• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a bending machine (1) with a working area image acquisition device, wherein the bending machine (1) has a machine frame (34), a longitudinally extending, fixed machine table (2) and a longitudinally extending press beam (3). The press beam (3) is guided in the machine frame (34) and is moved by a drive means (4) relative thereto. The longitudinal extension and the direction of movement (8) of the press beam (3) span a working plane (9) which defines a front work and manipulation space (10) and a rear engine room (11) delimited therefrom. In the machine room (11) and above the machine table (2), an image capture device (12) is arranged, wherein a detection area (13) of the image capture device (12) in the direction of the engine room (11) is aligned. The image capture device (12) is connected to a display means (17), which is designed to display the acquired image of the detection area (13). The image capture device (12) is connected to the display means (17) via an image processing processor (16), the image processing processor (16) comprising a coordinate transformation module (18) adapted to correct the perspective of the acquired image. The coordinate transformation module (18) is connected to a wireless position detection system (19), which is designed to determine the position of a machine operator (20) in the working and manipulation space (10).
    公开号:AT518890A4
    申请号:T50784/2016
    申请日:2016-09-02
    公开日:2018-02-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh & Co Kg；
    IPC主号:
    专利说明:

    Summary
    The invention relates to a bending machine (1) with a work area image capturing device, the bending machine (1) having a machine frame (34), an elongated, fixed machine table (2) and an elongated press beam (3). The press beam (3) is guided in the machine frame (34) and is moved relative to it by a drive means (4). The longitudinal extent and the direction of movement (8) of the press beam (3) span a working plane (9) which defines a front working and manipulation room (10) and a rear machine room (11) separated from it.
    An image capture device (12) is arranged in the machine room (11) and above the machine table (2), a capture area (13) of the image capture device (12) being oriented in the direction of the machine room (11). The image capture device (12) is connected to a display means (17) which is designed to display the captured image of the capture area (13). The image acquisition device (12) is connected to the display means (17) via an image processing processor (16), the image processing processor (16) having a coordinate transformation module (18) which is designed to correct the perspective of the captured image. The coordinate transformation module (18) is connected to a wireless position determination system (19) which is designed to determine the position of a machine operator (20) in the work and manipulation room (10).
    Fig. 1
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    N2015 / 14400 AT-00
    The invention relates to a bending machine with a work area image capturing device.
    The working or viewing area of a machine operator of a bending machine, especially a free bending machine, is dominated by the machine table and, above all, by the press beam. In particular, the press beam, with the bending tools arranged therein, mostly severely restricts the view into the interior of the machine, where the rear stop device with the stop fingers is located. Furthermore, it is customary to arrange several different types of bending tools on the press beam, in order to be able to carry out different bending deformations along the press beam. To do this, the machine operator must feed the workpiece to be formed to the bending tools in the correct order and correctly aligned.
    If a bending machine is used for the series production of a large number of workpieces that are to be machined immediately, the machine operator is already familiar with the individual work steps and will therefore reliably perform the operating actions, in particular the correctly aligned feeding of the workpiece. In the case of smaller quantities to be produced in series, in particular in the case of a quantity approaching one, a machine operator lacks the necessary routine, which bears the risk that a workpiece will be bent incorrectly, particularly in the case of complex bent parts. Since a machine operator sometimes has to coordinate and monitor various actions almost simultaneously, in particular correct alignment at the correct bending station and correct contact of the workpiece with the backgauge, this leads to an unnecessarily high stress level. Because in particular the backgauge due to kon2 / 28
    N2015 / 14400-AT-00 structural conditions of the bending machine is usually not directly visible, the machine operator has to bend down to do this when inserting the workpiece
    Concerns at the backgauge to be able to check what is next to a physical
    Additional load, due to the sharp-edged metallic sheet metal parts, poses a risk of injury.
    When operating a bending machine as intended, control and monitoring tasks are required from the machine operator, which necessitates largely simultaneous attention at locations that are sometimes spatially far apart. At the same time, it is necessary that complex alignment processes of the workpiece to be formed have to be taken into account in some cases.
    For example, EP 2 590 040 B1 discloses a bending machine in which two cameras are arranged on the press beam, which capture the front working area of the bending machine, in particular an inserted workpiece to be formed, and after determining the orientation of the workpiece, alignment information from a projector to the Workpiece is projected. The two cameras are arranged in the end areas of the press beam and in front of the press beam. However, an arrangement of elements such as a camera or a projector in front of the press beam has yet another decisive disadvantage that there is a great risk of damage for objects arranged in this way. Sheet metal parts are often fed to the bending machine by means of an indoor crane, which can easily lead to damage to devices arranged in front of the press beam. The bent sheet metal can also strike the press beam and damage devices attached there.
    A sheet insertion aid is known from JP 5856860 B2, in which a camera in the machine room is aimed at the rear stop and the inserted sheet. A sheet edge or a striking point of the sheet is determined in the captured image and compared with a target position. In the event of a deviation, a marker is projected onto the sheet by a projector, onto which the sheet must be aligned in relation to the backgauge. The camera and the projector are attached to a device which can be moved parallel to the press beam.
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    It is known from the prior art to record the area in front of a bending machine and also the area behind the press beam with an image capturing means. It is disclosed that the captured image is shown on a display means, with the display not being corrected due to changing positional relationships between the operator, the bending machine, the workpiece to be formed and the working position. The machine operator is always shown the same perspective view regardless of his current position. This in turn increases the risk of errors, since the user has to coordinate his position with his line of sight and the displayed image in order to be able to correctly grasp the situation shown. Significant perspective distortions can occur, especially with wide bending machines (press beams several meters long).
    The object of the invention is therefore to improve the disadvantages of the prior art and to provide a bending machine in which a machine operator in the working area in front of the bending machine is always provided with a virtually unobstructed view of the rear machine room without the machine operator himself having to redisplay the illustration must interpret.
    The object of the invention is achieved by a bending machine with a work area image capturing device. The bending machine has a machine frame, an elongated, fixed machine table and an elongated press beam, which press beam is guided in the machine frame and is movably received by a drive means relative to the latter, and the drive means is controlled by a machine control. The machine frame also has two side parts which are spaced apart from one another in the direction of the longitudinal extent of the machine table by a machine width, and wherein the longitudinal extent and the direction of movement of the press beam span a working plane. The working level defines a front work and manipulation room and a separate, and in particular closed, rear machine room. An image capture device is arranged in the machine room above the machine table, with a capture area of the image capture device in the direction of Ma4 / 28
    N2015 / 14400-AT-00 inside the machine. The image capture device is connected to a display means, which is designed to display the captured image of the capture area. The image capture device is connected to the display means via an image processing processor, and the image processing processor also has a coordinate transformation module which is designed to correct the perspective of the captured image. The coordinate transformation module is connected to a wireless position determination system, which is designed to determine the position of a machine operator in the work and manipulation room.
    The advantage of the present embodiment is that the machine operator can see the rear, locked machine room without physical dislocations, the display being adapted to the current position of the machine operator. This means that the machine operator has a correct perspective view of the machine interior from every position in the area in front of the machine
    A further development is that the image capturing device is formed by at least one 2D or 3D camera, for example by a CCD camera. This is an advantage because such cameras are readily and inexpensively available.
    According to a further development, it is also provided that the position determination system has a mobile part carried by the machine operator and a first remote station arranged on the bending machine, a wireless high-frequency communication connection being established between the mobile part and the first remote station, and that the bending machine has at least one second remote station, between there is a wireless ultrasound signal connection to the handset and the at least one wide remote station. The position of the machine operator in relation to the bending machine can thus be determined at any time, so that the perspective correction of the display can also be carried out essentially in real time. An example of a position location system according to the claims is known from AT 510 950 A2.
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    A further development consists in that the image capturing device is arranged in a central section of the longitudinal extent of the press beam, or in the area of at least one of the side parts. The central position of the press beam gives the machine a particularly good view due to its central position. The image capturing device can be arranged particularly well protected in the area of the side parts.
    A further development is also possible, according to which a graphic model of the bending machine is stored in a storage means of the image processing processor or in an external storage means connected to the image processing processor, which graphic image of the bending processor is displayed on the display means superimposed on the captured image. It is thus possible to display relevant components of the bending machine in the representation on the display means without an image analysis having to be carried out in the image captured by the image capturing device. By knowing the arrangement of the image capturing device in relation to the bending machine and the optical characteristics of the image capturing device, elements from the stored model of the bending machine can be shown in the display on the display means by means of a coordinate transformation. The external memory can be formed, for example, by a central database.
    According to a further development, it can also be provided that a further image capture device, which is connected to the image processing processor, is arranged in the work and manipulation room, which has a capture area which is aligned with the area of the head height of a machine operator, and the further image capture device with a face-finding module of the image processing processor is connected. This enables the exact height of the operator's eyes to be determined and the perspective representation on the display means to be adapted very precisely to the actual field of vision of the operator. For the operator, this results in a representation as if the bending machine, in particular the press beam, were transparent.
    A further development also consists in the fact that the display means is formed by a projector, the projection area being on a front side of the bending line 6/28
    N2015 / 14400-AT-00 machine is aligned, especially on the press beam or a cladding of the press beam. This development advantageously uses existing surfaces of the bending machine as a projection surface. Since these are mostly largely vertically aligned, and the operator's view is mostly also directed towards the bending machine, the display means is therefore quite well in the operator's direct field of vision. In an alternative embodiment, it is also possible for the projection area to be aligned with a section of the surface of the sheet to be formed. This version has the advantage that the projection area is in the area of the main attention of the machine operator. When bending, the machine operator will usually have the sheet to be formed and the bending line or the bending tools that are moving down in the attention area. Since the projection surface is now in this area, the operator is not or only very slightly distracted from his work by viewing the projected information.
    An advantageous further development also consists in the fact that the display means is formed by data glasses. The arrangement of the glasses on the head and exactly in the field of vision of the wearer ensures that the machine operator is shown relevant information exactly in his field of vision, regardless of the current viewing direction.
    In this respect, a further possible embodiment is advantageous, according to which the mobile part is formed by the data glasses. Since the position of the operator is now determined using the data glasses, the representation can be corrected very well in perspective. In a further development it can be provided that the data glasses also only determine an orientation of the head, so that a display is only shown when the operator looks at the bending machine.
    A further advantageous embodiment consists in that the image capture device is arranged on a manipulation device which is designed to change the position of the image capture device parallel to the longitudinal extension and / or is designed to pivot the image capture device about a vertical and / or horizontal axis. This makes it possible to move the image capturing device closer to the area of the bending machine,
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    N2015 / 14400-AT-00 from which an image is to be acquired. For example, a bending machine can have a width of several meters, as a result of which the relative resolution in the sections furthest away from the image capturing device is reduced.
    An unfavorable recording situation can be improved by changing the arrangement of the image capturing device.
    According to a further development, it is provided that the wireless position determination system has an acceleration sensor or a contact mark that can be read out without contact. With an acceleration sensor, changes in location and movements can be detected well, especially with a high resolution. With an acceleration sensor, however, only differential movements and thus only relative changes in position can be determined, which is why regular calibrations are necessary to determine a reference point. An identification tag, for example an RFID tag, can be designed by designing the impulse response of the tag in such a way that a very precise position determination can be achieved by measuring the transit time of the response of the tag.
    A further development also provides that the display means is formed by a flat screen which is arranged on the press bar, in particular on the front. Due to the shallow depth and the low weight, a flat screen can be easily installed in the operator's field of vision. A flat screen also achieves a brightness of the displayed image that it can be easily recognized even in daylight in a production hall. This development expressly includes an embodiment variant in which the display means is also formed by more than one flat screen. Depending on the width of the machine, designs are conceivable in which a plurality of flat screens are arranged along the press beam and form the overall display means.
    A further advantageous embodiment also consists in that the flat screen is arranged in a mounting device, which mounting device enables the flat screen to be positioned along the longitudinal extent of the press beam. A bending press usually has a large longitudinal extension, so that the display is only positioned centrally for bending work
    N2015 / 14400-AT-00 ten in the center area of the bending press is advantageous. With this development, the flat screen can be moved along the bending press and in particular positioned in the immediate vicinity of the bending deformation to be carried out. A further embodiment can also consist of positioning using an adjusting means, so that no action is required by the machine operator. The machine control then moves the display to the location of the next bending operation.
    Flat screen is preferably understood to mean an active, self-illuminating display, for example a TFT display or an OLED display. However, passive displays can also be used, for example an ePaper display. This has the advantage that it is easy to read even in very bright ambient light.
    The object of the invention is also achieved by a method for improving the operational safety of a bending machine, which method is carried out on a bending machine. A rear image of the machine room is recorded in real time by the image capture device, and the coordinates of a machine operator in the work and manipulation room are determined by the position determination system. A transformation vector between the image capture device and the coordinates of the machine operator is determined by the coordinate transformation module, and the captured image is transformed in perspective by the image processing processor using the transformation vector, and the transformed image is displayed on the display means.
    The particular advantage of this method is that the operator is shown in real time a perspective view of the machine room, which can only be seen under physical dislocations.
    According to a development, the further image capturing device detects the front image, in which front image the face of the operator is determined by the face-finding module, in particular the position of the eyes. By knowing the position of the eyes, the position of the operator in front of the bending machine can be determined more precisely and thus also the perspective Kor9 / 28
    N2015 / 14400-AT-00 rectification of the distance of the eyes from the floor can be determined, and thus a significant improvement in the perspective correction can be achieved.
    Another possible development is that the coordinate transformation module determines a viewing direction vector from the position of the eyes, which vector is used by the image processing processor together with the transformation vector for perspective transformation. Based on the knowledge of the position of the operator in front of the bending machine and the knowledge of the eyes, the display direction vector can be used to adapt the representation on the display means to the exact perspective of the operator.
    A further advantageous embodiment consists in that the coordinate transformation module determines a vertical distance between the floor and the eye position from the position of the eyes and an arrangement position of the further image capturing means, which vertical distance is used by the image processing processor together with the transformation vector for perspective transformation.
    The more precisely the viewing direction and thus the operator's field of vision can be determined, the more precisely the perspective correction can be carried out. For a precise handling of the workpiece to be reshaped, in particular the application against the backgauges, it is important to represent the invisible area of the bending machine on the display means with the correct perspective if possible
    An advantageous further embodiment is that the image processing processor displays a target orientation stored in the storage means or in the external storage means on the display means and / or on a sheet inserted in the bending machine. In this way, the operator can be given clear help as to how the sheet to be formed has to be inserted into the bending machine for the next work step. With small quantities in particular, a significant increase in throughput can be achieved since the operator is not bothered with considerations for the correct alignment of the sheet. In particular, this can also achieve a reduction in incorrectly bent workpieces.
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    According to a further embodiment, it is provided that the image processing processor has a pattern recognition module which detects the orientation of an inserted plate as the actual orientation in the front and / or in the rear image, in particular the outline of the plate, and by comparison with one in the storage means or the target alignment stored in the external storage means, determines an alignment deviation vector and displays this as a correction representation on the display means and / or on the inserted sheet metal. In addition to a pure projection of a target alignment, it is also possible to recognize an incorrect alignment of the inserted sheet and to actively inform the operator of this. For example, it could be provided that incorrect alignment is represented by means of a signal color and manipulation steps are indicated by means of graphic symbols (arrows, directions of rotation, ...) in order to bring the workpiece into the correct alignment position.
    Another advantageous embodiment is that the correction representation is generated by the image processing processor as an animation. Especially with small quantities or when starting a new bent part, the machine operator is faced with the challenge of correctly aligning the workpiece between the individual machining steps. With this development, the machine operator can be supported significantly in the workflow, and the risk of faulty bent parts can be significantly reduced.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    Each show in a highly simplified, schematic representation:
    Figure 1 shows the subject bending machine with a first embodiment of the subject work area image capture device.
    2 shows the bending machine in question with a further possible embodiment of the working area image capturing device;
    3 is a top view of the work area image capture device;
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    Fig. 4 shows a manipulation instruction according to another possible embodiment.
    1 shows the bending machine 1 in question with a work area image capturing device in a sectional view. The bending machine 1 comprises a machine frame which has an elongated, fixed machine table 2 and a likewise elongated press beam 3. The press beam is guided in the machine frame and is moved relative to it by drive means 4. The drive means 4 is controlled by a machine control 5, which machine control 5 moves the press beam 3 in the direction of the lower tool 6 arranged on the machine table 2 until the sheet 7 placed on the lower tool 6 has been bent by the desired angle.
    The longitudinal extent of the press beam 3 and the direction of movement 8 of the press beam 3 span a working plane 9 which defines a front working and manipulation room 10 and a rear machine room 11 delimited therefrom. Due to the structural elements of the bending machine 1, in particular due to the press beam 3, the machine room 11 is not, or is difficult to see. In particular, the machine operator has to bend down in order to be able to see the machine room 11, which, because of the sharp edges of the inserted sheet metal 7, entails a clear risk of injury.
    An image capture device 12 is arranged in the machine room 11 and above the machine table 2, which has a capture area 13 which is oriented in the direction of the machine room 11, in particular on the stop fingers 14 of a rear stop 15 arranged in the machine room 11.
    The image capture device 12 is connected via an image processing processor 16 to a display means 17, which display means 17 is designed to display the captured image of the capture area 13. The image processing processor 16 is preferably arranged in the machine control 5 and furthermore has a coordinate transformation module 18 which is used to correct the
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    Perspective of the captured image of the detection area 13 is formed before the captured image is displayed on the display means 17.
    It is also provided that the coordinate transformation module 18 is connected to a wireless position determination system 19. This is designed to determine the position of a machine operator 20 in the front work and manipulation room 10. According to a preferred embodiment variant, the position determination system 19 has a mobile part 21 carried by the machine operator 20 and a first counterpart 22 arranged on the bending machine 1, preferably on the machine table 2. Furthermore, a second remote station 23 is preferably arranged on the bending machine 1 or on the machine table 2, a wireless high-frequency communication connection 24 being established between the mobile part 21 and the first remote station 22 and a wireless ultrasound signal connection 25 also being established between the mobile part 21 and the second remote station 23 , According to one embodiment variant, the mobile part is formed by a shoe which, in addition to position detection by the position determination system 19, also enables the bending machine 1 to be controlled by the machine controller 5, in particular the movement of the press beam 3.
    As a result of the pressing bar 3 moving down, the viewing area 26 of the machine operator 20 is restricted to the machine room 11, in particular to the stop fingers 14. With the embodiment in question, the machine room 11 is captured by the image capture device 12 and displayed by or on the display means 17. However, the display is corrected in perspective, taking into account the determined position of the machine operator 20, so that the machine operator 20 is shown a perspective-correct representation of the machine room 11 essentially from every position in the work and manipulation room 10. The machine operator 20 thus has the impression that the downward pressing beam 3 is not present or transparent and does not impair the view into the machine room 11.
    2 shows the bending machine 1 in question with a further possible embodiment variant of the work area image capturing device. In addition is
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    N2015 / 14400-AT-00 here in the work and manipulation room 10 a further image capture device 27 is arranged, which has a capture area 28 which is aligned with the head of the machine operator 20. The detection area 28 is chosen so large that the head position of machine operators 20 of average size are in the area. To determine the eye position, it is provided that the further image capturing device 27 is connected to a face-finding module 29 of the image processing processor 16. With this embodiment, the perspective correction of the representation on or by the display means 17 can be significantly improved, since in addition to the position of the machine operator 20 in the work and manipulation room 10, the position of the eyes can also be determined. By knowing the position of the further image capturing device 27 in relation to the bending machine 1, the vertical distance 30 of the eyes of the machine operator 20 in relation to the base area 31 can be determined and taken into account in the perspective correction.
    According to a further advantageous embodiment, a gaze direction vector can also be determined from the knowledge of the eye position and the vertical distance 30 in order to adapt the perspective correction even better or more precisely to the actual real viewing area 26 of the machine operator 20.
    3 shows a plan view of the bending machine 1 in question. Two side parts 32 are spaced apart from one another by the machine width 33; between them, in the direction of the longitudinal extent of the machine width 33, the machine table 2 and the press beam 3 are arranged, the press beam 3 being driven by the drive means 4 is movable relative to the machine frame 34. The longitudinal extent and direction of movement of the press beam 3 span a working plane 9, which defines a front working and manipulation room 10 and a rear, mostly not or hardly visible machine room 11.
    A rear stop 15 with a stop finger 14 is arranged in the machine room 11, on which the sheet 7 to be formed is placed and thus correctly aligned for the bending to be carried out.
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    Since the rear machine room 11, in particular the stop fingers 14, is usually not or only difficult to see from the machine operator 20 standing in front of the bending machine 1 (in particular by bending over), it is provided that an image capture device 12 is arranged in the machine room 11 and above the machine table 2. The image capturing device 12 has a capturing area 13 which comprises at least the stop fingers 14, in particular the front end of the stop fingers 14 contacting the sheet metal.
    From the display means 17, the image of the detection area 13 captured by the image capture device 12 and corrected in perspective by means of the image processing processor 16 is displayed in a display area 35. This display area 35 is preferably selected such that it comprises the front side 36 of the press beam and / or a portion of the surface 37 of the sheet 7 to be formed. Furthermore, it is also possible for the display area 35 to be formed in part by the floor in front of the bending machine 1.
    According to one embodiment, it is provided that the image capture device 12 is arranged in the machine room 11 and above the machine table 2, preferably approximately in the middle of the longitudinal extent of the machine width 33. According to a further embodiment, it is also provided that the image capture device 12 is arranged on a manipulation device 38, which manipulation device 38 for moving the image capture device 12 parallel to the longitudinal extension of the press beam 3 and / or for pivoting the image capture device 12 about a horizontal and / or vertical axis of the floor is formed.
    Likewise, the display means 17 can also be arranged on a manipulation device, not shown, in order to be movable parallel to the longitudinal extension of the press beam 3 or to be pivotable about a horizontal and / or vertical axis with respect to the floor.
    FIG. 4 shows a section of the display area 35, in particular in a top view of the sheet metal piece 7 to be formed, as the view would also essentially be presented to the machine operator. The sheet 7 is shown, which
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    N2015 / 14400-AT-00 is inserted in a first machining position 39 in the bending machine, in particular is placed on the lower tool 6, and how it should be inserted in the second machining position 40 for the subsequent machining step. Also shown is the bending line 42, around which the sheet 7 was bent in the first processing position 39 and which is to be bent in the second processing position 40. The correct target alignment 41 of the sheet in the second processing position 40 is determined by the image processing processor and displayed by the display means. According to a further embodiment, it is also possible for the manipulation actions for moving the sheet 7 from the first processing position 39 into the second processing position 40 to be represented as animation in order to be able to clearly represent the manipulation steps. In the case shown, the manipulation actions are a simple 90 ° turn to the left. In the case of complex bending workpieces, however, it is also possible that, in addition to rotations, pivoting is also necessary, which in particular in the case of a small number of items up to number 1, involves the risk of incorrect manipulation and thus an incorrectly bent piece of sheet metal. With this animated step-by-step display, the machine operator can be given significant support in correctly feeding the sheet to the next processing step.
    In conclusion, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, and the disclosures contained in the entire description can be applied analogously to the same parts with the same reference numerals or the same component designations. The location information selected in the description, e.g. above, below, to the side, etc., referring to the figure described and illustrated immediately, and if the position is changed, these are to be applied accordingly to the new position.
    2-4 further and possibly independent embodiment of the bending machine with a work area image capturing device are shown, again using the same reference numerals or component names as in the previous FIG. 1 for the same parts. To unnecessary
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    To avoid repetition, reference is made to the detailed description in the preceding figures.
    The exemplary embodiments show possible design variants of the bending machine with a work area image capturing device, it being noted at this point that the invention is not restricted to the specially illustrated design variants of the same, but rather also various combinations of the individual design variants with one another are possible and this variation possibility is based on the teaching for technical action by means of the present invention lies in the ability of the specialist working in this technical field.
    Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.
    The object on which the independent inventive solutions are based can be found in the description.
    All information on value ranges in the objective description is to be understood so that it includes any and all sub-areas, e.g. the information 1 to 10 is to be understood so that all sub-areas, starting from the lower limit 1 and the upper limit 10, are included, i.e. all sections start with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or
    5.5 to 10.
    Above all, the individual versions shown in FIGS. 2-4 can form the subject of independent solutions according to the invention. The relevant tasks and solutions according to the invention can be found in the detailed descriptions of these figures.
    For the sake of order, it should finally be pointed out that for a better understanding of the structure of the bending machine with a working area 17/28
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    Image capture device these or their components were partially shown to scale and / or enlarged and / or reduced.
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    LIST OF REFERENCE NUMBERS
    bending machine 27 further image capture device machine table tung pressing bars 28 detection range drive means 29 Face detection module machine control 30 vertical spacing lower tool 31 Floor, footprint sheet 32 side panels movement direction 33 machine width working level 34 machine frame Labor and manipulation 35 display area room 36 front engine room 37 Surface, flat side Image capture device 38 manipulation device detection range 39 first machining position stop finger 40 second machining position back gauge 41 Target orientation Image processor 42 elastic line
    Indicators
    Coordinate transformation module
    A position detecting system
    machine operator
    Handset, first remote station, second remote station, high-frequency communication link, ultrasonic signal link, viewing area
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    权利要求:
    Claims (20)
    [1]
    claims
    1. Bending machine (1) with a work area image capturing device, the bending machine (1) having a machine frame (34), an elongated, fixed machine table (2) and an elongated press beam (3), which press beam (3) in the machine frame (34 ) guided and movably received by a drive means (4), which drive means (4) is controlled by a machine control (5), and wherein the machine frame (34) further has two side parts (32) which extend in the direction of the longitudinal extent of the machine table (2) are spaced apart from one another by a machine width (33), and the longitudinal extent and the direction of movement (8) of the press beam (3) span a working plane (9), and the working plane (9) a front working and manipulation room ( 10) and a delimited, and in particular closed, rear machine room (11), and wherein in the machine room (11) above the masc an image capturing device (12) is arranged, wherein a capturing area (13) of the image capturing device (12) is oriented in the direction of the machine room (11), and wherein the image capturing device (12) is connected to a display means (17) which is designed to display the captured image of the detection area (13), characterized in that the image capture device (12) is connected to the display means (17) via an image processing processor (16), and in that the image processing processor (16) is a coordinate transformation module (18) which is designed to correct the perspective of the captured image and that the coordinate transformation module (18) is connected to a wireless position determination system (19) which is designed to determine the position
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    N2015 / 14400-AT-00 of a machine operator (20) in the work and manipulation room (10).
    [2]
    2. Bending machine according to claim 1, characterized in that the image capture device (12) is formed by at least one 2D or a 3D camera.
    [3]
    3. Bending machine according to one of claims 1 or 2, characterized in that the position determination system (19) has a mobile part (21) carried by the machine operator (20) and a first counterpart (22) arranged on the bending machine (1), with between the There is a wireless high-frequency communication link (24) and the first remote station (22) and the bending machine (1) has at least one second remote station (23), one between the mobile part (21) and the at least one second remote station wireless ultrasound signal connection (25).
    [4]
    4. Bending machine according to one of claims 1 to 3, characterized in that the image capture device (12) is arranged in a central portion of the longitudinal extent of the press beam (3), or in the region of at least one of the side parts (32).
    [5]
    5. Bending machine according to one of claims 1 to 4, characterized in that a graphic model of the bending machine (1) is stored in a storage means of the image processing processor (16), or in an external storage means connected to the image processing processor (16), which the image processing processor (16) on the display means (17) overlays the captured image.
    [6]
    6. Bending machine according to one of claims 1 to 5, characterized in that in the working and manipulation space (10), with the image processing 21/28
    N2015 / 14400-AT-00 processing processor (16) is connected, further image capture device (27) is arranged, which has a capture area (28) which on the area of
    Head height of a machine operator (20) is aligned, and wherein the further image capturing device (27) is connected to a face-finding module (29) of the image processing processor (16).
    [7]
    7. Bending machine according to one of claims 1 to 6, characterized in that the display means (17) is formed by a projector, the projection region being aligned with a front side (36) of the bending machine (1), in particular on the press beam (3) or a cladding of the press beam (3), or / or that the projection area is aligned with a section of the surface (37) of the sheet (7) to be formed.
    [8]
    8. Bending machine according to one of claims 1 to 6, characterized in that the display means (17) is formed by data glasses.
    [9]
    9. Bending machine according to claims 3 and 8, characterized in that the mobile part (21) is formed by the data glasses.
    [10]
    10. Bending machine according to one of claims 1 to 9, characterized in that the image capture device (12) is arranged on a manipulation device (38) which is designed to change the position of the image capture device (12) parallel to the longitudinal extension and / or to pivot the Image capture device (12) is formed about a vertical and / or horizontal axis.
    [11]
    11. Bending machine according to one of claims 1 to 10, characterized in that the wireless position determination system (19) has an acceleration sensor or a contactless readable identification tag.
    22/28
    N2015 / 14400 AT-00
    [12]
    12. Bending machine according to one of claims 1 to 11, characterized in that the display means (17) is formed by a flat screen, which is arranged on the press beam (3), in particular on the front (36).
    [13]
    13. Bending machine according to claim 12, characterized in that the flat screen is arranged in a mounting device, which mounting device enables positioning of the flat screen along the longitudinal extent of the press beam (3).
    [14]
    14. A method for improving the operating safety of a bending machine (1), executed on a bending machine (1) according to one of claims 1 to 13, characterized in that • in real time;
    • a rear image of the machine room (11) is captured by the image capture device (12); and that • the coordinates of a machine operator (20) in the work and manipulation space (10) are determined by the position determination system (19); and that • the coordinate transformation module (18) determines a transformation vector between the image capture device (12) and the coordinates of the machine operator (20); and that • the image processing processor (16) transforms the captured image in perspective using the transformation vector; and that • the transformed image is displayed on the display means (17).
    [15]
    15. The method according to claim 14, characterized in that a front image is captured by the further image capturing device, in which front image the face of the operator is determined by the face-finding module (29), in particular the position of the eyes.
    23/28
    N2015 / 14400 AT-00
    [16]
    16. The method according to claim 15, characterized in that the coordinate transformation module (18) determines a viewing direction vector from the position of the eyes, which is used by the image processing processor (16) together with the transformation vector for perspective transformation.
    [17]
    17. The method according to claims 15 or 16, characterized in that the coordinate transformation module (18) from the position of the eyes and an arrangement position of the further image acquisition means, a vertical distance (30) between the floor (31) and eye position is determined, which Image processing processor (16) is used together with the transformation vector for perspective transformation.
    [18]
    18. The method according to any one of claims 14 to 16, characterized in that the image processing processor (16) represents a target orientation stored in the storage means or in the external storage means on the display means (17) and / or on a sheet inserted in the bending machine (1) (7).
    [19]
    19. The method according to any one of claims 14 or 15, characterized in that the image processing processor (16) has a pattern recognition module, which detects the orientation of an inserted sheet (7) as the actual orientation in the front and / or in the rear image, in particular the outline of the sheet (7), and by comparison with a target orientation stored in the storage means or in the external storage means, an alignment deviation vector is determined and represents this as a correction representation on the display means (17) and / or on the inserted sheet (7).
    [20]
    20. The method according to claim 19, characterized in that the correction representation is generated by the image processing processor (16) as animation.
    24/28
    N2015 / 14400 AT-00
    25/28
    26/28
    Μ
    IL
    TRUMPF Maschinen Austria GmbH & Co. KG
    27/28
    d ~
    IL
    TRUMPF Maschinen Austria GmbH & Co. KG.
    28/28
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    US20190210083A1|2019-07-11|
    WO2018039696A1|2018-03-08|
    CN109789460B|2020-09-08|
    AT518890B1|2018-02-15|
    EP3507033A1|2019-07-10|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50784/2016A|AT518890B1|2016-09-02|2016-09-02|Bending machine with a workspace image capture device|ATA50784/2016A| AT518890B1|2016-09-02|2016-09-02|Bending machine with a workspace image capture device|
    EP17778162.2A| EP3507033B1|2016-09-02|2017-08-30|Bending machine having a working area image capturing apparatus and method for improving the operational safety of a bending machine|
    CN201780054154.0A| CN109789460B|2016-09-02|2017-08-30|Bending machine with a working area image capturing device and method for improving the operational safety of a bending machine|
    US16/327,110| US11185903B2|2016-09-02|2017-08-30|Bending machine having a working area image capturing apparatus and method for improving the operational safety of a bending machine|
    JP2019512198A| JP2019532817A|2016-09-02|2017-08-30|Bending machine with work area image detection device|
    PCT/AT2017/060212| WO2018039696A1|2016-09-02|2017-08-30|Bending machine having a working area image capturing apparatus and method for improving the operational safety of a bending machine|
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