JPH04506463A - Method and sewing machine for sewing two pieces of cloth so that they are of equal length - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Method and sewing machine for sewing two pieces of cloth so that they are of equal length The invention relates to a method according to the preambles of claims 1.5.10 and 18 and 21; It is related to sewing machines.

According to German Patent Publication No. 3525028, which was taken into account to construct the prerequisite concept. How to detect the feed amount to sew two pieces of cloth so that their lengths are equal It has been known. In this method, each Using two line cameras, images showing the characteristic structures of each city are successively created. Ru. The image data sent from the first camera and the image data sent from the second camera are By comparing with the incoming image data, if the image data matches, terminates the pulse counting process introduced when creating the first image and calculates the total number of pulses. From the sum and the theoretical number of pulses that can be obtained during slip-free feeding, calculate the fabric feed amount. is calculated. If the feed amount is different, based on the difference, the upper feed device can be differentiated. An adjustment signal is generated for sewing machines with a lower feed device, which causes the difference in the feed amount to the left. Can be fixed.

Good results are obtained using this method for fabrics of equal length. however, Especially when the stretching conditions of two pieces of cloth are different for knitted products and stockinated products. There are limits to accuracy. Differences in elongation can be caused by, for example, improper handling during sewing. This is due to differences in manufacturing and storage conditions. cloth related to each other When sewing to exact length, especially when forming long seams, e.g. sleeves of garments. When forming long seams on the legs of pants or trousers, accuracy of 0.1% or less is required. be. This is because for two pieces of cloth with the same length of 1m, the feed amount or elongation state is 1%. This is because if there is a difference, an error of 10 m will occur in the end. this is acceptable Not Chino. According to the above-mentioned known method, the double sales caused by the difference in feed amount can be avoided. Only mutual deviations can be compensated. On the other hand, the difference in the growth status of both sales is It is almost impossible to detect and therefore impossible to compensate for.

German Patent Publication No. 3416883 describes the manufacture of textile products, especially knitted products. There are known methods and devices for continuously measuring two-dimensional shrinkage during the manufacturing process in a non-contact manner. Ru.

According to this method, each television camera is used to capture a portion of the fiber surface. Photographs are taken before and after reduction, digitized, and stored. Vertical and horizontal direction depending on the calculation unit A one-dimensional autocorrelation function in the direction is formed, and then a periodic maximum of this correlation function From the position of the large value, the noise-free fundamental period in the vertical and horizontal directions is determined. . From the changes in both directions of this fundamental period, the longitudinal and lateral changes caused by contraction is detected.

Using this method, it is possible to detect the two-dimensional shrinkage of the fibers and therefore the fiber size. It is possible to detect changes in the fiber size, but if the fiber strips are spaced apart from each other in the conveying direction. Since the conditions before and after the shrinkage process are detected using two cameras placed at The method and in particular the apparatus for carrying out this method are It is not suitable for placement in the area of the sewing machine's stitch forming position due to the Also Even if this known method is used, it is not possible to measure the feeding amount of both sheets. It is completely useless for sewing cloth to equal lengths.

According to German Patent No. 3346163, surface structures with the same pattern or pattern A method for sewing two pieces of cloth that have a structure so that the pattern and structure are appropriate. The law is known. Photos are taken simultaneously from each city using one line-shaped sensor each. is photographed and digitized. The data processing device calculates the cross-correlation of the image data. The relative position of the ryouri pattern is calculated by analysis, and the position adjustment device is adjusted according to the result. A control command is issued to change the relative feed amount of the feed means of the sewing machine so that the fabric is aligned with the pattern. and control so that they overlap appropriately. In this case, the edge edges of the cloth are not congruent. Therefore, this method also makes the two pieces of cloth equal in length. Not suitable for suturing sea urchins.

The problem of the present invention is to create fabrics that are arbitrarily structured and, in some cases, have different elongation states. An object of the present invention is to provide a method and a sewing machine for suturing.

In order to solve this problem, the present invention is described in claims 1, 5, 10 and 18.21. It is characterized by the following configuration.

In order to stitch arbitrarily structured fabrics, according to the method according to the invention, first each The amount of cloth feed is detected from the aperiodic signal component of the photograph representing the bonding structure of the cloth. From the comparison of the amount of The elongation state of the cloth in the direction of the warp and weft of the cloth from the raw signal components (for example, the direction of the warp and weft of the cloth) , in the direction parallel to the feed direction considering the periodically occurring angle in the extending direction of the structural elements. and a second signal is generated from a comparison of the elongated components in the same direction; Next, from the first signal and the second signal, the position adjustment device attached to the feeding device is determined. Form a control signal. In this way, the paper can be cut to the same length in the same stretched state in advance. Cloth that has been cut but has different lengths due to differences in elongation can be reused. They can be sutured to equal length and length. In this case, per unit length Cloths with the same number of meshes or threads are sewn together. According to the invention, the feed amount The bonding structure of the fabric is detected and evaluated to determine the state of elongation and elongation. This method can be applied over a wide range of areas, even to monochrome, unpatterned fabrics. Ru.

Claim 2 shows an advantageous development of the method according to the invention, claims 3 and 4 This shows an alternative configuration of the method described in claim 2.

Claim 5 discloses a method that is simpler than the method described in claim 1.

This method uses a small number of image-detectable surface features (e.g. warp and weft threads of a fabric). This method can be applied on the premise that at least a portion of the method extends approximately parallel to the feed direction. Ru. In this case, the stretched state of the fabric is detected in the same direction as the fabric feeding direction, and therefore the surface characteristics In this case, the aperiodic signal component The evaluation of the image signal value by An evaluation of the image signal values in terms of minutes is performed to determine the decompression state. Therefore.

Generate image data for each city that is evaluated according to two different criteria. For this purpose, one photography system may be provided.

According to claim 6, in order to determine the feed amount, a cross-correlation function is calculated as a similarity function. According to claim 7, an autocorrelation function is calculated to calculate the extended state. Ru.

According to claim 8, in order to improve the uniqueness when determining the maximum correlation value, the input data Preprocessing of the data is performed.

If the approximate period of the fabric structure is known, a correspondingly sized filter can be The fabric structure can be eliminated through a filter (band-stop filter). this filter The coefficients are dynamically post-adjustable so that they can be adapted to the prevailing fabric structure. It is advantageous to This provides no additional benefit in terms of information or accuracy. However, since ambiguity is avoided, automatic detection of the correlation maximum is facilitated.

Irregularities and high frequency components in the signal of one image line are In some cases, the periodicity of the fabric structure can be filtered out. However, when determining the structural width, i.e., the stretched state of the fabric, For autocorrelation, periodic and regular signal components containing the desired information are It is essential.

Therefore, unlike the configuration described in claim 9, the band filter Input data is filtered using data. In this case, the frequency High irregularities are removed. The coefficients of such a bandpass filter also depend on each cloth. Post-adjustable to adapt to structure width (mesh width or thread spacing) It is an advantage to be able to do so.

The method according to claim 10, like the method according to claim 5, can be detected by an image. It is assumed that at least a part of the surface features extend approximately parallel to the feed direction. However, the idea of the method according to claim 10 is to When calculating similar functions, generate multiple periodic sub-extrema in addition to the main extremum. It is in. The interval between these sub-extrema is the interval between structural elements that appear periodically, that is, the interval between It corresponds to the spacing of the threads or the warp or weft threads. Similarity function for determining feed rate This similarity function is used to calculate the position of the principal extrema of The mutual distance between the sub-extrema from the function value of An interval is detected. That is, the difference from the method according to claim 5 is that this method The elongated state of is not detected by computing a unique similarity function, but is is detected by evaluating the computation of the similarity function performed to determine the amount of Is Rukoto. According to claim 11, this similarity function is a cross-correlation function.

In order to obtain a sufficiently high measurement rate, the feed rate between two measurements must be adjusted due to mechanical inertia. This can be based on the assumption that there will be a slight change in the This assumption is based on According to term 12, correlation is performed so that the new shifted maximum value is found in the vicinity of the previous maximum value. It can be used to operate a computing unit. This gives the cross-correlation function Since only a limited portion needs to be calculated, the calculation time is significantly reduced.

To reduce computation time in other ways, instead of the scaled cross-correlation function, An unnormalized cross-correlation function is calculated. In this case, if the illumination is uneven Or, the basic brightness of the image changes somewhat due to non-uniform reflectance of the cloth. I don't know. When the basic brightness of the image changes, the changes generally increase or decrease. In this case, the correlation maximum A high price may be located at a “trough”. Despite these circumstances, According to claim 13, the maximum value can be determined in the case of To calculate, a modified algorithm is applied.

According to claim 14, the reinforcement part of the main maximum value of the calculated cross-correlation function and the reinforcement part adjacent to this The reinforcement of the two sub-maximum values is flattened by interpolation, which makes the actual The accuracy of the location of the maximum value is improved by a factor of approximately five.

Since the cloth feed direction is preset, i.e. known in advance, there is only one direction. The brightness value in the direction is a reference for evaluation. According to claim 15, the size of the image is measured, that is, the size of the image is measured. The size of the fixed range is set to 5 at the maximum image (measurement range) at the maximum feed step. It is advantageous to choose a displacement of 0%. I see, the correlation algorithm When the image changes, the displacement of the image may exceed 50%, but as the displacement increases, It must be taken into consideration that the correlation value will also deteriorate.

According to claim 16, infrared radiation is used to illuminate the surface of the cloth. infrared light Light has several advantages, namely that most colors commonly used for textiles are It transmits infrared rays and is therefore invisible in infrared light, so no color difference occurs. It is small, almost unaffected by sunlight and radiation, and does not require shielding. It is possible to avoid illumination that is harmful to human eyes. To avoid motion blurring, According to claim 17, it is advantageous to operate the infrared light source as a strobe at the cycle of photographing. It is advantageous.

An advantageous configuration of the sewing machine for carrying out the method according to claims 1, 5 or 10 comprises: Disclosed in claims 18 to 22.

Next, embodiments of the present invention will be described using the accompanying drawings.

Figure 1 is a side view of a sewing machine equipped with two cameras and two lighting devices, Figure 2 shows that at least a portion of the structural element extends approximately parallel to the feed direction. A cross-correlation analysis was performed to determine the feeding amount for a given cloth, and the elongation state of the cloth was determined. a block configuration diagram of a signal processing device that performs autocorrelation analysis to determine Figure 3 shows that at least a part of the structural element extends approximately parallel to the feed direction. A cross-correlation analysis was performed to determine the feeding amount for a given cloth, and the elongation state of the cloth was determined. In order to evaluate the periodic signal components contained in the cross-correlation function, Figure 4 is a block diagram of the second embodiment of the signal processing device. Graph of correlation function, Figure 5 or Figure 8 shows the calculation steps when calculating each unstandardized cross-correlation function. A graph showing the effect of differences on the signal, Figure 9 uses a line sensor to detect the feed rate, and the corners of the structural elements of each roll are A third embodiment of a signal processing device that uses a surface sensor to detect the degree and extension state. block diagram, Figure 10 shows the only surface area that can be read in a line to detect the feed rate. a block configuration diagram of a fourth embodiment of a signal processing device provided with a sensor; Figure 11 shows the first and second structural elements in which the warp and weft occur periodically. Diagram showing the cloth made of The sewing machine partially illustrated in FIG. 1 has a base plate 1 and a head 2. The sewing machine shown in FIG. head A presser foot bar 4 carrying a normal presser foot 3 and a needle bar 5 are housed inside the presser foot 2. Ru.

The thread-guiding needle 6 of the needle bar 5 cooperates with a louver, not shown. sewn together In order to feed the two pieces of cloth 7 and 8 to be combined, the sewing machine uses upper cloth feed 9 and lower cloth feed 1. 0.

The lower cloth feeder 10 is supported by a carrier 11.

The fork-shaped end of the carrier 11 surrounds the eccentric 12 .

The eccentric body 12 is mounted on a shaft 13 supported within the substrate 1, and is capable of forming a single stitch. Each time, a reciprocating motion is given to the lower cloth feeder 10. The other end of the carrier 11 is connected to the crank 1 4, the crank 14 is fixed to a shaft 15 which is also supported within the base plate 1. has been done.

The shaft 15 is driven by a position-adjustable drive mechanism (not shown). this position The adjustable drive mechanism is illustrated in FIG. 3 of DE 33 46 163. The drive mechanism for the shaft numbered 15 is constructed similarly and has the same function.

The cloth feed rod 4 is provided with a crosspiece portion 16 at its lower end. Crosspiece 16 carries pin 17 are doing. A link rod 18 is supported on the pin 17. The link rod 18 is pivoted It is pivotally connected to the upper cloth feeder 9 by a pin 19. The upper cloth feeder 9 is elastically biased. It is constantly pushed downward by the sphere 20, and its reciprocating motion causes the crosspiece 16 to It is obtained from a lever 21 which is rotatably supported. The free end of the lever 21 The lower part of the roller 22 carried by the two lateral support plates of the cloth feeder 9 are involved in this. The other end of the lever 21 is connected to the angle via the intermediate member 23. It is connected to the lever 24.

The angle lever 24 is connected to an eccentric drive device (not shown). This eccentricity The drive device is an eccentric drive as shown in FIG. 3 of German Patent No. 3,346,163. It corresponds to the angle lever designated by 48 in Figure 3 of this publication. It is compatible with an eccentric drive device to drive the bar, and the upper cloth feeder 9 is stitched. Used for lifting during the period of growth.

In order to drive the upper cloth feed 9, an intermediate link rod 25 is engaged with the pin 19.

The intermediate link rod 25 is connected to a swing lever 27 by a pivot pin 26. Shake The movable lever 27 is connected to a drive mechanism (not shown).

This drive mechanism is illustrated in FIG. 3 of German Patent No. 3,346,163. It has the same structure and function as the drive mechanism for driving the swinging lever labeled No. 58. are also the same.

The feed amount of the upper cloth feeder 9 can be changed relative to the feed amount of the lower cloth feeder 10. A position adjustment device 28, which is shown in a simplified manner, is provided. This position adjustment device 28 also has a positioning device 80 known from German Patent No. 33 46 163. They have the same configuration and include a stepping motor (not shown).

A line camera 30 and a lighting device are mounted on a carrier 29 fixed to the front surface of the head 2. 31 are arranged.

It is fitted into the throat plate 32 in front of the stitch forming position, but the lath plate 33 A light guide bundle 34 is provided below at a distance from the glass plate 33.

The light-guiding bundle 34 is surrounded by a light-guiding bundle 35 which is insulated against it. Ru. The inner light guide bundle 34 is connected to the line camera 36, and the outer light guide bundle 35 is connected to the line camera 36. It is connected to a ring-shaped lighting device 37. Below the glass plate 33, there is a No optical system is placed. This optical system can illuminate the measurement surface in the desired manner. and image the measurement plane onto the end face of the inner light-guiding bundle 34. Lighting device 31 ．． The rays of light 37 are mutually separated by an intermediate plate 38 separating the two cloths 7.8 from each other. It is completely blocked.

A shaft 39 (FIG. 2), which rotates synchronously with shaft 15, carries a pulse plate 40. pa The pulse plate 40 cooperates with a pulse generator 41.

Each line camera 30, 36 has a line sensor with a rectangular diode element 43. 42. The diode element 43 is arranged transversely to the feeding direction of the cloths 7, 8. It is directed towards.

An A/D converter 44 is attached to the line camera 30. The A/D converter 44 , selectively with one of the two image memories 46 and 47 via the electronic switch 45. Connectable. The image memory 46 is connected to the bandwidth filter via an electronic switch 48. A digital filter 49 acts as a filter and a band-stop filter. It is selectively connected to the digital filter 50. The image memory 47 is an electronic switch. via channel 51 to a digital filter 52 that acts as a band-stop filter. are doing. Filters 49, 50, 52 are connected to correlation calculator 53.

Like the line camera 30, the line camera 36 is also connected to a circuit having the following components: That is, an A/D converter 44', a first electronic switch 45', and two Image memories 46', 47' and two other electronic switches 48', 51' , a digital filter 49° that acts as a bandpass filter, and a bandstop filter two digital filters 50', 52'' acting as connected to a circuit that has a

The double-phase open calculators 53, 53' are connected to the comparison module 54. comparison module A feed adjustment module 55 is connected to the wheel 54 . Feed adjustment module 5 5 is connected to a stepping motor (not shown) of the position adjustment device 28. .

Line cameras 30, 36, lighting devices 31, 37, switches 45, 45', 48 ．． 48'', 51.51' and comparison module 54 are operated by process controller 56. controlled by The process control device 56 drives the sewing machine via the pulse generator 41. connected to a moving device. Component or module 44-53.44'-5 3', 54-56 form a signal processing device 57.

Emperor viewing I The sewing machine of this embodiment has almost the same structure as the first embodiment, but has two additional components. line cameras are used.

These line cameras are the same as the line cameras 30° and 36 of the first embodiment, and 30° and 36, respectively.

In the block diagram of the second embodiment shown in FIG. A converter 60 is attached.

The A/D converter 60 includes a digital filter 61 that acts as a high-pass filter and an electronic Selectively connect to one of two image memories 63 and 64 via switch 62 It is possible. The image filters 63 and 64 are connected to a correlation calculator 65.

In the block configuration diagram of FIG. 3, the line camera 36, like the line camera 30, is are connected to a circuit having the following components: an A/D converter 60' and a high frequency filter. A digital filter 61' acting as a filter and two image filters 63 ', 64' and a correlation calculator 65'.

The double-phase open calculators 65, 65' are connected to the comparison module 66. comparison module A feed adjustment module 67 is connected to the feed control module 66 . Feed adjustment module 6 7 is connected to a stepping motor (not shown) of the position adjustment device 28.

Line cameras 30, 36, lighting devices 31, 37, switches 62, 62', comparison Operation of module 66 is controlled by process controller 68. process control Device 68 is connected via pulse generator 41 to the sewing machine drive. Component Or modules 60-65, 60'-65', 66-68 are equipped with signal processing equipment. is forming.

The sewing machine of this embodiment has almost the same construction as the sewing machine of the first embodiment shown in FIG. Therefore, the swinging lever 27, the position adjustment device 28, and the shaft 39 shown in FIG. It has a pulse plate 40 fixed to the pulse generator 41 and a pulse generator 41.

A camera 70 and a lighting device 71, which are simply illustrated, are attached to the upper cloth 7.

The camera 70 generally includes a casing 72, an optical system 73, and a translucent reflector 74. , a CCD line sensor 75 , and a CCD surface sensor 76 .

A camera 77, also shown simply, is attached to the lower cloth 8. camera 7 7 has almost the same structure as the camera 70, and therefore has a casing 78 and an optical system 79. , a semi-transparent reflecting mirror 80, a CCD line sensor 81, and a CCD surface sensor 82. has been completed. A light guide bundle 83 is connected to the camera 77, and the light guide bundle 83 is connected to the first It ends below the glass plate 33 shown at 17 in the figure. The light guide bundle 83 is partially The second light guiding bundle 84 is surrounded by a ring-shaped light guiding bundle 84. It is connected to the lighting device 85 of.

An A/D converter 86 is attached to the line sensor 75. A/D converter 86 volts Can be connected alternately to one of two image memories 88 and 89 via child switch 87 It is Noh. Image memories 88 and 89 are KKF calculators 9 that calculate cross-correlation functions. Connected to 0. The KKF calculator 90 is used as a band elimination filter. It has a digital filter (not shown).

An A/D converter 91 is attached to the surface sensor 76.

A/D converter 91 is directly connected to image memory 92. image memory 92 includes an angle calculation unit 93 and an AKF calculator 94 that calculates an autocorrelation function. is connected. The angle calculation unit 93 and the AKF calculator 94 are connected to each other. The 6AKF calculator 94 includes a filter (not shown) that acts as a bandpass filter. It has a ruta.

The line sensor 81, like the line sensor 75, is connected to the following circuit. Ru. This circuit consists of an A/D converter 86', an electronic switch 87', and two image It consists of digital memories 88' and 89', and a KKF arithmetic unit 90'. similar Similarly to the surface sensor 76, the surface sensor 82 also has an A/D converter 91' and an image memo. 92', an angle calculation unit 93', and an AKF calculator 94'. connected to the circuit.

The KKF calculator 90.90' and the AKF calculator 94.94' are the comparison module 9. 5. A feed adjustment module 96 is connected to the comparison module 95. It is.

The feed adjustment module 96 is connected to a stamping module (not shown) of the position adjustment device 28. connected to the computer.

Cameras 70, 77, lighting devices 71, 85, switches 87, 87', comparison module The operation of the system 95 is controlled by a process controller 97. Process control device 97 is connected to the sewing machine drive device via a pulse generator 41. component or Modules 86-94, 86''-94', 95-97 form signal processing device 98 are doing.

Example 4 The sewing machine of this embodiment has almost the same construction as the sewing machine of the first embodiment shown in FIG. Therefore, the swing lever 27, the position adjustment device 28, and the shaft 3 shown in FIG. It has a pulse plate 40 fixed to 9 and a pulse generator 41.

A camera 100 and a lighting device 101, which are simply illustrated, are attached to the upper cloth 7. Ru. The camera 100 generally includes a casing 102, an optical system 103, and a CCD. It is composed of a surface sensor 104.

A camera 105, also shown simply, is attached to the lower cloth 8. camera 1 05 has almost the same configuration as camera 100, and therefore, like camera 100, It is composed of a casing 106, an optical system 107, and a CCD surface sensor 108. Ru. A light guide bundle 109 is connected to the camera 105 . The light guiding flux 109 is the first It ends below the glass plate 33 shown in the figure. The light guiding flux 109 is partially It is surrounded by two light guiding bundles 110. The second light guide bundle 110 is a ring It is connected to a lighting device 111 of the shape.

An A/D converter 112 is attached to the camera 100. The A/D converter 112 Alternately with one of the two image sensors 114 and 115 via the electronic switch 113 It is possible to connect to Both image sensors 114 and 115 calculate a positive correlation function The KKF calculator 116 is connected to the KKF calculator 116. The KKF calculator 116 is a band cancellation filter. It has a digital filter (not shown) used as a filter. Further The image filter 114 includes an angle calculation unit 117 and an autocorrelation function calculation unit. An AKF calculator 118 is connected. Angle calculation unit 117 and AKF calculator 118 are connected to each other. The AKF calculator 118 is used as a bandpass filter. It has a filter (not shown) that can be used.

Like the camera 100, the camera 105 includes an A/D converter 112' and an electronic switch. 113', two image memories 114'', 115', and a KKF arithmetic unit 1 16', an angle calculation unit 117', and an AKF calculator 118'. connected to the circuit.

Both KKF calculators 116, 116' and both AKF calculators 118, 118' are comparison modules. It is connected to the module 119. The comparison module 119 includes a feed adjustment module. 120 is connected. The feed adjustment module 120 is an illustration of the position adjustment device 28. Not connected to a stepper motor.

Cameras 100, 105, lighting devices 101, 111, switches 113, 113 ' and operation of comparison module 119 is controlled by process controller 121. Ru. The process control device 121 is connected to the sewing machine drive device via the pulse generator 41. It is continued. Components or modules 112-118, 112'-118' , 119-121 form a signal processing device 122.

In the first embodiment based on the block diagram of FIG. The plane to be imaged by 0.36 is illuminated by illuminator 31 at the time interval of the stitch period. 37 degrees, it is obliquely illuminated in a strobe-like manner by infrared rays. Therefore, knitted The fabric is made by intersecting warp and weft threads of the mesh or fabric of a knitted product or knitted product. Based on the rough surface structure of the cloth 7.8, there are dots of different brightness on the surface of the cloth 7.8. arise. Simultaneously with the activation of the illumination device 31.37, the camera 30. 36, photographs are taken in a line pattern. In this case individual diodes are required. The element 43 intensively measures the brightness of the surface detected by the diode element 43. do.

The analog image data of the first photo from both cameras 30 and 36 is sent to the A/D converter 4. 4; After being converted by 44', digital gray is converted via switch 45; 45'. Image memo as value image or signal profile representing bond structure The data is stored in intermediate memory in the memory 46; 46'. After the cloth 7.8 has been fed one step, the camera 30. The second photo taken by 36 is one advance step longer than the first photo. After switching switches 45; 45', the digital gray It is intermediately stored in an image memory 47; 47' as a value image.

During the intermediate time between performing the next advance step and taking the next photo, the image data is The data are evaluated with respect to the amount of feed and the state of elongation of the fabric 7.8.

To determine the feed amount, intermediate media are stored in the image memories 46, 47; 46°, 47'. A cross-correlation function of the image data is calculated. In addition, in the following, this mutual The correlation function will be simply written as KKF. The maximum value of KKF is It is proportional to the feed amount of the cloth 7.8 between the shots. The maximum value of this KKF is cloth 7 , 8 are composed of periodic structural elements, but these structural elements are not absolute. Rather than occurring at relatively equal periodic intervals, the bandwidth is Contains relatively large overlapping noise components with wide frequency components of It is caused by being present. This brings the KKF to a pronounced maximum value and reduces the feed It is an aperiodic component that can be expressed logically.

When calculating the standard KKF, the change in the function that can be compared with the graph shown in Figure 4 is can get. The reference KKF is the absolute maximum value H of the correlation coefficient R8, when the displacement index is give. In the displacement index, the intervals are continuously measured by the same camera 30 or 36. It corresponds to the zero point of the size of the positional deviation between the two photos taken, and therefore This corresponds to the amount of feed of the cloths 7 and 8 between two shootings.

Calculating the standard KKF takes a long time because there are many terms to be calculated. A simple, unscaled KKF is calculated. Calculate unstandardized KKF Before transmitting the image data to each correlator, a band-stop filter is applied. In the filters 50, 52; 50', 52' acting as filters, the structural requirements are Reduces periodic components originating from elemental periodic arrangements. With that, then K When calculating KF, the ordinates of the minor maxima are reduced and therefore the detection of the main maxima is becomes easier. Coefficients of filters 50, 52; 50', 52' should be dynamically tracked , and thus these coefficients can always be adapted to the dominant multilayer structure.

Using a double-phase open calculator 53, 53', consider the photographing frequency of the camera 30°36 and the displacement index is 7.8 for each city from the position of the main maximum value H when . The amount is calculated. The feed amounts of each city 7.8 are compared with each other in the comparison module 54. and a first signal is obtained from the comparison result. This first signal is applied to the feed adjustment module. The data is stored in intermediate memory in the register of the module 55.

Next, in order to calculate the elongation state of cloths 7 and 8, self A correlation function (hereinafter simply referred to as AKF) is calculated. In this case the image data is autocorrelated using known methods. In that case, as already mentioned, the camera 30.36 Photographs taken by the camera contain image information that occurs periodically. The information comes from the imaging structure of the fabric, i.e. for knitted or stockinated products. The given condition that it is derived from mesh or intersecting warp and weft used. To calculate AKF, first switch 48, 51; 48', 51' is switched, and then the image memory 46, 46' acts as a bandpass filter. filters 49 and 49'. On the other hand, image memory 47.47' is as follows image data processing. Filter 49.49' is for high frequency Irregularities are reduced, resulting in clearly periodic and regular image information. next When calculating AKF using the correlation calculator 53゜53', the image of one line of the photograph is If the data is displaced by exactly one period or several periods, that is, the structural element Displaced by the interval, the maximum value of similarity is always obtained. From this maximum value position The average cycle length can be calculated. This average cycle length is the elongation of cloth 7 and 8. It is a quantity that represents a state. Next, a comparison module 54 compares the amount of instantaneous stretch of the cloth with respect to each other. A second signal is obtained from the comparison result.

To calculate AKF, configure the correlation calculator appropriately or connect two of each in parallel. It is also possible to calculate the KKF at the same time using a correlation calculator. Therefore The two signals can be formed simultaneously rather than sequentially.

In this case, in order to accurately detect the elongation state, periodically generated image information, that is, structural A small part of the construction element (with a part parallel to the feed direction of the sewing machine, and therefore a line separator) It must be aligned parallel to the alignment position of the sensor 42 or the measurement direction. For example, there is In the case of seed fabrics, the warp or weft threads run approximately parallel to the measuring direction. in other cases In the case of AKF, two types of frequencies f1 and f2 will occur.

These frequencies f1 and f2 correspond to the weft yarn and the warp yarn (or This is the frequency of the structure (comparable to this), and the measurement direction (feed direction) and the warp This occurs depending on the angle a with the extending direction.

The problem is that frequencies f1 and f2 are not known separately, but their product is AK, This is caused by being included in F. Frequencies f1 and f2 overlap Due to this, the measured frequency has a phase jump. this leap However, this may lead to errors in the measurement results of the stretched state of the cloth.

The second signal and the first signal stored in the intermediate memory may have different expansion states depending on the case. This is the amount that represents the effective feed amount of the fabrics 7 and 8, that is, the structural requirement per unit of length. It is a quantity that represents a prime quantity.

The first signal and the second signal are processed in the feed adjustment module 55 to adjust the position. forming control signals for device 28; This control signal adjusts the feeding amount of the upper cloth 9. In order to ensure that the two pieces of cloth 7.8 are conveyed with the same size and effective feed amount. belongs to. In the case of such effective feeding, the elongation states are originally different. However, the same number of structural elements are always moved under the needle 6 per feeding step. suture If the cloth to be cut is cut to the same length with the same elongation, the cut cloth 2 so that the lengths match even if the elongation state of the two changes separately during storage or sewing, for example. Can stitch together pieces of cloth.

Example 2 In a second embodiment based on the block diagram illustrated in FIG. was photographed by A/D converter 60.60' and converted into a digital gray direct image. Evaluation of image data is performed in a different manner from the first embodiment.

That is, in order to detect the stretched state of the cloths 7 and 8, instead of calculating AKF, KK F is also evaluated for information that determines the extended state. In this case, calculate KKF In addition to the main maximum, there are also several periodic sub-maximum values, the interval of which is It is based on the recognition that it corresponds to the spacing of structural elements that occurs in

When calculating the base *KKF (the function corresponding to the graph in Figure 4), both of the main maximum values Sub-maximum values N occur at the same spacing to the sides and of the same height to each other. This secondary maximum value N is lower than the height of the main maximum value H. The mutual spacing of the minor maximums N, or the main maximum The interval between the value H and the adjacent sub-maximum values N on both sides is represented by character strings S1 to S5. It is.

In this case as well, the calculation of the standard KKF requires a long time because there are many terms to be calculated. Therefore, a simple non-standardized KKF is calculated. KK not standardized Before transmitting the image data for calculating F to each correlation calculator, The image data is first pre-processed with filter 61.61' which acts as a high-pass filter. The periodic signal components are weakened, but not completely.

After the image data of the first shooting passes through the filter 61.61", the attached image data is The image data for the next shooting is sent to the image memory 63; 63'. 4; 64". Next, the image data is sent to the corresponding correlation calculator 65; 5' are treated with each other.

For non-standardized KKFs, e.g. due to non-uniform illumination or fabric reflectance. The basic brightness of the image may vary. This fluctuation causes KKF to rise or descend. In this case, the maximum correlation value is at the "trough". The solid line in Figure 5 is standardized. This is an example of such irregular changes in KKF. The vertical axis is the correlation coefficient R8, , and the horizontal axis is the displacement index. Under this condition, the effective maximum correlation value, immediately An algorithm is applied to find the main maximum value which is proportional to the feed rate. Al In the algorithm, the magnitude of one maximum value is related to its local neighborhood.

In detail, the following steps are performed.

a. First, all local maxima and minima of the function are determined. Thereby the value It changes as shown by the broken line in FIG. In this case, first all the maximum values along with the noise etc. are also detected together.

b, a threshold whose height or lowness is set to match the dynamism of the KKF. All maximum and minimum values that fall below are deleted. In other words, KKF's Frank is less than the specified minimum length. In this way, a curve as shown by the broken line in Figure 6 is obtained. Ru.

C0 Then, for each effective maximum value, from the sum of the amplitude differences with respect to the adjacent minimum values, The resulting height is calculated.

d, from these values, calculate the maximum difference in height from each adjacent minimum value. The maximum value will be displayed. Figure 7 shows the main maximum value H obtained in this way. The minimum value related to this main maximum value H is illustrated by an arrow.

86 The exact location of the main maximum is then further refined by interpolation. in this case , various interpolation methods are applied depending on the shape of the maximum value.

Furthermore, using a double-phase open operator 65 and 65', the displacement index is Considering the position of the maximum value H and the photography frequency of the camera 30, 36, respectively. The feed amount of cloth 7.8 is calculated. Next, use the comparison module to compare the instantaneous feed amount of canvases 7 and 8. and a first signal is obtained from the result of the comparison. This first 1 signal is intermediately stored in a register of the feed adjustment module 67.

In order to calculate the elongation state of cloth 7.8, the average value of the interval between adjacent maximum values of KKF is The period length is detected by The mutual spacing of the is detected. As a result, as shown in FIG. The interval s1 to S7 between the two sub-maximum values N, that is, the main maximum value H and the adjacent sub-maximum value N. The interval is obtained. It is possible to remove the “falling component” using statistical methods. Wear.

Measure the period length or period time of the bonded structure corresponding to the mesh or thread spacing. If the will be taken into account. Only then can the deviation be measured. This means that In addition to the periodic maximum value, the KKF obtained from This means that it also includes disabilities that are not present.

Another side effect is the formation of ridges in the fabric or, as is often the case, A structure in which the ratio of the number to the period of the thread is an integer allows the fabric to contain multiple frequencies. Occurs when In such cases, always use the same frequency so that it is reproducible. It must be ensured that the period is measured.

Furthermore, as in the case of the first embodiment, in order to accurately measure the elongation state, periodic At least a part of the image information generated in the line sensor 42 extends approximately parallel to the measurement direction of the line sensor 42. must be present.

The instantaneous stretched states of the canvases 7.8 are then compared with each other in a comparison module 66; A second signal is obtained from the comparison.

The second signal and the first signal which was intermediately stored are the effective feed of the cloth 7.8. represents quantity. The first signal and the second signal are processed by a feed adjustment module 67. to form a control signal for the position adjustment device 28. This control signal is applied to canvases 7 and 8. Adjust the feed amount of the upper cloth feed 9 so that the material is conveyed with the same effective feed amount. do.

five lords of crossroads Using the line sensors 75, 81 of the camera 70, 77, scan at the stitch formation frequency. The surface portions of the cloths 7 and 8 are timed with the lighting device 71°85 that is activated by the flashlight. A line-shaped photo is taken.

The analog image data of the first photograph of both line sensors 75 and 81 is converted into A/D converter. After being processed by the converter 85 or 86', the digital image as a total gray value, that is, as a signal profile representing the bond structure. intermediate memory 88 or 88'. Feed steps for fabrics 7 and 8 once The second photo taken by the line sensors 75, 81 after the It is deviated by the length of the feed step from the true position, and the switch 87 or 87' is turned off. After switching, it is stored in the image memory 89 or 89' as a digital gray value in the same way. will be stored in memory for a while.

Between performing the next advance step and taking the next photo, the intermediate memory The image data is evaluated with respect to the feed rate of the cloth 7.8. This evaluation is based on KKF performance In the calculator 90.90', the image memory 88.89 attached to each volume or Calculate the cross-correlation function KKF using the image data of 88' and 89'. It is done as follows.

The maximum value of KKF is proportional to the amount of feed of the cloths 7 and 8 between the first and second shots. ing. This maximum value of KKF indicates that the fabric 7.8 has periodic structural elements SL, S2 (th (Fig. 11), this structure has perfectly equal periodic intervals. relatively large overlap due to small delays and deformations rather than It is possible that the noise part contains a noise part with a wide bandwidth frequency component. This is caused by This is an aperiodic component, and the maximum value of KKF is It is made to protrude and represents the feed amount.

When calculating the standard KKF, a relationship that can be compared with the graph shown in Figure 4 is used. A change in number occurs. The reference KKF is the displacement index, and the correlation coefficient R□ produces an absolute maximum value H, and the distance between this maximum value H and the zero point is The size of the positional shift between two photos taken consecutively with sensor 75 or 81 Therefore, it corresponds to the amount of feed of the cloths 7 and 8 between the two shootings.

Calculating the standard KKF takes a long time because many terms have to be calculated. A simple, unscaled KKF is calculated. As a band-stop filter in advance, Using the filter of the KKF operator 90,90', which acts on the periodic Periodic components originating from the sequence are reduced. This allows us to calculate the next KKF. In the case of , the minor maximum value of the ordinate decreases, thus making it easier to detect the major maximum value.

Using both KKF calculators 90 and 90', the main maximum value when the displacement index Kv is From the position of H, taking into account the photographing frequency of the camera 70°77, The amount of loss is calculated. Next, the instantaneous feed amount of the canvas is compared in the comparison module 95. A first signal is obtained from the comparison result. This first signal is the feed adjustment Intermediate memory is stored in registers of module 96.

The surface sensor A planar photograph is taken from the illuminated surface area using 76.82. this After converting the analog image data of these photographs with an A/D converter 91°91', A digital gray direct image is stored in the image memory 92 or 92'. memorized. In this case, the gray direct image is a pixel column of 76 or 82 on the CCD surface. and consists of image points divided into columns and rows, depending on the number of pixel rows.

At this point, using the angle calculation unit 93 or 93', the image memory 92 or or 92" image data, the first structure (for example, a piece of cloth) that occurs periodically The angle a (Fig. 11) between the extending direction R1 of the fabric warp) and the feeding direction V of the fabrics 7 and 8 is calculated. be done. This is done as follows. That is, in the image memory 92.92' A virtual arbitrary positioning reference point (Auf setzpunk+), the positions are shifted at an angle to each other and Set up a number of detection rays passing through a reference point above the data field, and This is done by adding the signal values of all the image points above it. . At this point, depending on the position of the positioning reference point and the fabric structure, the maximum value of the addition result or The maximum or minimum value is obtained, and this maximum or minimum value is determined by the periodic occurrence of the first It represents the extending direction R of the structural element S1.

Next, using the AKF calculator 94 or 94'', the first structural element S1 is of a second structural element 32 (e.g. a weft thread of a piece of fabric) extending at an angle of 90°. The average spacing, that is, the periodic length P2 along the extending direction R1 of the first structural element S1. The said spacing, i.e. the periodic length P2, is measured and thus the extent of the first structural element S1 is determined. The stretched state of the cloth 7.8 in direction R1 is detected. In this case, it extends in the extending direction R1. An autocorrelation function AKF is calculated from the signal values of the image points that vary. This calculation is for those who are publicly known. This is done by autocorrelating signal values or image data.

A filter of the AKF calculator 94 or 94' that acts as a bandpass filter (this (not discussed in detail above) are high-frequency irregular components in the signal profile. prevent the occurrence of Periodic and regular image information is therefore clearly produced. A When calculating KF, if the The image point left for calculating the extending direction R1 is the periodic length of the second structural element S2. If it deviates from itself by P2 or several times it, then the maximum value of similarity will always be arise. The stretching state of the cloth 7.8 in the extending direction R1 is expressed from the position of this maximum value. The average cycle length P2 can be calculated.

From the period length P2 of each city 7.8, considering the detected angle a, the period length P2 is A value P2. extending parallel to the feed direction V. is detected and therefore the elongation in the feed direction V A condition is detected. These elongation values of the fabrics 7, 8 are compared to each other in the comparison module 95. A second signal is obtained from the comparison result.

In the feed adjustment module 96, from the first signal and the second signal, the formula R=D The value of the adjustment amount R is obtained according to o/Du. That is, the processing amount of upper fabric (Durc The value of the adjustment amount R can be obtained from the ratio of the processing amount of the lower fabric (hsatx) and the processing amount of the lower cloth. Processing amount Doma or Du represents the effective feed amount of the respective cloth 7 or 8, i.e. It represents the number of structural elements S2 detected in one feed length. here The processing amount can be calculated from the following formula.

(Detected feed length) Do or Du = □ (Period length P 2) /eos a If the ratio D o / D u is not 1, the position is adjusted in the feed adjustment module 96. A control signal for regulating device 28 is generated. This control signal causes the upper cloth feed 9 to Adjust as follows. In other words, the two cloths 7 and 8 have the same amount of throughput, i.e. They are conveyed with the same effective feed amount, and at that time, the stretched state of the two cloths 7 and 8 is the original Even if the numbers are different, the same number of structural elements S2 will be placed under the needle 6 in one feed step. adjusted to pass. The fabrics 7゜8 to be sewn are in the same stretched state and the same length. If the fabric was cut in a straight line, the elongation after cutting may have changed, for example during storage or sewing. Even if both sides 7.8 are sewn to the same length.

Since the calculation for detecting the extended state requires measuring the angle a in advance, This takes much more time than the calculation to detect the feed amount. For this reason, the sewing machine is In the case of rotation speed, consider the calculation speed of a commercially available calculator that can be used industrially, and use an example. For example, the elongation state may be calculated after the end of each 10th feed step. stomach. In this case, the stitch formation process or the feed During the step, the actual feed value and the last detected elongation value for each city are Then, the value of the adjustment amount R is calculated. The elongation state of the fabric should not change dramatically in a short period of time. is known through experience, so it takes, for example, 10 times before a new expansion value exists. Despite the spacing of the feed steps, a sufficiently precise feed adjustment is obtained.

Example 4 Using surface sensors 104 and 108 of cameras 100 and 105, the frequency of stitch formation is determined. The lights are illuminated in synchronization with the lighting devices 101 and 111 that operate with strobe lights. A planar photograph is taken from the surface portion of the cloth 7.8.

The analog image data of the first images of the double-sided sensors 104 and 108 are A/D converted. After being converted into digital data by the converter 112 or 112', the switch 113 or is sent to the image memory as a matrix-like digital gray direct image via 113'. 114 or 114'. In this case, each gray direct image is A matrix-like array whose number corresponds to the number of pixel columns and pixel rows of the surface sensor 104 or 108. It consists of image points divided into

by the surface sensors 104, 108 after carrying out one feeding step of the cloth 7.8. The second photo taken is offset by the length of the advance step with respect to the first photo. However, this second photo shows the same image after switching switch 113 or 113'. Image memory 115 or 115' as a trix-like digital gray direct image is stored in intermediate memory. After performing the next advance step and taking the next photo, Selected pixel row 123 or 124 of sensor 104, 108 extending in the feeding direction image signals are evaluated to determine the feed amount. This is the same as in Example 3. It is carried out as follows. That is, in the KKF arithmetic units 116 and 116', the corresponding intermediate media Intermediate memory in memory 114, 115 or 114', 115' for each city The cross-correlation function KKF is calculated using the image data of pixel columns 123 and 124 of be done.

Next, the feed amount of both sides detected by the cross-correlation function is calculated by the comparison module 119 are compared with each other, and the first signal is obtained from the comparison result as in the case of Example 3. The image memories 114 and 11 overlap in time with the KKF calculation. 4' image data, using angle calculation units 117, 117'. The extending direction R1 of the first structural element S1 and the cloth 7, which occur periodically as in Example 3, The angle a (FIG. 11) with respect to the feed direction V of 8 is detected. Next, the AKF calculator 11 8,118' again as in Example 3, the previously detected extension The stretched state of the cloth 7.8 in direction R1 is calculated. The elongated state of both sides 7 and 8 is shown in the comparison model. They are compared with each other in module 119 and a second signal is obtained from the comparison result.

In the feed adjustment module 120, from the first signal and the second signal, in the case of the third embodiment, Similarly, the value of the adjustment amount R is detected. If the ratio of processing amounts on both sides 7 and 8 is not 1, A control signal for the position adjustment device 28 is formed in the feed adjustment module 120. It will be done. This control signal has the same processing amount for 7 and 8 on the right, that is, the same effective The feed amount of the upper cloth feeder 9 is adjusted so that the cloth is conveyed at the same feed amount.

As in the case of Embodiment 3, in this embodiment as well, the calculation for detecting the extended state involves It takes considerably more time than the calculation time to determine the The calculation is performed after restepping 10 times, so new extension states are not detected. During the stitch forming process or feeding step, the adjustment amount R is adjusted according to the actual Calculated from the feed amount and the elongation value of each city detected last.

e) Fig, 11 international search report

Claims (22)

[Claims] 1. Lower feed means whose feed amount is relatively variable by at least one position adjustment device and an upper feeding means; an image sensor placed for each cloth to detect the surface characteristics of each cloth; The signals sent from the image sensors are compared with each other, and based on the results of this comparison, In order to control the position adjustment device so that the feed amount of the feed means changes relatively accordingly. In a method for sewing two pieces of cloth by a sewing machine equipped with a signal processing device of , a) Due to the unique characteristics of the bonding structure of each fabric, partially overlapping photos are Continuously photographing, digitizing, and intermediately storing it as a gray value image signal; b) The similarity is calculated by calculating the first similarity function of the overlapping image signals. Determine the extreme value, and calculate the image capturing frequency from the position corresponding to the interval between the two images of the similar extreme value. c) Detecting the feed amount of each cloth by considering the number; c) Comparing the instantaneous feed amounts of both cloths with each other. or a feed target value and generating a first signal from the comparison result. and, d) From the image signal of one image of each cloth, the first detecting the angular position of the structural element of e) Determine the state of elongation of each fabric in the direction of the predetermined angular position of the structural element. It is determined from the image signal of one image of each cloth by calculating the similarity function of a periodically occurring second structure extending transversely to the first structural element; finding the average spacing of elements; f) Comparing the elongation states of both fabrics with each other and/or elongation target value given in advance and generating a second signal from the comparison result; g) processing the first signal and the second signal into a control signal for the position adjustment device; A method characterized by: 2. In order to calculate the feed amount of both fabrics, the image data of the line image is used and the circumference is calculated. In order to detect the angular position of structural elements that occur periodically, and to calculate the elongation state of both fabrics. Claim 1, characterized in that image data of a planar image is used for the purpose of the present invention. Method described. 3. Image data distributed in a line and image data distributed in a plane 3. A method according to claim 2, characterized in that the steps are performed separately. 4. Image data distributed in a line or image data distributed in a plane? 3. A method according to claim 2, characterized in that it is produced from. 5. At least a portion of the surface feature detectable by the image sensor is in the feed direction The prerequisite outline of claim 1 is for sewing together two pieces of cloth extending substantially parallel to each other. Please note that in the method described, a) Due to the unique characteristics of the bonding structure of each fabric, partially overlapping photos are Continuously photographing, digitizing, and intermediately storing it as a gray value image signal; b) The similarity is calculated by calculating the first similarity function of the overlapping image signals. Determine the extreme value, and calculate the image capturing frequency from the position corresponding to the interval between the two images of the similar extreme value. c) Detecting the feed amount of each cloth by considering the number; c) Comparing the instantaneous feed amounts of both cloths with each other. or a feed target value and generating a first signal from the comparison result. and, d) Stretch each cloth by computing a second similarity function from one image signal of the two images. determining the long state and detecting the average spacing of periodically occurring structural elements; e) Comparing the elongation states of both fabrics with each other and/or elongation target value given in advance. and generating a second signal from the comparison result; f) processing the first signal and the second signal into a control signal for a positioning device; A method characterized by: 6. The feature is that the similarity function calculated to determine the feed amount is a cross-correlation function. 6. The method according to claim 1, wherein: 7. It is characterized that the similarity function calculated to determine the elongation state is an autocorrelation function. 6. The method according to claim 1, wherein the method comprises: 8. In order to detect the maximum cross-correlation value from the image signal, we use a signal containing periodic components of the cloth structure. 7. The method according to claim 6, characterized in that the signal component is suppressed. 9. To perform autocorrelation, all higher frequency random components are suppressed Method according to claim 7, characterized in that. 10. At least some of the surface features detectable by the image sensor The premise of claim 1 is for sewing together two pieces of cloth extending substantially parallel to the direction. In the method described in the concept, a) Due to the unique characteristics of the bonding structure of each fabric, partially overlapping photos are Continuously photographing, digitizing, and intermediately storing it as a gray value image signal; b) Find similar extrema by calculating the similarity function of overlapping image signals. Then, consider the image capturing frequency from the position corresponding to the interval between the two images of the similar extreme value. c) Compare the instantaneous feed amounts of both fabrics with each other. , or making a comparison with a feed target value and generating a first signal from the comparison result; d) Occurs periodically when calculating the similarity function for determining the feed amount, and By evaluating the mutual spacing of sub-extrema caused by the structural elements present in e) comparing the elongation states of both fabrics with each other; and/or a predetermined expansion target value, and generates a second signal from the comparison result. to make people feel the same; f) processing the first signal and the second signal into a control signal for a positioning device; A method characterized by: 11. The method according to claim 10, wherein the similarity function is a cross-correlation function. Law. 12. When calculating the cross-correlation function, the new signal maximum is appended to the previous signal maximum. 12. Method according to claim 6 or 11, characterized in that the method is characterized in that it is examined at close range. 13. To shorten the detection method, we calculate the unscaled cross-correlation function and Perform the following steps to determine the magnitude of one maximum value with respect to the local surroundings when to give, a) determine all local maxima and local minima, b) ensure that the flanks have a given minimum length. Erase the maximum and minimum values that are below, c) For each effective maximum value, obtain the sum of the amplitude differences from the adjacent minimum values. calculating the height of the d) using as the main maximum the maximum value for which the difference in height is the largest; 13. A method according to claim 6, 11, 12, characterized in that: 14. The reinforced part of the main maximum value of the calculated cross-correlation function and the two adjacent sub-parts according to claim 13, characterized in that the maximum value is flattened by an interpolation method. Method. 15. The photographs taken continuously to calculate the cross-correlation function were approximately 50% or more accurate. Any one of claims 6, 11 to 14, characterized in that The method described in one. 16. The fabric is illuminated with infrared rays, and the sensor detects only the infrared rays reflected from the fabric. 16. A method according to any one of claims 1 to 15, characterized in that: 17. Any one of claims 1 to 16, characterized in that the cloth is illuminated with a strobe. or the method described in one of the above. 18. A sewing machine for carrying out the method according to any one of claims 1 to 3. In, Each cloth (7; 8) has an optical system (73; 79 or 103; 107) and a photographic system. Camera (70; 77 or 100; 105) is attached, and a photography system (75, 76; 81) is attached. , 82 or 104; 108) can take line-shaped photographs and flat-shaped photographs. Toto, The camera (70; 77 or 100; 105) is connected to the signal processing device (98; 122). The signal processing device (98; 122) is connected to each camera (70; 77 or one 00; 105), at least one A/D converter (86, 91; 86' , 91' or 112, 112') and a small At least two image memories (88, 89, 92; 88', 89', 92' or are 114, 115; 114', 115') and the similarity function for determining the feed amount. A first computing unit (90; 90' or 116; 116') for computing the angle degree calculation unit (93; 93' or 117; 117') and a first calculation unit (93; 93' or 117; 117'); 0;90' or 116;116') to determine the elongation of the fabric. Second computing unit (94; 94' or 118; 118') for computing similar functions and a positioning device for positioning at least one feed means (9) of the sewing machine. Compare and feed adjustment module (95, 96 or 1) connected to the station (28) 19,120); and A sewing machine featuring: 19. Each camera (70; 77) has a beam splitter (74; 80) and a line-shaped sensor. It is characterized by having a sensor (75; 81) and a flat sensor (76; 82). 19. The sewing machine according to claim 18, wherein the sewing machine has the following characteristics. 20. Each camera (100; 105) has only one sensor (104; 108) However, this sensor (104; 108) is configured in a planar shape, and the signal processing device (108) is configured in a planar shape. 22) It is characterized by being able to be read selectively in a plane or in a line. The sewing machine according to claim 18. 21. A sewing machine for carrying out the method according to claim 5 or 10, Image data necessary to calculate the feed amount and elongation state for each cloth (7; 8) Only one camera (30; 36) is attached to generate the 0; 36) has only one sensor (42) configured approximately in a line; The sensor (42) is oriented parallel to the feed direction of the sewing machine, and the camera (30) is oriented parallel to the feed direction of the sewing machine. ;36) is connected to the signal processing device (57;69), and the signal processing device (57;6 9) for each camera (30; 36) at least one A/D converter (4); 4, 44' or 60; 60') and at least one Both have two image memories (46, 47, 46', 47' or 63, 64; 3', 64') and the similarity function for determining the feed amount and elongation state. computer (53; 53' or 65; 65') and at least one of the sewing machine. a ratio connected to a positioning device (28) for positioning the feeding means (9); calibration and feed adjustment module (54, 55 or 66, 67). and, A sewing machine featuring: 22. Strobe control for each camera (30; 36; 70; 77; 100; 105) A lighting device consisting of an infrared diode (31:37; 71; 85; 101; 111). Any one of claims 18 to 21, characterized in that: The sewing machine listed in item 1.