Sewing system, control device, control method, control program, non-temporary storage medium, and method for manufacturing sewn goods.

Abstract

To three-dimensionally sew a sewn material without fixing the sewn material before being sewn in a three-dimensional shape.SOLUTION: A control device 10 controls a first robot 20 and a second robot 60 so that the first robot 20 feeds a first sewn material M1 to a sewing point, the second robot 60 feeds a second sewn material M2 to the sewing point, and movement amount or movement direction per seam is different for the first sewn material M1 and the second sewn material M2, respectively.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a sewing system, a control device, a control method, a control program, a non-temporary storage medium, and a method for manufacturing a sewn product.

Background Art

[0002] For example, Patent Document 1 describes a sewing system in which a sewing machine is mounted on a robot arm. This sewing system includes a sewing machine, a camera that photographs a reference position for sewing, a robot arm that holds the sewing machine and the camera, and a control device. The control device forms a first needle drop position due to the needle drop of the sewing machine, rotates the sewing machine at a specified angle around a rotation axis passing through the needle center position stored in the control device, and then performs operation control to form a second needle drop position due to the needle drop of the sewing machine. Further, a calibration process for calibrating the needle center position stored in the control device is executed based on the positions of the first needle drop position and the second needle drop position within the imaging range of the captured image obtained by photographing the first needle drop position and the second needle drop position with the camera.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

[0005] In view of the above points, the present disclosure has been made, and an object thereof is to provide a sewing system, a control device, a control method, a control program, a non-temporary storage medium, and a method for manufacturing a sewn product that can sew a material to be sewn three-dimensionally without fixing the material to be sewn before sewing in a three-dimensional shape. [Means for solving the problem]

[0006] To achieve the above objective, a sewing system according to the first embodiment includes a first robot for holding a first workpiece, a second robot for holding a second workpiece, a sewing device for sewing the first workpiece and the second workpiece superimposed at a sewing point, and a control device for controlling the first robot, the second robot, and the sewing device, wherein the control device includes a control unit that controls the first robot to feed the first workpiece to the sewing point, the second robot to feed the second workpiece to the sewing point, and controls the first robot and the second robot so that the amount of movement or direction of movement per stitch is different for the first workpiece and the second workpiece, respectively.

[0007] According to this embodiment, the materials to be sewn can be sewn into a three-dimensional shape without having to fix the materials to be sewn into a three-dimensional shape beforehand. For example, if the finished seams form a curved surface with overlapping edges, the spacing of the stitches appearing on the side of the materials to be sewn that has a larger radius of curvature will be relatively longer than the spacing of the stitches appearing on the side of the materials to be sewn that has a smaller radius of curvature.

[0008] Furthermore, the control device may further include a setting unit for setting a stitch line of a different length or shape on the other workpiece for a stitch line on one of the first workpieces and the second workpiece, and the control unit may control the movement of the first robot and the second robot so that the start and end points of each stitch line coincide, while overlapping each stitch line with the same number of stitches.

[0009] However, a seam line is a line connecting multiple consecutive seams.

[0010] According to this embodiment, by varying the amount or direction of movement of multiple stitches, the material to be sewn by multiple connected stitches can be sewn to form a three-dimensional shape. Furthermore, the multiple connected stitch lines of the resulting three-dimensional shape include three-dimensional curves and curves on a two-dimensional plane that become part of a curved surface. Pre-setting the stitch lines reduces the processing burden during sewing.

[0011] Furthermore, the control device may further include a setting unit for setting a stitch line of a different length or shape on the other workpiece relative to the stitch line on one of the first workpieces and the second workpiece, and the control unit may determine the moving speed or direction of the first workpiece or the second workpiece to correct any relative misalignment of the stitch lines that occurs when the respective stitch lines are aligned and sewn together.

[0012] Correcting misalignment includes correcting the entire amount of misalignment in the next seam, as well as correcting a portion of the misalignment at a time and correcting across multiple seams. According to this embodiment, the deviation from the planned seam line can be reduced by correcting the misalignment when it occurs.

[0013] Furthermore, the correction of the positional misalignment may be performed such that the direction of movement of the first sewn material and the direction of movement of the second sewn material are relatively inclined.

[0014] However, the inclination includes cases where the directions of movement for each of the overlapping materials to be sewn at the sewing point are included in a plane perpendicular to the direction in which the thread passes through, and where they form acute angles with each other.

[0015] According to this embodiment, since the stitching is not moved in a perpendicular direction, it is possible to avoid the stitching becoming staircase-like.

[0016] Furthermore, an upper limit may be set for the angle representing the inclination, and the correction of the positional misalignment may be performed within a range less than or equal to the upper limit.

[0017] According to this embodiment, since the seam is not abruptly changed at a single stitch, it is possible to avoid the seam line becoming meandering or lumpy.

[0018] Furthermore, the control device may further include a setting unit for setting a stitch line of a different length or shape on the other workpiece for a stitch line on one of the first workpieces and the second workpiece, and the control unit may control the movement of the first robot and the second robot, respectively, based on the relative positional displacement of the stitch line in the upstream portion, which represents the portion of each stitch line before it is sent to the sewing point, so that the positional displacement of the stitch line is corrected at the sewing point.

[0019] According to this embodiment, since the misalignment of the seam line is corrected before it occurs, the deviation from the set seam line can be reduced.

[0020] Furthermore, the control unit may control the first robot and the second robot so that the absolute value of the change in the amount of movement or direction of movement per continuous stitch for each of the first and second workpieces is less than or equal to a certain value.

[0021] According to this embodiment, since wrinkles are more likely to form the greater the degree of change in the amount or direction of movement at a single seam, the changes can be distributed across multiple seams to reduce and prevent wrinkles, and the seams can be made to connect smoothly.

[0022] Furthermore, the control of the first robot and the second robot, which have different amounts of movement or directions of movement per stitch for the first and second workpieces, may be such that the movement speeds for the first and second workpieces are different.

[0023] However, velocity in the context of movement speed is a vector that includes both speed and direction.

[0024] According to this aspect, control may be facilitated and simplified by varying the amount of movement or the direction of movement per stitch according to the difference in the moving speed.

[0025] Further, the sewing apparatus includes a pressing portion that intermittently presses the first workpiece to be sewn and the second workpiece to be sewn, and a feeding portion that intermittently feeds the first workpiece to be sewn and the second workpiece to be sewn in conjunction with the pressing portion. The control unit may control the first robot and the second robot so that the movement of either the first workpiece to be sewn or the second workpiece to be sewn fed by the pressing portion and the feeding portion follows the feeding direction of the sewing apparatus.

[0026] The pressing portion includes a case where, when the sewing needle is moved downward and pierced into the first workpiece to be sewn and the second workpiece to be sewn, the first workpiece to be sewn and the second workpiece to be sewn are pushed down from above in the vicinity of the position through which the sewing needle passes so that the first workpiece to be sewn and the second workpiece to be sewn do not float, and the first workpiece to be sewn and the second workpiece to be sewn are sandwiched between the table surface below the first workpiece to be sewn and the second workpiece to be sewn. Further, it includes a case where the floating of the first workpiece to be sewn and the second workpiece to be sewn is suppressed when the sewing needle is moved upward and pulled out from the first workpiece to be sewn and the second workpiece to be sewn. Further, the pressing portion includes a case where, after moving the sewing needle up and down, it moves upward and releases the pressing state while the first workpiece to be sewn and the second workpiece to be sewn are being fed. The feeding portion includes a case where, in conjunction with the pressing portion, after passing the thread through the first workpiece to be sewn and the second workpiece to be sewn with the sewing needle, the first workpiece to be sewn and the second workpiece to be sewn are fed in the sewing direction by the distance of the stitch while the sewing needle is separated from the first workpiece to be sewn and the second workpiece to be sewn.

[0027] According to this aspect, since the movement of the workpiece to be sewn by the feeding portion of the sewing apparatus can be made common, the control burden is reduced.

[0028] Furthermore, the sewing apparatus may include a presser foot that intermittently presses the first workpiece and the second workpiece, and a feeder that intermittently feeds the first workpiece and the second workpiece in conjunction with the presser foot, and the control unit may control the first robot and the second robot so that at least one of the first workpiece and the second workpiece fed by the presser foot and the feeder moves in synchronization with the intermittent feeding timing of the feeder.

[0029] According to this embodiment, it is possible to sew a three-dimensional shape when there is a presser foot and a feed foot that operate intermittently.

[0030] Furthermore, the sewing apparatus may include a presser foot that intermittently presses the first workpiece and the second workpiece, and a feeder that intermittently feeds the first workpiece and the second workpiece in conjunction with the presser foot, and the control unit may control the first robot and the second robot so that at least one of the first workpiece and the second workpiece fed by the presser foot and the feeder moves continuously.

[0031] According to this embodiment, when moving continuously, the flexibility and slipperiness of the material being sewn can be utilized to simplify control.

[0032] Furthermore, the control of the first robot and the second robot, which have different amounts of movement or directions of movement per stitch for the first and second workpieces, may be such that the second workpiece is compressed or stretched relative to the first workpiece and sent to the sewing point.

[0033] However, the direction of compression or stretching should be such that it curves along the three-dimensional shape of the finished garment. In addition to compressing or stretching along the intended feed direction for sewing, compression or stretching may also be performed in a direction inclined with respect to the feed direction. This includes cases where the material to be sewn is held in a compressed or stretched state and then sewn by the sewing machine. In addition to supplying the sewing point with one side compressed or stretched, the degree of compression or stretching of both sides may be different.

[0034] According to this embodiment, the material to be sewn can be sewn into a three-dimensional shape without having to fix the material to be sewn into a three-dimensional shape beforehand.

[0035] Furthermore, the sewing apparatus may include a presser foot that intermittently presses the first workpiece and the second workpiece, and a feeder that intermittently feeds the first workpiece and the second workpiece in conjunction with the presser foot, and the control unit may control the first robot and the second robot to move the first workpiece and the second workpiece, which are fed by the presser foot and the feeder, to the sewing point while pressing them toward the sewing point or pulling them toward the sewing point.

[0036] According to this embodiment, there is no need to compress or stretch the material to be sewn in advance, thus simplifying the holding process.

[0037] The control device according to the second embodiment is a control device included in the sewing system described above.

[0038] A control method according to a third embodiment is a control method for a control device that controls a first robot that holds a first workpiece, a second robot that holds a second workpiece, and a sewing device that sews the first workpiece and the second workpiece that are stacked at a sewing point, wherein the first robot sends the first workpiece to the sewing point, the second robot sends the second workpiece to the sewing point, and the first robot and the second robot are controlled so that the amount of movement or direction of movement per stitch is different for each of the first workpiece and the second workpiece.

[0039] The control program according to the fourth embodiment is a control program for a control device that controls a first robot that holds a first workpiece, a second robot that holds a second workpiece, and a sewing device that sews the first workpiece and the second workpiece that are stacked at a sewing point, wherein the control program causes a computer to control the first robot to send the first workpiece to the sewing point, the second robot to send the second workpiece to the sewing point, and the first robot and the second robot to control each of the first and second workpieces so that the amount of movement or direction of movement per stitch is different for each of the first and second workpieces.

[0040] The non-temporary storage medium according to the fifth embodiment is a non-temporary storage medium that stores a control program for a control device that controls a first robot that holds a first workpiece, a second robot that holds a second workpiece, and a sewing device that sews the first workpiece and the second workpiece that are stacked at a sewing point, wherein the control program causes a computer to execute the following: the first robot sends the first workpiece to the sewing point, the second robot sends the second workpiece to the sewing point, and controls the first robot and the second robot so that the amount of movement or direction of movement per stitch is different for each of the first workpiece and the second workpiece.

[0041] A sewing method according to the sixth embodiment is a sewing method using the sewing system described above, wherein the first robot, the second robot, and the sewing device manufacture a three-dimensional sewing product from the first workpiece and the second workpiece in accordance with the control of the control device. [Effects of the Invention]

[0042] According to this disclosure, it is possible to sew a material to be sewn in a three-dimensional shape without fixing the material to be sewn in a three-dimensional shape before sewing. [Brief explanation of the drawing]

[0043] [Figure 1] This figure shows an example of the configuration of a sewing system according to the first embodiment. [Figure 2]This is a block diagram showing an example of the electrical configuration of a control device according to the first embodiment. [Figure 3] This is a block diagram showing an example of the functional configuration of a control device according to the first embodiment. [Figure 4] This figure shows an example of a first seam line and a second seam line according to the embodiment. [Figure 5] This figure illustrates the trace control of the first and second sewn materials according to the embodiment. [Figure 6] A flowchart illustrating an example of the processing flow by the control program according to the first embodiment. [Figure 7] This is a block diagram showing an example of the functional configuration of a control device according to the second embodiment. [Figure 8] This figure illustrates the correction of misalignment between the first and second sewn materials in the embodiment. [Figure 9] (A) is a schematic diagram showing the positional misalignment correction according to the comparative example, and (B) is a schematic diagram showing the positional misalignment correction according to the embodiment. [Figure 10] This flowchart shows an example of the processing flow by the control program according to the second embodiment. [Figure 11] This is a block diagram showing an example of the functional configuration of a control device according to the third embodiment. [Figure 12] This flowchart shows an example of the processing flow by the control program according to the third embodiment. [Modes for carrying out the invention]

[0044] Hereinafter, an example of an embodiment for carrying out the technology of this disclosure will be described in detail with reference to the drawings. Components and processes that perform the same operation, action, or function are given the same reference numerals throughout the drawings, and redundant explanations may be omitted as appropriate. Each drawing is only a schematic representation to the extent that the technology of this disclosure can be fully understood. Therefore, the technology of this disclosure is not limited to the illustrated examples. Furthermore, in this embodiment, explanations of configurations not directly related to the technology of this disclosure or well-known configurations may be omitted.

[0045] [First Embodiment] Figure 1 shows an example of the configuration of the sewing system 100 according to the first embodiment.

[0046] The sewing system 100 shown in Figure 1 comprises 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 workpiece M1 and a second workpiece M2 using the first robot 20, the second robot 60, and the sewing machine 30. The first workpiece M1 and the second workpiece M2 are not particularly limited as long as they are made of a material that a sewing machine needle can penetrate, but for example, they are made of flexible materials such as cloth or leather. In Figure 1, the Y direction indicates the depth direction 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.

[0047] The sewing machine 30 is installed on the sewing machine table 50. The sewing machine 30 comprises a sewing machine body 31, a sewing machine control mechanism 32, a sewing machine needle 33, a presser foot 34, and a feed mechanism 35. The sewing machine body 31 moves the sewing machine needle 33 up and down at a fixed position (sewing point) to sew the first workpiece M1 and the second workpiece M2, which are placed on top of each other on the sewing machine table 50. The sewing point is, for example, the position where the sewing machine needle 33 of the sewing machine 30 pierces the first workpiece M1 and the second workpiece M2 when it is lowered to sew. The sewing point may also be the position where the sewing machine needle 33 passes over the upper surface of the sewing machine table 50 on which the first workpiece M1 and the second workpiece M2 are placed at the moment of sewing. The sewing machine control mechanism 32 is, for example, a motor, and when a sewing machine command signal for instructing the feed speed of the sewing machine 30 is input from the control device 10, it can adjust the speed of the up-and-down movement of the sewing machine needle 33 based on the sewing machine command signal.

[0048] The sewing machine 30 has a feeding mechanism for the first workpiece M1 and the second workpiece M2, and an operating mechanism for the sewing needle 33. These mechanisms operate in conjunction at a constant ratio speed by the same motor. In actual operation, the up-and-down movement of the sewing needle 33 (sewing motion) and the feeding motion of the first workpiece M1 and the second workpiece M2 occur alternately. The presser foot 34 intermittently presses down on the first workpiece M1 and the second workpiece M2 to prevent them from lifting. In other words, when the sewing needle 33 is moved downward to insert into the first and second workpieces M1 and M2, the presser foot 34 pushes down on the first and second workpieces M1 and M2 from above near the point where the sewing needle 33 passes, so as to prevent the first and second workpieces M1 and M2 from lifting, and clamps them between the presser foot 34 and the table surface below them. Also, when the sewing needle 33 is moved upward to withdraw from the first and second workpieces M1 and M2, the presser foot 34 suppresses the lifting of the first and second workpieces M1 and M2. Furthermore, after the sewing needle 33 has moved up and down, the presser foot 34 moves upward while the first and second workpieces M1 and M2 are being fed, releasing the presser foot. The feed unit 35 is configured as the feed mechanism described above and, in conjunction with the presser foot unit 34, after the sewing needle 33 has passed the thread through the first workpiece M1 and the second workpiece M2, it feeds the first workpiece M1 and the second workpiece M2 in the sewing direction by the distance of the stitch while the sewing needle 33 is separated from the first workpiece M1 and the second workpiece M2.

[0049] The sewing machine 30 performs an intermittent feed operation while intermittently pressing the first workpiece M1 and the second workpiece M2 with the presser foot 34 and the feed unit 35. In this embodiment, the feed speed of the sewing machine 30 is the speed at which the sewing machine 30 feeds the first workpiece M1 and the second workpiece M2. For example, this may be the feed speed of the feed unit 35, the speed of the sewing machine needle 33 which moves in synchronization with the speed of the motor of the sewing machine 30, or the average speed of these. Alternatively, it may be the speed during the intermittent feed operation, taking into account the movement and stopping during the intermittent feed operation, or it may be the average speed of the entire operation.

[0050] The sewing machine 30 feeds the first workpiece M1 held by the first robot 20 and the second workpiece M2 held by the second robot 60 to the sewing point and sews the first workpiece M1 and the second workpiece M2 that overlap at the sewing point.

[0051] The first robot 20 holds the first workpiece M1. The first robot 20 comprises a support base 21, a robot controller 22, a robot arm 23, and a robot hand 24. The robot hand 24 is located at the tip of the first robot 20. The robot arm 23 is a multi-jointed arm, with the support base 21 connected to one end and the robot hand 24 connected to the other end. The support base 21 supports the robot arm 23 and houses the robot controller 22. The robot hand 24 holds and moves the first workpiece M1, which is placed on the sewing machine table 50, while supplying it to the sewing machine needle 33 of the sewing machine 30. Alternatively, the robot hand 24 may slide the first workpiece M1 on the sewing machine table 50 while supplying it to the sewing machine needle 33 of the sewing machine 30.

[0052] When the robot controller 22 receives a robot command signal from the control device 10 to instruct the operation of the first robot 20, it operates the robot arm 23 and the robot hand 24 based on the robot command signal. As a result, the first workpiece M1 on the sewing machine table 50 is held by the robot hand 24. In this state, the robot hand 24 moves in the direction that moves the first workpiece M1, causing the first workpiece M1 to move on the sewing machine table 50 and move relative to the sewing machine needle 33 of the sewing machine 30.

[0053] The second robot 60 holds the second workpiece M2. The second robot 60 comprises a support base 61, a robot controller 62, a robot arm 63, and a robot hand 64. The robot hand 64 is located at the tip of the second robot 60. The robot arm 63 is a multi-jointed arm, with the support base 61 connected to one end and the robot hand 64 connected to the other end. The support base 61 supports the robot arm 63 and houses the robot controller 62. The robot hand 64 holds and moves the second workpiece M2, which is placed on the sewing machine table 50, while supplying it to the sewing machine needle 33 of the sewing machine 30. Alternatively, the robot hand 64 may slide the second workpiece M2 on the sewing machine table 50 while supplying it to the sewing machine needle 33 of the sewing machine 30.

[0054] When the robot controller 62 receives a robot command signal from the control device 10 to instruct the operation of the second robot 60, it operates the robot arm 63 and the robot hand 64 based on the robot command signal. As a result, the second workpiece M2 on the sewing machine table 50 is held by the robot hand 64. In this state, the robot hand 64 moves in the direction that moves the second workpiece M2, causing the second workpiece M2 to move on the sewing machine table 50 and move relative to the sewing machine needle 33 of the sewing machine 30.

[0055] In other words, the robot hand unit 24 holds and moves the first workpiece M1, and the robot hand unit 64 holds and moves the second workpiece M2. In the example in Figure 1, the first robot 20 holds the first workpiece M1 so that it is positioned below the second workpiece M2 at the sewing point, and the second robot 60 controls the robot to hold the second workpiece M2 so that it is positioned above the first workpiece M1 at the sewing point. Note that the two workpieces can be held in a stacked state by either stacking them in the preparation stage beforehand and then having the robot hold them, or the robot can hold each workpiece individually and then move to stack them.

[0056] Camera 40 is a camera that photographs the sewing of the first workpiece M1 and the second workpiece M2, which are placed on the sewing machine table 50, from above, to photograph the sewing state of the sewing of the first workpiece M1 and the second workpiece M2. However, the installation position of camera 40, the installation position of the first robot 20, the installation position of the second robot 60, and the installation position of the sewing machine 30 are maintained in a fixed positional relationship. In addition, a camera that photographs from below may be added to photograph the first workpiece M1 and the second workpiece M2 from below.

[0057] The control device 10 is connected to the first robot 20, the second robot 60, the sewing machine 30, and the camera 40. It performs image processing on 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 a general-purpose computer device such as a personal computer (PC).

[0058] Figure 2 is a block diagram showing an example of the electrical configuration of the control device 10 according to the first embodiment.

[0059] As shown in Figure 2, 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.

[0060] The CPU 11, ROM 12, RAM 13, and I / O 14 are connected to each other via a bus. Each functional unit, including the storage unit 15 and the connection unit 16, is connected to the I / O 14. These functional units are capable of communicating with the CPU 11 via the I / O 14.

[0061] The control unit is comprised of a CPU 11, ROM 12, RAM 13, and I / O 14. The control unit may be configured as a sub-control unit that controls the operation of a part of the control device 10, or as part of a main control unit that controls the operation of the entire control device 10. Integrated circuits or IC chipsets, such as LSIs (Large Scale Integrations), are used in part or all of each block of the control unit. Individual circuits may be used for each of the above blocks, or circuits that integrate part or all of them may be used. The above blocks may be provided as a single unit, or some of the blocks may be provided separately. Furthermore, parts of each of the above blocks may be provided separately. For the integration of the control unit, dedicated circuits or general-purpose processors may be used, not limited to LSIs.

[0062] For example, the storage unit 15 can be 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. This control program 15A may also be stored in the ROM 12.

[0063] The control program 15A may, for example, be pre-installed in the control device 10. The control program 15A may also be implemented by storing it on a non-volatile non-temporary storage medium or by distributing it via a network and installing it on the control device 10 as appropriate. Examples of non-volatile non-temporary storage mediums include CD-ROMs (Compact Disc Read Only Memory), magneto-optical disks, HDDs, DVD-ROMs (Digital Versatile Disc Read Only Memory), flash memory, and memory cards.

[0064] The connection section 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.

[0065] Incidentally, when sewing materials in a three-dimensional shape, it was common practice to pre-shape and fix the materials in place so that they could be sewn together. For this purpose, a mold was sometimes prepared, and the materials to be sewn were attached to it.

[0066] In contrast, the sewing system 100 according to this embodiment does not require pre-arranging the materials in a fixed three-dimensional shape, and the first robot 20, the second robot 60, and the sewing machine 30 are controlled to enable three-dimensional sewing of the first workpiece M1 and the second workpiece M2.

[0067] In this embodiment, when performing three-dimensional sewing, a pre-set seam line on the first workpiece M1 (hereinafter referred to as the "first seam line") and a pre-set seam line on the second workpiece M2 (hereinafter referred to as the "second seam line") are overlapped and sewn together. Control of three-dimensional sewing includes trace control, which performs sewing according to predetermined conditions to enable sewing of a three-dimensional shape; feedback control, which performs sewing while correcting for misalignment of the seam line; and feedforward control, which performs sewing by predicting that the seam line will not be misaligned. In this embodiment, trace control will be described below.

[0068] Specifically, the CPU 11 of the control device 10 according to the first embodiment functions as the various parts shown in Figure 3 by writing the control program 15A stored in the memory unit 15 to the RAM 13 and executing it.

[0069] Figure 3 is a block diagram showing an example of the functional configuration of the control device 10 according to the first embodiment.

[0070] As shown in Figure 3, the CPU 11 of the control device 10 according to this embodiment functions as a setting unit 11A and a control unit 11B.

[0071] The setting unit 11A sets a first seam line on the first workpiece M1 and a second seam line on the second workpiece M2. Note that the setting target may be either the first or second seam line. The length or shape of the first seam line differs from that of the second seam line. Each of the first and second seam lines is represented as a set of consecutive points. This set of consecutive points corresponds to a stitch. In other words, the stitches of the first and second seam lines are set so that sewing the stitches of the first and second seam lines together creates a predetermined three-dimensional shape. Each of the first and second seam lines is set, for example, by displaying images obtained by photographing the sewing portions of the first workpiece M1 and the second workpiece M2 with the camera 40 on a monitor. The stitches of the first and second seam lines can be represented as two-dimensional or three-dimensional coordinates, for example, based on markers or edges on the material being sewn. Specifically, the control device 10 is equipped with an input device such as a mouse or keyboard, which can be used to input various sewing conditions, such as the sewing range (start and end points of sewing), seam allowance (distance from the edge), and stitch pitch. This allows appropriate seam lines to be set for each of the first and second materials being sewn, M1 and M2.

[0072] Figure 4 shows an example of the first seam line L1 and the second seam line L2 according to this embodiment.

[0073] As shown in Figure 4, the length or shape of the first seam line L1 set on the first workpiece M1 differs from the length or shape of the second seam line L2 set on the second workpiece M2. The first seam line L1 is represented as a set of multiple stitches a1 to a7. Similarly, the second seam line L2 is represented as a set of multiple stitches b1 to b7. The multiple stitches a1 to a7 of the first seam line L1 and the multiple stitches b1 to b7 of the second seam line L2 are set so that sewing them together results in a predetermined three-dimensional shape. Note that in Figure 4, the differences in length and shape are exaggerated for clarity. In reality, the differences are slight to the eye, and the difference per stitch is especially small, but this difference is what creates the three-dimensional shape when sewn together.

[0074] The control unit 11B outputs a robot command signal to the robot controller 22 to instruct the operation of the first robot 20, a robot command signal to the robot controller 62 to instruct the operation of the second robot 60, and a sewing machine command signal to the sewing machine control mechanism 32 to instruct the feed speed of the sewing machine 30. When the control unit 11B feeds the first workpiece M1 and the second workpiece M2 to the sewing point, it controls the first robot 20 and the second robot 60 so that the amount of movement or direction of movement per stitch is different for each of the first workpiece M1 and the second workpiece M2. Here, different amounts of movement or directions of movement per stitch include, for example, different movement speeds for each of the first workpiece M1 and the second workpiece M2. In other words, there should be a difference in the relative speeds of movement. In this case, for example, the control unit 11B may control the first robot 20 and the second robot 60 so that the movement of either the first workpiece M1 or the second workpiece M2, which is fed by the presser foot 34 and the feed unit 35, is along the feed direction of the sewing machine 30.

[0075] Figure 5 is a diagram illustrating the trace control of the first and second sewn materials M1 and M2 according to this embodiment.

[0076] As shown in Figure 5, the control unit 11B controls the movement of the first robot 20 and the second robot 60 so that the start and end points of the stitch lines L1 and L2, set by the setting unit 11A, coincide, while overlapping them with the same number of stitches. In trace control, stitches are pre-set on the first workpiece M1 and the second workpiece M2 so that the finished stitching will form a three-dimensional shape.

[0077] In other words, the starting point of seam line L1, seam a1, and the starting point of seam line L2, seam b1, are overlapped at sewing point P and sewn together. Similarly, seams a2-a6 of seam line L1 and seams b2-b6 of seam line L2 are overlapped sequentially at sewing point P and sewn together. Finally, the ending point of seam line L1, seam a7, and the ending point of seam line L2, seam b7, are overlapped at sewing point P and sewn together. As a result, the finished product will have a three-dimensional shape. Instead of defining the seam line as a set of points that form seams as described above, it may be defined as a line that passes through all of these seams. In this case, the starting point is defined as the first seam, the ending point as the last seam, and control is applied to move along the seam line at a speed corresponding to the length of the line.

[0078] Here, "different amount of movement or direction of movement per stitch" includes compressing or stretching the second workpiece M2 relative to the first workpiece M1. In other words, by compressing or stretching at least one of the first workpiece M1 and the second workpiece M2 during sewing, the sewing process is controlled to result in a three-dimensional shape. This also includes a method in which the second workpiece M2 is held in a state of relative compression or stretching relative to the first workpiece M1, and the first workpiece M1 is moved relative to the second workpiece M2 during sewing. The direction of compression or stretching is, for example, a direction that curves along the three-dimensional shape surface when the sewing is completed. In addition to compressing or stretching along the intended feed direction for sewing, compression or stretching may also be performed in a direction inclined with respect to the feed direction. Furthermore, this includes a method in which the first workpiece M1 and the second workpiece M2 are held in a compressed or stretched state and sewn with the sewing machine 30. In addition to compressing or stretching one of the first material to be sewn M1 and the second material to be sewn M2 and supplying it to the sewing point P, the degree of compression or stretching of both materials may be different.

[0079] In this case, as an example, the control unit 11B controls the first robot 20 and the second robot 60 to move the first workpiece M1 and the second workpiece M2 to the sewing point P by pressing them toward the sewing point P, which are being fed by the presser foot 34 and the feed unit 35 (compression), or by pulling them toward the sewing point P (extension). In other words, when the first workpiece M1 or the second workpiece M2 is moved, the presser foot 34 compresses or extends the first workpiece M1 or the second workpiece M2, and the first workpiece M1 or the second workpiece M2 is supplied to the sewing point P in a compressed or extended state. As a result, a three-dimensional shape can be formed when the sewing is completed.

[0080] Furthermore, the control unit 11B may control the first robot 20 and the second robot 60 so that the absolute value of the change in the amount of movement or direction of movement per continuous stitch for each of the first workpiece M1 and the second workpiece M2 is less than or equal to a certain value. The user can set an appropriate value for this certain value. In other words, the sewing is performed three-dimensionally so that the change in the amount of movement or direction of movement per stitch is relatively small. The larger the degree of change in the amount of movement or direction of movement in a single stitch, the more likely wrinkles are to form. Therefore, by reducing the change in a single stitch and distributing the change across multiple stitches, it is possible to sew a smooth seam that is less prone to wrinkles.

[0081] Furthermore, the control unit 11B may control the first robot and the second robot so that at least one of the first workpiece M1 and the second workpiece M2, which are fed by the presser foot 34 and the feed foot 35, moves in synchronization with the intermittent feeding timing of the feed foot 35.

[0082] Furthermore, the control unit 11B may control the first robot 20 and the second robot 60 so that at least one of the first workpiece M1 and the second workpiece M2, which are fed by the presser foot 34 and the feed foot 35, moves continuously.

[0083] Next, with reference to Figure 6, the operation of the control device 10 according to the first embodiment will be described.

[0084] Figure 6 is a flowchart showing an example of the processing flow by the control program 15A according to the first embodiment. The example in Figure 6 describes the case of trace control of the first sewn material M1 and the second sewn material M2.

[0085] First, when the control device 10 is instructed to perform trace control of the first sewing material M1 and the second sewing material M2, the CPU 11 starts the control program 15A and executes the following steps.

[0086] In step S101 of Figure 6, the CPU 11 aligns the starting point of seam line L1, which is seam a1, and the starting point of seam line L2, which is seam b1, at the sewing point P, as shown in Figure 5 above. Here, the starting points may be aligned in advance by the user, or they may be aligned by positioning the starting points based on a mark on the material to be sewn while taking a picture with the camera 40.

[0087] In step S102, the CPU 11 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, the alignment of the next stitch is performed based on the distance from the edge of the material to be sewn, as well as the distance from the starting point, the sewn thread, or the stitch.

[0088] In step S103, the CPU 11 determines whether the end point of seam a7, which is the endpoint of seam line L1, and the end point of seam b7, which is the endpoint of seam line L2, have been aligned at sewing point P. Here, the alignment of the endpoints may be done by positioning the endpoints based on a mark on the material being sewn while taking a picture with the camera 40. If it is determined that seam a7 and seam b7 have not been aligned (negative determination), the process returns to step S102 and is repeated. If it is determined that seam a7 and seam b7 have been aligned (positive determination), the series of processes by this control program 15A is terminated. Alternatively, the process may be terminated when sewing is completed for a predetermined number of seams.

[0089] Alternatively, this may be a method for manufacturing sewn products using the sewing system 100. In other words, the first robot 20, the second robot 60, and the sewing machine 30 manufacture a three-dimensional sewn product from the first workpiece M1 and the second workpiece M2 in accordance with the trace control by the control device 10 described above.

[0090] As described above, according to this embodiment, by performing sewing according to predetermined conditions that enable sewing into a three-dimensional shape, the first and second materials to be sewn can be sewn in a three-dimensional manner without having to fix the first and second materials to be sewn into a three-dimensional shape in advance.

[0091] [Second Embodiment] In the second embodiment, a form of feedback control that performs sewing while correcting misalignment of the seam line will be described.

[0092] Figure 7 is a block diagram showing an example of the functional configuration of the control device 10A according to the second embodiment.

[0093] As shown in Figure 7, the CPU 11 of the control device 10A according to this embodiment functions as a setting unit 11A and a control unit 11C. The same reference numerals are used for components that are the same as those of the control device 10 described in the first embodiment, and repeated explanations are omitted.

[0094] The control unit 11C determines the movement speed or direction of the first workpiece M1 or the second workpiece M2 to correct the relative positional misalignment of the seams that occurs when sewing together the respective seam lines set by the setting unit 11A. The correction of the positional misalignment is performed, for example, by ensuring that the movement direction of the first workpiece M1 and the movement direction of the second workpiece M2 have a relative inclination. In feedback control, the seam line only needs to be a line with a defined start and end point, and does not necessarily have to be a set of discrete points (seams). The positional misalignment correction of the first workpiece M1 and the second workpiece M2 will be specifically explained below with reference to Figure 8.

[0095] Figure 8 is a diagram illustrating the positional misalignment correction of the first and second sewn materials M1 and M2 in this embodiment. Although the first sewn material M1 is not shown in Figure 8, the same positional misalignment correction can be performed on the first sewn material M1 as well.

[0096] As shown in Figure 8, if the sewing point P is located at a position offset from the second seam line L2, attempting to directly move the second workpiece M2 in the X direction to correct the misalignment is difficult because it is held down by the presser foot 34 of the sewing machine 30. Furthermore, if the workpiece is moved rapidly and with a large displacement in the X direction while the presser foot 34 is raised, the stitches will become staircase-like, which is undesirable.

[0097] Therefore, the camera 40 captures the second workpiece M2, and from the image obtained, the inclination (=θ) of the edge portion Ed located closest to the sewing point P of the sewing machine 30, and the distance (=x) between the sewing point P of the sewing machine 30 and the edge portion Ed located closest to the sewing point P are calculated. Then, the second robot 60 is controlled so that the inclination θ and distance x each approach their respective target values. Specifically, the control is performed as follows.

[0098] Robot translation (X direction) = 0 (no movement) Robot rotation = (θ-θi)+f(x-xi)

[0099] However, θi represents the target value of the slope θ, and xi represents the target value of the distance x. These target values ​​θi and xi are assumed to be values ​​on the second seam line L2. Function f is a function that converts the distance x to the slope θ. Function f is defined, for example, as follows:

[0100] x < 0, f(x) = α (user-defined constant) x > 0, f(x) = -α (user-defined constant)

[0101] In other words, when the distance x is less than 0, the user-defined constant α is positive, and when the distance x is greater than 0, the user-defined constant α is negative. If the user-defined constant α is large, the control returns to the original stitch line abruptly, and if the user-defined constant α is small, the control returns to the original stitch line gradually. The user-defined constant α is stored in advance in the memory unit 15, for example.

[0102] In the robot control for positional displacement correction according to this embodiment, the second robot 60 is controlled to move in the rotational direction, but not in the translational direction (X direction). However, it is desirable that the tilt θ of the rotational movement be less than 90 degrees.

[0103] Furthermore, an upper limit may be set in advance for the angle representing the inclination θ of the second stitched material M2. In this case, the positional misalignment correction is performed within a range below the upper limit. This allows for relatively smooth positional misalignment correction across multiple seams without large rotations at once. Large rotations at once are undesirable because they can result in meandering or bumpy stitches.

[0104] Figure 9(A) schematically shows the positional misalignment correction according to a comparative example, and Figure 9(B) schematically shows the positional misalignment correction according to the present embodiment.

[0105] In the comparative example shown in Figure 9(A), if a misalignment of the sewing point P occurs in the material to be sewn M, the material to be sewn M is pressed in that direction to return it to the target seam line L. In this case, the material to be sewn M may only bend and not move at all, or even if it moves, there is a risk of misalignment.

[0106] In contrast, in the example shown in Figure 9(B), the sewing point P of the material to be sewn is controlled to return the material to be sewn to the target stitch line L by rotating the material M in a predetermined rotational direction. Because the sewing machine needle rotates in a predetermined rotational direction, it is possible to return to the target stitch line L smoothly.

[0107] Next, with reference to Figure 10, the operation of the control device 10A according to the second embodiment will be described.

[0108] Figure 10 is a flowchart showing an example of the processing flow by the control program 15A according to the second embodiment. The example in Figure 10 describes the case of feedback control of the first sewn material M1 and the second sewn material M2.

[0109] First, when the control device 10A is instructed to perform feedback control of the first sewing material M1 and the second sewing material M2, the CPU 11 starts the control program 15A and executes the following steps.

[0110] In step S111 of Figure 10, the CPU 11 acquires images of the sewing portions of the first sewn material M1 and the second sewn material M2 from the camera 40, as shown in Figure 8 above, for example.

[0111] In step S112, the CPU 11 calculates, for example, from the image acquired in step S111, the inclination (=θ) of the edge portion Ed located closest to the sewing point P of the sewing machine 30 with respect to the feed direction of the sewing portion, and the distance (=x) between the sewing point P of the sewing machine 30 and the edge portion Ed located closest to the sewing point P, as shown in Figure 8 above.

[0112] In step S113, the CPU 11 determines the movement speed or direction of the sewing part so that the slope θ and distance x calculated in step S112 each approach their respective target values.

[0113] In step S114, the CPU 11 controls the robot (the second robot 60 in the example of Figure 8 above) based on the movement speed or direction of movement determined in step S113, and completes the series of processes by the control program 15A.

[0114] Alternatively, this may be a method for manufacturing sewn products using the sewing system 100. In other words, the first robot 20, the second robot 60, and the sewing machine 30 manufacture a three-dimensional sewn product from the first workpiece M1 and the second workpiece M2 in accordance with the feedback control of the control device 10A described above.

[0115] As described above, according to this embodiment, by performing sewing while correcting the misalignment of the seam line through feedback control, the first and second materials to be sewn can be sewn in a three-dimensional shape without having to fix the first and second materials to a three-dimensional shape in advance.

[0116] [Third Embodiment] In the third embodiment, a feedforward control system is described that predicts and performs sewing to prevent misalignment of the seam line.

[0117] Figure 11 is a block diagram showing an example of the functional configuration of the control device 10B according to the third embodiment.

[0118] As shown in Figure 11, the CPU 11 of the control device 10B according to this embodiment functions as a setting unit 11A and a control unit 11D. The same reference numerals are used for components that are the same as those of the control device 10 described in the first embodiment, and repeated explanations are omitted.

[0119] The control unit 11D controls the movement of the first robot 20 and the second robot 60 respectively so that the misalignment of the seam is corrected at the sewing point, based on the relative misalignment in the upstream portion of each seam set by the setting unit 11A. In feedforward control, as with the feedback control described above, the seam only needs to be a line with a defined start and end point, and does not necessarily have to be a collection of discrete points (stitches).

[0120] Here, the upstream portion refers to the portion of each of the first seam line L1 and the second seam line L2 that has not yet been sent to the sewing point P. Even if sewing is performed at the intended position at the sewing point P, if the sewing is done while changing the orientation to create a three-dimensional shape, misalignment of the seam lines may occur in the upstream portions of the first seam line L1 and the second seam line L2. Here, misalignment refers to a shift between the first seam line L1 and the corresponding second seam line L2. Therefore, based on the misalignment of the seam lines in the upstream portions of the first seam line L1 and the second seam line L2, the first robot 20 and the second robot 60 are controlled so that the misalignment of the seam lines is corrected at the sewing point P, that is, so that the first seam line L1 and the corresponding second seam line L2 coincide. This ensures that the seam lines are always free from misalignment.

[0121] Next, with reference to Figure 12, the operation of the control device 10B according to the third embodiment will be described.

[0122] Figure 12 is a flowchart showing an example of the processing flow by the control program 15A according to the third embodiment. The example in Figure 12 describes the case of feedforward control of the first workpiece M1 and the second workpiece M2.

[0123] First, when the control device 10B is instructed to perform feedforward control of the first sewing material M1 and the second sewing material M2, the CPU 11 starts the control program 15A and executes the following steps.

[0124] In step S121 of Figure 12, the CPU 11 acquires images of the sewing portions of the first and second materials to be sewn from the camera 40.

[0125] In step S122, the CPU 11 calculates the relative positional displacement in the upstream portions of the first seam line L1 and the second seam line L2 from the image acquired in step S121.

[0126] In step S123, the CPU 11 controls the movement of the first robot 20 and the second robot 60 respectively so that the misalignment of the seam line is corrected at the sewing point, based on the misalignment of the upstream portion calculated in step S122, and then terminates the series of processes by this control program 15A.

[0127] Alternatively, this may be a method for manufacturing sewn products using the sewing system 100. In other words, the first robot 20, the second robot 60, and the sewing machine 30 manufacture a three-dimensional sewn product from the first workpiece M1 and the second workpiece M2 in accordance with the feedforward control of the control device 10B described above.

[0128] As described above, according to this embodiment, by using feedforward control, which predicts and performs sewing to prevent misalignment of the seam line, the first and second materials to be sewn together can be sewn together in a three-dimensional shape without having to fix the first and second materials to be sewn together in a three-dimensional shape beforehand.

[0129] In addition, in each of the above embodiments, the sewing process that the CPU reads and executes the software (program) may 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 electrical circuits such as ASICs (Application Specific Integrated Circuits) which have a circuit configuration specifically designed to execute a particular process.

[0130] Furthermore, the processor operations in each of the above embodiments may not be performed by a single processor, but may also be performed by multiple processors located in physically separate locations working together. Also, the order of the processor operations is not limited to the order described in each of the above embodiments, but may be changed as appropriate.

[0131] The above describes the sewing system and control device according to the embodiment. The embodiment may take the form of a program that causes a computer to execute the functions of each part of the control device. The embodiment may also take the form of a non-temporary storage medium that is readable by a computer and stores these programs.

[0132] Furthermore, the configuration of the control device described in the above embodiment is merely an example, and may be modified as needed without departing from the main purpose.

[0133] Furthermore, the program processing flow described in the above embodiment is just one example, and unnecessary steps may be deleted, new steps added, or the processing order rearranged, as long as it does not deviate from the main purpose.

[0134] Furthermore, although the above embodiment describes a case in which the process according to the embodiment is realized by a software configuration using a computer by executing a program, the embodiment is not limited to this. The embodiment may also be realized by a hardware configuration or a combination of a hardware configuration and a software configuration. [Explanation of Symbols]

[0135] 10, 10A, 10B control devices 11 CPU 11A setting section 11B, 11C, 11D Control Unit 12 ROM 13 RAM 14 I / O 15 Storage section 15A Control Program 16 Connection part 20. Robot No. 1 30 Sewing Machines 40 Cameras 50 Sewing machine table 60. Second Robot 100 Sewing Systems

Claims

1. A first robot that holds the first material to be sewn, A second robot that holds the second sewing material, A sewing device that sews together the first and second materials to be sewn, which are overlapped at the sewing point, A control device that controls the first robot, the second robot, and the sewing machine, A sewing system including, The control device is The first robot feeds the first material to be sewn to the sewing point, The second robot feeds the second material to be sewn to the sewing point, A control unit that controls the first robot and the second robot so that the amount of movement or direction of movement per stitch is different for each of the first and second workpieces, A setting unit that sets a seam of a different length or shape on the other workpiece relative to the seam on one of the first workpieces and the second workpiece, Equipped with, The control unit, while photographing the sewing state of the sewing portion of the first and second workpieces with a camera, aligns the seam of the first workpiece and the seam of the second workpiece at the sewing point, using the edges on the first and second workpieces as a reference. The movement speed or direction of the first or second workpiece is determined to correct for any relative misalignment of the seams that occurs when sewing together the respective seam lines. The correction of the positional misalignment is performed such that the direction of movement of the first sewn material and the direction of movement of the second sewn material are relatively inclined. When correcting the positional misalignment of a workpiece to be corrected, which is either the first or second workpiece, the camera calculates the inclination θ between the sewing point and the end located nearest to the sewing point, and the distance x between the sewing point and the end located nearest to the sewing point, with respect to the feed direction of the workpiece to be corrected, from the image acquired by the camera, and controls the robot holding the workpiece to be corrected as follows so that the inclination θ and the distance x each approach their respective target values: Robot translation = 0, Robot rotation = (θ - θi) + f(x - xi), However, θi is the target value of the inclination θ on the seam line of the material to be corrected, xi is the target value of the distance x on the seam line of the material to be corrected, function f is a function that converts the distance x to the inclination θ, and function f is defined as follows: x<0, f(x)=α, x>0, f(x)=-α, However, α is a user-defined constant. Sewing system.

2. The control unit controls the movement of the first robot and the second robot so that the start and end points of each seam line coincide, while overlapping each seam line with the same number of stitches. The sewing system according to claim 1.

3. An upper limit is set for the angle representing the aforementioned slope. The correction of the positional misalignment is performed within a range less than or equal to the upper limit. The sewing system according to claim 1.

4. The control unit controls the movement of the first robot and the second robot, respectively, based on the relative positional displacement of the seam in the upstream portion, which represents the portion of each seam before it is sent to the sewing point, so that the positional displacement of the seam is corrected at the sewing point. The sewing system according to claim 1.

5. The control unit controls the first robot and the second robot so that the absolute value of the change in the amount of movement or direction of movement per continuous stitch for each of the first and second workpieces is less than or equal to a certain value. The sewing system according to claim 1.

6. The control of the first robot and the second robot, which have different amounts of movement or directions of movement per stitch for the first and second workpieces, respectively, is a control that has different movement speeds for the first and second workpieces, respectively. The sewing system according to claim 1.

7. The aforementioned sewing apparatus, A pressing section that intermittently presses the first and second materials to be sewn, The device includes a feed unit that intermittently feeds the first and second materials to be sewn in conjunction with the presser unit, The control unit controls the first robot and the second robot so that the movement of either the first workpiece or the second workpiece, which is fed by the presser foot and the feeder, is along the feed direction of the sewing machine. The sewing system according to claim 1.

8. The aforementioned sewing apparatus, A pressing section that intermittently presses the first and second materials to be sewn, The device includes a feed unit that intermittently feeds the first and second materials to be sewn in conjunction with the presser unit, The control unit controls the first robot and the second robot so that at least one of the first and second workpieces, which are fed by the presser foot and the feeder, moves in synchronization with the intermittent feeding timing of the feeder. The sewing system according to claim 1.

9. The aforementioned sewing apparatus, A pressing section that intermittently presses the first and second materials to be sewn, The device includes a feed unit that intermittently feeds the first and second materials to be sewn in conjunction with the presser unit, The control unit controls the first robot and the second robot so that at least one of the first and second workpieces, which are fed by the presser foot and the feed foot, moves continuously. The sewing system according to claim 1.

10. The control of the first and second robots, which have different amounts of movement or directions of movement per stitch for the first and second workpieces, is a control that compresses or expands the second workpiece relative to the first workpiece and sends it to the sewing point. The sewing system according to claim 1.

11. The aforementioned sewing apparatus, A pressing section that intermittently presses the first and second materials to be sewn, The device includes a feed unit that intermittently feeds the first and second materials to be sewn in conjunction with the presser unit, The control unit controls the first robot and the second robot to move the first workpiece and the second workpiece, which are fed by the presser foot and the feed foot, to the sewing point by pressing them toward the sewing point or by pulling them toward the sewing point. The sewing system according to claim 10.

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

13. A first robot that holds the first material to be sewn, A second robot that holds the second sewing material, A sewing device that sews together the first and second materials to be sewn, which are overlapped at the sewing point, A control method for a control device that controls a control device, The first robot feeds the first material to be sewn to the sewing point, The second robot feeds the second material to be sewn to the sewing point, The first robot and the second robot are controlled so that the amount of movement or direction of movement per stitch differs for each of the first and second workpieces. A seam of a different length or shape is set on the other workpiece relative to the seam on one of the first workpieces, the first workpiece and the second workpiece. While photographing the sewing state of the sewing portion of the first and second workpieces with a camera, the seams of the first workpiece and the second workpiece are aligned at the sewing point, using the edges on the first and second workpieces as a reference. The movement speed or direction of the first or second workpiece is determined to correct for any relative misalignment of the seams that occurs when sewing together the respective seam lines. The correction of the positional misalignment is performed such that the direction of movement of the first sewn material and the direction of movement of the second sewn material are relatively inclined. When correcting the positional misalignment of a workpiece to be corrected, which is either the first or second workpiece, the camera calculates the inclination θ between the sewing point and the end located nearest to the sewing point, and the distance x between the sewing point and the end located nearest to the sewing point, with respect to the feed direction of the workpiece to be corrected, from the image acquired by the camera, and controls the robot holding the workpiece to be corrected as follows so that the inclination θ and the distance x each approach their respective target values: Robot translation = 0, Robot rotation = (θ - θi) + f(x - xi), However, θi is the target value of the inclination θ on the seam line of the material to be corrected, xi is the target value of the distance x on the seam line of the material to be corrected, function f is a function that converts the distance x to the inclination θ, and function f is defined as follows: x<0, f(x)=α, x>0, f(x)=-α, However, α is a user-defined constant. Control method.

14. A first robot that holds the first material to be sewn, A second robot that holds the second sewing material, A sewing device that sews together the first and second materials to be sewn, which are overlapped at the sewing point, A control program for a control device that controls a control device, The first robot feeds the first material to be sewn to the sewing point, The second robot feeds the second material to be sewn to the sewing point, The first robot and the second robot are controlled so that the amount of movement or direction of movement per stitch differs for each of the first and second workpieces. A seam of a different length or shape is set on the other workpiece relative to the seam on one of the first workpieces, the first workpiece and the second workpiece. While photographing the sewing state of the sewing portion of the first and second workpieces with a camera, the seams of the first workpiece and the second workpiece are aligned at the sewing point, using the edges on the first and second workpieces as a reference. The movement speed or direction of the first or second workpiece is determined to correct for any relative misalignment of the seams that occurs when sewing together the respective seam lines. The correction of the positional misalignment is performed such that the direction of movement of the first sewn material and the direction of movement of the second sewn material are relatively inclined. When correcting the positional misalignment of a workpiece to be corrected, which is either the first or second workpiece, the camera calculates the inclination θ between the sewing point and the end located nearest to the sewing point, and the distance x between the sewing point and the end located nearest to the sewing point, with respect to the feed direction of the workpiece to be corrected, from the image acquired by the camera, and controls the robot holding the workpiece to be corrected as follows so that the inclination θ and the distance x each approach their respective target values: Robot translation = 0, Robot rotation = (θ - θi) + f(x - xi), However, θi is the target value of the inclination θ on the seam line of the material to be corrected, xi is the target value of the distance x on the seam line of the material to be corrected, function f is a function that converts the distance x to the inclination θ, and function f is defined as follows: x<0, f(x)=α, x>0, f(x)=-α, However, α is a user-defined constant. A control program designed to be executed by a computer.

15. A first robot that holds the first material to be sewn, A second robot that holds the second sewing material, A sewing device that sews together the first and second materials to be sewn, which are overlapped at the sewing point, A non-temporary storage medium that stores the control program of a control device that controls a device, The aforementioned control program, The first robot feeds the first material to be sewn to the sewing point, The second robot feeds the second material to be sewn to the sewing point, The first robot and the second robot are controlled so that the amount of movement or direction of movement per stitch differs for each of the first and second workpieces. A seam of a different length or shape is set on the other workpiece relative to the seam on one of the first workpieces, the first workpiece and the second workpiece. While photographing the sewing state of the sewing portion of the first and second workpieces with a camera, the seams of the first workpiece and the second workpiece are aligned at the sewing point, using the edges on the first and second workpieces as a reference. The movement speed or direction of the first or second workpiece is determined to correct for any relative misalignment of the seams that occurs when sewing together the respective seam lines. The correction of the positional misalignment is performed such that the direction of movement of the first sewn material and the direction of movement of the second sewn material are relatively inclined. When correcting the positional misalignment of a workpiece to be corrected, which is either the first or second workpiece, the camera calculates the inclination θ between the sewing point and the end located nearest to the sewing point, and the distance x between the sewing point and the end located nearest to the sewing point, with respect to the feed direction of the workpiece to be corrected, from the image acquired by the camera, and controls the robot holding the workpiece to be corrected as follows so that the inclination θ and the distance x each approach their respective target values: Robot translation = 0, Robot rotation = (θ - θi) + f(x - xi), However, θi is the target value of the inclination θ on the seam line of the material to be corrected, xi is the target value of the distance x on the seam line of the material to be corrected, function f is a function that converts the distance x to the inclination θ, and function f is defined as follows: x<0, f(x)=α, x>0, f(x)=-α, However, the computer must be made to understand that α is a user-defined constant. Non-transitory storage medium.

16. A method for manufacturing a sewn product using a sewing system according to any one of claims 1 to 11, The first robot, the second robot, and the sewing apparatus manufacture a three-dimensional sewn product from the first and second materials according to the control of the control device. Sewn article manufacturing method.

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