JP2019180788A - Sewing system - Google Patents

Abstract

To manufacture high quality clothing with high efficiency.SOLUTION: A sewing system includes: a sewing machine having a needle bar reciprocating by holding a sewing needle; a transfer device having a supply roller inserted in a cylindrical part of a sewing object and for supplying the sewing object to a sewing position right below the sewing needle by rotating around a first shaft center in a state of holding the sewing object, and a recovery roller inserted in the cylindrical part and for recovering the sewing object from the sewing position by rotating around a second shaft center in a state of holding the sewing object, and for transferring the sewing object in the transfer direction at the sewing position; a folding device for folding an end part of the sewing object to be supplied to the sewing position; an imaging device for imaging the sewing object to be supplied to the sewing position; a driving device capable of moving the supply roller in the direction in parallel with the first shaft center; and a control device for controlling the driving device based on image data of the sewing object acquired by the imaging device.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a sewing system.

  In the manufacturing process of a garment having a tubular portion such as a cuff or a hem, hem stitching is performed in which an 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 a sewing thread. An example of a sewing machine capable of performing hem stitching is disclosed in Patent Document 1.

Japanese Utility Model Publication No. 04-077874

  When the width | variety of a folding | turning part is non-uniform | heterogenous or the seam in a folding | turning part is disturb | confused, the quality of the clothing manufactured will fall.

  An aspect of the present invention aims to produce high-quality clothing with high efficiency.

  According to the aspect of the present invention, a sewing machine having a needle bar that holds and reciprocates while holding the sewing needle, and a center of the first axis in a state of being inserted into the cylindrical portion of the sewing object and supporting the sewing object. A supply roller that rotates to supply the sewing object to a sewing position directly below the sewing needle, and rotates around a second axis while being inserted into the tubular portion and supporting the sewing object. A recovery roller for recovering the sewing object from a sewing position, a transfer device for transferring the sewing object in the transfer direction at the sewing position, and an end of the sewing object supplied to the sewing position. Acquired by a folding device, an imaging device for photographing the sewing object supplied to the sewing position, a driving device capable of moving the supply roller in a direction parallel to the first axis, and the imaging device. In addition to the image data of the sewing object And Zui, sewing system and a control device for controlling the drive device is provided.

  According to the aspect of the present invention, high-quality clothing can be manufactured 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 illustrating an example of a 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 illustrating 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 illustrating an example of a boundary portion between the fabric end portion and the hem end portion according to the present embodiment. FIG. 11 determines whether or not the boundary portion has passed the imaging region 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 a method. FIG. 12 determines whether or not the boundary portion has passed the imaging region of the hem end camera based on the image data of the end portion of the sewing object acquired by the hem end camera according to the present embodiment. It is a figure for demonstrating a method. FIG. 13 is a diagram schematically illustrating an example of image data of the sewing thread acquired by the sewing 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. Some components may not be used.

[Sewing system]
The sewing system 1 according to the present embodiment will be described. In the present 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 an XYZ orthogonal coordinate system. A direction parallel to the X axis in the predetermined plane is defined as an X axis direction. A direction parallel to the Y axis in a predetermined plane orthogonal to the X axis is taken as a Y axis direction. A direction parallel to the Z axis perpendicular to the predetermined plane is taken as a Z axis direction. In the present embodiment, a plane including the X axis and the Y axis is appropriately referred to as an XY plane. A plane including the X axis and the Z axis is appropriately referred to as an XZ plane. A plane including the Y axis and the Z axis is appropriately referred to as a YZ plane. The XY plane is parallel to the predetermined plane. The XY plane, the XZ plane, and the YZ plane are orthogonal to each other. In the present embodiment, the XY plane and the horizontal plane are parallel. The Z-axis direction is the vertical direction. The + Z direction is the upward direction and the −Z direction is the downward direction. Note that the XY plane may be inclined with respect to the horizontal plane.

  FIG. 1 is a side view schematically showing an example of a 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. Hem sewing means that the end portion Ec of the cylindrical portion TP of the sewing object S is folded back to generate the 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 cylindrical part TP is a hem of clothing. The tubular portion TP may be a cuff of clothing.

  The back surface Sb of the sewing object S refers to a surface that comes into contact with the wearer or clothing already worn by the wearer when worn by the wearer. The surface Sf of the sewing object S refers to a surface that faces outward without contacting the wearer or clothing 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 that transfers the sewing object S, a folding device 4 that folds an end Ec of the sewing object S, and a sewing object S. An imaging device 5, a driving device 6, and a control device 7.

(sewing machine)
The sewing machine 2 is inserted into the sewing head 20, the needle bar 22 that holds the sewing needle 21 and reciprocates in the Z-axis direction, the presser member 23 that holds the sewing object S, and the cylindrical 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 disposed at a position facing the front surface Sf of the sewing object S and that feeds the sewing object S in the transfer direction, and the sewing object S The lower belt mechanism 26 is disposed at a position facing the back surface Sb and sends the sewing object S in the transfer direction.

  The sewing head 20 supports the needle bar 22 so as to be capable of reciprocating in the Z-axis direction. The sewing head 20 includes 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 needle 21 and reciprocates in the Z-axis direction. The needle bar 22 is supported by the sewing head 20. The needle bar 22 is disposed above the needle plate 24 and can face the surface Sf of the sewing object S. Two sewing needles 21 are arranged in the X-axis direction. The needle bar 22 holds the two sewing needles 21 and reciprocates in the Z-axis direction. A sewing thread ST (upper thread) is applied to the sewing needle 21.

  The presser member 23 presses the sewing object S from above. The presser member 23 is supported by the sewing machine head 20. The presser member 23 is disposed above the needle plate 24 and contacts the surface Sf of the sewing object S. The presser member 23 holds the sewing object S with the needle plate 24.

  The needle plate 24 is inserted into the cylindrical 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 shuttle (not shown) is disposed below the needle plate 24. The hook accommodates the bobbin placed in the bobbin case. The shuttle rotates in synchronization with the reciprocating movement of the needle bar 22. The sewing thread ST (lower thread) is supplied from the hook.

  When the needle bar 22 is lowered, the sewing needle 21 held by the needle bar 22 passes through the sewing object S and passes through a hole provided in the needle plate 24. When the sewing needle 21 passes through the hole in the needle plate 24, the lower thread supplied from the hook is hung on the upper thread that is hung on the sewing needle 21. The sewing needle 21 is raised in a state where the lower thread is hung on the upper 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 needle 21 is appropriately referred to as a sewing position PS. In the XY plane, the sewing position PS matches the position of the sewing needle 21. The sewing needle 21 penetrates the sewing object S at the sewing position PS. Two sewing needles 21 are provided, and the sewing position PS is defined in two places.

  The upper belt mechanism 25 is disposed above the sewing object S disposed at the sewing position PS. The upper belt mechanism 25 includes a belt 25B that contacts the surface Sf of the sewing object S, a motor 25M that generates power for moving 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 that contacts 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 disposed below the sewing object S disposed at the sewing position PS. The lower belt mechanism 26 includes a belt 26B that contacts the back surface Sb of the sewing object S, a motor 26M that generates power for moving 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 cylindrical portion TP of the sewing object S and rotates around the first axis AX1 while supporting the sewing object S, and supplies the sewing object S to the sewing position PS. 31 and a collection roller 32 that is inserted into the cylindrical portion TP of the sewing object S and rotates about the second axis AX2 while supporting the sewing object S, and collects the sewing object S from the sewing position PS. Have

  The transfer device 3 includes a rotation motor 33 that is connected to the supply roller 31 and generates power for rotating the supply roller 31, and a rotation motor that is connected to the recovery roller 32 and generates power for rotating the recovery roller 32. 34.

  The supply roller 31 is arranged on the −Y side, which is upstream in the transfer direction from the sewing position PS. The collection roller 32 is disposed on the + Y side, which is downstream 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 collection roller 32. The first axis AX1 and the second axis AX2 are parallel. Each of the first axis AX1 and the second axis AX2 is parallel to the X axis.

  The supply roller 31 and the collection roller 32 are inserted into the cylindrical portion TP of the sewing object S and rotate at the same speed in the same direction while 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 rotates the sewing object S around the supply roller 31 and the collection roller 32. 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. The transfer device 3 transfers the folded portion PR of the sewing object S sewn with the sewing thread ST in the sewing machine 2 to the supply roller 31 via the collection roller 32.

  In addition, the transfer device 3 includes a support member 35 that supports the sewing object S transferred to the sewing position PS. The support member 35 is disposed between the supply roller 31 and the sewing position PS. The support member 35 has an upper surface 36 that faces 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 that guides the sewing object S to be transferred.

(Folding device)
The folding device 4 folds the end portion 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 includes an inlet 41 into which the end portion Ec of the sewing object S before being folded is inserted, and a bent passage that is connected to the inlet 41 and can fold the sewing object S. 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 delivered. The folding device 4 folds the end Ec of the sewing object S toward the back surface Sb.

  The inlet 41 includes a front inlet 41A that opens to the -X side and a side inlet 41B that opens to the -Y side. The outlet 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 portion Ec of the sewing object S so that the end portion Ec of the sewing object S is folded back toward the back surface Sb. 45. The bent passage 42 is provided between the support plate 44 and the guide member 45.

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

  In the XZ plane, the bent passage 42 is connected between 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 45B. 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 to the folding device 4 with respect to the folding device 4 is inserted into the introduction portion 42A of the bending passage 42 via the front inlet 41A and the side inlet 41B. After the end portion Ec is inserted into the introducing 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 bent portion 42C of the bending passage 42 is guided. And move to the accommodating portion 42B. Thereby, the edge part Ec of the sewing target object S is turned back to the back surface Sb side of the sewing target object S, and the return part PR is produced | generated. The folded 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 includes a supply port 46 that can supply gas to the accommodating portion 42 </ b> B and a gas supply device 48 that supplies gas to the supply port 46 via an internal channel 47 provided in the guide member 45. The supply port 46 supplies gas in the −X direction. The end portion Ec of the sewing object S inserted up to the boundary between the storage portion 42B and the bent portion 42C moves in the −X direction in the storage portion 42B by the force of 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.

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

  The imaging device 5 acquires image data of the end portion Ec of the sewing object S before being folded by the folding device 4. In addition, the imaging device 5 acquires image data of the end Eh of the sewing object S after being folded by the folding device 4. In addition, the imaging device 5 acquires image data of the sewing thread ST obtained by sewing the folded portion PR.

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

  The sewing object S circulates around the supply roller 31 and the collection roller 32. In the imaging area of the imaging device 5, the fabric end Ec of the sewing object S before passing through the folding device 4, and the hem of the sewing object S after passing through the folding device 4 and passing through the sewing machine 2 and the collection roller 32. Each of the end portion Eh and the sewing thread ST of the folded portion PR sewn in the sewing machine 2 is disposed. The imaging device 5 can acquire each of the image data of the fabric end Ec, the image data of the hem end Eh, and the image data of the sewing thread ST of the folded portion PR.

  The imaging device 5 includes a fabric end camera 51 for acquiring the image data of the fabric end Ec, a hem end camera 52 for acquiring the image data of the hem end Eh, and a thread of the folded portion PR. And a sewing 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 imaging region of the hem end camera 52. The position of the sewing 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 region of the sewing 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 camera 53, the fabric end camera 51 is arranged on the most + X side, and the sewing camera 53 is + X next to the fabric end camera 51. The hem end camera 52 is disposed on the most −X side.

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

(Driver)
The driving 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. The driving device 6 moves the supply roller 31 in the X axis direction together with the rotation motor 33 by moving the rotation motor 33 in the X axis direction. The driving device 6 may move the supply roller 31 in the X-axis direction by moving a shaft member that connects the rotation 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 imaging device 5.

  FIG. 4 is a functional block diagram illustrating 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 nonvolatile memory such as a ROM (Read Only Memory) or a storage, and a volatile memory such as a RAM (Random Access Memory). And an input / output interface 7C including an input / output circuit capable of inputting and outputting signals and data.

  The input / output interface 7C of the control device 7 includes an actuator 27 for moving the needle bar 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 a rotation for rotating the supply roller 31. The motor 33, the rotation motor 34 that rotates the collection roller 32, the driving device 6 that moves the supply roller 31 in the X-axis direction, and the imaging 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 imaging device 5 from the imaging device 5. The image data acquisition unit 71 acquires the image data of the fabric end portion Ec from the fabric end portion camera 51. The image data acquisition unit 71 acquires the image data of the hem end Eh from the hem end camera 52. The image data acquisition unit 71 acquires the image data of the sewing thread ST from the sewing camera 53.

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

  The determination unit 73 performs a prescribed 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 controller 75 outputs a control signal for controlling each of the rotary motor 33 and the rotary motor 34. The transfer device controller 75 controls the rotation motor 33 and the rotation motor 34 so that the supply roller 31 and the collection 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 includes a sewing position storage unit 77. The sewing position storage unit 77 stores a sewing position PS in the XY plane. The sewing position PS is a position immediately below the sewing needle 21, and is known data derived from design data of the sewing machine 2, for example.

[Sewing method]
Next, a sewing method using the sewing system 1 according to this 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 carrying out the hem sewing, and a folding portion while transferring the sewing object S. A hem stitching step SP2 for generating PR and sewing the generated folded portion PR with the 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 collection roller 32 so that each of the needle plate 24, the supply roller 31, and the collection roller 32 is inserted into the cylindrical portion TP of the sewing object S. . A part of the sewing object S is disposed between the sewing 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 collection roller 32.

  FIG. 7A schematically shows the sewing object S mounted on the supply roller 31 and the collection roller 32. The operator attaches the sewing object S to the supply roller 31 and the collection roller 32 so that a part of the fabric end Ec of the sewing object S is disposed at the entrance 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 be disposed at the inlet 41 or the introducing portion 42A. When the operator attaches the sewing object S to the supply roller 31 and the collection roller 32, the worker 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 collection roller 32 in a stretched state without twisting or turning back the fabric end Ec of the sewing object S in each of the supply roller 31 and the collection roller 32. Next, the shape of the sewing object S is adjusted.

  After the sewing object S is mounted on the supply roller 31 and the collection roller 32, the cloth edge camera 51 of the imaging device 5 is connected to the cloth edge S of the sewing object S supported by the supply roller 31 and the collection 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 apparatus 6 is controlled to adjust the position of the supply roller 31 in the X-axis direction and adjust the position of the fabric end Ec in the X-axis direction (step SP13).

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

  The target position TL is a 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. When the fabric end Ec is arranged at the target position TL, the folded portion PR is generated with 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. The fabric end Ec is moved in the + X direction so that the fabric end Ec is disposed at the target position TL in a state where the fabric end Ec is disposed at the entrance 41 of the bent passage 42. Is inserted into the bent passage 42 and folded back in the bent 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 in a part of the optical system of the fabric edge camera 51, or may be provided inside the fabric edge camera 51. The indicator member may be provided. In the example shown in FIG. 8, the index RL is a line 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.

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

  As shown in FIG. 8, the index RL exists on the + X side with respect to the fabric end Ec. When the supply roller 31 that supports 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 coincide with the index RL, in the folding device 4, the fabric end Ec is inserted up to the accommodating portion 42B of the bent passage 42 so that the hem width Ws becomes the target value Wr. Then, the bent passage 42 is folded back.

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

  In addition, the control device 7 operates the gas supply device 48. By the operation of the gas supply device 48, the gas is supplied from the supply port 46 to the accommodating portion 42 </ b> B of the bent passage 42. As a result, the fabric end Ec is folded in the folding device 4 to generate the folded portion PR.

  After the folding part 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 so that the folding part PR is arranged at the sewing position PS. The roller 31 and the collection 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 folding portion PR generated by the folding device 4 has moved to the sewing position PS. As shown in FIG. 7D, the transfer device controller 75 rotates the supply roller 31 and the collection roller 32 by a specified angle so that the folding portion PR generated in the folding device 4 is arranged at the sewing position PS. Thus, the position of the folding portion PR in the transfer direction is adjusted (step SP14).

  Thus, the initial adjustment step SP1 is completed. When the operator attaches the sewing object S to the transfer device 3, the cloth end Ec of the sewing object S is photographed by the imaging device 5 even if the position of the cloth end Ec in the X-axis direction is roughly adjusted. By controlling the driving 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 place the folded 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, since the folded portion PR generated with the hem width Ws of the target value Wr is arranged at the sewing position PS, the sewing system 1 can immediately start the hem sewing step SP2.

(Hem stitching 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 imaging device 5 starts photographing the sewing object S (step SP21). The image data of the sewing object S acquired by the imaging device 5 is output to the control device 7. The image data acquisition unit 71 acquires 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 actuation of the actuator 27, the needle bar 22 holding the sewing needle 21 reciprocates in the Z-axis direction. The sewing machine control unit 74 outputs a control signal for operating the motor 25M and the motor 26M. The belt 25B moves while being in contact with the surface Sf of the sewing object S by the operation of the motor 25M, and the belt 26B is moved while being in contact with the back surface Sb of the sewing object S by the operation of the motor 26M. Further, the transfer device controller 75 outputs a control signal for operating the rotary motor 33 and the rotary motor 34. By the operation of the rotation 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 collection roller 32 rotates in a state where the back surface Sb of the sewing object S is supported. The fabric end Ec of the sewing object S is folded back by the folding device 4. The folding 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 portion PR transferred to the sewing position PS with the sewing thread ST.

  Based on the image data of the end portion E of the sewing object S acquired by the image data acquisition unit 71, the determination unit 73 determines that the boundary portion Es between the fabric end portion Ec and the hem end portion Eh is the imaging region of the imaging device 5. It is determined whether or not it has passed (step SP23).

  FIG. 10 is a diagram schematically illustrating an example of a boundary Es between the fabric end Ec and the hem end Eh according to the present embodiment. The transfer device 3 rotates the sewing object S around the supply roller 31 and the collection roller 32. The transfer device 3 transfers the folded portion PR of the sewing object S sewn with the sewing thread ST in the sewing machine 2 to the supply roller 31 via the collection roller 32. Therefore, as shown in FIG. 10, the folded portion PR sewn with the sewing thread ST in the sewing machine 2 moves from the supply roller 31 to the imaging region of the imaging device 5. That is, the folding unit PR moves from the −Y side to the imaging region of the imaging device 5 with respect to the imaging device 5 via the collection roller 32 and the supply roller 31. A fabric end Ec before being transferred to the folding device 4 is arranged on the + Y side of the folding unit PR.

  As shown in FIG. 10, a 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). Based on the image data of the end E of the sewing object S, the determination unit 73 determines whether or not the end E of the sewing object S arranged in the imaging region of the imaging device 5 is an inclined part. be able to.

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

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

  In the imaging region of the fabric edge portion camera 51, the + X side region from the fabric edge portion Ec is the upper surface 36 of the support member 35. The position of the imaging region of the fabric edge 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 disposed in the imaging region of the fabric edge camera 51.

  As shown in FIG. 11, the calculation unit 72 sets a window Wa and a window Wb in the image data acquired by the fabric edge camera 51. The window Wa and the window Wb are set with an interval 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. Note that the window Wa and the window Wb may be circular, for example.

  The calculating unit 72 performs edge extraction in each of the window Wa and the window Wb, and calculates the inclination angle with respect to the position of the end E in the XY plane and the transfer direction (Y-axis direction). A boundary between the area where the sewing object S is arranged and the area where the sewing object S is not arranged corresponds to the end 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 disposed is blocked by the sewing object S. In 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 part 72 can calculate the position and inclination angle of the edge E with high accuracy by edge extraction based on the image data acquired by the fabric edge camera 51.

  The calculation unit 72 calculates the center point Ca of the edge (end E) in the window Wa. The calculating unit 72 calculates the center point Cb of the edge (end 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 imaging region of the fabric edge portion 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 imaging 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 imaging region of the fabric edge portion camera 51. The edge E that is present is the boundary portion Es, and it is determined that the boundary portion Es passes through the photographing region of the fabric edge portion camera 51.

  The first threshold is a value defined in advance 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.

  As described above, the windows Wa and Wb are set in the image data of the edge E acquired by the fabric edge camera 51, and the edge extraction is performed in the windows Wa and Wb. It can be determined whether or not Es has passed the imaging region of the fabric edge camera 51.

  Next, referring to FIG. 12, based on the image data of the end E of the sewing object S acquired by the hem end camera 52, the boundary Es passes through the imaging region of the hem end camera 52. A method for determining whether or not it has been performed 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 imaging region of the hem end camera 52. Is determined. When the boundary portion Es does not pass through the photographing region of the hem end camera 52, the sewing object S is arranged in the photographing region of the hem end camera 52 as shown in FIG. .

  When the boundary portion Es passes through the imaging region of the hem end camera 52, the hem end portion Eh is arranged in the imaging region of the hem end camera 52 as shown in FIG. In the imaging region of the hem end camera 52, the hem end Eh is disposed substantially parallel to the transfer direction (Y-axis direction). Further, in the imaging region of the hem end camera 52, the hem end Eh is disposed at the center in the X-axis direction.

  In the imaging region of the hem end camera 52, the region on the + X side from 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 disposed in the imaging region of the hem end camera 52.

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

  The calculating unit 72 performs edge extraction in the window W and calculates the position of the end E. As illustrated in FIG. 12A, when the boundary portion Es does not pass through the imaging region of the hem end camera 52, the sewing object S is disposed on the entire window W. The calculation unit 72 cannot extract an edge in the window W.

  When the boundary portion Es passes through the photographing region of the hem end camera 52 and the hem end portion Eh is disposed in the photographing region of the hem end camera 52, the hem end portion Eh is disposed 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 corresponds to the hem end 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 disposed is blocked by the sewing object S. In 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 hem end Eh with high accuracy by edge extraction.

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

  As illustrated in FIG. 12A, when the edge cannot be extracted, the determination unit 73 determines that the boundary portion Es does not pass the imaging 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 determines that the boundary part Es is the hem end camera 52. It is determined that the image capturing area has been passed.

  As described above, the window W is set in the image data of the end E acquired by the hem end camera 52, and the edge extraction is performed in the window W, whereby the determination unit 73 determines that the boundary Es is the hem end. It can be determined whether or not the shooting area of the department camera 52 has been passed.

  As described above, in step SP23, the determination unit 73 determines that the boundary portion Es is 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 can be determined whether or not the imaging area has been passed.

  When it is determined in step SP23 that the boundary portion Es does not pass through the imaging region (step SP23: No), the determination unit 73 determines that the end E transferred from the imaging region of the imaging device 5 to the folding device 4 is the boundary. It is determined that the part is 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 Ec moves to the target position TL.

  When it is determined in step SP23 that the boundary portion Es has passed the imaging region (step SP23: Yes), the determination unit 73 determines that the end E transferred from the imaging region of the imaging device 5 to the folding device 4 is the hem end. It is determined that it is Eh. The drive device control unit 76 controls the drive device 6 so that the hem end 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 Eh is not inserted into the inlet 41 of the folding device 4. The drive device controller 76 determines the position in the X-axis direction of the supply roller 31 after the boundary portion Es has passed the imaging region of the imaging 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 imaging region of the imaging device 5. That is, the drive device controller 76 determines the position in the X-axis direction of the supply roller 31 before the boundary portion Es passes through the imaging region of the imaging device 5 and the boundary portion Es after the boundary portion Es passes through the imaging region of the imaging 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. As a result, the hem end Eh is further prevented from being folded back.

  After the boundary portion Es passes through the imaging region of the imaging device 5, the sewing thread ST of the folded portion PR is arranged in the imaging region of the sewing thread camera 53. The sewing thread camera 53 photographs the sewing thread ST of the folded portion PR. The image data acquisition unit 71 acquires the image data of the sewing thread ST from the sewing 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 the sewing thread ST acquired by the sewing thread camera 53 according to the present embodiment. A seam of the sewing thread ST is formed in the folded portion PR. Since there are two sewing needles 21, two seams are formed in parallel at the folded 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 portion EP of the seam. The start end portion EP of the seam refers to a portion where hem stitching is started in the folded portion PR. The sewing 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 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 threads ST from the position of the two sewing threads ST. The calculation unit 72 calculates the difference between the calculated center line CL and the target line DL.

  The target line DL is a 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 PS in the X-axis direction is stored in the sewing position storage unit 77 of the storage device 7B. The calculation unit 72 can calculate the target line DL based on the stored data stored in the sewing position storage unit 77.

  When hem sewing is performed while the sewing object S is circulated, the start end portion EP of the seam is preferably returned to the sewing position PS from the viewpoint of the aesthetics of the folded portion PR. That is, it is preferable that the start end portion EP and the end end portion of the seam coincide with each other. The end portion of the seam refers to a portion where the hem stitching ends at 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 at 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 value defined in advance 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.

  If it is determined in step SP27 that the sewing thread ST is at the target position (step SP27: Yes), the drive device control unit 76 resumes the hem stitching while maintaining the position of the supply roller 31 in the X-axis direction. (Step SP28). The transfer device control unit 75 transfers the folding unit PR to the sewing machine 2. The start end EP of the seam 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 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 portion EP and the end end portion of the seam coincide with each other.

  If it is determined in step SP27 that the sewing thread ST is not at the target position (step SP27: No), the drive device controller 76 drives the sewing thread ST so that the position of the sewing thread ST matches the sewing position PS 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 (start end portion EP) in the X-axis direction is adjusted, the drive device control unit 76 resumes hem sewing (step SP28). The transfer device control unit 75 transfers the folding unit PR to the sewing machine 2. The start end EP of the seam 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 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 portion EP and the end end portion 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 portion EP of the seam of the sewing thread ST of the folding 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, the garment having the high-quality folded portion PR in which the start end EP and the end end coincide with each other is manufactured.

[effect]
As described above, the sewing system 1 capable of performing hem stitching is supplied based on the imaging 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. And a driving device 6 that adjusts the position of the roller 31 in the X-axis direction. Thereby, in the initial adjustment step SP1, the work of inserting the fabric end Ec into the bent passage 42 so that the hem width Ws becomes the target value Wr can be smoothly performed. In the hem stitching step SP2, the folding portion PR can be further prevented from being folded back, and the start end portion EP and the end end portion of the stitch can be matched. Therefore, the sewing system 1 can manufacture high-quality clothing with high efficiency.

  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. Then, the folded portion PR sewn with the sewing thread ST is transferred to the supply roller 31 via the recovery roller 32, and the imaging device 5 photographs the sewing object S between the supply roller 31 and the folding device 4. Therefore, the imaging device 5 can acquire the respective image data of the sewing end ST of the fabric end portion Ec, the hem end portion Eh, and the folded portion PR.

  In addition, the imaging device 5 acquires image data of the fabric end portion Ec, and the drive device control unit 76 seizes the sewing target 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 generated with the hem width Ws of the target value Wr can be achieved simply by roughly adjusting the position of the sewing object S. The part PR can be smoothly arranged at the sewing position PS. In the initial adjustment step SP1, the folded portion PR generated with 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. Thereby, work efficiency improves and it can manufacture clothing with high efficiency. Further, in the hem sewing step SP2, the driving 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 driving device 6 so as to move, the folded portion PR having a uniform hem width Ws can be generated.

  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 operator's skill is immature, there is a possibility that it takes 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 fabric edge camera 51, when the operator attaches the sewing target S to the transfer device 3, the sewing target S It is only necessary to roughly adjust the position of. After the sewing object S is mounted on 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 imaging device 5. By doing so, the fabric end Ec can be inserted into the bent passage 42 so that the hem width Ws becomes the target value Wr.

  Further, the imaging device 5 acquires the image data of the fabric end Ec and the image data of the index RL indicating the target position TL. Thereby, the drive device control unit 76 controls the drive device 6 so that the fabric end Ec of the sewing object S matches the index RL in the image data, so that the fabric end Ec is targeted in the folding device 4. By moving to the position TL, the hem width Ws can be set to the target value Wr.

  The imaging device 5 acquires the image data of the end E of the sewing object S, and the determination unit 73 determines the fabric end Ec and the hem end Eh based on the image data of the end E of the sewing target S. It is determined whether or not the boundary portion Es passes through the imaging region of the imaging device 5, and the driving device 6 is controlled so that the hem end portion Eh is not transferred to the folding device 4. Thereby, it is suppressed that the hem end Eh is further folded back, and the deterioration of the quality of the manufactured clothing can be suppressed.

  When the folded portion PR is generated on the sewing object S and sewed with the sewing thread ST while circling around the supply roller 31 and the collection roller 32, the folded portion PR generated by the folding device 4 and the sewing machine 2 is It is arranged in the imaging area of the imaging device 5 via the supply roller 31. If the hem end Eh of the folded portion PR is misrecognized as the fabric end Ec, the driving device controller 76 moves the supply roller 31 in the + X direction so that the hem end Eh is disposed at the target position TL. There is a possibility of moving to. As shown in FIG. 10, each of the dough edge Ec and the hem edge Eh is substantially parallel to the transfer direction (Y-axis direction) by the transfer device 3, and from the image data acquired by the imaging device 5. It may be difficult to distinguish the fabric edge Ec and the hem edge Eh. If the hem end Eh is transferred to the folding device 4, the hem end Eh may be further folded by the folding device 4.

  The calculation unit 72 can distinguish the fabric end portion Ec and the hem end portion Eh by setting a window in the image data and performing edge extraction. 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 Ec is transferred to the folding device 4 and the hem end Eh is not transferred to the folding device 4. .

  The imaging device 5 acquires image data of the sewing thread ST, and the drive device control unit 76 transfers the start end RP of the stitches of the sewing thread ST of the folding portion PR to the sewing position PS based on the image data of the sewing thread ST. Thus, the drive device 6 is controlled. Thereby, the start end EP and the end end of the seam can be matched, and the sewing system 1 can manufacture high-quality clothing.

  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 makes the position of the sewing thread ST coincide with the sewing position PS in the X-axis direction. The drive device 6 is controlled. Thereby, it is suppressed that the stitch of the sewing thread ST is disturbed, and the sewing system 1 can manufacture high-quality clothing.

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

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

  When the position of the end portion Ec of the sewing object S is detected based on the image data acquired by the imaging device 5, in order to increase the detection accuracy of the position of the end portion Ec, the sewing object S and the sewing object S are used. It is preferable that the contrast with the support member 35 that supports is high. For example, when the white sewing object S is sewn, the upper surface of the support member 35 is preferably black, and when the black sewing object S is sewn, 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 stripe pattern in which white areas and black areas are alternately arranged in the transfer direction of the sewing object S may be provided on the upper surface of the support member 35, and the white areas and black areas are arranged in a matrix. A lattice pattern may be provided on the upper surface of the support member 35. By providing such a pattern, a high contrast between the sewing object S and the support member 35 can be obtained without replacing the support member 35 regardless of whether the sewing object S is white or black. Can do.

  In the above-described embodiment, the imaging device 5 and the support member 35 face each other, and the upper surface 36 of the support member 35 is disposed in the imaging region of the imaging device 5. The imaging device 5 and the supply roller 31 may face each other, and the surface of the supply roller 31 may be disposed in the imaging region of the imaging 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 (the position of the start end EP) and the end position (the position of the end end) of the hem sewing may be defined in the sewing object S. For example, when a sewing portion where the front body and the back body are stitched together is present in the sewing object S, the start position and the end position of hem stitching may be defined in the stitching portion. The fabric overlaps at the seam between the front and back bodies. For this reason, the thickness of the stitched portion is thicker than the thickness of the fabric other than the stitched portion. By defining the start position and the end position of the hem stitch at the stitching portion, the start end EP and the end end of the seam can be made inconspicuous.

  In the case where the start end portion EP and the end end portion of the hem sewing are positioned at the stitching portion, it is necessary to detect the position of the stitching portion. According to the above-mentioned embodiment, by acquiring the image data of the sewing object S with the imaging device 5 in a state where the sewing object S is illuminated from the back surface Sb, the position of the stitching portion is detected based on the image data. Can do. As described above, the thickness of the stitched portion is thicker than the thickness of the fabric other than the stitched portion. Therefore, when the sewing object S is illuminated from the back surface Sb, there is a difference between the image data of the stitched portion and the image data of the fabric other than the stitched portion. For example, the brightness of the image data of the stitching portion is lower than the brightness of the image data of the fabric other than the stitching portion. That is, in the image data, the stitched portion has a darker color than the fabric other than the stitched portion. The position of the stitched portion can be detected by the difference between the image data of the stitched portion and the image data of the fabric other than the stitched portion.

  DESCRIPTION OF SYMBOLS 1 ... Sewing system, 2 ... Sewing machine, 3 ... Transfer device, 4 ... Folding device, 5 ... Imaging device, 6 ... Drive device, 7 ... Control device, 7A ... Arithmetic processing device, 7B ... Storage device, 7C ... Input / output interface 20 ... sewing head, 21 ... sewing needle, 22 ... needle bar, 23 ... presser 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 ... collection roller, 33 ... rotation motor, 34 ... rotation motor, 35 ... support member, 36 ... upper surface 37 ... light source 38 ... light guide plate 41 ... inlet 41A ... front entrance 41B ... side entrance 42 ... bent passage 42A ... introduction part 42B ... accommodating part 42C ... bent part 43 ... out , 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 ... dough edge camera, 52 ... hem End camera, 53 ... Sewing camera, 71 ... Image data acquisition unit, 72 ... Calculation unit, 73 ... Determination unit, 74 ... Sewing machine control unit, 75 ... Transfer device control unit, 76 ... Drive device control unit, 77 ... Sewing position storage unit, AX1 ... first axis, AX2 ... second axis, C ... center, Ca ... center, Cb ... center, CL ... centerline, DL ... target line, E ... edge, Ec ... Fabric end, Eh ... Hem end, EP ... Start end, PR ... Folded part, PS ... Sewing position, RL ... Index, S ... Sewing object, Sb ... Back, Sf ... Front, ST ... Sewing thread, TL ... target position, TP ... cylindrical part, W ... window, Wa ... window, Wb ... win C.

Claims (10)

A sewing machine having a needle bar that reciprocates while holding the sewing needle;
A supply roller that is inserted into the cylindrical portion of the sewing object and rotates around the first axis while supporting the sewing object, and supplies the sewing object to a sewing position immediately below the sewing needle; A recovery roller that is inserted into the tubular portion and rotates around the second axis while the sewing object is supported, and collects the sewing object from the sewing position, and the sewing object at the sewing position A transfer device for transferring an object in the transfer direction;
A folding device for folding back an end of the sewing object supplied to the sewing position;
An imaging device for photographing the sewing object supplied to the sewing position;
A driving device capable of moving the supply roller in a direction parallel to the first axis;
A control device for controlling the driving device based on image data of the sewing object acquired by the imaging device;
Sewing system comprising. The folding device is disposed 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 a sewing thread,
The transfer device transfers the folded portion sewn with the sewing thread to the supply roller via the recovery roller,
The imaging device photographs the sewing object between the supply roller and the folding device.
The sewing system according to claim 1. The imaging device acquires image data of an end portion of the sewing object before being folded,
The control device controls the driving device based on the image data of the end portion of the sewing target so that the end portion of the sewing target moves to a target position defined in the folding device.
The sewing system according to claim 2. The imaging device acquires image data of an end portion of the sewing object before being folded and image data of an index indicating the target position,
The control device controls the driving device so that an end of the sewing object and the index coincide in the two pieces of image data;
The sewing system according to claim 3. The folding device has an inlet into which an end of the sewing object before being folded is inserted, and a bent passage connected to the inlet and capable of folding the sewing object,
The target position is defined in the folding device so that the width of the folding portion becomes a target value.
The sewing system according to claim 3 or 4. The imaging device obtains image data of an end of the sewing object;
Based on the image data of the end of the sewing object, the control device captures an image of a boundary between the end of the sewing object before being folded and the end of the sewing object after being folded. It is determined whether or not the imaging region of the apparatus has been passed, and the drive device is controlled so that the end of the sewing object after being folded is not transferred to the folding device.
The sewing system according to claim 2. 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 through the imaging region.
The sewing system according to claim 6. The boundary portion includes an inclined portion of an end portion of the sewing object.
The sewing system according to claim 6 or 7. The imaging device acquires image data of the sewing thread,
The control device controls the driving device based on the image data of the sewing thread so that the start end of the seam of the sewing thread of the folding portion is transferred to the sewing position.
The sewing system according to claim 2. The control device calculates a position of the sewing thread in a direction parallel to the first axis based on image data of the sewing thread, and determines the position of the sewing thread and the sewing position in a direction parallel to the first axis. Controlling the drive so that
The sewing system according to claim 9.

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