Sewing system, control device, control method, and sewn article manufacturing method

Abstract

A sewing system, a control device, a control method, a non-transitory storage medium, and a sewn object manufacturing method do not fix a material to be sewn to a three-dimensional shape before sewing, and sew the material to be sewn three-dimensionally. The control device (10) controls a first robot (20) and a second robot (60) in such a manner that the first robot (20) feeds a first material to be sewn (M1) toward a sewing point, the second robot (60) feeds a second material to be sewn (M2) toward the sewing point, and a movement amount or a movement direction of each stitch for each of the first material to be sewn (M1) and the second material to be sewn (M2) is different.

Description

Technical Field

[0001] This disclosure relates to sewing systems, control devices, control methods, non-transitory storage media, and methods for manufacturing sewn fabrics. Background Technology

[0002] For example, Patent Document 1 (Japanese Patent Application Publication No. 2018-042882) describes a sewing system in which a sewing machine is mounted on a robotic arm. This sewing system includes a sewing machine, a camera for capturing a reference position of the sewing process, a robotic arm for holding the sewing machine and the camera, and a control device. The control device performs the following actions: forming a first needle-drop position by the needle falling of the sewing machine, rotating the sewing machine at a predetermined angle around a rotation axis passing through a needle center position stored in the control device, forming a second needle-drop position by the needle falling of the sewing machine, and performing the following correction process: correcting the needle center position stored in the control device based on the positions of the first and second needle-drop positions within the shooting range of the images obtained by capturing the first and second needle-drop positions with the camera. Summary of the Invention

[0003] The technical problem that the invention aims to solve

[0004] In order to sew the material to be sewn into a three-dimensional shape, as described in the aforementioned Patent Document 1, it is necessary to fix the material to be sewn into a three-dimensional shape before sewing.

[0005] This disclosure was made in view of the above-mentioned problems, and its purpose is to provide a sewing system, control device, control method, non-temporary storage medium, and sewn material manufacturing method that can sew materials three-dimensionally without fixing the materials to be sewn into a three-dimensional shape before sewing.

[0006] Technical solutions for solving the problem

[0007] To achieve the above objectives, the sewing system involved in the first approach includes: a first robot holding a first material to be sewn; a second robot holding a second material to be sewn; a sewing device performing sewing of the first material to be sewn and the second material to be sewn overlapping at a sewing point; and a control device controlling each of the first robot, the second robot, and the sewing device, the control device having a control unit that controls the first robot and the second robot in such a way as: causing the first robot to feed the first material to be sewn toward the sewing point; causing the second robot to feed the second material to be sewn toward the sewing point; and causing the amount or direction of movement of each stitch for each of the first material to be sewn and the second material to be sewn to be different.

[0008] According to this method, the materials to be sewn can be sewn into a three-dimensional shape without being pre-fixed into a three-dimensional shape. For example, if the sewn product is an overlapping curved shape, it is sewn in such a way that the stitches appearing on the side of the materials to be sewn with a larger radius of curvature are spaced longer than the stitches appearing on the side of the materials to be sewn with a smaller radius of curvature.

[0009] Alternatively, the control device may also include a setting unit that sets stitches of different lengths or shapes on the other sewn material relative to the stitches on one of the first sewn material and the second sewn material. The control unit controls the movement of each of the first robot and the second robot so that each stitch overlaps at the same number of stitches and that the start and end points of each stitch are consistent.

[0010] Among them, the so-called needle thread refers to a thread made up of multiple consecutive needles.

[0011] According to this method, by varying the amount or direction of movement at multiple stitches, it is possible to sew the material into a three-dimensional shape by stitching multiple interconnected stitches. Furthermore, the interconnected stitches of the resulting three-dimensional shape include three-dimensional curves, curves on a two-dimensional plane that form part of a curved surface. Pre-setting the stitches reduces the processing burden during sewing.

[0012] Alternatively, the control device may also include a setting unit that sets stitches of different lengths or shapes on the other stitched material relative to the stitches on one of the first and second stitched materials. The control unit determines the moving speed or moving direction relative to the first or second stitched material to correct for relative misalignment of the stitches that occurs when aligning and sewing the individual stitches.

[0013] In correcting misalignment, besides correcting the entire misalignment at the next pin, there is also a case where a portion of the misalignment is corrected each time, spanning multiple pins. According to this method, by correcting misalignment as it occurs, deviation from the predetermined pin line can be reduced.

[0014] Alternatively, the misalignment can be corrected by tilting the direction of movement of the first sewn material relative to the direction of movement of the second sewn material.

[0015] The tilt includes the following cases: the direction of movement for each case is contained in a plane perpendicular to the direction in which the thread passes through the sewn material overlapping at the sewing point and forms an acute angle with each other.

[0016] According to this method, since the movement is not in a right-angle direction, it is possible to avoid the stitches becoming stepped.

[0017] Alternatively, it can be indicated that the tilt angle has an upper limit value, and the misalignment correction is performed within a range below the upper limit value.

[0018] According to this method, since there is no drastic change in a single stitch, it is possible to avoid the stitch thread bending or becoming convex.

[0019] Alternatively, the control device may also include a setting unit that sets stitches of different lengths or shapes on the other stitched material relative to the stitches on one of the first and second stitched materials. The control unit controls the movement of each of the first and second robots based on the relative misalignment of the stitches in the upstream portion of the portion before each stitch is fed to the sewing point, so as to correct the misalignment of the stitches at the sewing point.

[0020] According to this method, since the misalignment of the stitches is corrected before it occurs, the deviation from the set stitches can be reduced.

[0021] Alternatively, the control unit may control the first robot and the second robot such that the absolute value of the change in the amount or direction of movement of each consecutive stitch for each of the first and second sewn materials becomes a fixed value or less.

[0022] According to this method, since the greater the change in the amount or direction of movement in a single stitch, the more likely wrinkles will occur, distributing the change across multiple stitches can reduce or prevent wrinkles, thereby enabling the stitches to be connected smoothly.

[0023] Alternatively, the control of the first robot and the second robot, which makes the amount or direction of movement of each stitch different for each of the first sewn material and the second sewn material, can be such that the movement speed is different for each of the first sewn material and the second sewn material.

[0024] Among them, the speed in the movement speed is a vector that includes both speed and direction.

[0025] This method makes control easier and simpler by varying the amount or direction of movement of each pin according to its speed.

[0026] Alternatively, the sewing device may include: a pressing part that intermittently presses the first sewn material and the second sewn material; and a feeding part that intermittently feeds the first sewn material and the second sewn material in conjunction with the pressing part, wherein the control part controls the first robot and the second robot such that the movement of either the first sewn material or the second sewn material fed by the pressing part and the feeding part is along the feeding direction of the sewing device.

[0027] This includes the following situations: The pressing part presses down on the first and second materials being sewn from top to bottom near the point where the sewing machine needle passes through, clamping the first and second materials between the pressing part and the table surface located below them, preventing them from lifting up when the sewing machine needle moves downwards to pierce them. It also includes situations where lifting up of the first and second materials is suppressed when the sewing machine needle moves upwards to withdraw from them. Furthermore, it includes situations where, after the sewing machine needle has moved up and down, the pressing part moves upwards to release the pressing state during the feeding of the first and second materials. This includes the following situations: the feed unit and the pressing unit are linked, and after the thread is passed through the first and second materials to be sewn using the sewing machine needle, during the period when the sewing machine needle separates from the first and second materials to be sewn, the first and second materials to be sewn are fed in the sewing direction a distance corresponding to the distance of the stitch.

[0028] According to this method, the movement of the sewn material can be common with the feed section of the sewing device, thus reducing the burden of control.

[0029] Alternatively, the sewing device may include: a pressing part that intermittently presses the first sewn material and the second sewn material; and a feeding part that intermittently feeds the first sewn material and the second sewn material in conjunction with the pressing part, wherein the control part controls the first robot and the second robot such that at least one of the first sewn material and the second sewn material fed by the pressing part and the feeding part moves synchronously with the intermittent feeding of the feeding part.

[0030] According to this method, it is possible to sew a three-dimensional shape even when there are intermittent pressing and feeding parts.

[0031] Alternatively, the sewing device may include: a pressing part that intermittently presses the first sewn material and the second sewn material; and a feeding part that intermittently feeds the first sewn material and the second sewn material in conjunction with the pressing part, wherein the control part controls the first robot and the second robot such that at least one of the first sewn material and the second sewn material fed by the pressing part and the feeding part moves continuously.

[0032] According to this method, control can be simplified by utilizing the softness and smoothness of the sewn material during continuous movement.

[0033] Alternatively, the control of the first robot and the second robot, which makes the amount or direction of movement of each stitch different for each of the first and second sewn materials, can be such that the second sewn material is relatively compressed or stretched relative to the first sewn material and fed toward the sewing point.

[0034] The compression or elongation occurs in the direction of curvature along the three-dimensional shape surface at the point of completion of the sewing. Besides compression or elongation along the assumed feed direction of the sewing, it can also occur in a direction inclined relative to the feed direction. This includes cases where the material being sewn is held in a compressed or elongated state and sewn using the sewing device. In addition to compressing or elongating one side and supplying it to the sewing point, the degrees of compression or elongation of both sides can differ.

[0035] According to this method, the material to be sewn can be sewn into a three-dimensional shape without pre-fixing it into a three-dimensional shape.

[0036] Alternatively, the sewing device may include: a pressing part that intermittently presses the first sewn material and the second sewn material; and a feeding part that intermittently feeds the first sewn material and the second sewn material in conjunction with the pressing part, wherein the control part controls the first robot and the second robot in such a way that while pressing the first sewn material or the second sewn material fed by the pressing part and the feeding part toward the sewing point or stretching it toward a direction away from the sewing point, the first sewn material and the second sewn material move toward the sewing point.

[0037] According to this method, holding becomes simple because it is not necessary to pre-compress or stretch the sewn material for holding.

[0038] The control device involved in the second method is the control device included in the above-mentioned sewing system.

[0039] The third approach involves a control method that controls a first robot, a second robot, and a control device for a sewing device. The first robot holds a first material to be sewn, and the second robot holds a second material to be sewn. The sewing device performs sewing on the first and second materials that overlap at a sewing point. The control method controls the first and second robots in the following manner: causing the first robot to feed the first material to be sewn toward the sewing point; causing the second robot to feed the second material to be sewn toward the sewing point; and causing the amount or direction of movement of each stitch for each of the first and second materials to be different.

[0040] The control program involved in the fourth method is a control program for a control device that controls a first robot, a second robot, and a sewing device. The first robot holds a first material to be sewn, the second robot holds a second material to be sewn, and the sewing device performs sewing on the first and second materials that overlap at the sewing point. The control program causes a computer to control the first and second robots in the following ways: causing the first robot to feed the first material to be sewn toward the sewing point; causing the second robot to feed the second material to be sewn toward the sewing point; and causing the amount or direction of movement of each stitch for each of the first and second materials to be different.

[0041] The fifth method involves a control program for a non-transitory storage medium storage control device, which controls a first robot, a second robot, and a sewing device. The first robot holds a first material to be sewn, the second robot holds a second material to be sewn, and the sewing device performs sewing of the first and second materials overlapping at a sewing point. The control program causes a computer to control the first and second robots in the following ways: causing the first robot to feed the first material to be sewn toward the sewing point; causing the second robot to feed the second material to be sewn toward the sewing point; and causing the amount or direction of movement of each stitch for each of the first and second materials to be different.

[0042] The sewn fabric manufacturing method involved in the sixth method is executed by the above-mentioned sewing system, wherein the first robot, the second robot, and the sewing device manufacture a three-dimensional sewn fabric from the first sewn material and the second sewn material under the control of the control device.

[0043] Invention Effects

[0044] According to this disclosure, it is possible to sew materials in a three-dimensional form without fixing the materials to be sewn before sewing. Attached Figure Description

[0045] Figure 1 This is a diagram illustrating an example of the structure of the sewing system according to the first embodiment.

[0046] Figure 2 This is a block diagram illustrating an example of the electrical structure of the control device according to the first embodiment.

[0047] Figure 3 This is a block diagram illustrating an example of the functional configuration of the control device according to the first embodiment.

[0048] Figure 4 This is a diagram illustrating an example of the first and second pins involved in the embodiment.

[0049] Figure 5 This is a diagram illustrating the tracking control of the first and second sewn materials involved in the implementation method.

[0050] Figure 6 This is a flowchart illustrating an example of the processing flow based on the control program involved in the first embodiment.

[0051] Figure 7 This is a block diagram illustrating an example of the functional configuration of the control device according to the second embodiment.

[0052] Figure 8 This is a diagram used to illustrate the misalignment correction of the first and second sewn materials in the embodiment.

[0053] Figure 9 (A) is a diagram schematically illustrating the misalignment correction involved in the comparative example, and (B) is a diagram schematically illustrating the misalignment correction involved in the embodiment.

[0054] Figure 10 This is a flowchart illustrating an example of the processing flow of the control program involved in the second embodiment.

[0055] Figure 11 This is a block diagram illustrating an example of the functional configuration of the control device according to the third embodiment.

[0056] Figure 12 This is a flowchart illustrating an example of the processing flow of the control program based on the third embodiment.

[0057] Explanation of reference numerals in the attached figures

[0058] 10, 10A, 10B, Control device; 11, CPU; 11A, Setting unit; 11B, 11C, 11D, Control unit; 12, ROM; 13, RAM; 14, I / O; 15, Storage unit; 15A, Control program; 16, Connection unit; 20, First robot; 30, Sewing machine; 40, Camera; 50, Sewing machine table; 60, Second robot; 100, Sewing system. Detailed Implementation

[0059] Hereinafter, an example of a method for implementing the technology of this disclosure will be described in detail with reference to the accompanying drawings. Furthermore, in all the drawings, structural elements and processes performing the same function, action, or operation are labeled with the same reference numerals, and sometimes repeated descriptions are appropriately omitted. The drawings are merely schematic representations of the technology of this disclosure to a degree that allows for sufficient understanding. Therefore, the technology of this disclosure is not limited to the examples shown in the drawings. Additionally, in this embodiment, descriptions of structures not directly related to the technology of this disclosure, or of known structures, are sometimes omitted.

[0060] [First Implementation Method]

[0061] Figure 1 This is a diagram illustrating an example of the structure of the sewing system 100 according to the first embodiment.

[0062] Figure 1 The sewing system 100 shown includes a control device 10, a first robot 20, a sewing machine 30, a camera 40, and a second robot 60. The sewing machine 30 is an example of a sewing device. The sewing system 100 automatically sews a first material M1 and a second material M2 using the first robot 20, the second robot 60, and the sewing machine 30. The first material M1 and the second material M2 can be any material that a sewing machine needle can penetrate; there are no particular limitations, such as soft materials like cloth or leather. Figure 1 In the diagram, the Y direction indicates the depth of the paper, the X direction indicates the left-right direction of the paper, and the Z direction indicates the up-down direction of the paper.

[0063] A sewing machine 30 is mounted on a sewing machine table 50. The sewing machine 30 includes a sewing machine body 31, a sewing machine control mechanism 32, a sewing machine needle 33, a pressing part 34, and a feed part 35. The sewing machine body 31 moves the sewing machine needle 33 up and down at a fixed position (sewing point) to sew a first workpiece M1 and a second workpiece M2 that are stacked on the sewing machine table 50. Alternatively, the sewing point can be set as the position where the sewing machine needle 33 pierces the first workpiece M1 and the second workpiece M2 when it descends for sewing. The sewing point can also be set as the position where the sewing machine needle 33 passes through the upper surface of the sewing machine table 50 at the instant the first workpiece M1 and the second workpiece M2 are sewn. The sewing machine control mechanism 32 is, for example, a motor. If a sewing machine command signal for indicating the feed speed of the sewing machine 30 is input from the control device 10, the speed of the up and down movement of the sewing machine needle 33 can be adjusted based on the sewing machine command signal.

[0064] The sewing machine 30 has a feeding mechanism for a first workpiece M1 and a second workpiece M2, and a mechanism for the movement of a sewing machine needle 33. These mechanisms operate in conjunction with each other via the same motor at a certain speed ratio. In actual operation, the up-and-down movement (sewing action) of the sewing machine needle 33 and the feeding action of the first workpiece M1 and the second workpiece M2 are performed alternately. The pressing part 34 intermittently presses the first workpiece M1 and the second workpiece M2 to prevent them from lifting up. In other words, the pressing part 34 presses down on the first and second sewn materials M1 and M2 near the point where the sewing machine needle 33 passes, clamping the first and second sewn materials M1 and M2 between the pressing part 34 and the table surface located below the first and second sewn materials M1 and M2, to prevent the first and second sewn materials M1 and M2 from lifting up when the sewing machine needle 33 moves downward and pierces the first and second sewn materials M2. Furthermore, the pressing part 34 prevents the first and second sewn materials M1 and M2 from lifting up when the sewing machine needle 33 moves upward and is pulled out of the first and second sewn materials M2. Additionally, after the sewing machine needle 33 moves up and down, during the feeding of the first and second sewn materials M1 and M2, the pressing part 34 moves upward to release the pressing state. The feed unit 35 is configured as the aforementioned feed mechanism and is linked with the pressing unit 34. After the thread is passed through the first sewn material M1 and the second sewn material M2 by the sewing machine needle 33, during the period when the sewing machine needle 33 separates from the first sewn material M1 and the second sewn material M2, the first sewn material M1 and the second sewn material M2 are fed in the sewing direction a distance corresponding to the distance of the stitch.

[0065] The sewing machine 30 performs an intermittent feeding action by intermittently pressing the first sewing material M1 and the second sewing material M2 through the pressing part 34 and the feeding part 35. In this embodiment, the feeding speed of the sewing machine 30 is the speed at which the sewing machine 30 feeds the first sewing material M1 and the second sewing material M2. For example, it can be set as the feeding speed of the feeding part 35, the speed of the sewing machine needle 33 which moves synchronously with the speed of the sewing machine 30 motor, or their average speed. Alternatively, it can be the speed during the intermittent feeding action that takes into account the movement and stopping of the intermittent feeding action, or it can be the average speed as a whole.

[0066] The sewing machine 30 feeds the first sewn material M1 held by the first robot 20 and the second sewn material M2 held by the second robot 60 toward the sewing point, and sews the overlapping first sewn material M1 and second sewn material M2 at the sewing point.

[0067] The first robot 20 holds the first sewing material M1. The first robot 20 includes a support platform 21, a robot controller 22, a robotic arm 23, and a robotic hand 24. The robotic hand 24 is located at the end of the first robot 20. The robotic arm 23 is a multi-jointed arm, with one end connected to the support platform 21 and the other end connected to the robotic hand 24. The support platform 21 supports the robotic arm 23 and houses the robot controller 22. The robotic hand 24 holds and moves the first sewing material M1, which is placed on the sewing machine table 50, and supplies it to the sewing machine needle 33 of the sewing machine 30. Alternatively, the robotic hand 24 can slide and move the first sewing material M1 on the sewing machine table 50 while supplying it to the sewing machine needle 33 of the sewing machine 30.

[0068] If a robot command signal for instructing the first robot 20 is input from the control device 10, the robot controller 22, based on the robot command signal, causes the robotic arm 23 and robotic hand 24 to move. Thus, the robotic hand 24 holds the first material M1 to be sewn on the sewing machine table 50. Furthermore, in this state, the robotic hand 24 moves in the direction that moves the first material M1 to be sewn, thereby causing the first material M1 to move relative to the sewing machine needle 33 of the sewing machine 30 while moving on the sewing machine table 50.

[0069] The second robot 60 holds the second sewing material M2. The second robot 60 includes a support platform 61, a robot controller 62, a robotic arm 63, and a robotic hand 64. The robotic hand 64 is located at the end of the second robot 60. The robotic arm 63 is a multi-jointed arm, connected at one end to the support platform 61 and at the other end to the robotic hand 64. The support platform 61 supports the robotic arm 63 and houses the robot controller 62. The robotic hand 64 holds and moves the second sewing material M2, which is placed on the sewing machine table 50, and supplies it to the sewing machine needle 33 of the sewing machine 30. Alternatively, the robotic hand 64 can slide and move the second sewing material M2 on the sewing machine table 50 while supplying it to the sewing machine needle 33 of the sewing machine 30.

[0070] If a robot command signal for instructing the second robot 60 is input from the control device 10, the robot controller 62, based on the robot command signal, causes the robotic arm 63 and robotic hand 64 to move. Thus, the robotic hand 64 holds the second sewing material M2 on the sewing machine table 50. Furthermore, in this state, the robotic hand 64 moves in the direction that moves the second sewing material M2, thereby causing the second sewing material M2 to move relative to the sewing machine needle 33 of the sewing machine 30 while moving on the sewing machine table 50.

[0071] In other words, robotic arm 24 holds and moves the first sewn material M1, and robotic arm 64 holds and moves the second sewn material M2. Figure 1 In the example, the control is performed as follows: the first robot 20 holds the first sewn material M1 such that the first sewn material M1 is below the second sewn material M2 at the sewing point, and the second robot 60 holds the second sewn material M2 such that the second sewn material M2 is above the first sewn material M1 at the sewing point. Furthermore, regarding the holding of the two sewn materials in an overlapping state, the robots can either hold them after the two sewn materials have been pre-aligned during the preparation phase, or the robots can move to make the sewn materials overlap after holding each material.

[0072] Camera 40 is used to photograph the sewing portion of the first material M1 and the second material M2 placed on the sewing machine table 50 from above, and to photograph the sewing state of the first material M1 and the second material M2. The positions of camera 40, the first robot 20, the second robot 60, and the sewing machine 30 maintain a fixed positional relationship. Alternatively, a camera can be added to photograph the first material M1 and the second material M2 from below.

[0073] The control device 10 is connected to the first robot 20, the second robot 60, the sewing machine 30, and the camera 40, performs image processing on the images obtained from the camera 40, and controls the first robot 20, the second robot 60, and the sewing machine 30. The control device 10 can be, for example, a general-purpose computer device such as a personal computer (PC).

[0074] Figure 2 This is a block diagram illustrating an example of the electrical structure of the control device 10 according to the first embodiment.

[0075] like Figure 2 As shown, the control device 10 according to this embodiment includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, an input / output interface (I / O) 14, a storage unit 15, and a connection unit 16.

[0076] CPU11, ROM12, RAM13, and I / O14 are interconnected via a bus. I / O14 is connected to various functional units, including storage unit 15 and connection unit 16. These functional units can communicate with CPU11 via I / O14.

[0077] The control unit comprises CPU11, ROM12, RAM13, and I / O14. The control unit can be configured as a sub-control unit controlling the operation of a portion of the control device 10, or as part of a main control unit controlling the overall operation of the control device 10. Some or all of the blocks of the control unit may use integrated circuits or IC chipsets, such as LSI (Large Scale Integration). These blocks may use individual circuits or integrated circuits. The blocks may be integrated as a single unit or separated into individual blocks. Furthermore, a portion of each block may be separated. The integration of the control unit is not limited to LSI; dedicated circuits or general-purpose processors may also be used.

[0078] The storage unit 15 may be, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or flash memory. The control program 15A according to this embodiment is stored in the storage unit 15. Alternatively, the control program 15A may also be stored in the ROM 12.

[0079] For example, the control program 15A may be pre-installed on the control device 10. Alternatively, the control program 15A may be implemented by storing it on a non-volatile, non-transitory storage medium, or by distributing it via a network and appropriately installing it on the control device 10. Furthermore, examples of non-volatile, non-transitory storage media include CD-ROM (Compact Disc Read Only Memory), optical disks, HDDs, DVD-ROMs (Digital Versatile Disc Read Only Memory), flash memory, memory cards, etc.

[0080] The connecting part 16 is an interface for connecting the robot controller 22 of the first robot 20, the robot controller 62 of the second robot 60, the sewing machine control mechanism 32 of the sewing machine 30, and the camera 40.

[0081] However, in the case of three-dimensional sewing of the material being sewn, the material is usually pre-shaped and fixed in place for sewing purposes. Therefore, sometimes it is necessary to prepare a mold and install the material being sewn.

[0082] In contrast, in the sewing system 100 of this embodiment, the first sewing material M1 and the second sewing material M2 can be sewn three-dimensionally by controlling the first robot 20, the second robot 60 and the sewing machine 30 without needing to be pre-fixed into a three-dimensional shape.

[0083] Here, during three-dimensional sewing, the stitching thread (hereinafter referred to as "first stitching thread") pre-set for the first material M1 to be sewn and the stitching thread (hereinafter referred to as "second stitching thread") pre-set for the second material M2 to be sewn are overlapped and sewn together. In controlling three-dimensional sewing, examples include: tracking control that sews according to predetermined conditions to enable sewing in a three-dimensional shape; feedback control that sews while correcting stitch misalignment; and feedforward control that predicts and sews in a way that prevents stitch misalignment. Hereinafter, tracking control will be described in this embodiment.

[0084] Specifically, the CPU 11 of the control device 10 according to the first embodiment writes the control program 15A stored in the storage unit 15 into the RAM 13 and executes it, thereby serving as... Figure 3 Each part shown performs its function.

[0085] Figure 3 This is a block diagram illustrating an example of the functional configuration of the control device 10 according to the first embodiment.

[0086] like Figure 3As shown, the CPU 11 of the control device 10 according to this embodiment functions as a setting unit 11A and a control unit 11B.

[0087] The setting unit 11A sets a first stitch on the first sewn material M1 and a second stitch on the second sewn material M2. Alternatively, either the first or second stitch can be set. The length or shape of the first stitch differs from that of the second stitch. Each of the first and second stitches is represented as a set of continuous points. This set of continuous points corresponds to a stitch. In other words, the stitches of the first and second stitches are set in a predetermined three-dimensional shape by aligning the stitches of the first and second stitches and sewing them together. For example, the first and second stitches are set while displaying an image obtained by photographing the sewn portion of the first and second sewn materials M1 using camera 40 on a monitor. The stitches of the first and second stitches can be represented as two-dimensional or three-dimensional coordinates, for example, based on markings or ends (edges) on the sewn materials. Specifically, the control device 10 is pre-configured to include input devices such as a mouse and keyboard, and can use these input devices to input various sewing conditions such as sewing range (start and end points of sewing), seam edge (distance from the edge), and sewing spacing. Thus, appropriate stitches are set for each of the first and second sewing materials M1 and M2.

[0088] Figure 4 This is a diagram illustrating an example of the first pin thread L1 and the second pin thread L2 involved in this embodiment.

[0089] like Figure 4 As shown, the length or shape of the first stitch line L1 set on the first sewn material M1 is different from the length or shape of the second stitch line L2 set on the second sewn material M2. The first stitch line L1 represents a set of multiple stitches a1 to a7. Similarly, the second stitch line L2 represents a set of multiple stitches b1 to b7. The multiple stitches a1 to a7 of the first stitch line L1 and the multiple stitches b1 to b7 of the second stitch line L2 are set in a predetermined three-dimensional shape by aligning and sewing the multiple stitches a1 to a7 of the first stitch line L1 with the multiple stitches b1 to b7 of the second stitch line L2. Furthermore, in Figure 4 In the illustration, the differences in length and shape are exaggerated for ease of understanding. In reality, the differences in appearance are minute, especially the differences in each stitch, but these differences create a three-dimensional shape when the sewing is finished.

[0090] The control unit 11B outputs robot command signals to the robot controller 22 to instruct the movement of the first robot 20, to the robot controller 62 to instruct the movement of the second robot 60, and to the sewing machine control mechanism 32 to instruct the feed speed of the sewing machine 30. When feeding the first sewn material M1 and the second sewn material M2 towards the sewing point, the control unit 11B controls the first robot 20 and the second robot 60 so that the amount or direction of movement of each stitch is different for each of the first sewn material M1 and the second sewn material M2. Here, "different amount or direction of movement of each stitch" includes, for example, different movement speeds for each of the first sewn material M1 and the second sewn material M2. In other words, a difference in relative movement speed is sufficient. In this case, for example, the control unit 11B may control the first robot 20 and the second robot 60 such that the movement of either the first sewn material M1 or the second sewn material M2 fed by the pressing unit 34 and the feeding unit 35 is along the feeding direction of the sewing machine 30.

[0091] Figure 5 This is a diagram used to illustrate the tracking control of the first sewn material M1 and the second sewn material M2 involved in this embodiment.

[0092] like Figure 5 As shown, the control unit 11B controls the movement of the first robot 20 and the second robot 60, such that the stitch lines L1 and L2 set by the setting unit 11A overlap with the same number of stitches, and the start and end points of stitch lines L1 and L2 are consistent. In the tracking control, the stitches of the first sewn material M1 and the second sewn material M2 are pre-set in such a way that the sewn product becomes a three-dimensional shape.

[0093] In other words, stitch a1, the starting point of stitch line L1, and stitch b1, the starting point of stitch line L2, are overlapped and sewn together at sewing point P. Similarly, stitches a2 to a6 of stitch line L1 and stitches b2 to b6 of stitch line L2 are successively overlapped and sewn together at sewing point P. Finally, stitch a7, the ending point of stitch line L1, and stitch b7, the ending point of stitch line L2, are overlapped and sewn together at sewing point P. As a result, the sewn product has a three-dimensional shape. Alternatively, instead of setting the stitches as a set of points, the stitch line can be set to be the thread that passes through all the stitches. In this case, the starting point is set as the first stitch, the ending point is set as the last stitch, and the movement along the stitch line is controlled at a speed corresponding to the length of the thread.

[0094] Here, the different amount or direction of movement of each stitch includes compressing or elongating the second material to be sewn relative to the first material to be sewn M1. That is, control is performed such that by compressing or elongating at least one of the first material to be sewn M1 and the second material to be sewn M2, a three-dimensional shape is formed after sewing. Furthermore, it also includes pre-holding the second material to be sewn in a state of relative compression or elongation relative to the first material to be sewn M1, and then moving the first material to be sewn relative to the second material to be sewn M2 while sewing. The direction of compression or elongation is, for example, the direction of curvature along the surface of the three-dimensional shape after sewing. Besides the case where compression or elongation is performed along the assumed sewing feed direction, compression or elongation can also be performed in a direction inclined relative to the feed direction. Additionally, it includes the case where the first material to be sewn M1 and the second material to be sewn M2 are held in a state of compression or elongation and sewn using the sewing machine 30. In addition to compressing or stretching one of the first sewn material M1 and the second sewn material M2 and supplying it to the sewing point P, the two materials can also be compressed or stretched to different degrees.

[0095] In this case, as an example, the control unit 11B controls the first robot 20 and the second robot 60 to press (compress) the first sewn material M1 and the second sewn material M2 toward the sewing point P fed by the pressing part 34 and the feeding part 35, or to stretch (elongate) them in a direction away from the sewing point P, and move them toward the sewing point P. That is, when the first sewn material M1 or the second sewn material M2 is moved, the pressing part 34 compresses or elongates the first sewn material M1 or the second sewn material M2, and supplies the first sewn material M1 or the second sewn material M2 to the sewing point P in a compressed or elongated state. Therefore, it is possible to form a three-dimensional shape when the sewing is completed.

[0096] Alternatively, the control unit 11B can control the first robot 20 and the second robot 60 such that the absolute value of the change in the amount or direction of movement of each consecutive stitch for each of the first sewn material M1 and the second sewn material M2 becomes a fixed value or less. Furthermore, the fixed value is set appropriately by the user. That is, three-dimensional sewing is performed in a manner that minimizes the change in the amount or direction of movement of each stitch. The greater the degree of change in the amount or direction of movement in a single stitch, the easier it is to produce wrinkles. Therefore, by reducing the change at one stitch, the change is dispersed across multiple stitches, making it difficult to produce wrinkles and enabling the sewing of smooth stitch lines.

[0097] Alternatively, the control unit 11B can control the first robot and the second robot such that at least one of the first sewn material M1 and the second sewn material M2 fed by the pressing unit 34 and the feeding unit 35 moves synchronously with the intermittent feeding of the feeding unit 35.

[0098] Alternatively, the control unit 11B can control the first robot 20 and the second robot 60 so that at least one of the first sewn material M1 and the second sewn material M2 fed by the pressing unit 34 and the feeding unit 35 moves continuously.

[0099] Next, refer to Figure 6 The operation of the control device 10 according to the first embodiment will be explained.

[0100] Figure 6 This is a flowchart illustrating an example of the processing flow based on the control procedure 15A according to the first embodiment. Figure 6 In the example, the tracking control of the first sewn material M1 and the second sewn material M2 is explained.

[0101] First, if the control device 10 is instructed to perform tracking control of the first sewn material M1 and the second sewn material M2, the control program 15A is started by the CPU 11 to execute the following steps.

[0102] exist Figure 6 In step S101, as an example, as described above Figure 5 As shown, CPU 11 aligns stitch a1, the starting point of stitch line L1, and stitch b1, the starting point of stitch line L2, at the sewing point P. Here, the alignment of the starting points can be pre-configured by the user, or the starting points can be configured and aligned using markings on the sewn material as a reference while taking a picture with camera 40.

[0103] In step S102, CPU11 controls the first robot 20 and the second robot 60 to align the next stitch a2 of stitch line L1 and the next stitch b2 of stitch line L2 at the sewing point P. In this case, for example, the distance from the end (edge) of the material being sewn is used as the seam edge, and the alignment of the next stitch is based on the starting point, the completed sewing thread, or the distance from the stitch.

[0104] In step S103, the CPU 11 determines whether the stitch a7, the endpoint of stitch line L1, and the stitch b7, the endpoint of stitch line L2, are aligned at the sewing point P. Here, the alignment of the endpoints can also be performed by taking a picture using the camera 40 and configuring the endpoints based on the markings on the sewn material. If it is determined that stitch a7 and stitch b7 are not aligned (a negative determination), the process returns to step S102 and repeats. If it is determined that stitch a7 and stitch b7 are aligned (a positive determination), the series of processes based on this control program 15A ends. Alternatively, the process can end based on the completion of a preset number of stitches.

[0105] Alternatively, it can be configured as a sewn fabric manufacturing method based on the sewing system 100. That is, the first robot 20, the second robot 60, and the sewing machine 30 follow the tracking control of the control device 10 described above to manufacture three-dimensional sewn fabrics from the first sewn material M1 and the second sewn material M2.

[0106] In this way, according to this embodiment, by tracking control that sews according to predetermined conditions in order to sew in a three-dimensional shape, the first and second sewn materials can be sewn in a three-dimensional shape without pre-fixing the first and second sewn materials into a three-dimensional shape.

[0107] [Second Implementation]

[0108] In the second embodiment, a feedback control method for sewing while correcting misalignment of the stitches will be described.

[0109] Figure 7 This is a block diagram illustrating an example of the functional configuration of the control device 10A according to the second embodiment.

[0110] like Figure 7 As shown, the CPU 11 of the control device 10A according to this embodiment functions as a setting unit 11A and a control unit 11C. Furthermore, structural elements that are identical to those in the control device 10 described in the first embodiment are marked with the same reference numerals, and repeated descriptions thereof are omitted.

[0111] The control unit 11C determines the moving speed or moving direction for the first sewn material M1 or the second sewn material M2, thereby correcting the relative misalignment of the stitches that occurs when the individual stitches set by the setting unit 11A are aligned and sewn. The misalignment correction is performed, for example, by having a relative inclination between the moving direction of the first sewn material M1 and the moving direction of the second sewn material M2. Furthermore, in feedback control, the stitches can be lines with defined start and end points, and do not necessarily need to be a set of discrete points (stitches). Hereinafter, refer to... Figure 8 The misalignment correction of the first sewn material M1 and the second sewn material M2 is explained in detail.

[0112] Figure 8 This is a diagram used to illustrate the misalignment correction of the first sewn material M1 and the second sewn material M2 in this embodiment. Furthermore, in Figure 8 The illustration of the first sewn material M1 is omitted, but the same misalignment correction can be performed on the first sewn material M1.

[0113] like Figure 8 As shown, when the sewing point P is located offset from the second stitch line L2, if the second sewn material M2 is to be moved directly in the X direction to correct the misalignment, it cannot be moved easily because it is pressed by the pressing part 34 of the sewing machine 30. In addition, if a large displacement is made drastically in the X direction during the period after the pressing part 34 rises, the stitches will become stepped, which is undesirable.

[0114] Therefore, based on the image obtained by camera 40 of the second sewn material M2, the inclination (θ) of the edge portion Ed located at the sewing point P closest to the sewing machine 30 relative to the feed direction of the second sewn material M2, and the distance (x) between the sewing point P of the sewing machine 30 and the edge portion Ed located at the position closest to the sewing point P, are calculated. Furthermore, the second robot 60 is controlled in a manner that makes the inclination θ and the distance x close to their respective target values. Specifically, the control is performed in the following manner.

[0115] The robot's translation (X direction) = 0 (stationary)

[0116] The robot's rotation = (θ - θi) + f(x - xi)

[0117] Where θi represents the target value of the inclination θ, and xi represents the target value of the distance x. These target values ​​θi and xi are set to the values ​​on the second pin line L2. The function f is a function that converts the distance x into the inclination θ. For example, the function f is defined as follows.

[0118] x < 0, f(x) = α (user-defined constant)

[0119] x > 0, f(x) = -α (user-defined constant)

[0120] In other words, when the distance x is less than 0, the user-defined constant α is set to positive, and when the distance x is greater than 0, the user-defined constant α is set to negative. This means that if the user-defined constant α is large, the system abruptly returns to the original pin position; if the user-defined constant α is small, the system gradually returns to the original pin position. For example, the user-defined constant α is pre-stored in storage unit 15.

[0121] The robot control involved in the misalignment correction in this embodiment is to control the second robot 60 to move in the rotational direction without moving in the translational direction (X direction). The desired tilt angle θ in the rotational direction is less than 90 degrees.

[0122] Alternatively, an upper limit can be preset for the angle θ representing the inclination of the second sewn material M2. In this case, misalignment correction is performed within the range below the upper limit. This allows for smoother misalignment correction across multiple stitches, rather than a large, one-time rotation. A large, one-time rotation would result in bending or a convex shape, which is undesirable.

[0123] Figure 9 (A) is a schematic diagram illustrating the misalignment correction involved in the comparative example. Figure 9 (B) is a diagram schematically illustrating the misalignment correction involved in this embodiment.

[0124] exist Figure 9 In the comparative example shown in (A), if misalignment of the sewing point P occurs in the sewn material M, it is controlled by pressing the sewn material M in that direction to return to the target stitch line L. In this case, there is a risk that the sewn material M may simply bend and remain completely still, or that even if it is moved, the stitch may still be misaligned.

[0125] In contrast, Figure 9 In example (B), control is achieved by rotating the sewn material M in a predetermined direction at the sewing point P to return it to the target stitch line L. Since the rotation is centered on the sewing machine needle in the predetermined direction, the target stitch line L can be smoothly returned.

[0126] Next, refer to Figure 10 The operation of the control device 10A according to the second embodiment will be explained.

[0127] Figure 10 This is a flowchart illustrating an example of the processing flow based on the control procedure 15A according to the second embodiment. Figure 10In the example, the feedback control of the first sewn material M1 and the second sewn material M2 is explained.

[0128] First, if the control device 10A is instructed to perform feedback control of the first sewn material M1 and the second sewn material M2, the control program 15A is started by the CPU 11 to execute the following steps.

[0129] exist Figure 10 In step S111, as an example, as described above Figure 8 As shown, CPU11 acquires images of the sewn portions of the first sewn material M1 and the second sewn material M2 from camera 40.

[0130] In step S112, as an example, as described above... Figure 8 As shown, the CPU11 calculates the inclination (=θ) of the edge portion Ed located at the position closest to the sewing point P of the sewing machine 30 relative to the feed direction of the sewing part, and the distance (=x) between the sewing point P of the sewing machine 30 and the edge portion Ed located at the position closest to the sewing point P, based on the image obtained in step S111.

[0131] In step S113, CPU11 determines the moving speed or moving direction of the sewing part in such a way that the tilt angle θ and distance x calculated in step S112 are close to their respective target values.

[0132] In step S114, CPU11 controls the robot based on the moving speed or moving direction determined in step S113 (as described above). Figure 8 In the example, the second robot 60) will terminate the series of processes in this control program 15A.

[0133] Alternatively, it can be configured as a sewn fabric manufacturing method based on the sewing system 100. That is, the first robot 20, the second robot 60, and the sewing machine 30 follow the feedback control of the control device 10A described above to manufacture three-dimensional sewn fabrics from the first sewn material M1 and the second sewn material M2.

[0134] In this way, according to this embodiment, by performing feedback control while correcting the misalignment of the stitches, the first and second sewn materials can be sewn in three dimensions without pre-fixing them into a three-dimensional shape.

[0135] [Third Implementation Method]

[0136] In the third embodiment, a feedforward control method is described that predicts and performs sewing in a way that prevents the stitches from misaligning.

[0137] Figure 11 This is a block diagram illustrating an example of the functional configuration of the control device 10B according to the third embodiment.

[0138] like Figure 11 As shown, the CPU 11 of the control device 10B according to this embodiment functions as a setting unit 11A and a control unit 11D. Furthermore, structural elements that are identical to those in the control device 10 described in the first embodiment are marked with the same reference numerals, and repeated descriptions thereof are omitted.

[0139] The control unit 11D controls the movement of the first robot 20 and the second robot 60 based on the relative misalignment in the upstream portion of each stitch line set by the setting unit 11A, so as to correct the misalignment of the stitch lines at the sewing point. Furthermore, in feedforward control, similar to the feedback control described above, the stitch line can be a line with a defined start and end point, and does not necessarily have to be a set of discrete points (stitch lines).

[0140] Here, the upstream portion refers to the portion of each of the first stitch L1 and the second stitch L2 that has not yet been fed to the sewing point P. Even if sewing is performed at the predetermined position at the sewing point P, if the sewing is performed while changing direction in a three-dimensional manner, sometimes a misalignment of the stitches occurs in the upstream portion of the first stitch L1 and the second stitch L2. This misalignment refers to a shift between the first stitch L1 and the corresponding second stitch L2. Therefore, based on the misalignment of the stitches in the upstream portion of the first stitch L1 and the second stitch L2, the first robot 20 and the second robot 60 are controlled to correct the misalignment at the sewing point P, that is, to make the first stitch L1 aligned with the corresponding second stitch L2. This results in stitches that are never misaligned.

[0141] Next, refer to Figure 12 The function of the control device 10B according to the third embodiment will be explained.

[0142] Figure 12 This is a flowchart illustrating an example of the process performed based on the control procedure 15A according to the third embodiment. Figure 12 In the example, the feedforward control of the first sewn material M1 and the second sewn material M2 is explained.

[0143] First, if the control device 10B is instructed to perform feedforward control of the first sewn material M1 and the second sewn material M2, the control program 15A is started by the CPU 11 to execute the following steps.

[0144] exist Figure 12In step S121, CPU11 acquires images of the sewn portions of the first sewn material M1 and the second sewn material M2 from camera 40.

[0145] In step S122, CPU11 calculates the relative misalignment in the upstream portion of the first pin line L1 and the second pin line L2 based on the image obtained in step S121.

[0146] In step S123, based on the misalignment of the upstream portion calculated in step S122, CPU11 controls the movement of the first robot 20 and the second robot 60 to correct the misalignment of the stitches at the sewing point and end the series of processes of this control program 15A.

[0147] Alternatively, it can be configured as a sewn fabric manufacturing method based on the sewing system 100. That is, the first robot 20, the second robot 60, and the sewing machine 30 follow the feedforward control of the control device 10B described above to manufacture three-dimensional sewn fabrics from the first sewn material M1 and the second sewn material M2.

[0148] Thus, according to this embodiment, by predicting that the stitches will not be misaligned and performing feedforward control during sewing, it is possible to sew the first and second materials in a three-dimensional manner without pre-fixing them into a three-dimensional shape.

[0149] Furthermore, in the embodiments described above, the sewing process executed by the CPU after reading the software (program) can also be executed by various processors other than the CPU. Examples of processors in this case include PLDs (Programmable Logic Devices) such as FPGAs (Field-Programmable Gate Arrays) whose circuit configuration can be changed after manufacturing, and dedicated circuits such as ASICs (Application Specific Integrated Circuits) that have circuit configurations specifically designed for performing specific processes.

[0150] Furthermore, the operation of the processor in the above embodiments can be performed not only by a single processor, but also by multiple processors located in physically separate positions in cooperation. Additionally, the order of the processor's operations is not limited to the order described in the above embodiments and can be appropriately varied.

[0151] The above examples illustrate the sewing system and control device according to the embodiments. The embodiments may also be configured such that a computer executes the functions of each component of the control device. The embodiments may also be configured such that these programs are stored on a computer-readable, non-transitory storage medium.

[0152] In addition, the structure of the control device described in the above embodiments is an example, and it can be changed according to the situation without departing from the main idea.

[0153] Furthermore, the process flow described in the above embodiments is just one example. Unnecessary steps can be deleted, new steps can be added, or the processing order can be changed without departing from the main idea.

[0154] Furthermore, while the above embodiments describe the implementation of the embodiments using a computer through software configuration by executing a program, this approach is not limiting. Embodiments may also be implemented using hardware configurations or a combination of hardware and software configurations.

Claims

1. A sewing system, comprising: The first robot, holding the first piece of material being sewn; The second robot holds the second sewn material, the shape of which is different from that of the first sewn material; A sewing device for sewing the first and second materials to be sewn together at the sewing point; The camera captures the sewing status of the sewing portions of the first and second sewing materials. as well as The control device performs image processing on the images obtained from the camera and controls the first robot, the second robot, and the sewing device. The control device includes a control unit that controls the first robot and the second robot in the following manner: The first robot feeds the first material to be sewn toward the sewing point; The second robot feeds the second material to be sewn toward the sewing point; The amount or direction of movement of each stitch relative to the first material being sewn is different from the amount or direction of movement of each stitch relative to the second material being sewn. The control device further includes a setting unit, which sets stitches of different lengths or shapes on the other sewn material relative to the stitches on one of the first sewn material and the second sewn material. While taking pictures using the camera, the control unit aligns the stitches of the first and second sewn materials at the sewing point, using the marks and ends on the first and second sewn materials as references. The control unit determines the movement speed or direction at multiple stitches for the first or second sewn material in order to correct for relative misalignment of the stitches that occurs when aligning and sewing the individual stitches. The misalignment correction is based on the image acquired by the camera, and is performed in a manner in which the movement direction of the first sewn material is tilted relative to the movement direction of the second sewn material. When correcting the misalignment of either the first or second sewn material, the robot holding the sewn material is controlled to keep the misalignment close to its target value by calculating, based on the image acquired by the camera, the tilt angle θ of the end located closest to the sewing point relative to the feed direction of the corrected sewn material, and the distance x between the sewing point and the end located closest to the sewing point. The robot's translation is 0. The robot's rotation = (θ - θi) + f(x - xi) Wherein, θi is the target value of the tilt angle θ on the stitch line of the material being corrected, xi is the target value of the distance x on the stitch line of the material being corrected, and function f is a function that converts the distance x into the tilt angle θ, wherein function f is defined as follows. x < 0, f(x) = α, x > 0, f(x) = -α, Where α is a user-defined constant.

2. The sewing system according to claim 1, wherein, The control unit controls the movement of the first robot and the second robot such that the stitches overlap at the same number of stitches and that the start and end points of the stitches are the same.

3. The sewing system according to claim 1, wherein, This indicates that the tilt angle has an upper limit. The misalignment correction is performed within the range below the upper limit value.

4. The sewing system according to claim 1, wherein, The control unit controls the movement of the first robot and the second robot based on the relative misalignment of the stitches in the upstream portion of the portion before each of the stitches is fed to the sewing point, so as to correct the misalignment of the stitches at the sewing point.

5. The sewing system according to claim 1, wherein, The control unit controls the first robot and the second robot such that the absolute value of the change in the amount or direction of movement of each consecutive stitch for each of the first and second sewn materials becomes a fixed value or less.

6. The sewing system according to claim 1, wherein, The control of the first robot and the second robot, which makes the amount or direction of movement of each stitch for the first sewn material different from the amount or direction of movement of each stitch for the second sewn material, is a control that makes the movement speed for each of the first sewn material and the second sewn material different.

7. The sewing system according to claim 1, wherein, The sewing device includes: The pressing part intermittently presses the first and second sewn materials; and The feeding unit, in conjunction with the pressing unit, intermittently feeds the first and second materials to be sewn. The control unit controls the first robot and the second robot such that the movement of either the first sewn material or the second sewn material fed by the pressing part and the feeding part is along the feeding direction of the sewing device.

8. The sewing system according to claim 1, wherein, The sewing device includes: The pressing part intermittently presses the first and second sewn materials; and The feeding unit, in conjunction with the pressing unit, intermittently feeds the first and second materials to be sewn. The control unit controls the first robot and the second robot such that at least one of the first sewn material and the second sewn material fed by the pressing part and the feeding part moves synchronously with the intermittent feeding of the feeding part.

9. The sewing system according to claim 1, wherein, The sewing device includes: The pressing part intermittently presses the first and second sewn materials; and The feeding unit, in conjunction with the pressing unit, intermittently feeds the first and second materials to be sewn. The control unit controls the first robot and the second robot so that at least one of the first sewn material and the second sewn material fed by the pressing part and the feeding part moves continuously.

10. The sewing system according to claim 1, wherein, The control of the first robot and the second robot, which makes the amount or direction of movement of each stitch with respect to the first sewn material different from the amount or direction of movement of each stitch with respect to the second sewn material, is a control that causes the second sewn material to be relatively compressed or stretched relative to the first sewn material and fed toward the sewing point.

11. The sewing system according to claim 10, wherein, The sewing device includes: The pressing part intermittently presses the first and second sewn materials; and The feeding unit, in conjunction with the pressing unit, intermittently feeds the first and second materials to be sewn. The control unit controls the first robot and the second robot in the following manner: while pressing the first or second sewn material fed by the pressing part and the feeding part toward the sewing point or stretching it away from the sewing point, the first and second sewn materials move toward the sewing point.

12. A control device included in the sewing system according to any one of claims 1 to 11.

13. A control method, a control device for controlling a first robot, a second robot, and a sewing device, The first robot holds the first material to be sewn. The second robot holds a second piece of material to be sewn, the shape of which is different from that of the first piece of material to be sewn. The sewing device sews the first and second materials to be sewn together at the sewing point. The control device performs image processing on the images obtained from the camera and controls the first robot, the second robot, and the sewing device. The camera captures the sewing status of the sewing portions of the first and second materials being sewn. The control method controls the first robot and the second robot in the following manner: The first robot feeds the first material to be sewn toward the sewing point; The second robot feeds the second material to be sewn toward the sewing point; The amount or direction of movement of each stitch relative to the first material being sewn is different from the amount or direction of movement of each stitch relative to the second material being sewn. Compared to the stitching on one of the first and second sewn materials, stitching of different lengths or shapes is applied to the other sewn material. While taking pictures using the camera, the stitches of the first and second sewn materials are aligned with the stitches of the second sewn material at the sewing point, using the marks and ends on the first and second sewn materials as references. Determine the movement speed or direction at multiple stitches for the first or second sewn material to correct for relative misalignment of stitches that occurs during the alignment and sewing of the individual stitches. The misalignment correction is based on the image acquired by the camera, and is performed in a manner in which the movement direction of the first sewn material is tilted relative to the movement direction of the second sewn material. When correcting the misalignment of either the first or second sewn material, the robot holding the sewn material is controlled to keep the misalignment close to its target value by calculating, based on the image acquired by the camera, the tilt angle θ of the end located closest to the sewing point relative to the feed direction of the corrected sewn material, and the distance x between the sewing point and the end located closest to the sewing point. The robot's translation is 0. The robot's rotation = (θ - θi) + f(x - xi) in, θi is the target value of the tilt angle θ on the stitch line of the material being corrected, xi is the target value of the distance x on the stitch line of the material being corrected, and function f is a function that converts the distance x into the tilt angle θ, wherein function f is defined as follows. x < 0, f(x) = α, x > 0, f(x) = -α, Where α is a user-defined constant.

14. A non-transitory storage medium storing a control program for a control device, said control device controlling a first robot, a second robot, and a sewing device. The first robot holds the first material to be sewn. The second robot holds a second piece of material to be sewn, the shape of which is different from that of the first piece of material to be sewn. The sewing device sews the first and second materials to be sewn together at the sewing point. The control device performs image processing on the images obtained from the camera and controls the first robot, the second robot, and the sewing device. The camera captures the sewing status of the sewing portions of the first and second materials being sewn. The control program causes the computer to control the first robot and the second robot in the following manner: The first robot feeds the first material to be sewn toward the sewing point; The second robot feeds the second material to be sewn toward the sewing point; The amount or direction of movement of each stitch relative to the first material being sewn is different from the amount or direction of movement of each stitch relative to the second material being sewn. Compared to the stitching on one of the first and second sewn materials, stitching of different lengths or shapes is applied to the other sewn material. While taking pictures using the camera, the stitches of the first and second sewn materials are aligned with the stitches of the second sewn material at the sewing point, using the marks and ends on the first and second sewn materials as references. Determine the movement speed or direction at multiple stitches for the first or second sewn material to correct for relative misalignment of stitches that occurs during the alignment and sewing of the individual stitches. The misalignment correction is based on the image acquired by the camera, and is performed in a manner in which the movement direction of the first sewn material is tilted relative to the movement direction of the second sewn material. When correcting the misalignment of either the first or second sewn material, the robot holding the sewn material is controlled to keep the misalignment close to its target value by calculating, based on the image acquired by the camera, the tilt angle θ of the end located closest to the sewing point relative to the feed direction of the corrected sewn material, and the distance x between the sewing point and the end located closest to the sewing point. The robot's translation is 0. The robot's rotation = (θ - θi) + f(x - xi) in, θi is the target value of the tilt angle θ on the stitch line of the material being corrected, xi is the target value of the distance x on the stitch line of the material being corrected, and function f is a function that converts the distance x into the tilt angle θ, wherein function f is defined as follows. x < 0, f(x) = α, x > 0, f(x) = -α, Where α is a user-defined constant.

15. A method for manufacturing a sewn fabric, performed by any one of claims 1 to 11, wherein, The first robot, the second robot, and the sewing device manufacture a three-dimensional sewn object from the first sewn material and the second sewn material under the control of the control device.

Images