member 101 fixed to a machine frame (not shown) so as to be horizontally rotatable.
The base end portion of the second swing arm 102 is pivotally attached to the end portion of the second swing arm 102 so as to be horizontally rotatable, and the base end portion of the first swing arm 39 similar to that of the above-described embodiment is attached to the tip end of the second swing arm 102. A first swing motor 103, which is a stepping motor for swinging and driving the first swing arm 100, is attached to the support member 101, and swings and drives the second swing arm 102. Second turning motor 104
Is attached to the tip end portion of the first swing arm 100, and the third swing motor 1 for driving the first swing arm 39 to swing.
05 is attached to the tip of the second swing arm 102.

Further, the first swing arm 39 is provided with a first air cylinder 45 and a first holding body 47. Then, based on the image data from the image sensor that picks up the cloth corner portion of the work cloth W1 as in the above embodiment, the deviation angle and the deviation amount from the set position are determined according to the matching content selected by the selection switch 62. The first, second and third turning motors 103 and 104 are calculated and calculated based on the deviation angle and the deviation amount.
It is also possible to drive each of 105 and directly transfer to a predetermined alignment position while correcting the displacement angle and displacement amount. Also in this case, the same effect as that of the above-described embodiment can be obtained.

Further, as shown in FIG. 28, the matching device 20 and the matching device 2 which is similar and symmetrical to the matching device 20.
The work cloth aligning device 20D including 0C is configured, and the aligning device 20 calculates the deviation amount with respect to the front end portion of the work cloth.
The aligning device 20C calculates the amount of deviation with respect to the rear end portion of the work cloth, and the work cloths W1 and W2 are directly moved to a predetermined aligning position such as a sewing position or a stock position while correcting the position of each of these aligning devices 20 and 20C. Is also possible.

[Brief description of drawings]

FIG. 1 is a perspective view of a work cloth aligning device.

FIG. 2 is a view on arrow 2 of FIG.

FIG. 3 is a block diagram of a control system of the work cloth aligning apparatus.

FIG. 4 is a partially enlarged front view of a control box.

FIG. 5 is a part of a schematic flowchart of a matching control routine.

FIG. 6 is a part of a schematic flowchart of a matching control routine.

FIG. 7 is a part of a schematic flowchart of a matching control routine.

FIG. 8 is a part of a schematic flowchart of a matching control routine.

FIG. 9 is a part of a schematic flowchart of a matching control routine.

FIG. 10 is a part of a schematic flowchart of a matching control routine.

FIG. 11 is a part of a schematic flowchart of a matching control routine.

FIG. 12 is a part of a schematic flowchart of a matching control routine.

FIG. 13 is a partial plan view showing an imaging region.

FIG. 14 is an explanatory diagram of a relationship between the density value of the work cloth detected in the imaging area and the number of detections.

FIG. 15 is an explanatory diagram of a relationship between the density value of the work cloth detected in the imaging area and the number of detections.

FIG. 16 is an explanatory diagram illustrating a positional relationship between an imaging region and a work cloth that has been set.

FIG. 17 is an explanatory diagram of the relationship between the detected density values of the separation plate, the work cloth, and the handle and the number of detections.

FIG. 18 is an explanatory diagram of image data after binarization processing.

FIG. 19 is data of a Laplacian filter.

FIG. 20 is an explanatory diagram for obtaining two contour lines of a corner portion of the work cloth.

FIG. 21 is an explanatory diagram for obtaining two outline contour lines of a corner portion of the work cloth.

FIG. 22 is a view corresponding to FIG. 9 for explaining pattern matching.

FIG. 23 is an explanatory diagram illustrating coordinate conversion of striped pattern lines in the xy plane.

FIG. 24 is an explanatory diagram illustrating a detection position of a striped pattern on the x-axis.

FIG. 25 is an explanatory diagram illustrating a detection position of a striped pattern on the y-axis.

FIG. 26 is a schematic perspective view of a work cloth aligning device according to a modification.

FIG. 27 is a schematic perspective view of a work cloth aligning device according to a modification.

FIG. 28 is a schematic perspective view of a work cloth aligning device according to a modification.

[Explanation of symbols]

 20 Work cloth aligning device 21 Y-direction drive mechanism 22 X-direction drive mechanism 23 Swivel drive mechanism 25 Support stand 27, 28, 33, 34 Ball screw shaft 29, 30 Y-direction drive motor 31, 32 Y-direction movable stand 35, 36 X-direction Drive motor 37/38 X-direction movable base 39/40 Revolving arm 41/42 Revolving motor 43/44 Holding member 45/46 Air cylinder 47/48 Holding body 50/51 Image sensor 81/86 CPU 82/87 ROM 83/88 RAM C controller

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hirokazu Takeuchi 15-1 Naeshiro-cho, Mizuho-ku, Nagoya City Brother Industries, Ltd.

Claims (1)

[Claims] 1. A work cloth which is supported by a machine frame so as to be independently movable in the X and Y directions in a horizontal XY plane and rotatable about a vertical axis and holds at least a part of a work cloth arranged in the XY plane. The work cloth holding means and the work cloth holding means
Driving means for moving and driving in a plane and swiveling around a vertical axis, imaging means for imaging at least a part of the work cloth placed in a predetermined imaging area in the XY plane, and imaging means. Storing means for storing the image data, and detecting at least one of the outer contour line and the pattern of the work cloth based on the image data received from the storage means, and relating to the detected outer contour line and / or pattern.
A calculation means for calculating a deviation amount in the XY directions from a preset setting position and a deviation angle about the vertical axis, and a deviation amount obtained by the calculation means in a state where the work cloth is held by the work cloth holding means. A work cloth aligning apparatus comprising: a control unit that controls a driving unit so as to transfer the work cloth to a preset alignment position while performing correction so as to eliminate the deviation angle.