JP2024053992A - Sewing system, control device, control method, control program, non-temporary storage medium, and sewn product manufacturing method - Google Patents

Abstract

To enable sewing of arbitrary free curve that cannot be achieved by a simple linear movement or rotary movement.SOLUTION: A control device 10 controls a robot holding position and a robot holding direction so that direction of an intended sewing position becomes an intended sewing direction when the intended sewing position of a sewn material M is matched with a sewing point. The control device obtains the other speed corresponding to one speed of a robot holding position speed and an intended sewing position speed using the relation between the robot holding position and the robot holding direction and the intended sewing position and the intended sewing direction, controls a robot 20 so that the robot holding position moves at the robot holding position speed, and controls a sewing machine 30 so that a feed speed of the sewing machine 30 coincides with the intended sewing position speed.SELECTED DRAWING: Figure 1

Description

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

A technology has been disclosed that links the robot speed and the sewing machine rotation speed when stitching a material such as fabric (see, for example, Patent Document 1).

Chinese Patent Publication No. 110258030A

When the movement of the held sewing material and the robot that moves the sewing material are in a translational relationship, it is sufficient to control the speed of the robot to match the speed of the sewing machine. However, when sewing a free-form curved shape while holding and maneuvering a fixed-shape sewing material with a robot, simply matching the speed of the robot and the sewing machine will not be possible to achieve synchronization, resulting in wrinkles and other problems when sewing the desired shape.

The present disclosure has been made in consideration of the above points, and aims to provide a sewing system, a control device, a control method, a control program, a non-transitory storage medium, and a method for manufacturing sewn products that enable sewing of any free curve shape that cannot be realized by simple linear or rotational movements.

In order to achieve the above object, the sewing system according to the first aspect includes a robot that holds a first portion of a fixed-shape sewing material, the robot holding the first portion at a robot holding position that is the position of the robot when holding the first portion, and a robot holding direction that is the direction of the robot, a sewing device that feeds the sewing material at a preset feed speed by moving a part of the sewing material in the direction of the feed speed so that a second portion of the sewing material that is in front of a sewing point in the direction of the feed speed moves toward the sewing point, and sews the second portion of the sewing material that has been sent to the sewing point, and a control device that controls each of the robot and the sewing device, the control device being configured to control the sewing device in advance. The control unit controls the robot holding position and the robot holding direction so that the direction of the planned sewing position becomes the planned sewing direction when the planned sewing position of the sewing material is aligned with the sewing point, calculates a speed corresponding to one of the robot holding position speed, which is the speed at which the robot holding position moves, and the planned sewing position speed, which is the speed at which the planned sewing position moves, using the relationship between the robot holding position and the robot holding direction and the planned sewing position and the planned sewing direction, controls the robot so that the robot holding position moves at the robot holding position speed, and controls the sewing device so that the feed speed of the sewing device and the planned sewing position speed match.

A sewn material with a fixed shape includes not only cases where the sewn material itself has a fixed shape, but also cases where the sewn material has an irregular shape but can be handled in a fixed shape by using a mold, frame, etc. A fixed shape is sufficient if the moment the robot holds and moves a part of the sewn material, the position and orientation (direction) of the part of the sewn material it is holding maintains a fixed relationship with the intended sewing position and direction on the sewn material, and the sewn material may change shape as it is sewn.

The robot holding position may be a reference position that is in a certain positional relationship with a certain range of the material to be sewn, or a representative position within a range where multiple points are held, as the part where the material to be sewn is held.

The intended sewing position is the position on the workpiece where sewing will be performed, and is a position different from the part held by the robot. The intended sewing direction is the direction that represents the posture of the part of the workpiece at the intended sewing position when sewing, and the orientation in three-dimensional space, and may also include the direction of rotation.

The part of the workpiece may be a part of the workpiece that is in front of the sewing point in the direction of the feed speed, but it may also be another part around the sewing point. It may also be a region that is divided into several parts, where moving that part causes the part of the workpiece that is at the sewing point to move as a unit.

The relationship between the robot holding position and robot holding direction and the planned sewing position and planned sewing direction is due to the fact that the material to be sewn has a fixed shape, and therefore its two-dimensional or three-dimensional spatial arrangement is constant. In this case, "constant" includes temporary cases, and when the position held by the robot is changed or the planned sewing position changes, it is sufficient that the positional relationship is constant at each point in time.

The set feed speed may be a constant speed or may be set to a different speed for each intended sewing position.

Velocity includes vector quantities and can be expressed as speed (speed value) and direction.

"Determining one speed that corresponds to the other speed" may include a correction to the extent that a relative difference in speed occurs in order to sew a three-dimensional shape, in addition to the case where the speed is completely the same as the speed determined by the above relationship.

The feed speed of the sewing device is the speed at which the sewing device feeds the material to be sewn, and may be, for example, the speed at which the feed section is feeding, the speed of the sewing needle which moves in sync with the speed of the sewing device's motor, or the average speed of these. Alternatively, it may be the speed during intermittent feed operation taking into account the movement and stopping during the intermittent feed operation, or it may be the overall average speed. In this way, the speed includes the case where it is an average speed. Also, the sewing point is the position where the sewing needle of the sewing device pierces the material to be sewn when it descends to sew. The sewing point may be the position where the sewing needle passes over the top surface of the sewing table on which the material to be sewn is placed at the moment the material to be sewn is sewn.

This makes it possible to sew any free-form curved shape that cannot be achieved with simple linear or rotational movements.

The intended sewing position may be set on a continuous free curve on the sewing material, and the control unit may control the robot holding position and the robot holding direction so that the intended sewing position moves sequentially on the free curve, and may set the robot holding position speed and the intended sewing position speed that satisfy the relationship according to the intended sewing position.

A continuous free curve is a line that is not necessarily a straight line, but includes a continuously curved line of any shape, may include some straight lines, lines of constant curvature, and may include turning points.

This aspect makes it possible to sew any pre-defined free curve shape.

The planned sewing position may be expressed as the position of each stitch to be sewn, and the control unit may set the robot holding position speed and the planned sewing position speed that satisfy the relationship for each position of the stitch to be sewn.

According to this aspect, the intended sewing position is set for each stitch position, and the robot holding position speed and the intended sewing position speed are set, allowing for finely controlled sewing.

The control unit may also set an upper limit value for at least one of the robot holding position speed and the sewing-intended position speed.

Depending on the above relationship, the magnitude of one of the robot holding position speed and the sewing device feed speed may become very large relative to the other, exceeding the upper limit of the speed at which the robot or sewing device can be operated, making it impossible to sew as planned. According to this aspect, by setting an upper limit in advance for one of the speeds, it is possible to control the other speed determined by the relationship so that it does not exceed the limits of the robot or sewing device.

The control unit may also be configured to control one of the robot holding position speed and the intended sewing position speed to be lower than the current speed when the other speed determined from the other speed exceeds the upper limit value.

This aspect makes it possible to eliminate a situation in which sewing cannot be performed as planned because either the robot holding position speed or the sewing device feed speed exceeds the upper limit at which sewing can be performed.

The control unit also controls the feed speed of the sewing device in response to the sewing planned position speed determined based on the robot holding position speed.

According to this aspect, when the upper limit of the movement speed of the robot is lower than the upper limit of the feed speed of the sewing device, the occurrence of a situation in which the upper limit of the operation is exceeded can be reduced by determining the intended sewing position speed based on the robot holding position speed.

The control unit may also obtain the intended sewing position and the current sewing position of the sewing material from an image obtained by photographing the sewing material, and control the robot holding position and the robot holding direction so that the intended sewing position and the current sewing position coincide with each other.

According to this embodiment, by checking the actual position, it is possible to correct any misalignment that occurs, and it is also possible to control the robot so that sewing can be performed as planned.

The material to be sewn may also have a continuous free curve on which the intended sewing position is set and the robot holding position arranged three-dimensionally.

According to this aspect, the sewing material moved by the robot and the feeding operation of the sewing device can be synchronized for sewing a three-dimensional sewing material.

The control unit may also acquire the robot holding position and the robot holding position velocity from the robot, obtain a distance vector whose magnitude is the distance from the sewing point to the robot holding position, and calculate the intended sewing position velocity using the robot holding position velocity and the distance vector.

According to this aspect, the planned sewing position speed can be calculated by using the distance vector.

The distance vector may also be calculated using a first vector extending from the robot's origin toward the robot holding position, and a second vector extending from the origin toward the sewing point.

According to this aspect, the distance vector can be calculated by using the first and second vectors.

The material to be sewn includes a first material to be sewn and a second material to be sewn, and the robot includes a first robot that holds a part of the first material to be sewn and a second robot that holds a part of the second material to be sewn, and the control unit may control a first robot holding position and a first robot holding direction for one of the first robot and the second robot when sewing the first material to be sewn and overlapping each other, so that the direction of the planned sewing position becomes the planned sewing direction when the planned sewing position is aligned with the sewing point, and may use the relationship between the first robot holding position and the first robot holding direction and the planned sewing position and the planned sewing direction to determine the other speed corresponding to one of the first robot holding position speed and the planned sewing position speed, control the one robot so that the first robot holding position moves at the first robot holding position speed, control the sewing device so that the feed speed of the sewing device and the planned sewing position speed match, and control the second robot holding position speed for the other of the first robot and the second robot to match the planned sewing position speed.

According to this aspect, one of the first robot and the second robot can be controlled to move in a free curve shape, and the other can be controlled to move in a simple translational or rotational manner.

The material to be sewn includes a first material to be sewn and a second material to be sewn, and the robot includes a first robot that holds a part of the first material to be sewn and a second robot that holds a part of the second material to be sewn. When the first material to be sewn and the second material to be sewn are overlapped and sewn, the control unit controls the robot holding position and the robot holding direction for both the first robot and the second robot so that the direction of the planned sewing position becomes the planned sewing direction when the planned sewing position is aligned with the sewing point, determines the robot holding position speed and the planned sewing position speed corresponding to one of the other speeds using the relationship between the robot holding position and the robot holding direction and the planned sewing position and the planned sewing direction, controls each of the two robots so that the robot holding position moves at the robot holding position speed, controls the sewing device so that the feed speed of the sewing device and the planned sewing position speed match, and controls so that the planned sewing position speed of one of the first robot and the second robot matches the planned sewing position speed of the other.

According to this aspect, both the first robot and the second robot can be controlled to move in a free curve shape.

The control device according to the second aspect is a control device included in the sewing system described above.

The control method according to the third aspect is a control method for a control device that controls a robot that holds a first portion of a fixed-shape sewing material, the robot holding the first portion at a robot holding position that is the position of the robot when holding the first portion, and a sewing device that feeds the sewing material by moving a part of the sewing material in the direction of a preset feed speed so that a second portion of the sewing material that is in front of a sewing point in the direction of the feed speed moves toward the sewing point, and that sews the second portion of the sewing material that has been sent to the sewing point, and the sewing device controls the sewing device to move a planned sewing position of the sewing material toward the sewing point. The robot holding position and the robot holding direction are controlled so that the direction of the planned sewing position becomes the planned sewing direction when aligned, and the relationship between the robot holding position and the robot holding direction and the planned sewing position and the planned sewing direction is used to determine a speed corresponding to one of the robot holding position speed, which is the speed at which the robot holding position moves, and the planned sewing position speed, which is the speed at which the planned sewing position moves, and the robot is controlled so that the robot holding position moves at the robot holding position speed, and the sewing device is controlled so that the feed speed of the sewing device and the planned sewing position speed match.

The control program according to the fourth aspect is a control program for a control device that controls a robot that holds a first portion of a fixed-shape sewing material, and holds the first portion at a robot holding position that is the position of the robot when holding the first portion, and a sewing device that feeds the sewing material by moving a part of the sewing material in the direction of a preset feed speed so that a second portion of the sewing material that is in front of a sewing point in the direction of the feed speed moves toward the sewing point, and sews the second portion of the sewing material that has been sent to the sewing point, and that aligns the planned sewing position of the sewing material with the sewing point. The computer executes the following: controlling the robot holding position and the robot holding direction so that the direction of the planned sewing position becomes the planned sewing direction when the sewing machine is in a sewing position; determining a speed corresponding to one of the robot holding position speed, which is the speed at which the robot holding position moves, and the planned sewing position speed, which is the speed at which the planned sewing position moves, using the relationship between the robot holding position and the robot holding direction and the planned sewing position and the planned sewing direction; controlling the robot so that the robot holding position moves at the robot holding position speed; and controlling the sewing machine so that the feed speed of the sewing machine and the planned sewing position speed match.

The non-transient storage medium according to the fifth aspect is a non-transient storage medium that stores a control program for controlling a control device that controls a robot that holds a first portion of a fixed-shape sewing material, the robot holding the first portion at a robot holding position that is the position of the robot when holding the first portion, and a sewing device that feeds the sewing material at a preset feed speed by moving a part of the sewing material in the direction of the feed speed so that a second portion of the sewing material that is in front of a sewing point in the direction of the feed speed moves toward the sewing point, and sews the second portion of the sewing material that has been sent to the sewing point, the control program being a non-transient storage medium that stores a control program for controlling a control device that controls a sewing device that feeds the sewing material at a predetermined feed speed by moving a part of the sewing material in the direction of the feed speed so that a second portion of the sewing material that is in front of a sewing point in the direction of the feed speed moves toward the sewing point, the control program being a non-transient storage medium that stores a control program for controlling a control ... The computer executes the following: controlling the robot holding position and the robot holding direction so that the direction of the planned sewing position becomes the planned sewing direction when the sewing point is aligned with the robot holding position and the robot holding direction; determining a speed corresponding to one of the robot holding position speed, which is the speed at which the robot holding position moves, and the planned sewing position speed, which is the speed at which the planned sewing position moves, using the relationship between the robot holding position and the robot holding direction and the planned sewing position and the planned sewing direction; controlling the robot so that the robot holding position moves at the robot holding position speed; and controlling the sewing device so that the feed speed of the sewing device and the planned sewing position speed match.

The sixth aspect of the method for producing a sewn product is a method for producing a sewn product using the sewing system described above, in which the robot and the sewing device produce a sewn product from the sewing material according to the control of the control device.

This disclosure makes it possible to sew any free-form curve shape that cannot be achieved with simple linear or rotational movements.

FIG. 1 is a diagram illustrating an example of a configuration of a sewing system according to an embodiment. FIG. 2 is a block diagram showing an example of an electrical configuration of a control device according to the embodiment. FIG. 2 is a block diagram showing an example of a functional configuration of a control device according to the embodiment. 11A and 11B are diagrams for explaining a robot holding position speed and a sewing planned position speed according to an embodiment. 11 is a diagram for explaining the correspondence relationship between the robot speed and the sewing machine feed speed in each of straight line sewing, rotary sewing, and curved line sewing. FIG. FIG. 10 is a diagram illustrating an example of a robot-sewing machine correspondence relationship. 5 is a flowchart showing an example of a process flow according to a control program according to the embodiment. FIG. 13 is a diagram illustrating an example of a configuration of another sewing system according to the embodiment.

An example of a form for implementing the technology of the present disclosure will be described in detail below with reference to the drawings. Note that components and processes that perform the same actions, actions, and functions are given the same reference numerals throughout the drawings, and duplicated descriptions may be omitted as appropriate. Each drawing is merely a schematic illustration to allow a sufficient understanding of the technology of the present disclosure. Therefore, the technology of the present disclosure is not limited to the illustrated examples. Also, in this embodiment, descriptions of configurations that are not directly related to the technology of the present disclosure or well-known configurations may be omitted.

Figure 1 is a diagram showing an example of the configuration of a sewing system 100 according to this embodiment.

The sewing system 100 shown in FIG. 1 includes a control device 10, a robot 20, a sewing machine 30, and a camera 40. The sewing machine 30 is an example of a sewing device. The sewing system 100 automatically sews a fixed-shape sewing material M (hereinafter simply referred to as "sewn material M") using the robot 20 and the sewing machine 30. The sewing material M is not particularly limited as long as it is a material through which a sewing needle can penetrate, but is, for example, a flexible material such as cloth or leather. The sewing material M may be one member or multiple members. In FIG. 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.

The sewing machine 30 is installed on the sewing machine table 50. The sewing machine 30 includes a sewing machine main body 31, a sewing machine control mechanism 32, a sewing machine needle 33, a presser foot 34, and a feed unit 35. The sewing machine main body 31 moves the sewing machine needle 33 up and down at a fixed position (sewing point) to sew the sewing material M placed 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 sewing material M when it descends to sew. The sewing point may be the position where the sewing machine needle 33 passes through the upper surface of the sewing machine table 50 on which the sewing material M is placed at the moment the sewing material M is sewn. 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, the speed of the up and down movement of the sewing machine needle 33 can be adjusted based on the sewing machine command signal.

The sewing machine 30 has a mechanism for feeding the material M to be sewn and a mechanism for operating the needle 33. These mechanisms are operated in conjunction with each other at a constant speed ratio by the same motor. In actual operation, the needle 33 moves up and down (sewing) and the material M to be sewn is fed alternately. The presser 34 presses the material M to be sewn intermittently to prevent it from floating. In other words, the presser 34 presses down on the material M to be sewn from above near the position where the needle 33 passes, so that the material M to be sewn does not float when the needle 33 is moved downward to pierce the material M to be sewn, and sandwiches the material M to be sewn between the presser 34 and the table surface below the material M to be sewn. The presser 34 also suppresses the material M to be sewn from floating when the needle 33 is moved upward to remove it from the material M to be sewn. When sewing multiple materials M to be sewn, the presser 34 overlaps the materials M to be sewn. After the sewing needle 33 is raised and lowered, the presser 34 moves upward and releases the pressing state while feeding the sewn material M. The feeder 35 is configured as the above-mentioned feed mechanism, and works in conjunction with the presser 34 to feed the sewn material M in the sewing direction by the distance of the stitch after the sewing needle 33 has threaded the sewn material M and while the sewing needle 33 is away from the sewn material M.

The sewing machine 30 performs an intermittent feed operation while intermittently pressing the sewing material M with the presser section 34 and the feed section 35. In this embodiment, the feed speed of the sewing machine 30 is the speed at which the sewing machine 30 feeds the sewing material M, and may be, for example, the speed at which the feed section 35 feeds, the speed of the sewing needle 33 that moves in sync with the speed of the sewing machine 30 motor, or the average speed of these. Alternatively, it may be the speed during the intermittent feed operation that takes into account the movement and stopping during the intermittent feed operation, or it may be the overall average speed.

The sewing machine 30 feeds the workpiece M held by the robot 20 to the sewing point at a preset feed speed and sews the workpiece M sent to the sewing point.

The robot 20 includes a support base 21, a robot controller 22, a robot arm unit 23, and a robot hand unit 24. The robot hand unit 24 is provided at the tip of the robot 20. The robot arm unit 23 is a multi-joint arm, with one end connected to the support base 21 and the other end connected to the robot hand unit 24. The support base 21 supports the robot arm unit 23 and incorporates the robot controller 22. The robot hand unit 24 presses down on the sewing material M placed on the sewing machine table 50 from above, and supplies the sewing material M to the sewing machine needle 33 of the sewing machine 30 while holding and moving the sewing material M. The robot hand unit 24 may be moved while sliding on the sewing machine table 50 to supply the sewing material to the sewing machine needle 33 of the sewing machine 30.

When a robot command signal for instructing the operation of the robot 20 is input from the control device 10, the robot controller 22 operates the robot arm unit 23 and the robot hand unit 24 based on the robot command signal. As a result, the workpiece M on the sewing machine table 50 is held by the robot hand unit 24. Then, in this state, the robot hand unit 24 operates in a direction to move the workpiece M, so that the workpiece M moves relative to the sewing machine needle 33 of the sewing machine 30 while moving on the sewing machine table 50.

The robot 20 holds the workpiece M. The robot 20 holds the workpiece M at a robot holding position, which is the position where the robot 20 holds the workpiece M, and at a robot holding direction, which is the direction of the robot 20.

Specifically, the robot 20 is a robot that holds a first portion of the workpiece M. The robot holding position is the position of the robot when holding the first portion, and the robot holding direction is the direction of the robot 20 at that time. The sewing machine 30 feeds the workpiece M at a preset feed speed by moving a portion of the workpiece M in the direction of the feed speed so that a second portion of the workpiece M that is in front of the sewing point in the direction of the feed speed moves toward the sewing point, and sews the second portion of the workpiece M that has been sent to the sewing point.

The camera 40 is a camera for photographing the sewing material M placed on the sewing machine table 50 from above to photograph the sewing state of the sewing material M. However, the installation positions of the camera 40, the installation positions of the robot 20, and the installation positions of the sewing machine 30 are maintained in a fixed positional relationship. Note that a camera for photographing from below may be added to photograph the sewing material M from below.

The control device 10 is a controller to which the robot 20, the sewing machine 30, and the camera 40 are connected, and which processes images obtained from the camera 40 and controls the robot 20 and the sewing machine 30. A general-purpose computer device such as a personal computer (PC) is applied to the control device 10.

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

As shown in FIG. 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.

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

The control unit is made up of the CPU 11, ROM 12, RAM 13, and I/O 14. The control unit may be configured as a sub-control unit that controls part of the operation of the control device 10, or may be configured as part of a main control unit that controls the entire operation of the control device 10. For some or all of the blocks of the control unit, integrated circuits such as LSI (Large Scale Integration) or IC chip sets are used. Individual circuits may be used for each of the above blocks, or a circuit in which some or all of the blocks are integrated may be used. The above blocks may be provided integrally, or some of the blocks may be provided separately. Furthermore, parts of each of the above blocks may be provided separately. The integration of the control unit is not limited to LSI, and a dedicated circuit or a general-purpose processor may be used.

For example, a hard disk drive (HDD), a solid state drive (SSD), a flash memory, or the like is used as the storage unit 15. The storage unit 15 stores a control program 15A according to this embodiment. Note that this control program 15A may be stored in the ROM 12.

The control program 15A may be pre-installed in the control device 10, for example. The control program 15A may be realized by storing it in a non-volatile non-transient storage medium or distributing it via a network and installing it appropriately in the control device 10. Note that examples of non-volatile non-transient storage media include CD-ROMs (Compact Disc Read Only Memory), optical magnetic disks, HDDs, DVD-ROMs (Digital Versatile Disc Read Only Memory), flash memories, memory cards, etc.

The connection unit 16 is an interface for connecting the robot controller 22 of the robot 20, the sewing machine control mechanism 32 of the sewing machine 30, and the camera 40.

However, as mentioned above, when sewing a free-form curved shape while using a robot to hold and manipulate a fixed portion of the sewing material, simply matching the robot speed with the sewing machine speed will not allow for synchronization, resulting in wrinkles and other problems that prevent the sewing from going as planned.

In contrast, in the sewing system 100 according to this embodiment, the robot 20 holds the workpiece M at a position away from the sewing point of the sewing machine 30, and while moving the workpiece M, can sew any free-form curve shape that cannot be achieved by simple linear or rotational movements.

Specifically, the CPU 11 of the control device 10 according to this embodiment writes the control program 15A stored in the storage unit 15 to the RAM 13 and executes it, thereby functioning as each unit shown in FIG. 3.

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

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

The setting unit 11A sets the sewing position and the sewing direction for the sewing material M. The sewing position is the position on the sewing material M where sewing will be performed, and is a position different from the part held by the robot 20. The sewing direction is the direction that represents the posture of the part of the sewing material M at the sewing position at the time of sewing, the orientation in three-dimensional space, and may also include the rotation direction. The sewing position and the sewing direction are expressed as a set of continuous points. This set of continuous points is set, for example, on a continuous free curve (see FIG. 4). A "continuous free curve" is a line that is not necessarily a straight line, includes a continuously curved line of any shape, may include a straight line in part, a line of a certain curvature, and may include a turning point. This free curve may be set, for example, based on a characteristic shape that serves as a marker for the sewing material M, or may be set at a position a certain distance away along the edge of the sewing material M. After sewing according to the free curve, a stitch is formed. The sewing position and the sewing direction are set, for example, while displaying an image obtained by photographing the sewing material M with the camera 40 on a monitor. The intended sewing position and intended sewing direction can be expressed as two-dimensional or three-dimensional coordinates, for example, based on a mark or end (edge) on the sewing material. Specifically, the control device 10 is equipped with an input device such as a mouse or keyboard, and various sewing conditions such as the sewing range (start point and end point of sewing), seam allowance (distance from the edge), and sewing pitch can be input using this input device. In this way, an appropriate intended sewing position and intended sewing direction are set for the sewing material M.

The control unit 11B outputs a robot command signal to the robot controller 22 to instruct the operation of the robot 20, and outputs a sewing machine command signal to the sewing machine control mechanism 32 to instruct the feed speed of the sewing machine 30. The control unit 11B acquires the planned sewing position and planned sewing direction set by the setting unit 11A, the position of the sewing point of the sewing machine 30, and the robot holding position and robot holding direction from the robot 20. As described above, the robot holding position and robot holding direction represent the position and direction in which the robot 20 holds the workpiece M, i.e., the position and direction of the robot hand unit 24.

The control unit 11B controls the robot holding position and the robot holding direction so that when the intended sewing position of the sewing material M is aligned with the sewing point, the direction of the intended sewing position coincides with the intended sewing direction.

The control unit 11B uses the relationship between the robot holding position and robot holding direction and the planned sewing position and planned sewing direction (hereinafter referred to as the "robot-sewing machine correspondence relationship") to determine the robot holding position speed, which is the speed at which the robot holding position moves, and the planned sewing position speed, which is the speed at which the planned sewing position moves, which corresponds to one of the other speeds. A specific explanation of the robot-sewing machine correspondence relationship will be given later.

The control unit 11B controls the robot 20 so that the robot holding position moves at the robot holding position speed, and controls the sewing machine 30 so that the feed speed of the sewing machine 30 matches the intended sewing position speed.

Here, the control unit 11B may use the robot holding position speed as a reference and control the feed speed of the sewing machine 30 in response to a planned sewing position speed determined based on the robot holding position speed, or may use the planned sewing position speed as a reference and control the operation of the robot 20 in response to a robot holding position speed determined based on the planned sewing position speed. When the robot holding position speed is used as a reference, a planned sewing position speed corresponding to the robot holding position speed is calculated based on the robot holding position speed obtained from the robot 20. On the other hand, when the planned sewing position speed is used as a reference, a robot holding position speed corresponding to the feed speed of the sewing machine 30 is calculated based on the feed speed of the sewing machine 30 obtained from the sewing machine 30.

Figure 4 is a diagram explaining the robot holding position speed Rv and the planned sewing position speed Sv according to this embodiment. Note that the planned sewing position speed Sv represents the feed speed of the sewing machine 30.

As shown in FIG. 4, the control unit 11B controls the robot holding position Rp and the robot holding direction Rd so that the direction of the planned sewing position Sp of the sewing material M becomes the planned sewing direction Sd when the planned sewing position Sp is aligned with the sewing point P. Specifically, the planned sewing position Sp is set on a continuous free curve L1 on the sewing material M. The control unit 11B controls the robot holding position Rp and the robot holding direction Rd so that the planned sewing position Sp moves sequentially on the free curve L1, and sets the robot holding position speed Rv and the planned sewing position speed Sv that satisfy the above-mentioned robot-sewing machine correspondence relationship according to the planned sewing position Sp. When sewing along the free curve L1, the relationship between the robot holding position Rp and the next planned sewing position Sp (= sewing point P) changes as sewing progresses, so the robot holding position speed Rv and the planned sewing position speed Sv are set so as to satisfy the robot-sewing machine correspondence relationship at each planned sewing position Sp.

The planned sewing position Sp is expressed, for example, as the position of the stitch to be sewn. This stitch position does not have to be at each stitch, but may be at a predetermined interval. In this case, the control unit 11B sets the robot holding position speed Rv and the planned sewing position speed Sv that satisfy the robot-sewing machine correspondence relationship according to the position of the stitch to be sewn.

The planned sewing position Sp may also be expressed, for example, as the position of each stitch to be sewn. In this case, the control unit 11B sets the robot holding position speed Rv and the planned sewing position speed Sv that satisfy the robot-sewing machine correspondence relationship for each position of each stitch to be sewn.

Here, the control unit 11B may set an upper limit value for at least one of the robot holding position speed Rv and the planned sewing position speed Sv. The upper limit value of the robot holding position speed Rv is set, for example, based on the specifications of the robot 20. Also, the upper limit value of the planned sewing position speed Sv is set, for example, based on the specifications of the sewing machine 30. The upper limit value of the other may be set to a value obtained by considering the ratio of the speed magnitude caused by the robot-sewing machine correspondence during sewing to the maximum speed value of one of the robot 20 and the sewing machine 30. In this case, the robot holding position speed Rv and the planned sewing position speed Sv are set within a range equal to or less than the upper limit value.

Furthermore, the control unit 11B may control one of the robot holding position speed Rv and the planned sewing position speed Sv to be lower than the current speed when the other speed determined from the other speed exceeds an upper limit value. For example, when one speed is the robot holding position speed Rv and the other speed is the planned sewing position speed Sv, if the planned sewing position speed Sv exceeds the upper limit value, the control unit 11B controls the robot holding position speed Rv to be lower than the current speed. Alternatively, when one speed is the planned sewing position speed Sv and the other speed is the robot holding position speed Rv, if the robot holding position speed Rv exceeds the upper limit value, the control unit 11B controls the planned sewing position speed Sv to be lower than the current speed.

When determining the speed corresponding to one of the robot holding position speed Rv and the intended sewing position speed Sv, the speed may be exactly the same as the speed determined by the above-mentioned robot-sewing machine correspondence relationship, or it may include a correction to the extent that a relative difference in speed occurs in order to sew a three-dimensional shape.

The control unit 11B may also obtain the intended sewing position Sp of the sewing material M and the current sewing position indicating the current sewing position from an image obtained by photographing the sewing material M, and control the robot holding position Rp and the robot holding direction Rd to correct the deviation between the intended sewing position Sp and the current sewing position.

The material to be sewn M may also have a continuous free curve where the intended sewing position Sp is set, and a robot holding position Rp arranged three-dimensionally. The material to be sewn M is not limited to being two-dimensional, but may be three-dimensional. This embodiment can also accommodate cases where the material to be sewn M is sewn three-dimensionally.

Next, the robot-sewing machine correspondence relationship will be specifically described with reference to Figures 5 and 6. Note that, as an example, a case will be shown in which the robot holding position speed Rv is used as a reference and the sewing planned position speed Sv is synchronized with the robot holding position speed Rv.

Figure 5 is a diagram explaining the relationship between the robot speed and the sewing machine feed speed in each of straight line sewing, rotary sewing, and curved sewing. The robot speed is represented as the robot holding position speed Rv, and the sewing machine feed speed is represented as the intended sewing position speed Sv.

As shown in Figure 5, in the case of straight line sewing, the relationship is: sewing machine feed speed = robot translation speed. In addition, in the case of rotary sewing, the relationship is: sewing machine feed speed = robot rotation speed x distance r. In addition, in the case of curved line sewing, since the workpiece M has a fixed shape, the relationship is: sewing machine feed speed = robot translation speed + robot rotation speed x translation speed component of distance r (t).

Here, when calculating the planned sewing position speed Sv in curved sewing, not only the translational speed and rotational speed of the robot 20 but also the distance r(t) that changes from moment to moment is taken into consideration as the vector T between the position of the robot hand unit 24 and the sewing point P of the sewing machine 30. This vector T is an example of the above-mentioned robot-sewing machine correspondence relationship. This allows the robot holding position speed Rv and the planned sewing position speed Sv to be synchronized. The planned sewing position speed Sv is calculated, for example, using the following formula (1). The feed speed of the sewing machine is the planned sewing position speed Sv. The speed of the robot represents the rotational speed or translational speed of the robot, and is the robot holding position speed Rv. In other words, the planned sewing position speed Sv is expressed using a function with the robot holding position speed Rv and the vector T as variables.

Sewing machine feed speed = f (robot speed, vector T) ... (1)

Figure 6 is a diagram showing an example of a robot-sewing machine correspondence.

In FIG. 6, the robot origin is represented as the position of the support base 21 of the robot 20, the robot tip is represented as the position of the robot hand unit 24 (i.e., the robot holding position Rp), and the sewing point is represented as the sewing point P of the sewing machine 30. The first vector V1 is a vector that points from the robot origin to the robot holding position Rp, and the second vector V2 is a vector that points from the robot origin to the sewing point P. The distance vector V3 is a vector whose magnitude is the distance from the sewing point P to the robot holding position Rp, and corresponds to the vector T described above.

In FIG. 6, the control unit 11B acquires the robot holding position Rp and the robot holding position velocity Rv from the robot 20, obtains a distance vector V3 whose magnitude is the distance from the sewing point P to the robot holding position Rp, and calculates the intended sewing position velocity Sv using the robot holding position velocity Rv and the distance vector V3. The distance vector V3 is calculated using the first vector V1 and the second vector V2.

Specifically, when the coordinates of the robot origin are (0,0,0) and the coordinates of the robot holding position Rp are (x,y,z), the first vector V1 is expressed as, for example, the following 4×4 homogeneous transformation matrix (2): T _base ^tool (tool is directly above base) represents the first vector V1.

... (2)

Next, if the coordinates of the robot origin are (0,0,0) and the coordinates of the sewing point P are (x1,y1,z1), the second vector V2 is expressed, for example, as the 4x4 homogeneous transformation matrix (3) shown below. Note that T _base ^misin (misin is directly above base) represents the second vector V2.

...(3)

Distance vector V3 (=vector T) is calculated by the following equation (4) using the homogeneous transformation matrices (2) and (3) above: Note that T _misin ^tool (tool is directly above misin) represents distance vector V3.

...(4)

The distance vector V3 (=vector T) calculated by the above formula (4) and the robot holding position speed Rv (=robot speed) are applied to the above formula (1) to calculate a speed vector representing the planned sewing position speed Sv as the sewing machine feed speed. In other words, the speed component in the sewing machine feed direction of the speed vector of the planned sewing position speed Sv is extracted, and the extracted speed component in the sewing machine feed direction is set as the sewing machine feed speed. Note that when the distance vector V3 (=vector T) changes from the first distance vector to the second distance vector, the change may be corrected to calculate the speed vector representing the planned sewing position speed Sv.

Next, the operation of the control device 10 according to this embodiment will be described with reference to FIG.

Figure 7 is a flowchart showing an example of the processing flow of the control program 15A according to this embodiment. In the example of Figure 7, a case is described in which the speed of the sewing machine is determined based on the speed of the robot.

First, when the control device 10 is instructed to execute the sewing process, the control program 15A is started by the CPU 11 and executes the following steps.

In step S101 in FIG. 7, the CPU 11 aligns the first intended sewing position Sp, which is preset on the sewing material M, with the sewing point P of the sewing machine 30, as shown in FIG. 4 above, as an example. Here, the starting point may be aligned in advance by the user, or the starting point may be aligned based on a mark on the sewing material while photographing it with the camera 40.

In step S102, the CPU 11 controls the robot holding position Rp and the robot holding direction Rd so that the direction of the planned sewing position Sp aligned with the sewing point P in step S101 coincides with the planned sewing direction Sd.

In step S103, the CPU 11 calculates the distance vector V3 (=vector T) using, for example, the above-mentioned formula (4), and applies the calculated distance vector V3 (=vector T) and the robot holding position velocity Rv to, for example, the above-mentioned formula (1) to calculate the sewing planned position velocity Sv corresponding to the robot holding position velocity Rv.

In step S104, the CPU 11 outputs a robot command signal including the robot holding position speed Rv to the robot 20, and outputs a sewing machine command signal including the planned sewing position speed Sv to the sewing machine 30. As a result, the robot 20 operates at the robot holding position speed Rv, and the sewing machine 30 operates with the planned sewing position speed Sv as the feed speed of the sewing machine 30.

In step S105, the CPU 11 controls the robot 20 and the sewing machine 30 to align the next planned sewing position Sp with the sewing point P of the sewing machine 30.

In step S106, the CPU 11 determines whether the next planned sewing position Sp aligned with the sewing point P in step S105 is the final planned sewing position Sp. Here, the end point may be aligned by positioning the end point based on a mark on the sewing material while photographing with the camera 40. If it is determined that it is not the final planned sewing position Sp (if a negative determination is made), the process proceeds to step S102 and the process is repeated. If it is determined that it is the final planned sewing position Sp (if a positive determination is made), the process by the control program 15A ends. Note that the process may end when sewing a preset number of stitches has been completed.

In the above, we have described a case where the speed of the sewing machine is determined based on the speed of the robot, but the speed of the robot may also be determined based on the speed of the sewing machine.

The sewing system 100 may also be used in the form of a method for producing a sewn product. In other words, the robot 20 and the sewing machine 30 produce a sewn product from the sewing material M in accordance with the control of the control device 10 described above. The sewn product that can be produced may have a two-dimensional shape or a three-dimensional shape.

In this way, according to this embodiment, a robot holding the workpiece at a position away from the sewing point of the sewing machine can move the workpiece and sew any free curve shape that cannot be achieved with simple linear or rotational movements.

Next, referring to Figure 8, we will explain how multiple robots sew multiple overlapping materials.

Figure 8 is a diagram showing an example of the configuration of another sewing system 100A according to this embodiment.

The sewing system 100A shown in FIG. 8 includes a control device 10, a first robot 20, a sewing machine 30, a camera 40, and a second robot 60. The sewing system 100A automatically sews a first sewing material M1 and a second sewing material M2 using the first robot 20, the second robot 60, and the sewing machine 30. Note that the same components as those in the sewing system 100 shown in FIG. 1 above are given the same reference numerals, and repeated explanations will be omitted.

The sewing machine 30 is installed on the sewing machine table 50. The sewing machine 30 includes a sewing machine main body 31, a sewing machine control mechanism 32, a sewing machine needle 33, a presser unit 34, and a feed unit 35. The sewing machine main body 31 moves the sewing machine needle 33 up and down at a fixed position (sewing point) to sew a first sewing material M1 and a second sewing material M2 that are placed one on top of the other on the sewing machine table 50.

The sewing machine 30 sends the first sewing material M1 held by the first robot 20 and the second sewing material M2 held by the second robot 60 to the sewing point, and sews the first sewing material M1 and the second sewing material M2 that overlap at the sewing point.

The first robot 20 holds a portion of the first sewing material M1 and can perform the same operation as the robot 20 described in FIG. 1 above. The first robot 20 includes a support base 21, a robot controller 22, a robot arm unit 23, and a robot hand unit 24. The robot hand unit 24 holds and moves the first sewing material M1 placed on the sewing machine table 50, and supplies it to the sewing machine needle 33 of the sewing machine 30. The robot hand unit 24 may also move the first sewing material M1 while sliding it on the sewing machine table 50 to supply it to the sewing machine needle 33 of the sewing machine 30.

When a robot command signal for instructing the operation of the first robot 20 is input from the control device 10, the robot controller 22 operates the robot arm unit 23 and the robot hand unit 24 based on the robot command signal. As a result, the first sewing material M1 on the sewing machine table 50 is held by the robot hand unit 24. Then, in this state, the robot hand unit 24 operates in a direction to move the first sewing material M1, so that the first sewing material M1 moves relative to the sewing machine needle 33 of the sewing machine 30 while moving on the sewing machine table 50.

The second robot 60 holds a portion of the second sewing material M2 and can perform the same operation as the robot 20 described in FIG. 1 above. The second robot 60 includes a support base 61, a robot controller 62, a robot arm unit 63, and a robot hand unit 64. The robot hand unit 64 holds and moves the second sewing material M2 placed on the sewing machine table 50, and supplies it to the sewing machine needle 33 of the sewing machine 30. The robot hand unit 64 may also move the second sewing material M2 while sliding it on the sewing machine table 50 to supply it to the sewing machine needle 33 of the sewing machine 30.

When a robot command signal for instructing the operation of the second robot 60 is input from the control device 10, the robot controller 62 operates the robot arm unit 63 and the robot hand unit 64 based on the robot command signal. As a result, the second sewing material M2 on the sewing machine table 50 is held by the robot hand unit 64. Then, in this state, the robot hand unit 64 operates in a direction to move the second sewing material M2, so that the second sewing material M2 moves relative to the sewing machine needle 33 of the sewing machine 30 while moving on the sewing machine table 50.

That is, the robot hand section 24 holds and moves the first sewn material M1, and the robot hand section 64 holds and moves the second sewn material M2. In the example of FIG. 8, the first robot 20 holds the first sewn material M1 so that it is positioned below the second sewn material M2 at the sewing point, and the second robot 60 holds the second sewn material M2 so that it is positioned above the first sewn material M1 at the sewing point. Note that the holding of the two sewn materials in a vertically stacked state can be performed by first stacking the two sewn materials in a vertically stacked state in advance in a preparation stage and then having the robot hold them, or the robot can hold each sewn material and then move the robot so that they are stacked.

The camera 40 is a camera for photographing the sewn portions of the first sewn material M1 and the second sewn material M2 placed on the sewing machine table 50 from above, and photographing the sewing state of the sewn portions of the first sewn material M1 and the second sewn material M2. However, the installation positions of the camera 40, the installation positions of the first robot 20, the installation positions of the second robot 60, and the installation positions of the sewing machine 30 are maintained in a fixed positional relationship. Note that a camera that takes photographs from below may be added to photograph the first sewn material M1 and the second sewn material M2 from below.

The control device 10 is a controller to which the first robot 20, the second robot 60, the sewing machine 30, and the camera 40 are connected, and which processes 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 includes a control unit 11B.

For example, when sewing a first sewing material and a second sewing material overlapping each other, the control unit 11B controls the first robot holding position and the first robot holding direction for one of the first robot 20 and the second robot 60 so that the direction of the planned sewing position becomes the planned sewing direction when the planned sewing position is aligned with the sewing point, and obtains the first robot holding position speed and the planned sewing position speed corresponding to one of the speeds using the above-mentioned robot-sewing machine correspondence. Then, the control unit 11B controls one of the robots so that the first robot holding position moves at the first robot holding position speed, controls the sewing machine 30 so that the feed speed of the sewing machine 30 and the planned sewing position speed match, and controls the second robot holding position speed for the other of the first robot 20 and the second robot 60 to match the planned sewing position speed.

In other words, one of the first robot 20 and the second robot 60 is controlled to move in a free curve shape, and the other is controlled to move in a simple translational or rotational manner.

In addition, both the first robot 20 and the second robot 60 may be controlled to move in a free curve shape. Specifically, when sewing the first sewing material M1 and the second sewing material M2 in an overlapping manner, the control unit 11B controls the robot holding position and the robot holding direction for both the first robot 20 and the second robot 60 so that the direction of the planned sewing position becomes the planned sewing direction when the planned sewing position is aligned with the sewing point, and obtains the robot holding position speed and the planned sewing position speed corresponding to one of the other speeds using the above-mentioned robot-sewing machine correspondence relationship. Then, the control unit 11B controls each of the two robots so that the robot holding position moves at the robot holding position speed, controls the sewing machine 30 so that the feed speed of the sewing machine 30 and the planned sewing position speed match, and controls the planned sewing position speed of one of the first robot 20 and the second robot 60 to match the planned sewing position speed of the other. The speed match here may include a difference due to correction to the extent that a relative speed difference occurs to perform three-dimensional sewing.

By controlling the sewing position speed of one of the first robot 20 and the second robot 60 to match the sewing position speed of the other, both the first robot 20 and the second robot 60 can be controlled to move in a free curve shape.

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 a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electrical circuit such as an ASIC (Application Specific Integrated Circuit) that is a processor with a circuit configuration designed specifically to execute a specific process.

In addition, the processor operations in each of the above embodiments may not only be performed by a single processor, but may also be performed by multiple processors located at physically separate locations working together. Furthermore, the order of each processor operation is not limited to the order described in each of the above embodiments, and may be changed as appropriate.

The sewing system and the control device according to the embodiment have been described above as examples. The embodiment may be in the form of a program for causing a computer to execute the functions of each unit of the control device. The embodiment may be in the form of a non-transitory storage medium that stores these programs and is readable by a computer.

The configuration of the control device described in the above embodiment is merely an example, and may be modified according to circumstances without departing from the spirit of the invention.

The processing flow of the program described in the above embodiment is also an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be rearranged, without departing from the spirit of the program.

In the above embodiment, a case has been described in which the processing according to the embodiment is realized by a software configuration using a computer by executing a program, but this is not limited to this. The embodiment may be realized, for example, by a hardware configuration or a combination of a hardware configuration and a software configuration.

10 Control device 11 CPU
11A setting unit 11B control unit 12 ROM
13 RAM
14 I/O
15 Memory unit 15A Control program 16 Connection unit 20 Robot, first robot 30 Sewing machine 40 Camera 50 Sewing machine table 60 Second robot 100, 100A Sewing system

Claims (17)

a robot that holds a first portion of a sewing material having a fixed shape, the robot holding the first portion at a robot holding position that is a position of the robot when holding the first portion, and at a robot holding direction that is a direction of the robot when holding the first portion;
a sewing device that feeds the workpiece by moving a portion of the workpiece in a direction of a preset feed speed so that a second portion of the workpiece located in front of a sewing point in the direction of the feed speed moves toward the sewing point, and sews the second portion of the workpiece that has been sent to the sewing point;
a control device for controlling each of the robot and the sewing device;
A sewing system comprising:
The control device includes:
controlling the robot holding position and the robot holding direction so that the direction of the planned sewing position of the sewing material becomes the planned sewing direction when the planned sewing position of the sewing material is aligned with the sewing point;
a robot holding position speed, which is a speed at which the robot holding position moves, and a sewing planned position speed, which is a speed at which the sewing planned position moves, are calculated using a relationship between the robot holding position and the robot holding direction, and the sewing planned position and the sewing planned direction, the robot holding position speed being a speed at which the robot holding position moves, and the sewing planned position speed being a speed at which the sewing planned position moves;
a control unit that controls the robot so that the robot holding position moves at the robot holding position speed, and controls the sewing device so that the feed speed of the sewing device and the sewing planned position speed match. The intended sewing position is set on a continuous free curve on the sewing material,
The sewing system according to claim 1, wherein the control unit controls the robot holding position and the robot holding direction so that the planned sewing position moves sequentially along the free curve, and sets the robot holding position speed and the planned sewing position speed that satisfy the relationship according to the planned sewing position. The sewing positions are expressed as positions of each stitch to be sewn,
The sewing system according to claim 2 , wherein the control unit sets the robot holding position speed and the planned sewing position speed that satisfy the relationship for each position of the stitches to be sewn. The sewing system according to claim 1 , wherein the control unit sets an upper limit value for at least one of the robot holding position speed and the intended sewing position speed. The sewing system according to claim 4 , wherein when one of the robot holding position speed and the intended sewing position speed is determined from the other speed and exceeds the upper limit value, the control unit controls the one of the speeds to be lower than a current speed. The sewing system according to claim 1 , wherein the control unit controls a feed speed of the sewing device in response to the intended sewing position speed determined based on the robot holding position speed. The sewing system according to claim 1, wherein the control unit acquires a current sewing position indicating the planned sewing position and the current sewing position of the sewing material from an image obtained by photographing the sewing material, and controls the robot holding position and the robot holding direction so that the planned sewing position and the current sewing position coincide with each other. The sewing system according to claim 1 , wherein the workpiece is provided with a continuous free curve on which the intended sewing positions are set and the robot holding positions arranged three-dimensionally. 2. The sewing system according to claim 1, wherein the control unit acquires the robot holding position and the robot holding position velocity from the robot, obtains a distance vector whose magnitude is a distance from the sewing point to the robot holding position, and calculates the planned sewing position velocity using the robot holding position velocity and the distance vector. The sewing system according to claim 9 , wherein the distance vector is calculated using a first vector extending from an origin of the robot to the robot holding position, and a second vector extending from the origin to the sewing point. The sewing material includes a first sewing material and a second sewing material,
the robot includes a first robot that holds a portion of the first sewing material, and a second robot that holds a portion of the second sewing material;
The control unit is
when the first sewing material and the second sewing material are overlapped and sewn, a first robot holding position and a first robot holding direction are controlled for one of the first robot and the second robot such that a direction of the planned sewing position becomes a planned sewing direction when the planned sewing position is aligned with the sewing point;
determining a first robot holding position speed and a first robot holding direction corresponding to the other speed of the first robot holding position speed and the intended sewing position speed by using a relationship between the first robot holding position and the first robot holding direction and the intended sewing position and direction;
controlling the one robot so that the first robot holding position moves at a first robot holding position speed, and controlling the sewing device so that a feed speed of the sewing device and a speed of the intended sewing position match;
The sewing system according to claim 1 , further comprising a control for adjusting a second robot holding position speed of the other of the first robot and the second robot to the intended sewing position speed. The sewing material includes a first sewing material and a second sewing material,
the robot includes a first robot that holds a portion of the first sewing material, and a second robot that holds a portion of the second sewing material;
The control unit is
when the first sewing material and the second sewing material are overlapped and sewn, a robot holding position and a robot holding direction are controlled for both the first robot and the second robot such that a direction of the planned sewing position becomes a planned sewing direction when the planned sewing position is aligned with the sewing point;
determining a speed of the robot holding position and the robot holding direction corresponding to the other speed of the robot holding position and the intended sewing position using a relationship between the robot holding position and the robot holding direction and the intended sewing position and direction;
controlling each of the robots so that the robot holding position moves at the robot holding position speed, and controlling the sewing device so that a feed speed of the sewing device matches a speed of the intended sewing position;
The sewing system according to claim 1 , wherein the planned sewing position speed of one of the first robot and the second robot is controlled so as to match the planned sewing position speed of the other robot. A control device included in the sewing system according to any one of claims 1 to 12. a robot that holds a first portion of a sewing material having a fixed shape, the robot holding the first portion at a robot holding position that is a position of the robot when holding the first portion, and at a robot holding direction that is a direction of the robot when holding the first portion;
a sewing device that feeds the workpiece by moving a portion of the workpiece in a direction of a preset feed speed so that a second portion of the workpiece located in front of a sewing point in the direction of the feed speed moves toward the sewing point, and sews the second portion of the workpiece that has been sent to the sewing point;
A control method for a control device that controls
controlling the robot holding position and the robot holding direction so that the direction of the planned sewing position of the sewing material becomes the planned sewing direction when the planned sewing position of the sewing material is aligned with the sewing point;
a robot holding position speed, which is a speed at which the robot holding position moves, and a sewing planned position speed, which is a speed at which the sewing planned position moves, are calculated using a relationship between the robot holding position and the robot holding direction, and the sewing planned position and the sewing planned direction, the robot holding position speed being a speed at which the robot holding position moves, and the sewing planned position speed being a speed at which the sewing planned position moves;
a control method for controlling the robot so that the robot holding position moves at a robot holding position speed, and controlling the sewing device so that a feed speed of the sewing device matches a speed of the intended sewing position. a robot that holds a first portion of a sewing material having a fixed shape, the robot holding the first portion at a robot holding position that is a position of the robot when holding the first portion, and at a robot holding direction that is a direction of the robot when holding the first portion;
a sewing device that feeds the workpiece by moving a portion of the workpiece in a direction of a preset feed speed so that a second portion of the workpiece located in front of a sewing point in the direction of the feed speed moves toward the sewing point, and sews the second portion of the workpiece that has been sent to the sewing point;
A control program for a control device that controls
controlling the robot holding position and the robot holding direction so that the direction of the planned sewing position of the sewing material becomes the planned sewing direction when the planned sewing position of the sewing material is aligned with the sewing point;
a robot holding position speed, which is a speed at which the robot holding position moves, and a sewing planned position speed, which is a speed at which the sewing planned position moves, are calculated using a relationship between the robot holding position and the robot holding direction, and the sewing planned position and the sewing planned direction, the robot holding position speed being a speed at which the robot holding position moves, and the sewing planned position speed being a speed at which the sewing planned position moves;
controlling the robot so that the robot holding position moves at the robot holding position speed, and controlling the sewing device so that a feed speed of the sewing device and a speed of the intended sewing position match;
A control program for execution by a computer. a robot that holds a first portion of a sewing material having a fixed shape, the robot holding the first portion at a robot holding position that is a position of the robot when holding the first portion, and at a robot holding direction that is a direction of the robot when holding the first portion;
a sewing device that feeds the workpiece by moving a portion of the workpiece in a direction of a preset feed speed so that a second portion of the workpiece located in front of a sewing point in the direction of the feed speed moves toward the sewing point, and sews the second portion of the workpiece that has been sent to the sewing point;
A non-transitory storage medium storing a control program for a control device that controls the
The control program includes:
controlling the robot holding position and the robot holding direction so that the direction of the planned sewing position of the sewing material becomes the planned sewing direction when the planned sewing position of the sewing material is aligned with the sewing point;
a robot holding position speed, which is a speed at which the robot holding position moves, and a sewing planned position speed, which is a speed at which the sewing planned position moves, are calculated using a relationship between the robot holding position and the robot holding direction, and the sewing planned position and the sewing planned direction, the robot holding position speed being a speed at which the robot holding position moves, and the sewing planned position speed being a speed at which the sewing planned position moves;
A non-transitory storage medium that causes a computer to execute the following steps: control the robot so that the robot holding position moves at the robot holding position velocity; and control the sewing device so that a feed speed of the sewing device matches a speed of the intended sewing position. A method for manufacturing a sewn product by the sewing system according to any one of claims 1 to 12,
The robot and the sewing device produce a sewn product from the sewing material under the control of the control device.