To perform sewing of a workpiece with accuracy and stably at a sewing position with an end position being a reference by enabling correct recognition of the end position of the workpiece while keeping a satisfactory holding property of the workpiece by a cloth holding frame.

A cloth holding frame 9a includes: a plurality of contact parts 22 which come in contact with one part of an end surface of a workpiece 21 and which determine a surface direction position of the workpiece with respect to the cloth holding frame; and a plurality of openings 24a and 24b for edge detection which expose an end part of the workpiece of a portion adjacent to the end surface so that it can be detected by a camera 41 while being in contact with the contact part, including certain space in front of the end surface of the end part. A shape recognition part 4 detects an end position of the workpiece exposed at the openings for edge detection by the camera, and recognises the end position of the workpiece based on the detected end position. The shape recognition part recognizes the end position corresponding to the contact part by complementing based on the end position detected at the openings for edge detection on both sides of the contact part.