Apparatus and method for automatic bending of workpieces

Abstract

The invention relates to an apparatus for automatically bending workpieces (10), comprising a storage device (2) for workpieces (10), a robot device (3) for handling workpieces (10), and a bending machine (5) for deforming at least some of the workpieces (10) handled by the robot device (3) via a bending process, the apparatus (1) further having an image capturing device (7) for capturing image data (ID) about workpieces (10) to be handled in the storage device (2) and a control device (6) for controlling the robot device (3) using the image data (ID). The image capturing 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), wherein a plurality of markers (M1, M2,..., M10) are provided on the storage device (2), the positions (PO1, PO2,..., PO10) of which relative to a reference coordinate system (RC) are stored in the control device (6), wherein the respective positions (CP1, CP2) of the image capturing device (7) in the associated storage sections (201, 202, 203, 204) contain at least two markers (M1, M2,..., M10), and the control device (6) is configured to perform an evaluation of the image data (ID) of the associated storage sections (201, 202, 203, 204), wherein by means of the stored positions (PO1, PO2,..., PO10) of the markers (M1, M2,..., M10) in the associated storage sections (201, 202, 203, 204), a positioning (CL) of the image capturing device (7) relative to the reference coordinate system (RC) and / or a positioning (WL) of the workpieces (10) to be handled relative to the reference coordinate system (RC) is automatically determined.

Description

[0001] This invention relates to equipment and methods for automatically bending workpieces.

[0002] Existing technology includes equipment for automatically bending workpieces using a robotic device for handling workpieces. The workpiece to be processed is automatically removed from a storage device by the robotic device and fed to a bending machine, which deforms the workpiece through a bending process. To enable the robotic device to correctly remove the corresponding workpiece from the storage device, image data from an image capture device is used to identify the position of the workpiece to be processed in the storage device. The robotic device is then appropriately controlled using the identified position.

[0003] Document WO 2020 / 250761 A1 discloses an apparatus for automatically bending workpieces, wherein images of a stack of workpieces in a storage device are 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 workpiece's positioning is determined using images taken by a camera above the workpiece's location, and a robotic device for transporting the workpiece is appropriately controlled based on these images.

[0005] Conventional equipment for automatically bending workpieces has the following disadvantages: the image capture device for detecting the workpiece to be processed in the storage device is arranged in 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 calibration, a handheld camera attached to the robot hand captures images of reference markers. Based on the captured images, calibration data between the robot coordinate system and the marker coordinate system is determined. For normal robot operation, the handheld camera is detached from the robot hand, allowing the robot hand to handle workpieces. During normal operation, a fixed camera captures images of the corresponding workpiece and reference markers, and an image processing device calculates the relative position between the workpiece and the robot based on the captured images and calibration data.

[0007] Document DE 10 2017 123 877A1 discloses a robot system for a forming machine, the robot system including a manipulator for manipulating a workpiece. A camera coupled to the manipulator captures the relative position between at least one marker 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] US Patent 8,798,794B2 discloses a method for precisely positioning at least one object in an end position in space using 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 known features on the object.

[0009] The object of this invention is to provide an apparatus and method for automatically bending workpieces, which can capture the workpieces to be processed in a large spatial area.

[0010] This objective is achieved by the apparatus and method provided by the main aspects of the invention. Other improvements to the invention are described in the minor aspects of the invention.

[0011] The apparatus according to the invention is used for automatically bending workpieces, preferably metal workpieces such as metal sheets. The apparatus includes a storage device for corresponding workpieces, a robotic device for processing the workpieces, and a bending machine for deforming at least some of the workpieces processed by the robotic device via a bending process. The bending machine is preferably a pressure bending machine.

[0012] The device according to the invention also includes an image capturing device for capturing image data about a workpiece to be processed in a storage device, and a control device for controlling a robot device using the image data.

[0013] In the device according to the invention, the image capturing device can be moved to different positions via an actuator system in order to capture image data from different segments of the storage device associated with the corresponding positions. The actuator system can preferably be controlled via the aforementioned control device.

[0014] Furthermore, multiple markers are provided on the storage device, and the positions of these markers relative to a reference coordinate system are stored in the control device; that is, the positions of these markers are known. Preferably, the positions of these markers are three-dimensional spatial positions. However, if needed, for example, if the height position of the workpiece to be processed is obtained from an information source other than 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 motion of components within the device, such as the motion of a robotic device.

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

[0016] The markers used in the method according to the invention can be passive markers and / or active markers. Information about the position of a marker cannot be read from a passive marker. For this reason, the position of the corresponding passive marker relative to a reference coordinate system has been determined using a suitable measurement method and stored in the control device before the method according to the invention is executed. Conversely, information about the position of the marker is stored in the active marker. This information is read from the active marker before the method according to the invention is executed, so that it is then 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 capturing device in different locations. Simultaneously, by using appropriate markings on the storage device for this purpose, external calibration of the image capturing device in its current position becomes possible. External calibration ensures that the spatial positioning of the image capturing device is known for each location. Therefore, a larger spatial area of ​​the workpiece can be captured by moving the image capturing 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 capturing device. This positioning can then be used to process the corresponding workpiece. The positioning of the workpiece to be processed describes its location and orientation, which is preferably a three-dimensional spatial location and the orientation is preferably a three-dimensional spatial direction.

[0019] In a particularly preferred embodiment, the image capturing device is a 3D image capturing device, i.e., an image capturing device that captures three-dimensional image data. The 3D image capturing device is preferably a 3D camera device. If desired, a 2D image capturing device can also be used in the device according to the invention. This is, for example, when the height position of a workpiece is obtained from an information source other than 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 spatially non-intersecting storage areas. Conversely, the storage sections with markings included therein, as defined above, do not necessarily have to be spatially non-intersecting. That is, storage sections can be larger than storage areas, and the same markings 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 tray. Furthermore, the workpieces can preferably be stacked in the corresponding storage area.

[0022] In another preferred embodiment of the device according to the invention, storage sections having markings therein are arranged adjacent to each other in a predetermined direction.

[0023] In another variation, the image capturing device can be moved linearly by means of an actuator system, thereby allowing the position of the image capturing device to be changed in a simple manner. The linear movement preferably occurs 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 marks are arranged on the base plate of the storage device and / or up to 500 mm above the base plate, wherein the image capturing device can be moved above the storage device. Therefore, the capture of the marks can be ensured in a particularly reliable manner by means of the image capturing device. The marks do not necessarily all lie on the same horizontal plane. Instead, the marks can be positioned in several different planes. This increases accuracy in the vertical direction.

[0025] The number of storage sections provided in the device according to the invention can be selected in different ways. The higher the number, the larger the space area for storing workpieces can be captured. In a preferred variant, at least three storage sections are provided, preferably three to ten storage sections, and particularly preferably four storage sections.

[0026] In another preferred variation, at least two marks in the corresponding storage segment represent at least some of the storage segments and preferably represent a subset of the multiple marks in each storage segment. Therefore, the marks are at least partially different between the storage segments.

[0027] In another preferred variation, at least two marks in the corresponding storage segment are at least a part of the storage segment, and preferably there are at least three marks, and more preferably four marks, in each storage segment. The use of more than two marks improves the accuracy of the position determination of the image capturing device.

[0028] In another preferred embodiment of the device according to the invention, one or more marks, and preferably two marks, belong to at least some of the storage sections, and preferably also belong to other storage sections besides the specific storage section in each storage section. Therefore, at least some of the marks are used simultaneously in multiple storage sections, thereby reducing the number of marks.

[0029] In another preferred embodiment, at least some of the storage sections, and preferably each storage section, have a polygonal outline, and in particular a rectangular outline, in a vertical plan view. This outline simplifies the evaluation of image data used to determine the positioning of the image capturing device and, if necessary, enables the direct determination of the positioning of the workpiece to be processed. Markings are preferably provided at one or more corners of the polygonal outline, and in particular at each corner.

[0030] In another preferred embodiment, the markers are designed to be optically distinct so that they can be distinguished by the control device. The markers preferably contain optical codes. Therefore, the evaluation of image data can be simplified, and the accuracy of position determination by the image capturing device can be improved. Optically distinct markers may, for example, have different colors. If the markers contain optical codes, the optical codes are preferably binary codes, which can be readily processed in the control device of the device according to the invention.

[0031] In another preferred variant, the corresponding markers include at least some of a plurality of markers, and in particular, each marker includes at least two circular segments having a common segment center. Using such markers, their positions can be extracted very precisely from the image data and compared with positions stored in the control device. Therefore, the accuracy of position determination by the image capturing device can be further improved.

[0032] The present invention also relates to a method for automatically bending a workpiece using the apparatus according to the invention or one or more preferred variations thereof. In other words, the method uses the apparatus according to the invention, which includes a storage device for the workpiece, a robotic device for processing the workpiece, and a bending machine for deforming at least some of the workpieces processed by the robotic device via a bending process. The apparatus also includes an image capturing device for capturing image data of the workpieces to be processed 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 capturing device is moved to different positions via an actuator system, preferably controlled by the aforementioned control device, to capture image data from different segments of the storage device associated with the corresponding positions. A plurality of markers are provided on the storage device, and the positions of these markers relative to a reference coordinate system are stored in the control device. At least two of the markers are contained within the corresponding positions of the image capturing device in the associated storage segments. Furthermore, the control device in the method according to the invention performs an evaluation of the image data in the associated storage segments, wherein the storage positions of the markers in the associated storage segments are used to determine the positioning of the image capturing 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 can also be applied to the method according to the invention. Specifically, the positioning of the image capturing device describes its location and orientation, which is preferably a three-dimensional spatial location and the orientation is preferably a three-dimensional spatial direction. Furthermore, the positioning of the workpiece to be processed relative to the reference coordinate system in the associated storage section is preferably determined based on the positioning of the image capturing device. This positioning can then be used to process the corresponding workpiece. The positioning of the workpiece to be processed describes its location and orientation, which is preferably a three-dimensional spatial location and the orientation is preferably a three-dimensional spatial direction.

[0035] Exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0036] In the attached diagram:

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

[0038] Figure 2 A schematic side view of a workpiece storage device based on a preferred embodiment of the device according to the invention is shown, wherein an image capturing device is arranged above the storage device;

[0039] Figure 3 Showing from Figure 2 A floor plan of the storage device; and

[0040] Figure 4 A flowchart 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 automatically bending workpieces according to the present invention is shown. The apparatus is indicated by reference numeral 1 and includes, in a manner known per se, a storage device 2, which in the illustrated embodiment comprises two storage sections 201 and 202. Corresponding trays are provided in the storage sections, on which workpieces to be processed, in the form of metal plates, can be stacked. Above the storage device 2 is a movable image capturing 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 includes a corresponding actuator system 8 that enables the image capturing device 7 to move along the suspension.

[0042] A robotic device 3, movable along guide 4, is configured to automatically process corresponding workpieces in storage device 2. The robotic device 3, shown only schematically here, can automatically remove workpieces from storage device via articulated components (not shown), for example by means of a gripper, or via suction cups. The removed workpieces are then conveyed by the robotic device 3 to a bending machine 5, which is itself known, and which is again only schematically indicated to be in… Figure 1 In the middle, the robot device 3 feeds the workpiece to be processed to the bending machine 5, which deforms the workpiece by applying force to it via a bending beam. The workpiece can then be placed in a corresponding storage device for the deformed workpiece, wherein the storage device may also be included in the storage device 2.

[0043] To ensure that the workpiece is automatically processed 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 that multiple markers with known three-dimensional positions are provided in the storage device 2, and when the image data ID is processed by the control device 6, the markers with their known positions are considered. For clarity, in Figure 1 The markings are not visible in the schematic diagram. However, the markings arise from embodiments of the device according to the invention described further below (see in particular). Figure 3 ).

[0044] By evaluating the image data ID containing the markers, the current three-dimensional positioning CL of the image capturing device 7 relative to the stationary reference coordinate system RC can be determined by comparing the markers contained in the image data with their known positions. Methods known per se can be used for this. In this way, external calibration can be performed for any position of the image capturing device 7. Using the determined positioning CL of the image capturing device 7, the three-dimensional positioning WL of the corresponding workpiece to be grasped 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 IDs. Using this position information, the robot device 3 can be appropriately controlled by the control device 6 to remove the corresponding workpiece from the storage device 2 and feed the workpiece to the bending machine 5 for deformation of the workpiece.

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

[0046] Above the storage device 2 in the vertical direction (i.e., in the z-direction of the coordinate system shown), is the linear actuator system 8 mentioned above, which allows the image capture device 7 to move linearly in the y-direction. The direction of movement of the image capture device is indicated by arrow P. Figure 2 In the diagram, image capture device 7 is located at position CP1 above the left tray, while at position CP2, image capture device 7 is located above the third tray from the left. As an example for position CP2, the detection area DE of image capture device 7 is indicated. This is further described below. Figure 3 As can be seen from the diagram, the planar 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 capturing device 7 above the respective storage section. Therefore, the workpiece in the region 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 the plan view viewed from above. As can be seen, these storage sections have a rectangular outline. (Compared to...) Figure 2 The storage segment 203 corresponding to the detection area DE in the plan view is indicated by a dashed line. Other storage segments are indicated by dotted lines. Each storage segment is associated with the position of the image capture device 7 above the center of the corresponding storage segment. (See image below.) Figure 3 As can be clearly seen, 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. Additionally, markers M1, M2, ..., M10 with known three-dimensional spatial positions PO1, PO2, ..., PO10 are provided at the corners of the storage sections 201 to 204. These markers and their positions are stored as digital data in the control device 6.

[0049] Each of the markers M1 to M10 is formed by two opposing black circular segments with a common center. This optical structure enables very precise identification of markers within the image data ID captured by the image capture device 7. Each of the storage segments 201 to 204 includes four markers located at the corners of its rectangular outline. The storage segments overlap each other such that the two markers for each storage segment also belong to the adjacent storage segment. Specifically, storage segment 201 includes markers M1, M2, M3, and M4. Storage segment 202 includes markers M3, M4, M5, and M6, wherein markers M3 and M4 also belong to storage segment 201. Storage segment 203 includes markers M5, M6, M7, and M8, wherein markers M5 and M6 also belong to storage segment 202. Storage segment 204 includes markers M7, M8, M9, and M10, wherein markers M7 and M8 also belong to storage segment 203.

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

[0051] In the embodiments described herein, the number of markers can be kept low because multiple markers are used simultaneously in adjacent storage sections. Furthermore, the shape of the markers ensures 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 equipment described above related to the automatic bending of the workpiece are illustrated again. According to step S1, the image capturing device 7 first moves to the position in the storage section where the workpiece will be grasped by the robot device 3 (e.g., Figure 2 In step S2, the image capture device 7 captures the three-dimensional image information ID of the storage section. Besides the workpiece to be grasped, this image information also contains four corresponding markers. If the image capture device 7 is at position CP2, these markers are markers M5, M6, M7, and M8. Then, in step S3, the three-dimensional positioning CL of the image capture device 7 relative to the aforementioned stationary reference coordinate system RC is determined using a method known per se. Therefore, this step achieves external calibration of the image capture device in the associated position.

[0053] Finally, in step S4, the three-dimensional positioning CL of the image capture device 7 is used to determine the three-dimensional positioning WL of the workpiece to be gripped relative to the reference coordinate system RC, 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 stack, for example, via a suction cup. Then, the robot device 3 feeds the removed workpiece to the bending machine 5 to perform the bending process.

[0054] The embodiments of the present invention described above have many advantages. In particular, the movable image capture device allows for a significantly wider field of view for the stored workpieces, enabling the use of a significantly larger workpiece storage device in the case of automated workpiece handling, without the need for 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 appropriate markings.

[0055] These markers can be designed differently depending on the implementation method. Crucially, these markers can be identified in the corresponding image data from the image capture device. These markers do not necessarily need to be distinguishable from each other. However, they can also be designed to be optically distinguishable, for example, by means of optical encoding. In a preferred embodiment, these markers are used simultaneously by different storage segments, thereby reducing the number of markers.

[0056] List of reference numerals

[0057] 1. Equipment for automatically bending workpieces

[0058] 2 Storage device

[0059] Storage sections 201, 202, 203, and 204

[0060] 3. Robotic Device

[0061] 4. Guide components

[0062] 5. Bending machine

[0063] 6. Control device

[0064] 7. Image capture device (camera)

[0065] 8. Actuator System

[0066] 9. Storage area (supporting components)

[0067] 10. Workpiece (metal plate)

[0068] RC reference coordinate system

[0069] ID Image Data

[0070] Positioning of CL image capture device

[0071] Positioning of the workpiece to be processed / held by WL

[0072] CP1 and CP2 positions (camera positions)

[0073] Detection area of ​​DE image capture device

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

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

[0076] The positions of PO1, PO2, ..., PO10

[0077] Steps S1, S2, S3, and S4

Claims

1. A device for automatically bending a workpiece (10), comprising: The device (1) comprises a storage device (2) for the workpiece (10), a robot device (3) for processing the workpiece (10), and a bending machine (5) for deforming at least some of the workpieces (10) processed by the robot device (3) via a bending process, wherein the device (1) further comprises an image capture device (7) for capturing image data (ID) of the workpiece (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). Its features are, The image capture device (7) is movable to different positions (CP1, CP2) via the actuator system (8) to capture image data (ID) from different storage sections (201, 202, 203, 204) of the storage device (2) associated with the corresponding positions (CP1, CP2). Multiple markers (M1, M2, ..., M10) are provided on the storage device (2), and the positions (PO1, PO2, ..., PO10) of these markers relative to the reference coordinate system (RC) are stored in the control device (6). The image data (ID) captured by the image capture device (7) at its position (CP1, CP2) in the associated storage sections (201, 202, 203, 204) is... The image data (ID) includes at least two of the plurality of markers (M1, M2, ..., M10), and the control device (6) is configured to perform an evaluation of the image data (ID) in the associated storage sections (201, 202, 203, 204), wherein the positioning (CL) of the image capturing 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 by means of the storage positions (PO1, PO2, ..., PO10) of the markers (M1, M2, ..., M10) in the associated storage sections (201, 202, 203, 204).

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

3. The device according to claim 1 or 2, characterized in that, Separate storage areas (9) for the workpiece (10) are allocated to the storage sections (201, 202, 203, 204), and the corresponding storage sections (201, 202, 203, 204) completely cover the allocated storage areas (9) in the vertical plan view.

4. The device according to claim 3, characterized in that, The corresponding storage area (9) is a carrier for storing the workpiece (10).

5. The device according to claim 1 or 2, characterized in that, The storage sections (201, 202, ..., 204) are arranged adjacent to each other in a predetermined direction (P).

6. The device according to claim 1 or 2, characterized in that, The image capture device (7) is capable of moving linearly by means of the actuator system (8).

7. The device according to claim 1 or 2, characterized in that, All of the multiple markers (M1, M2, ..., M10) are arranged on the base plate of the storage device (2) and / or up to 500 mm above the base plate, and the image capturing device (7) is movable above the storage device (2).

8. The device according to claim 1 or 2, characterized in that, It is equipped with at least three storage sections (201, 202, 203, 204).

9. The device according to claim 1 or 2, characterized in that, The at least two markers (M1, M2, ..., M10) in the corresponding storage segment (201, 202, 203, 204) of at least some of the storage segments (201, 202, 203, 204) represent a subset of the plurality of markers (201, 202, 203, 204).

10. The device according to claim 9, characterized in that, The at least two markers (M1, M2, ..., M10) in each storage segment (201, 202, 203, 204) represent a subset of the plurality of markers (201, 202, 203, 204).

11. The device according to claim 1 or 2, characterized in that, In at least some of the storage sections (201, 202, 203, 204), the at least two marks (M1, M2, ..., M10) in the corresponding storage section (201, 202, 203, 204) are at least three marks (M1, M2, ..., M10) or at least four marks (M1, M2, ..., M10).

12. The device according to claim 11, characterized in that, The at least two markers (M1, M2, ..., M10) in each storage section (201, 202, 203, 204) are at least three markers (M1, M2, ..., M10) or at least four markers (M1, M2, ..., M10).

13. The device according to claim 1 or 2, characterized in that, One or more markers (M1, M2, ..., M10) in the corresponding storage section (201, 202, 203, 204) of at least some of the storage sections (201, 202, 203, 204) also belong to the storage section (201, 202, 203, 204) other than the corresponding storage section (201, 202, 203, 204).

14. The device according to claim 13, characterized in that, One or more markers (M1, M2, ..., M10) in each storage section (201, 202, 203, 204) also belong to the storage section (201, 202, 203, 204) other than the corresponding storage section (201, 202, 203, 204).

15. The device according to claim 1 or 2, characterized in that, At least some of the storage sections (201, 202, 203, 204) have a polygonal outline in the vertical plan view.

16. The device according to claim 15, characterized in that, The polygonal outline is a rectangular outline.

17. The device according to claim 15, characterized in that, Each storage section (201, 202, 203, 204) has a polygonal outline in the vertical plan view.

18. The device according to claim 15, characterized in that, Markers (M1, M2, ..., M10) are provided at one or more corners of the polygonal outline.

19. The device according to claim 18, characterized in that, The markers (M1, M2, ..., M10) are provided at each corner of the polygonal outline.

20. The device according to claim 1 or 2, characterized in that, The markings (M1, M2, ..., M10) are designed to be optically distinct so that they can be distinguished by the control device (6).

21. The device according to claim 20, characterized in that, The markings (M1, M2, ..., M10) contain optical codes.

22. The device according to claim 1 or 2, characterized in that, At least some of the multiple markers (M1, M2, ..., M10) include at least two circular segments with a common segment center.

23. The device according to claim 22, characterized in that, Each marker (M1, M2, ..., M10) includes at least two circular segments with a common segment center.

24. A method for automatically bending a workpiece using the apparatus (1) according to any one of claims 1 to 23. Its features are, The image capture device (7) moves to different positions (CP1, CP2) via the actuator system (8) to capture image data (ID) from different storage sections (201, 202, 203, 204) of the storage device (2) associated with the corresponding positions (CP1, CP2). The control device (6) performs an evaluation of the image data (ID) of the associated storage sections (201, 202, 203, 204).

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