Method and flat machine tool for associating information with a workpiece data set

Abstract

The invention relates to a method for associating workpiece-specific information stored in a database (8A) with a workpiece data set of a workpiece (9) by means of gestures in a flat machine tool (3), in particular a laser cutting flat machine tool or a punching flat machine tool, wherein at least one workpiece (9) is picked by means of a first picking gesture of an operator (11) and the workpiece data set is selected thereby, for example by means of a pen or by means of a tap, wherein the workpiece-specific information is associated with the workpiece data set by means of a second gesture of the operator (11). The operator (11) wears a picking support unit (33), in particular a glove, a wristband, an input pen or a mobile unit (33B) worn near the hand. The position of the operator's (11) hand (75) is determined by means of a positioning system (31) based on one or more cameras (45) or based on ultra-wideband positioning.

Description

Technical Field

[0001] The invention relates to a method for associating information with a workpiece data set of a workpiece in an arrangement of workpieces located in a support plane of a picking station, in particular for integrating a manual sorting process into the operation of a flat machine tool. The invention also relates to a correspondingly designed flat machine tool. Background Art

[0002] When sorting parts on a machine tool, especially when sorting laser-cut objects or punched workpieces such as sheet metal parts, the operator usually visually compares each individual cut part with the order drawing of the corresponding part. Defectively cut or punched sheet metal parts are marked as scrap and picked out. When the operator, for example, identifies a scrap part on the picking table, he or she can perform a corresponding record on the operator terminal. However, the operator needs to change to the location of the operator terminal for this. Alternatively, the operator can perform multiple / all correction registrations in a centralized manner. However, multiple registrations are prone to errors.

[0003] WO 2018 / 073420 A1 of the applicant describes a method for supporting an operator during a sorting process (of workpieces arranged on a picking table), wherein a positioning system is used in particular to position the operator's hands.

[0004] A method for automatic process control is known from DE 102 15 885 A1. In addition, smart gloves for industrial applications are known, for example, from DE 10 2015 111 506 A1 and DE 10 2011 002 952 A1, which are used in particular to support workflows in industrial production. Summary of the invention

[0005] One aspect of the disclosure is based on the object of reducing the travel distance between the sorting station and the operator terminal and avoiding errors, in particular when recording reject parts. Another object is to facilitate the assignment of information to the data set of the generated workpieces and / or to reduce errors when assigning information.

[0006] At least one of the tasks is achieved by the method according to the invention for associating information with a workpiece data set of a workpiece in an arrangement of workpieces located in a support plane of a picking table and by the flat machine tool according to the invention. Further developments are described in the description.

[0007] One aspect of the present invention relates to a method for workpiece-specific sorting of workpieces arranged on a picking table based on gesture recording, wherein the workpieces are produced according to a processing plan by means of a flat machine tool, in particular a laser cutting or punching flat machine tool. The method comprises the following steps:

[0008] detecting a picking gesture of an operator to identify one of the arranged workpieces, wherein the picking gesture is spatially related to the workpiece to be identified,

[0009] A recorded gesture for the identified workpiece is detected.

[0010] On the other hand, a method for associating information with a workpiece data set of a workpiece in an arrangement of workpieces located in a support plane of a picking station is disclosed. The workpiece is produced from a plate-shaped material by means of a flat machine tool, in particular a laser cutting or punching flat machine tool, according to a processing plan stored in a control unit of the flat machine tool. The processing plan includes a plurality of workpiece data sets in which the positions and contours of the workpieces in the arrangement of workpieces are stored. The method comprises the following steps:

[0011] The picking time is detected by a first movement of the operator spatially related to the workpiece to be picked,

[0012] At the picking time, the position of the operator's hand in space above the arrangement of the workpieces is determined by means of a positioning system,

[0013] Deducing the picking position in the support plane from the determined position of the hand,

[0014] By comparing the picking position with the position and contour of the workpiece, a workpiece data set is selected from a plurality of workpiece data sets as the workpiece data set picked by the first action,

[0015] detecting a second action in which the operator performs a gesture movement, wherein the gesture movement is associated with information to be recorded in the database,

[0016] Read the information to be recorded from the database, and

[0017] The information to be recorded is associated with the selected workpiece data set.

[0018] In another aspect, a flat machine tool, in particular a laser cutting or punching flat machine tool, comprises a processing unit (in particular a laser cutting or punching processing unit) and a control unit, in which a processing plan is stored for controlling the processing unit to produce workpieces arranged side by side in space. The flat machine tool also comprises: a picking station for providing the workpieces produced and arranged side by side in a support plane for sorting by an operator; and a positioning system for determining the position of the operator's hand in space. The control unit is configured to perform the method disclosed herein.

[0019] In some embodiments, the first action can be a picking gesture movement, which the operator performs with the hand above the arrangement of the workpieces and which is detected with the help of an acceleration sensor worn on the hand or with the help of a positioning system. For example, the picking gesture movement can be a tapping movement onto the workpiece to be picked. The tapping movement can optionally be detected with the help of a positioning system and output as position data of the in-line position of the hand. In this case, the position in the support plane that is in the extension of the in-line position is derived as the picking position.

[0020] In some embodiments, the operator can wear a picking support unit near the hand to determine the position of the operator's hand, and the picking support unit is in particular a glove, a wristband or an input pen. The picking support unit can optionally have an acceleration sensor and / or an active transmitter of a positioning system and / or a passive transmitter of a positioning system and / or can be configured as a part of the positioning system.

[0021] In some embodiments, the positioning system can detect the position of the input pen held in the hand to determine the position of the operator's hand. The first action can include tapping the input pen onto the workpiece to be picked, and the position data of the tip of the input pen in the support plane or near the support plane can be derived as the picking position. The input pen can have, in particular, a pressure-sensitive pressure sensor in the tip of the input pen, and can also be constructed to output a trigger signal when the pressure sensor is activated. The first action can include pressing the input pen onto the workpiece to be picked to activate the pressure sensor and output a trigger signal through the input pen. Here, the method can also include the following steps: detecting the trigger signal and determining a picking time point as the time point for detecting the trigger signal; and limiting the position of the hand detected by the positioning system to the picking time point or to a time window around the picking time point.

[0022] In some embodiments, the localization system can be designed to evaluate image data from one or more cameras in order to determine the position of the operator's hand in an image-supported manner. Alternatively, the localization system can be based on ultra-wideband localization of a mobile unit worn near the hand and can determine the position of the operator's hand (in particular gesture movements) in space by evaluating position data of the mobile unit obtained by means of the localization system (when using the localization system).

[0023] In some embodiments of the method, the comparison of the picking position with the position and contour of the workpiece can include the following steps:

[0024] The position of the arrangement of the workpiece in the support plane is detected by means of a camera,

[0025] generating converted data of the position and contour of the workpiece by converting the position and contour of the workpiece into the support plane based on the detected position of the arrangement of the workpiece, and

[0026] The picking position is compared with the converted data of the position and contour of the workpiece.

[0027] In some embodiments, for a plurality of successively detected first actions, a plurality of picking positions can be derived, for which a plurality of picked workpiece data sets are selected. By detecting the second action, the plurality of picked workpiece data sets can be uniformly associated with the information to be recorded.

[0028] In some embodiments, the information to be recorded can include classification as a reject part, and the method can further include the step of recording the sorted workpiece data set into a reject list.

[0029] In some embodiments, the method can further include the following step as a method step: displaying workpiece-specific information about the workpiece data set selected by the first action on a display unit. The workpiece-specific information can optionally include customer data, information about subsequent process steps, the number of other identical parts, an associated workpiece collection location or an order number of the workpiece belonging to the selected workpiece data set. The method can further optionally include the following step: expanding the displayed workpiece-specific information with information to be recorded, which is associated with the selected workpiece data set.

[0030] In some embodiments, the method can further include the following step as a method step: after the association is achieved, feedback is output to the operator. The feedback can optionally be achieved by vibration feedback, visual feedback or acoustic feedback.

[0031] In some expansion schemes of the flat machine tool, the flat machine tool also includes an acceleration sensor worn on the hand and / or an input pen for facilitating positioning. The input pen can optionally be constructed as a pressure-sensitive input pen with a pressure sensor. When the input pen is pressed against the workpiece, the pressure sensor causes a trigger signal to limit the position of the hand detected by the positioning system to a time window around the detection of the trigger signal for detecting gesture movements. Alternatively or additionally, the input pen can optionally have an active transmitter and / or a passive transmitter, the position of which can be detected by the positioning system as the position of the operator's hand.

[0032] The positioning system can generally include at least one antenna for receiving signals from a picking support unit worn near the hand. Alternatively or additionally, the positioning system can have one or more cameras for image detection of the position of the operator's hand and / or the position of the picking support unit.

[0033] In general, the solution disclosed here can achieve an increase in process reliability, an optimization of the run time and correspondingly an optimization of the production costs. In particular, the solution disclosed here can lead to a significant time saving in some cases when assigning a scrap part. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The following solution is disclosed here: the solution allows at least partial improvement of aspects of the prior art. In particular, further features and their suitability for the purpose are derived from the following description of the embodiments according to the drawings. The drawings show:

[0035] Figure 1 Schematic spatial representation of a detail of a smart factory with laser cutting or punching flat surface machine tools,

[0036] Figure 2 Schematic diagram for explaining by way of example the sorting of reject workpieces on a sorting table of a flat machine tool,

[0037] Figure 3 A schematic diagram of an exemplary nesting of workpieces, on which a machining plan for a flat machine tool can be based,

[0038] Figure 4 Schematic representation of a camera image of a top view of a pallet during a percussion movement onto one of the workpieces in the arrangement, the workpiece being arranged according to Figure 3 The machining plan shown is cut out and ready for segmentation, and

[0039] Figure 5 Flow chart for illustrating an exemplary method sequence for associating information with a workpiece data set. DETAILED DESCRIPTION

[0040] The aspects described here are partly based on the following recognition: in the framework of the sorting process of cut objects, specific actions (such as gesture control) can simplify the picking process, and the cut objects are produced according to the processing plan by means of a laser cutting (or punching) flat machine tool. In particular, it is proposed here to use the first action of the operator to evaluate the continuous positioning process of the operator's hand for picking workpieces. It is necessary to pick in order to be able to associate specific information with the picked one or more workpieces in a digital manner, for example, by storing information with corresponding workpiece data sets. For example, the workpiece can be associated with workpiece-specific process information, such as wrong cutting or waste. In addition, the workpiece can be associated with information created by the operator, such as information about quality obtained by manual measurement or visual inspection of the workpiece. The input of this manually detected information can be realized by gesture-controlled input.

[0041] In order to locate the operator's hand as required, it is proposed to equip the flat machine tool, in particular the picking table, with a positioning system. The positioning system can be, for example, an ultra-wideband (UWB) positioning system or an image-based positioning system. In addition, acceleration sensors, such as in a wristband or smart watch, can also be used to detect the operator's movements and actions.

[0042] The UWB positioning system includes, for example, a plurality of fixed units ("anchor points") and at least one mobile unit (such as a "tag" or position sensor) on the operator's hand, and obtains the position data of the mobile unit by exchanging UWB signals. The tag can be worn near the hand, for example, with the aid of a data glove or other medium on the operator, such as a ring, a wristband, a watch (smart watch) or a finger cuff (also generally referred to as a wearable device). The following acceleration sensor can be integrated here: the acceleration sensor is, for example, arranged in the tag and is suitable for interaction by detecting movement. An exemplary UWB positioning system is described in PCT application PCT / FR2019 / 000057, entitled "ULTRA-WIDEBAND LOCATION SYSTEMS ANDMETHODS", filed by BeSpoon SAS on April 19, 2019.

[0043] The image-based positioning system can include one or more fixedly mounted cameras, which are used to obtain image data of the picking table (with the workpieces lying flat). Image recognition / image processing can also be improved by a visually conspicuous wearable device or by an element held in the hand, such as an input pen (here referred to as a picking support unit). In addition or as an alternative, the image data can be detected with the aid of data glasses worn by the operator. The data glasses can thus in principle achieve tracking of the hand in space by means of data processing with the aid of the camera contained therein. In the visible area of ​​the data glasses, in addition to the actual detected image of the environment, information about, for example, the picked workpiece can also be faded in.

[0044] Thus, by evaluating the camera image and / or the position data of the displacement unit, the position of the operator's hand and in particular also the movement of the operator's hand can be detected.

[0045] Critical to the correct assignment of information to the workpiece data set is the correct picking of the workpieces, which is achieved according to the invention by specially implemented operator actions.

[0046] In other words, the approach described here allows the underlying production control system to be controlled by specific actions. For example, a gesture can be implemented as a "first action" of the operator during sorting. For this purpose, the gripping process of the workpiece to be picked can be accompanied by a specific gesture movement as a "first action", such as repeated lowering (tapping) of the hand or pointing of the finger. As an alternative or in addition to the gesture-based first action, a foot switch or a switching sensor on the finger, hand or arm and a voice control device can be used.

[0047] If a first movement of this type is detected, this determines the time (also referred to as the picking time) at which the positioning system should deduce and output the position of the hand (also referred to as the picking position at the picking time). Based on this picking position, the workpiece to be picked is then determined, knowing the position of the workpiece; for example, a workpiece received by means of a gripping process is picked up by knocking it previously.

[0048] The solution described here also utilizes the assignment of defined gestures to specific information. Thus, when the operator performs one of the defined gestures in the second action, the gesture can be detected and the information assigned to the gesture can be associated with the workpiece data of the picked workpiece.

[0049] The processing method according to the present invention will be described below by way of example with reference to the accompanying drawings.

[0050] Figure 1A smart factory 1 ("smart factory") is shown, which includes production resources, such as a laser cutting or punching flat machine tool 3 shown as an example, and a manufacturing execution system (MES) 5. The flat machine tool can generally be a laser cutting or punching flat machine tool, which performs separation only by means of laser or only by means of punching. The flat machine tool can also be a combined machine that implements both separation methods. Other processing steps can also be implemented on the flat machine tool, such as deburring, bending, flanging, welding, drilling, thread cutting, etc. In this type of laser cutting or punching flat machine tool, a processing plan (such as a cutting plan) is saved in the machine control device. The position and contour of the workpiece to be produced can be recorded in the processing plan in a machine-readable manner.

[0051] Through the network 7, virtual and physical production elements and production steps, in particular information about the workpiece 9 (required quantity, shape, material, type, etc.) are collected in the MES 5. The control unit 8 (such as a PC, a computing node or similar suitable hardware) is used to control, for example, the flat machine tool 3. The control unit can be constructed as a part of the MES 5 or locally constructed as a self-contained unit in the flat machine tool 3. The control unit 8 is particularly configured to support the operator 11 in sorting the workpiece 9 and sorting out defective parts to, for example, the workpiece collection position 13 during the real-time operation of the smart factory 1. For this purpose, the underlying computing system, for example, has a digital processor system and a database 8A, the digital processor system having a microprocessor circuit, the microprocessor circuit having a data input and a control output, which operates according to computer-readable instructions stored on a computer-readable medium. The control unit (MES 5) provides high computing power for real-time support. The control unit also has a long-term (non-volatile) memory for storing program instructions and a very fast short-term (volatile) memory for storing the associations of the detected data and the picked workpiece data sets with the information generated according to the method.

[0052] The workpieces 9 are delivered by the flat machine tool 3 as blocks 17 on a pallet 15. The pallet 15 forms a sorting station 21 for the component separation. The operator 11 takes the workpieces from the remaining grid and sorts them to a workpiece collection location unit 13 for the corresponding further processing or sorts them as scrap. With the method proposed here, relevant information can be associated with the workpiece data set of the workpiece within the framework of the sorting process.

[0053] Information stored and in particular newly associated during the sorting of the workpieces 9 can be displayed to the operator on the display 19 in a workpiece-specific manner.

[0054] exist Figure 1 Also shown is a delivery vehicle 23 and a bridge 25 that can be moved above the picking station 21, which has a plurality of workpiece collection position units 13. After the required number of sorted workpieces has been deposited in the workpiece collection position unit 13', the workpiece collection position unit is taken to the subsequent processing step, for example by an operator 11' (or automatically by a robot system). Scrap parts can also be collected or left in the residual grid. It is crucial for the digital order to be accompanied by the corresponding notification of the MES 5. In other words, it is desirable that for correctly produced and defectively produced workpieces, the corresponding information is associated with the workpiece data set and stored in the MES 5.

[0055] In order to be able to detect the required position of the hand for sampling, a positioning system 31 is provided in the area of ​​the workplace, which allows the operator's hand and optionally also the picking support unit 33 to be positioned. The picking support unit 33 is located near the hand / arm of the operator 11. Figure 1 In the embodiment of the invention, the picking support unit is exemplarily worn by the operator 11 as a glove. The picking support unit 33 is, for example, a mobile unit 33B in the form of a radio frequency identification (RFID) transmitter, the actual position of which can be identified in real time. The direction finding transponder system operates, for example, in the range of 2.45 GHz with a position resolution of several centimeters. The picking support unit 33 can generally carry an active transmitter and / or a passive transmitter of a positioning system.

[0056] As in Figure 1 As shown in the example, the positioning system 31 has four antennas 35, which are arranged near the picking platform 21. The radio waves detected by the antennas 35 are transmitted as data to the position calculation section 37 of the positioning system 31, which determines the position of the picking support unit 33 from the different signal propagation times and optionally derives the movement trajectory. The position can also be defined as the position of the hand, and the position in the support plane 41 of the tray 15 can be derived as the position of the hand (for example, by projecting the position of the hand into the support plane 41).

[0057] The data for the workpiece generation stored in the processing plan can also be used to determine the position of the component to be removed in the coordinate system of the storage plane 41. As described above, the position of the picking support unit 33 can be used to deduce which workpiece 9 the hand is located above.

[0058] The picking support unit 33 can also have one or more sensors (e.g. an acceleration sensor 33A) which are designed to detect gestures. Alternatively or in addition, the recognition of specific gestures can also be supported by an environmental camera 45 and / or a positioning system 31 installed above the picking table 21. For the transmission of sensor data, the picking support unit can be connected wirelessly to the MES 5. Detected gestures can trigger specific processes in the MES 5.

[0059] Figure 2 The plurality of workpieces 61 are shown to be sorted together as scrap parts as an example. Figure 1 As in FIG. 4 , the surface machine tool 3 has already discharged the workpiece 9 on the pallet 15 in a manner that it is located in the storage plane 41 . Figure 2 For this purpose, it is schematically shown how the machine control system / MES 5 controls the flat machine tool 3 in order to carry out a machining process according to the machining plan 65 and to produce a workpiece 9 .

[0060] The processing plan 65 is stored in the machine control in a machine-readable manner. For example, the processing plan 65 provides the geometrical contours and positions (reference points) of the workpieces in a workpiece position data set 67. The workpiece position data set 67 together defines the arrangement of the workpieces in a plane (nested arrangement), i.e. the relative positions of the workpieces with respect to each other. The nested arrangement of the workpieces to be produced and the workpiece position data can be transmitted not only in the form of the plate coordinates of the "planned material plate to be processed" (generally plate-shaped material) for manufacturing, but also in the form of the coordinates of the support plane 41 of the pallet 15 for sorting after production.

[0061] Figure 3 A schematic processing plan 65' for generating an arrangement of workpieces is shown. Three types of workpieces a, b, c and reference points P1, P2 (e.g., center of mass or puncture point) are shown by way of example. Reference points P1, P2 can show workpiece position data as coordinates of reference points of the workpiece in a reference plane. The workpiece position data can also include the shape of the workpiece (e.g., an outer contour given by a cutting path).

[0062] Refer again Figure 2 The processing plan 65 also includes workpiece information about the workpiece 9 to be manufactured. The workpiece information can include order-specific information about the individual workpieces (order-specific data), such as the order number, the required quantity of different types of workpieces and possible further subsequent processing steps for the workpieces. In addition, the workpiece information in the processing plan can include workpiece image data 69 (e.g. digital views or technical drawings) of the workpiece to be manufactured and the digital views generated from the workpiece image data in a nested arrangement.

[0063] For production, the processing plan is converted into machine coordinates of the flat machine tool 3. The machine tool control device 5 can, for example, control the movement of the laser cutting head over the material plate along the contour of the planned workpiece at the planned position within the arrangement of the workpieces, and can adjust the laser cutting parameters. In order to execute the processing process, the machine tool control device 5 outputs a control signal S to the processing unit 3. W .

[0064] exist Figure 2 In the embodiment of the present invention, after processing, the cut workpieces 9 in the form of the upper level of the raw material plate are present as "cut products" on the pallet 15 and are arranged in a floor-like manner relative to each other in the support plane 41. The workpieces 9 are surrounded by the so-called residual grid, that is, the material of the plate that cannot be used for the workpieces 9. The workpieces 9 can still be connected to the residual grid in a releasable manner by so-called microjoints.

[0065] Returning to the sorting of the reject parts, the operator 11 successively identifies a plurality of workpieces as rejects by means of a gesture in the form of a tapping motion with the input pen 63. That is, the operator taps each workpiece 61 identified as a reject part. Figure 2 In the example of , the positioning system 31 detects the position of the picking support unit (here the tip of the input pen 63) as the position of the hand (via image processing or the mobile unit 33A of the UWB positioning system). Each tapping movement defines a picking time point for the "assigned" workpiece. In order to be able to determine the position of the picking support unit and therefore the hand above, for example, a cut sheet on a pallet, the positioning system 31 - here the image of the camera 45 - is calibrated according to the coordinate system of the picking station. The picking positions in the support plane 41 are derived at different picking time points, and the corresponding workpieces are detected together. For example, the position data of the tip of the input pen 63 in or near the support plane 41 can be derived as a picking position.

[0066] The knocking movement can be detected, for example, by means of a camera system for capturing a two-dimensional or three-dimensional picture of the picking table with the workpieces 9. For multi-dimensional pictures, multiple cameras can also be used or the pictures of multiple cameras can be combined into a two-dimensional image. Figure 2 In the embodiment, the camera 45 is mounted on the machine tool 3 centered with respect to the tray 15 and is directed to the tray in order to record the tray 15 / picking station. The tapping movement can be output as position data of the line position of the input pen 63 (or finger, generally the hand), which is correspondingly evaluated as a gesture. The line position can be used at the same time to determine the picking position in the support plane 41. The picking position can be derived, for example, as being located in the extension of the line position.

[0067] For the approach described here, it is possible to use, for example, a camera system for image capture, as described in the WO 2018 / 073419 A1 mentioned at the beginning for support in sorting workpieces or as described in the applicant's as yet unpublished German patent application DE 10 2018 133 524.5 (filing date December 21, 2018) for the processing of residual grids.

[0068] Figure 4 An image 71 of a pallet 15 is shown on which a material panel 73 is located, which has been Figure 3 In addition to the workpiece shown, the hand 75 of the operator 11 can also be seen, which touches the workpiece 61 or taps it with the input pen 63. In addition, a coordinate system (X K , Y K ) and a reference point P3 of the hand 75 (here the tip of the input pen 63 as an example for hand position data).

[0069] For example, the hand position data can include the coordinates of the identified hand's reference points in a plane parallel to the material sheet and / or the dimensions of the identified hand / identified input pen. Figure 4 In the example, the tip of the input pen 63 is calculated from the image data as the reference point P3. Alternatively, the reference point can be a glove worn on the hand (see Figure 1 ), a wristband worn on a wrist joint, or other wearable device.

[0070] As in Figure 2 Connect S with the help of (camera) signal K As shown, the camera 45 sends the image data of the image 71 to the machine control / MES 5, in which an image processing algorithm is executed in order to track the position of the hand and detect the optional gestures. With the (spatially calibrated) image of the output material plate (of the cutout in the remaining grid) by the camera 45, the workpiece position data 67 of the workpiece 9 generated according to the processing plan 65 can be converted into the coordinate system of the positioning system 31.

[0071] After the workpiece has been selected, the information to be recorded is now selected by means of a gesture movement, which is assigned to the gesture movement in the database. For example, for a detected workpiece, a gesture representing a reject part can be performed, so that the workpiece data set of the selected workpiece is associated with the information "reject". For example, the information to be recorded can present a classification as a reject part, and optionally the selected workpiece data set can be entered in a reject list.

[0072] exist Figure 2It is also shown that the order information for the picked workpiece can be displayed on the display 19 (the monitor is connected to S M ). Furthermore, in order to support the visual inspection of the operator 11, the shape of the workpiece can be shown.

[0073] Figure 5 In summary, a flow chart is shown for explaining an exemplary method flow for associating information with a workpiece data set of a workpiece. The starting point here is that workpieces are arranged on a picking table, which are produced by a flat machine tool, especially a laser cutting or punching flat machine tool based on a processing plan (step 101).

[0074] In the next step, the picking time point is detected by the operator's first action (step 103). The first action is spatially related to the workpiece to be picked. For example, the operator selects the workpiece with the help of a first (specific) gesture (picking gesture movement). The first gesture is, for example, a quick tap on the workpiece. The tapping movement can be detected with the help of a camera or a positioning system. Alternatively or in addition, the operator can wear an acceleration sensor on the wrist joint, which is coupled to one or more receivers via radio. The receiver can perform data evaluation and position determination as well as recognition of the picking gesture movement as part of the MES. Another alternative for the recognition of the picking gesture movement is to activate a pressure-sensitive pen as the first action. The pressure-sensitive pen can be precisely positioned, and even in the case of parts that are close to each other, direct tapping on the workpiece can not cause confusion because the position determination is triggered by the pressure sensor.

[0075] The pressure-sensitive pen can have, in particular in the tip of the input pen, a pressure-sensitive pressure sensor and can also be designed to output a trigger signal when the pressure sensor is activated. Thus, pressing the input pen onto the workpiece to be picked (as an example of a first action) can lead to activation of the pressure sensor and thus to output of a trigger signal by the input pen. If the trigger signal is detected, the picking time can be determined as the time of detecting the trigger signal.

[0076] At this picking time, the position of the operator's hand in space above the arrangement of the workpieces is determined by means of a positioning system (step 105). The position of the hand detected by means of the positioning system can generally be limited to the picking time or a time window around the picking time. For example, the position of the hand joint wearing a wristband with an acceleration sensor can be performed on the one hand by internal spatial positioning or by a camera system alone or in a combination of the two.

[0077] From the determined position of the hand, the picking position in the support plane can be determined (step 107). A workpiece data set can be selected from a plurality of workpiece data sets by comparing the picking position with the position and contour of the workpiece (step 109) and can be marked as a workpiece data set picked by a first action. When the system records, for example, a first gesture / triggering of a pressure-sensitive pen, the gesture can be associated with the workpiece by means of the position of the hand in the image at that point in time and / or by the internal spatial positioning of the hand at that point in time. For this purpose, the current sheet metal position and thus the position of the component on the pallet / picking table can be determined by the camera system. Now, the (image processing / evaluation) algorithm can interpret the image data and the position data of the operator's hand joints as well as the data about the workpiece position and the recognized action (first gesture) for the correct picking of the workpiece.

[0078] Step 109 can include detecting the position of the arrangement of the workpieces in the support plane by means of a camera (step 109A). Step 109 can also include generating converted data of the position and contour of the workpieces by converting the position and contour of the workpieces into the support plane based on the detected position of the arrangement of the workpieces (step 109B), and comparing the picking position with the converted data of the position and contour of the workpieces (step 109C).

[0079] After the workpiece has been selected, a further gesture is performed as a second action (step 111). This gesture is, for example, assigned the following instruction: register the workpiece as reject (step 112) and in particular place it on a reject list. The following gesture recognition thus forms the basis for at least this second action: the gesture recognition can be performed, for example, with the aid of an acceleration sensor on a wristband. The algorithm can now correctly interpret the selected workpiece data set and the recognized second gesture or the user input information assigned to the second gesture, so that the information to be recorded can be read from the database of the MES (step 113).

[0080] The information to be documented can now be linked to the selected workpiece data set (step 115 ).

[0081] A further user interaction is not necessary for associating the information to be recorded with the selected workpiece data set (user input). The user input performed can be displayed, for example, by a monitor mounted on the rear wall of the machine (step 117A). The user input can be displayed in particular together with workpiece-specific information (about the workpiece data set selected by the first action), wherein the workpiece-specific information can optionally include customer data, information about subsequent process steps, the number of other identical parts, an associated workpiece collection location or an order number of the workpiece belonging to the selected workpiece data set.

[0082] In addition, feedback can be output, such as vibration feedback or visual feedback or acoustic (tone / speech) feedback (step 117B). Thus, the operator can monitor and / or verify the execution of the input into the system.

[0083] For the identified reject parts, a supplementary production signal can be output to the MES (step 119). There, for example, the production parameters of the removed workpiece are compared with the subsequent processing plan. If the production parameters are consistent with the subsequent processing plan and the re-production of the removed workpiece is possible, the subsequent processing plan can be supplemented with a generation step for producing a replacement workpiece for the reject part. The generation of the replacement workpiece can also be provided in a later, subsequent processing plan.

[0084] Reference Figure 1 and Figure 2 In the steps explained above by way of example, the communication can be based on a data connection of the positioning system (e.g. for position transmission) and the picking support unit (e.g. for sensor signal transmission) with the control unit 5 and / or the MES 5 of the flat machine tool 3. The data exchange can generally be realized via a data cable with a common data connection, such as CAN, Profibus, RS232, RS485, USB, LAN, etc. However, the data exchange can also be realized in particular via infrared or radio (WLAN, WiFi, etc.).

[0085] In other words, the aim of the proposed approach is to associate an input in the form of a gesture by the operator ("user input") with a selected component (workpiece), wherein the picking of the component is supported by means of the previously occurring gesture. The operator can make component-related inputs or execute commands without further input. Thus, the operator does not need to manually assign information to components. For example, it is not necessary to manually assign a rejection entry to a specific component and an input at an input console is not necessary.

[0086] It is expressly emphasized that for the purpose of original disclosure and for the purpose of limiting the claimed invention, all features disclosed in the description and / or claims are to be considered separate and independent of each other, regardless of the feature combination in the embodiments and / or claims. It is expressly stipulated that for the purpose of original disclosure and for the purpose of limiting the claimed invention, all range descriptions or descriptions of groups of units disclose every possible intermediate value or subgroup of units, in particular also as a limitation of the range description.

Claims

1. A method for associating information with a workpiece data set of a workpiece (9) in an arrangement of workpieces (9) located in a support surface (41) of a picking station (21), wherein: The workpiece (9) is produced from a plate-shaped material by means of a flat machine tool (3) according to a processing plan (65) stored in a control unit (8) of the flat machine tool (3), and the processing plan (65) includes a workpiece data set in which the position and contour of the workpiece (9) in the arrangement of the workpieces (9) are stored. The method comprises the following steps: The picking time is detected (step 103) by a first action of the operator (11) spatially related to the workpiece (61) to be picked, determining (step 105) the position of the hand (75) of the operator (11) in space above the arrangement of the workpieces at the picking time by means of a positioning system (31), deriving (step 107) a picking position in the support plane (41) from the determined position of the hand (75), By comparing the picking position with the position and contour of the workpiece (9), a workpiece data set is selected (step 109) from a plurality of workpiece data sets as the workpiece data set picked by the first action, detecting (step 111) a second action in which the operator (11) performs a gesture movement, wherein the gesture movement is associated with information to be recorded in a database (8A), Reading (step 113) the information to be recorded from the database (8A), and Associating the information to be recorded with the selected workpiece data set (step 115), The method is characterized in that, for a plurality of first actions detected successively, a plurality of picking positions are derived, a plurality of picked workpiece data sets are selected for the plurality of picking positions, and By detecting the second action, the plurality of selected workpiece data sets are uniformly associated with the information to be recorded.

2. The method according to claim 1, wherein: The surface machine tool (3) is a laser cutting or punching surface machine tool.

3. The method according to claim 1, wherein: The first action is a picking gesture movement, which is performed by the operator (11) with the help of the hand (75) above the arrangement of the workpieces (9), and the picking gesture movement is detected with the help of an acceleration sensor (33A) worn on the hand (75) or with the help of the positioning system (31).

4. The method according to claim 3, wherein: The picking gesture movement is a tapping movement onto the workpiece (61) to be picked, and The striking movement is detected by means of the positioning system (31) and output as position data of an aligned position of the hand (75), wherein a position in the support plane (41) in extension of the aligned position is derived as the picking position.

5. The method according to any one of claims 1 to 4, wherein: The operator wears the picking support unit (33) near the hand to determine the position of the operator's (11) hand (75), and The picking support unit (33) has an acceleration sensor (33A) and / or an active transmitter and / or a passive transmitter of a positioning system (31) and / or is constructed as a part of the positioning system (31).

6. The method according to claim 5, wherein: The picking support unit is a glove, a wristband or an input pen.

7. The method according to any one of claims 1 to 4, wherein: The positioning system (31) detects the position of the input pen (63) held in the hand to determine the position of the operator's (11) hand (75), and The first action includes tapping the input pen (63) onto the workpiece (61) to be picked, and the position data of the tip of the input pen (63) in or near the supporting plane (41) is derived as the picking position.

8. The method according to claim 7, wherein: The input pen (63) has a pressure-sensitive pressure sensor and is further configured to output a trigger signal when the pressure sensor is activated, and The first action includes pressing the input pen (63) onto the workpiece (61) to be picked, so as to activate the pressure sensor and output a trigger signal through the input pen (63), and the method further comprises the following steps: detecting the trigger signal and determining the picking time point as the time point of detecting the trigger signal, and The position of the hand (75) detected by means of the positioning system (31) is limited to the picking time or to a time window around the picking time.

9. The method according to claim 8, wherein: The input pen (63) has a pressure-sensitive pressure sensor in the tip of the input pen (63).

10. The method according to any one of claims 1 to 4, wherein: The positioning system (31) is designed to evaluate image data (71) of one or more cameras (45) in order to determine the position of the hand of the operator (11) in an image-assisted manner, or The positioning system (31) is based on ultra-wideband positioning of a mobile unit (33B) worn near the hand, and determines the position of the operator's (11) hand (75) in space and the gesture movement by evaluating the position data of the mobile unit (33B) obtained with the help of the positioning system (31).

11. The method according to claim 10, wherein: The position of the gesture movement of the operator (11) in space is determined by evaluating the position data of the mobile unit (33B) obtained by means of the positioning system (31).

12. The method according to any one of claims 1 to 4, wherein: The comparison of the picking position with the position and contour of the workpiece (9) comprises: detecting (step 109A) the position of the arrangement of the workpiece (9) in the support plane (41) by means of a camera (45), generating (step 109B) converted data of the position and contour of the workpiece (9) by converting the position and contour of the workpiece (9) into the support plane (41) based on the detected position of the arrangement of the workpiece (9), and The picking position is compared with the converted data of the position and contour of the workpiece (9) (step 109C).

13. The method according to any one of claims 1 to 4, wherein: The information to be recorded is classified as a waste part, and the method further comprises the following steps: The data set of the sorted workpieces is entered in a reject list.

14. The method according to any one of claims 1 to 4, further comprising: Workpiece-specific information about the workpiece data set picked up by the first action is displayed (step 117A) on a display unit (19), wherein: The workpiece-specific information includes customer data, information about subsequent process steps, the number of further identical parts, an associated collection location for workpieces or an order number of a workpiece (61) belonging to the picked workpiece data set. 15 . The method according to claim 14 , comprising the step of expanding the displayed workpiece-specific information with information to be documented which is associated with the selected workpiece data set.

16. The method according to any one of claims 1 to 4, further comprising: After the association is achieved, feedback is output (step 117B) to the operator (11), wherein: The feedback is implemented by vibration feedback, visual feedback or acoustic feedback.

17. A flat machine tool (3), comprising: Processing unit, a control unit (8) in which a processing plan (65) is stored for controlling the processing units in order to produce workpieces (9) arranged spatially next to one another, a sorting station (21) for providing the workpieces (9) produced and arranged next to one another in a support plane (41) for sorting by an operator (11), and a positioning system (31) for determining the position of the hand (75) of the operator (11) in space, in, The control unit (8) is designed to carry out a method according to any of the preceding claims.

18. The flat machine tool (3) according to claim 17, further comprising: an acceleration sensor (33A) worn on the hand (75) and / or An input pen (63) for facilitating positioning, wherein: The input pen (63) is designed as a pressure-sensitive input pen with a pressure sensor, which generates a trigger signal when the input pen (63) is pressed against the workpiece (61), so as to limit the position of the hand (75) detected by means of the positioning system (31) to a time window around the detection of the trigger signal, for detecting gesture movements, and / or The input pen (63) has an active transmitter and / or a passive transmitter, and the position of the active transmitter and / or the passive transmitter can be detected by the positioning system (31) as the position of the operator's (11) hand.

19. The flat machine tool (3) according to claim 17 or 18, wherein: The positioning system (31) has at least one antenna (35) for receiving signals from a picking support unit (33) worn near the hand (75), and / or The positioning system (31) has one or more cameras (45) for image detection of the position of the operator's (11) hand (75) and / or the position of the picking support unit (33).

20. The flat machine tool (3) according to claim 17, wherein: The surface machine tool (3) is a laser cutting or punching surface machine tool (3).

21. The flat machine tool (3) according to claim 17, wherein: The processing unit is a laser cutting or punching processing unit.

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