Systems and methods for sewing and un-wrinkling fabrics
AssigneeCentre for Garment Production Limited
InventorsKazuhiro KOSUGE, Fuyuki TOKUDA
Life of this patent
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Abstract
An automatic robotic sewing system including a sewing device; a work surface on which fabric is sewn by the sewing machine; a dual-manipulator robot with force/torque sensors and fabric-handling end-effectors for moving the fabric over the work surface. A vision module is positioned over the work surface and above the robot manipulators. The vision module provides an image of the fabric at least in the area where it is to be sewn; and a controller sequences the sewing device, robot manipulators and vision module to enable seam line determination, seam line tracking and wrinkle removal under visual servo control. As a result, free-form sewing and un-wrinkling of the fabric is achieved.
Claims18
An automatic robotic sewing system, comprising:
- a sewing machine;
- a work surface on which fabric is sewn by the sewing machine;
- at least one robot manipulator arm each with at least one force/torque sensor and at least one fabric-handling end-effector for moving the fabric over the work surface;
- a vision module positioned over the work surface and above the robot manipulator, said vision module providing an image of the fabric at least in the area where it is to be sewn;
- and
- a controller that sequences the sewing machine, robot manipulator and vision module to enable seam line determination, seam line tracking and wrinkle removal under visual servo control, whereby free form sewing and un-wrinkling of the fabric is achieved.
A method for automatically sewing fabric, comprising the steps of:
- analysing an image of the fabric captured by a camera positioned over a work surface on which at least one piece of fabric is located;
- verifying whether any visible seam line is present on the fabric, if so executing a seam line determination sequence and if not working out the path of the seam line with reference to a corresponding model against the fabric's current orientation and position;
- and
- once the seam line is identified, carrying out automated sewing along such seam line under the visual seam line tracking control sequence and visual wrinkle-free control sequence until the task is completed.
Dependencies are inferred from the claim text.