Device and method for automatically bending workpieces

Abstract

The invention relates to a device for automatically bending workpieces (10), comprising a storage device (2) for the workpieces (10), a robotic device (3) for processing the workpieces (10), and a bending machine (5) for deforming at least some of the workpieces (10) processed by the robotic device (3) via a bending process, the device (1) also has an image capture device (7) for capturing image data (ID) relating to the workpiece (10) to be processed in the storage device (2) and a control device (6) for controlling the robotic device (3) using the image data (ID). The image capture device (7) can be moved into different positions (CP1, CP2) via an actuator system (8) in order to capture image data (ID) from different storage sections (201, 202, 203, 204) of the storage device (2) associated with the respective positions (CP1, CP2), a plurality of markers (M1, M2,..., M10) being provided on the storage device (2), the positions (PO1, PO2,..., PO10) of the markers relative to the reference frame (RC) being stored in the control device (6), the image capture device (7) contains at least two markers (M1, M2,..., M10) at respective positions (CP1, CP2) in the associated storage section (201, 202, 203, 204), and the control device (6) is configured to perform an evaluation of the image data (ID) of the associated storage section (201, 202, 203, 204), in which the image data (ID) of the associated storage section (201, 202, 203, 204) is evaluated by means of the storage positions (PO1, PO2,..., PO10) of the markers (M1, M2,..., M10) in the associated storage section (201, 202, 203, 204). A position (CL) of the image capture device (7) relative to the reference coordinate system (RC) and / or a position (WL) of the workpiece (10) to be processed relative to the reference coordinate system (RC) are / is determined automatically.

Description

[0001] The invention relates to an apparatus and a method for automatically bending a workpiece.

[0002] From the prior art, an apparatus for automatically bending workpieces using a robotic device for handling the workpieces is known. The workpieces to be processed are automatically removed from a storage device by the robotic device and fed to a bending machine, which deforms the workpieces by a bending process. In order for the robotic device to correctly remove the corresponding workpiece from the storage device, image data from an image capture device are used, based on which the position of the workpiece to be processed in the storage device is identified. The robotic device is then appropriately controlled with the aid of the identified position.

[0003] Document WO 2020 / 250761 A1 discloses a device for automatically bending workpieces, wherein an image of a stack of workpieces in a storage device is captured by a monocular camera and evaluated by means of pattern recognition. The positioning of the top workpiece on the stack is detected using multiple models.

[0004] Document WO 2021 / 079802 A1 describes a method for automatically bending a workpiece, in which the positioning of the workpiece is determined using an image taken by a camera above the position of the workpiece, and on this basis, a robot device for transporting the workpiece is appropriately controlled.

[0005] Conventional apparatus for automatically bending workpieces has the following disadvantages: an image capture device for detecting the workpieces to be processed in a storage device is arranged at a fixed position, so the field of view of the image capture device is static and can only capture a limited spatial area of ​​the workpiece to be processed.

[0006] Document US2020 / 023521 A1 discloses a method for controlling a robot system. During the calibration process, a handheld camera attached to a robot hand captures an image of a reference marker. Based on the captured image, calibration data between the robot coordinate system and the marker coordinate system is determined. For normal operation of the robot, the handheld camera is separated from the robot hand so that the robot hand can handle the workpiece. During normal operation, a fixed camera captures images of the corresponding workpiece and reference marker, and an image processing device calculates the relative position between the workpiece and the robot based on the captured image and calibration data.

[0007] Document DE 10 2017 123 877A1 discloses a robot system for a forming machine, the robot system comprising a manipulator for manipulating a workpiece. A camera coupled to the manipulator captures the relative position between at least one mark and the manipulator. A computing unit connected to the camera calculates at least one correction value for controlling the movement of the manipulator based on the relative position.

[0008] Document US 8 798 794 B2 discloses a method for precisely positioning at least one object in an end position in space by means of an industrial robot. The method uses a 3D image recording device including an angle measuring unit. The position of the object is determined based on the position of the 3D image recording device, the angular orientation of the 3D image recording device detected by the angle measuring unit, the 3D image recorded by the 3D image recording device, and the features on the object learned.

[0009] The object of the invention is to create a device and a method for the automated bending of workpieces, with which the workpieces to be processed can be captured in a larger spatial area.

[0010] This object is achieved by a device according to claim 1 and a method according to claim 15. Further developments of the invention are defined in the dependent claims.

[0011] The device according to the invention is used for the automatic bending of workpieces, preferably metal workpieces such as metal sheets. The device comprises a storage device for the corresponding workpieces, a robotic device for handling the workpieces, and a bending machine for deforming at least some of the workpieces handled by the robotic device via a bending process. The bending machine is preferably a press brake.

[0012] The device according to the invention further comprises image capture means for capturing image data about the workpieces to be processed in the storage means and control means for controlling the robotic device using said image data.

[0013] In the apparatus according to the invention, the image capture means may be moved into different positions via the actuator system in order to capture image data from different sections of the storage means associated with the respective positions. The actuator system may preferably be controlled via the above-mentioned control means.

[0014] In addition, a plurality of marks are provided on the storage device, the positions of which relative to the reference coordinate system are stored in the control device, i.e. the positions of these marks are known. Preferably, the positions of these marks are three-dimensional spatial positions. However, if necessary, for example if the height position of the workpiece to be processed is obtained from an information source other than the image data, these positions can also be two-dimensional positions. The reference coordinate system is a coordinate system that is stationary relative to the device according to the invention and does not follow the relative movement of the components within the device, such as the movement of a robotic device.

[0015] According to the invention, at least two of the plurality of markings are contained in respective positions of the image capture device in the associated storage section, and the control device is configured to perform an evaluation of the image data of the associated storage section, wherein the storage positions of the markings in the associated storage section are used to automatically determine the positioning of the image capture device and / or the positioning of the workpiece to be processed relative to a reference coordinate system. The positioning of the image capture device or the positioning of the workpiece to be processed describes the position and orientation of the image capture device or the position and orientation of the workpiece to be processed, the position preferably being a three-dimensional spatial position, and the orientation preferably being a three-dimensional spatial direction.

[0016] The markers used in the method according to the invention can be passive markers and / or active markers. No information about the position of the marker can be read from the passive markers. For this reason, before the method according to the invention is carried out, the position of the corresponding passive marker relative to the reference coordinate system has been determined using suitable measurement methods and stored in the control device. In contrast, the information about the position of the marker is stored in the active marker. Before the method according to the invention is carried out, this information is read from the active marker in order to then be assigned to the reference coordinate system in the control device and stored in the control device.

[0017] The device according to the invention achieves a larger field of view for the corresponding workpiece storage device by positioning the image capture device in different positions. At the same time, an external calibration of the image capture device in its current position is possible, using suitable markings on the storage device for this purpose. The external calibration ensures that for each position of the image capture device its position in space is known. Thus, a larger spatial area of ​​the workpiece can be captured by moving the image capture device.

[0018] In a preferred embodiment of the device according to the invention, the positioning of the workpiece to be processed in the associated storage section relative to the reference coordinate system is determined based on the positioning of the image capture device. This positioning can then be used to process the corresponding workpiece. The positioning of the workpiece to be processed describes its position and orientation, the position preferably being a three-dimensional spatial position, and the orientation preferably being a three-dimensional spatial direction.

[0019] In a particularly preferred embodiment, the image capture device is a 3D image capture device, i.e. an image capture device with which three-dimensional image data are captured. The 3D image capture device is preferably a 3D camera device. If desired, a 2D image capture device can also be used in the device according to the invention. This is the case, for example, when the height position of the workpiece is obtained from an information source other than the image data.

[0020] In another preferred embodiment of the device according to the invention, separate storage areas for workpieces are assigned to storage sections, and the corresponding storage sections completely cover the assigned storage areas vertically in a plan view. Separate storage areas are understood to be storage areas that do not intersect in space. In contrast, the storage sections defined above with the markings contained therein do not have to be spatially disjoint. That is, a storage section can be larger than a storage area, and the same marking can belong to multiple storage sections.

[0021] In a preferred variant of the embodiment just described, the storage area is a carrier for storing workpieces, wherein the carrier is preferably a pallet. Furthermore, the workpieces can preferably be stacked in the corresponding storage area.

[0022] In a further preferred embodiment of the device according to the invention, the storage sections with the markings contained therein are arranged adjacent to one another in a predetermined direction.

[0023] In another variant, the image capture device can be moved linearly by means of an actuator system, whereby the position of the image capture device can be changed in a simple manner.The linear movement preferably takes place in a predetermined direction defined above, in which the storage sections are arranged adjacent to each other.

[0024] In another particularly preferred embodiment of the device according to the invention, all of the plurality of markings are arranged on the floor of the storage device and / or up to 500 mm above the floor, wherein the image capture device can be moved above the storage device. Thus, the capture of the markings by means of the image capture device can be ensured in a particularly reliable manner. The markings do not have to all be located on the same horizontal plane. Instead, the markings can be positioned in several different planes. This increases the accuracy in the vertical direction.

[0025] The number of storage sections provided in the device according to the invention can be selected differently. The higher this number is, the larger the spatial area in which the workpieces are stored can be captured. In a preferred variant, at least three storage sections, preferably 3 to 10 storage sections, and particularly preferably four storage sections are provided.

[0026] In another preferred variant, at least two markings in the respective storage sections represent at least some of the storage sections and preferably represent a subset of the plurality of markings in each storage section. Thus, the markings differ at least partially between the storage sections.

[0027] In another preferred variant, at least two markers in the respective storage section are at least part of a storage section and preferably at least three markers, preferably four markers in each storage section. The use of more than two markers increases the accuracy of the position determination of the image capture device.

[0028] In another preferred embodiment of the device according to the invention, one or more marks and preferably two marks in the respective storage sections belong to at least some of the storage sections and preferably also to storage sections other than the specific storage section in each storage section. Thus, at least some of the marks are used for a plurality of storage sections at the same time, so that the number of marks can be reduced.

[0029] In a further preferred embodiment, at least some of the storage sections, respectively, and preferably each of the storage sections, have a polygonal outline and in particular a rectangular outline in a vertical plan view. With such an outline, the evaluation of the image data for determining the positioning of the image capture device is simplified and, if necessary, enables the positioning of the workpiece to be processed to be determined directly. Markings are preferably provided in one or more corners and in particular in each corner of the polygonal outline.

[0030] In another preferred embodiment, the marking is designed to be optically different so as to be distinguishable by the control device. The marking preferably contains an optical code. Thus, the evaluation of the image data can be simplified and the accuracy of the position determination of the image capture device can be increased. The optically different markings can, for example, have different colors. If the marking contains an optical code, the optical code is preferably a binary code, which can be processed very easily in the control device of the device according to the invention.

[0031] In another preferred variant, the corresponding markings comprise at least some of the plurality of markings, and in particular each marking comprises at least two circular segments with a common segment center. Using such markings, their positions can be very accurately extracted from the image data and compared with the positions stored in the control device. Thus, the accuracy of the position determination of the image capture device can be further improved.

[0032] The invention also relates to a method for the automated bending of workpieces using a device according to the invention or one or more preferred variants of the device. In other words, in the method a device according to the invention is used, the device comprising a storage device for workpieces, a robotic device for handling the workpieces, and a bending machine for deforming at least some of the workpieces handled by the robotic device via a bending process, the device also comprising an image capture device for capturing image data about the workpieces to be handled in the storage device and a control device for controlling the robotic device using the image data.

[0033] As part of the method according to the invention, the image capture device is moved into different positions via an actuator system, preferably controlled by the above-mentioned control device, in order to capture image data from different sections of the storage device associated with the respective positions, wherein a plurality of markings are provided on the storage device, the positions of which relative to a reference coordinate system are stored in the control device, wherein at least two of the plurality of markings are contained in the respective position of the image capture device in the associated storage section. In addition, the control device in the method according to the invention performs an evaluation of the image data of the associated storage section, wherein the storage positions of the markings in the associated storage section are used to determine the positioning of the image capture device relative to the reference coordinate system.

[0034] All additional statements made above in connection with the explanation of the device according to the invention may also apply to the method according to the invention. In particular, the positioning of the image capture device describes its position and orientation, the position preferably being a three-dimensional spatial position, and the orientation preferably being a three-dimensional spatial direction. Furthermore, the positioning of the workpiece to be processed in the associated storage section relative to the reference coordinate system is preferably determined based on the positioning of the image capture device. This positioning can then be used to process the corresponding workpiece. The positioning of the workpiece to be processed describes its position and orientation, the position preferably being a three-dimensional spatial position, and the orientation preferably being a three-dimensional spatial direction.

[0035] Exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0036] In the attached picture:

[0037] Figure 1 A schematic diagram showing a structure of a variant of the device according to the present invention;

[0038] Figure 2 shows a schematic side view of a storage device for workpieces based on a preferred embodiment of the device according to the invention, wherein an image capture device is arranged above the storage device;

[0039] Figure 3 Shown from Figure 2 a floor plan of the storage facility; and

[0040] Figure 4 A flow chart illustrating the steps performed by an embodiment of the device according to the present invention is shown.

[0041] Figure 1A schematic diagram of an embodiment of an apparatus for the automatic bending of workpieces according to the invention is shown. The apparatus is denoted by reference numeral 1 and comprises, in a manner known per se, a storage device 2 which, in the embodiment shown, comprises two storage sections 201 and 202. In the storage sections corresponding pallets are provided on which workpieces to be processed in the form of metal sheets can be stacked. Above the storage device 2 is a movable image capture device 7 in the form of a 3D camera, which can be moved along a linear suspension by means of an actuator system 8. In other words, the suspension comprises a corresponding actuator system 8 which enables the image capture device 7 to be moved along the suspension.

[0042] A robot device 3 is provided which can be moved along a guide 4 for automatically processing the corresponding workpieces in the storage device 2. The robot device 3, which is only schematically shown here, can automatically remove the workpieces from the storage device via an articulated assembly (not shown), for example by means of a gripper or via a suction cup. The removed workpiece is then conveyed by the robot device 3 to a bending machine 5 which is known per se and which is again only schematically indicated at Figure 1 The robot device 3 feeds the workpiece to be processed to a bending machine 5 which deforms the workpiece by exerting a force on the workpiece via a bending beam. The workpiece can then be placed in a corresponding storage device for deformed workpieces, wherein the storage device can also be contained in the storage device 2.

[0043] In order to ensure the automated processing of the workpieces by the robot device 3, a control device 6 is provided which evaluates the image data ID captured by the image capture device 7. It should be noted here that a plurality of markers with known three-dimensional positions are provided in the storage device 2, and when the image data ID are processed by the control device 6, the markers with their known positions are taken into account. Figure 1 However, the markings result from the embodiments of the device according to the invention described further below (see in particular Figure 3 ).

[0044] By evaluating the image data ID with the marking contained therein, the current three-dimensional positioning CL of the image capture device 7 relative to the stationary reference coordinate system RC can be determined by comparing the marking contained in the image data with its known position. Methods known per se can be used for this. In this way, an external calibration can be performed for any position of the image capture device 7. With the determined positioning CL of the image capture device 7, the three-dimensional positioning WL of the corresponding workpiece to be gripped by the robot device 3 in the stationary reference coordinate system RC can then be determined again using known methods by further evaluating the captured image data ID. Using this position information, the robot device 3 can be appropriately controlled by the control device 6 so as to remove the corresponding workpiece from the storage device 2 and feed the workpiece to the bending machine 5 so as to perform deformation of the workpiece.

[0045] Figure 2 A side view of a storage device 2 in a variant of the device according to the invention is shown. Figure 1 Compared to the device in FIG. 1 , the storage device 2 comprises a total of four storage sections 201, 202, 203 and 204. Figure 2 The Cartesian coordinate system with x-axis, y-axis and z-axis shown in FIG. Figure 3 , the storage sections are arranged adjacent to each other in the y direction of the coordinate system. Each storage section comprises a corresponding storage area 9 in the form of a tray, on which corresponding workpieces 10 in the form of metal sheets can be stacked. As an example, two piles of workpieces 10 are indicated for the third storage area from the left.

[0046] Above the storage device 2 in the vertical direction (ie in the z direction of the coordinate system shown) is the linear actuator system 8 already mentioned above, with which the image capture device 7 can be moved linearly in the y direction. The direction of movement of the image capture device is indicated by the arrow P. Figure 2 In the example, the image capture device 7 is located at position CP1 above the left tray, while at position CP2, the image capture device 7 is located above the third tray from the left. As an example for position CP2, the detection area DE of the image capture device 7 is indicated. As further described below Figure 3 As can be seen in FIG. 2 , the plan coverage of the detection area in the vertical plan view is related to the corresponding storage sections 201 to 204 .

[0047] according to Figure 2 , the workpiece 10 can be captured for each of the storage sections 201 to 204 by appropriately positioning the image capture device 7 above the corresponding storage section. Therefore, the workpiece in the area extending along the y direction can be processed by means of the robot device 3 using the corresponding image data of the storage section.

[0048] Figure 3 The four storage sections 201, 202, 203 and 204 are shown again in a plan view from above. As can be seen, these storage sections have a rectangular outline. Figure 2 The storage section 203 corresponding to the plan view of the detection area DE is indicated by a short dash line. The other storage sections are indicated by dotted lines. Each storage section is associated with the position of the image capture device 7 above the center of the corresponding storage section. Figure 3 As can be clearly seen in the figure, each of the storage sections 201 to 204 contains a storage area 9 in the form of a rectangular tray, wherein each tray is uniquely assigned to a storage section. In addition, markers M1, M2, ..., M10 with known three-dimensional spatial positions PO1, PO2, ..., PO10 are arranged in the corners of the storage sections 201 to 204. These markers and their positions are stored in the control device 6 as digital data.

[0049] Each of the marks M1 to M10 is formed by two opposite black circular segments having a common center. This optical structure enables very accurate identification of the marks within the image data ID captured by the image capture device 7. Each of the storage sections 201 to 204 includes four marks located in the corners of its rectangular outline. The storage sections overlap each other so that the two marks used for each storage section also belong to the adjacent storage section. Specifically, the storage section 201 includes marks M1, M2, M3 and M4. The storage section 202 includes marks M3, M4, M5 and M6, wherein the marks M3 and M4 also belong to the storage section 201. The storage section 203 includes marks M5, M6, M7 and M8, wherein the marks M5 and M6 also belong to the storage section 202. The storage section 204 includes marks M7, M8, M9 and M10, wherein the marks M7 and M8 also belong to the storage section 203.

[0050] For example, in order to process a workpiece in the storage section 203, the image capture device 7 is moved to the storage section 203 by means of the linear actuator system 8. Figure 2 In the position CP2 shown in . Then, image data ID are captured via the image capture device 7. The image data include markers M5, M6, M7 and M8. By comparing the known positions of the markers with the positions of the markers in the image data, the exact three-dimensional positioning of the image capture device 7 in its position CP2 can be determined in a manner known per se. In other words, an external calibration of the image capture device 7 can be performed instantaneously. With the help of this external calibration, i.e. using the position of the image capture device 7, the three-dimensional positioning of the workpiece to be processed on the upper side of the corresponding pile can then be determined by evaluating the image data ID known per se using the control device 6, and the robot device for processing the workpiece can be appropriately controlled.

[0051] In the embodiment described here, the number of markings can be kept low, since a plurality of markings are used simultaneously for adjacent storage sections. Furthermore, the shape of the marking ensures its highly accurate identification in the image data ID and thereby improves the positioning determination of the image capture device 7 .

[0052] Figure 4 The basic steps performed by the above described apparatus related to the automatic bending of workpieces are illustrated again. According to step S1, the image capture device 7 first moves to the position of the storage section where the workpiece will be grasped by the robot device 3 (e.g. Figure 2 In step S2, three-dimensional image information ID of the storage section is then captured using the image capture device 7. In addition to the workpiece to be gripped, this image information also contains four corresponding markings. If the image capture device 7 is in position CP2, these markings are markings M5, M6, M7 and M8. Then, in step S3, the three-dimensional positioning CL of the image capture device 7 relative to the above-mentioned stationary reference coordinate system RC is determined using methods known per se. This step thus enables an external calibration of the image capture device in the associated position.

[0053] Finally, in step S4, the three-dimensional positioning CL of the workpiece to be gripped relative to the reference coordinate system RC is determined using the three-dimensional positioning CL of the image capture device 7, and the robot device 3 is controlled based on the positioning WL. In other words, the robot device moves to the storage device 2 by means of its articulated assembly and removes the workpiece to be gripped from the corresponding pile, for example via a suction cup. The robot device 3 then feeds the removed workpiece to the bending machine 5 in order to perform the bending process.

[0054] The embodiments of the invention described above have many advantages. In particular, the movable image capture device makes it possible to significantly widen the field of view of the stored workpieces, so that in the case of automated processing of the workpieces, a storage device for the workpieces that is significantly larger in area can be used without having to use multiple image capture devices. In this way, it is also ensured that the image capture device is correctly calibrated after it has been moved, which is achieved by means of external calibration via suitable markings.

[0055] These markings can be designed differently depending on the implementation. Crucially, these markings can be identified in the corresponding image data from the image capture device. These markings do not necessarily have to be distinguishable from each other. However, these markings can also be designed so that they can be optically distinguished from each other, which can be achieved, for example, by means of optical encoding. In a preferred embodiment, these markings are used simultaneously by different storage sections, so that the number of markings can be reduced.

[0056] Reference numerals list

[0057] 1Equipment for automatic bending of workpieces

[0058] 2 Storage Devices

[0059] 201, 202, 203, 204 storage sections

[0060] 3 Robotic Devices

[0061] 4 Guides

[0062] 5 Bending machine

[0063] 6. Control Device

[0064] 7Image capture device (camera)

[0065] 8 Actuator system

[0066] 9 Storage area (carrier)

[0067] 10 Workpiece (metal plate)

[0068] RC Reference Coordinate System

[0069] ID image data

[0070] Positioning of the CL image capture device

[0071] Positioning of workpieces to be handled / gripped by WL

[0072] CP1, CP2 position (camera position)

[0073] DE detection area of ​​the image capture device

[0074] P Predetermined direction (direction of movement of the image capture device)

[0075] M1, M2, ..., M10 markers (passive or active)

[0076] Positions marked with PO1, PO2, ..., PO10

[0077] Steps S1, S2, S3, S4

Claims

1. A device for automatically bending a workpiece (10), include: A storage device (2) for the workpieces (10), a robot device (3) for processing the workpieces (10), and a bending machine (5) for deforming at least some of the workpieces (10) processed by the robot device (3) through a bending process, wherein the device (1) also has an image capture device (7) for capturing image data (ID) about the workpieces (10) to be processed in the storage device (2) and a control device (6) for controlling the robot device (3) using the image data (ID), It is characterized in that The image capture device (7) is capable of being moved to different positions (CP1, CP2) via an actuator system (8) in order to capture the image data (ID) from different storage sections (201, 202, 203, 204) of the storage device (2) associated with the respective positions (CP1, CP2), wherein a plurality of markers (M1, M2, ..., M10) are provided on the storage device (2), and the positions (PO1, PO2, ..., PO10) of the markers relative to a reference coordinate system (RC) are stored in the control device (6), wherein the positions (CP1, CP2) of the image capture device (7) in the associated storage sections (201, 202, 203, 204) are stored in the control device (6), 2) comprises at least two marks (M1, M2, ..., M10) of the plurality of marks (M1, M2, ..., M10), and the control device (6) is configured to perform an evaluation of the image data (ID) of the associated storage section (201, 202, 203, 204), wherein, with the aid of the storage positions (PO1, PO2, ..., PO10) of the marks (M1, M2, ..., M10) in the associated storage section (201, 202, 203, 204), the positioning (CL) of the image capture device (7) relative to the reference coordinate system (RC) and / or the positioning (WL) of the workpiece (10) to be processed relative to the reference coordinate system (RC) are automatically determined.

2. The device according to claim 1, It is characterized in that The image capture device (7) is a 3D image capture device, preferably a 3D camera device, for capturing three-dimensional image data (ID).

3. The device according to claim 1 or 2, It is characterized in that Separate storage areas (9) for the workpieces (10) are assigned to the storage sections (201, 202, 203, 204), and the corresponding storage sections (201, 202, 203, 204) completely cover the assigned storage areas (9) in a vertical plan view, wherein the corresponding storage areas (9) are preferably carriers for storing the workpieces (10).

4. The device according to any one of the preceding claims, It is characterized in that The storage sections (201, 202, ..., 204) are arranged adjacent to each other in a predetermined direction (P).

5. The device according to any one of the preceding claims, It is characterized in that The image capture device (7) can be moved linearly by means of the actuator system (8).

6. The device according to any one of the preceding claims, It is characterized in that All the markers (M1, M2, ..., M10) among the plurality of markers (M1, M2, ..., M10) are arranged on the bottom plate of the storage device (2) and / or up to 500 mm above the bottom plate, and the image capture device (7) is capable of moving above the storage device (2).

7. The device according to any one of the preceding claims, It is characterized in that At least three storage sections (201, 202, 203, 204), preferably between 3 and 10 storage sections (201, 202, 203, 204), and particularly preferably four storage sections (201, 202, 203, 204) are provided.

8. The device according to any one of the preceding claims, It is characterized in that The at least two markers (M1, M2, ..., M10) in the corresponding storage sections (201, 202, 203, 204) in at least some of the storage sections (201, 202, 203, 204) and preferably in each storage section (201, 202, 203, 204) represent a subset of the multiple markers (201, 202, 203, 204).

9. The device according to any one of the preceding claims, It is characterized in that The at least two marks (M1, M2, ..., M10) in the corresponding storage sections (201, 202, 203, 204) in at least some of the storage sections (201, 202, 203, 204) and preferably in each storage section (201, 202, 203, 204) are at least three marks (M1, M2, ..., M10), preferably at least four marks (M1, M2, ..., M10).

10. The device according to any one of the preceding claims, It is characterized in that In the corresponding storage sections (201, 202, 203, 204) in at least some of the storage sections (201, 202, 203, 204) and preferably in each storage section (201, 202, 203, 204), one or more markers (M1, M2, ..., M10) and preferably two markers (M1, M2, ..., M10) also belong to storage sections (201, 202, 203, 204) other than the corresponding storage sections (201, 202, 203, 204).

11. The device according to any one of the preceding claims, It is characterized in that A respective storage section (201, 202, 203, 204) of at least some of the storage sections (201, 202, 203, 204) and preferably each storage section (201, 202, 203, 204) has a polygonal outline and in particular a rectangular outline in a vertical plan view.

12. The device according to claim 11, It is characterized in that In one or more corners, and preferably in each corner, of the polygonal outline a marking (M1 , M2, ..., M10) is provided.

13. The device according to any one of the preceding claims, It is characterized in that The markings (M1, M2, . . . , M10) are designed to be optically different so as to be distinguishable by the control device (6), and the markings (M1, M2, . . . , M10) in particular contain an optical code.

14. The device according to any one of the preceding claims, It is characterized in that A corresponding marker (M1, M2, ..., M10) of at least some of the plurality of markers (M1, M2, ..., M10), and in particular each marker (M1, M2, ..., M10), comprises at least two circular segments having a common segment center.

15. A method for the automated bending of a workpiece using a device (1) according to any one of the preceding claims, It is characterized in that The image capture device (7) is moved via the actuator system (8) into different positions (CP1, CP2) in order to capture image data (ID) from different storage sections (201, 202, 203, 204) of the storage device (2) associated with the respective positions (CP1, CP2), The control device (6) carries out an evaluation of the image data (ID) of the associated storage section (201, 202, 203, 204).

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