Bending die identification method and bending device

Abstract

The invention provides a bending die identification method and a bending device. There is provided a method of identifying a bending die of a bending device, the bending device comprising a laser sensor positioned such that a field of view of the laser sensor passes through an entire length of at least one side of the bending die in a direction of arrangement of folding knives during movement along a guide rail, the bending die comprising one or more folding knives, the method comprises the steps that a laser sensor is used for scanning the side face of the bending die to obtain point cloud data representing the side face of the bending die; and whether one or more folding knives in the bending die need to be adjusted is determined based on the point cloud data of the side face of the bending die.

Description

Technical Field

[0001] The present invention relates to the field of bending, and more particularly to a method for identifying a bending die and a bending device. Background Art

[0002] A bending device uses a bending die to bend a workpiece to be processed, changing its shape to meet design requirements. The bending die includes one or more folding knives, and multiple folding knives can be assembled together in sequence according to a design plan to form a bending die for bending the workpiece to be processed. And according to the design specifications of the bending workpiece to be formed, the folding knives can be selected or replaced in order as required. In products with a relatively high degree of automation, there is usually an automatic tool - assembling device for automatically adjusting and combining tools to quickly switch tools, reduce tool - changing time, improve production efficiency, and shorten the production cycle.

[0003] However, if the tool is not properly installed on the tool - assembling device, it may cause the tool position to shift, affecting the bending effect; if the equipment is not properly calibrated, errors may occur in the alignment and positioning of the tool, resulting in a reduction in bending accuracy; when an operator replaces or adjusts the tool, he may be negligent, resulting in incorrect tool arrangement; when using a numerical control system, if the software settings or programming are incorrect, the tool may work in the wrong order. Summary of the Invention

[0004] The present invention aims to overcome the above - mentioned and / or other problems in the prior art. Through the bending - die identification method and bending device provided by the present invention, it is possible to automatically detect the folding knives in the bending die, effectively preventing problems such as improper installation, uncalibrated equipment, improper operation, and incorrect software control.

[0005] According to a first aspect of the present invention, there is provided a method for identifying a bending die of a bending device, wherein the bending device includes a laser sensor, the laser sensor is positioned such that during the movement along a guide rail, the field of view of the laser sensor passes through the entire length of at least one side of the bending die along the arrangement direction of the folding knives, the bending die includes one or more folding knives, and the method includes: using the laser sensor to scan the side of the bending die to obtain point - cloud data representing the side of the bending die; determining whether it is necessary to adjust the one or more folding knives in the bending die based on the point - cloud data of the side of the bending die.

[0006] Preferably, determining whether to adjust one or more folding knives in the folding die based on the point cloud data of the side surface of the folding die includes: performing data processing on the acquired point cloud data to identify information of each of the one or more folding knives in the folding die; determining whether the arrangement of each identified folding knife corresponds to the arrangement of each folding knife in a target folding die; in response to determining that the arrangement of each folding knife of the identified folding die corresponds to the arrangement of each folding knife in the target folding die, determining that the folding die does not need to be adjusted; and in response to determining that the arrangement of one or more folding knives of the identified folding die does not correspond to the arrangement of one or more folding knives of the target folding die, determining that one or more folding knives in the folding die need to be adjusted.

[0007] Preferably, performing data processing on the acquired point cloud data to identify information of each of the one or more folding knives includes: performing data processing on the acquired point cloud data to identify surface contour information of each folding knife in the folding die; and determining parameters and an arrangement of each folding knife based on the surface contour information of each folding knife.

[0008] Preferably, determining whether to adjust one or more folding knives in the folding die based on the point cloud data of the side surface of the folding die includes: performing data processing on the acquired point cloud data to determine position information of the side surface of the folding die; determining whether the side surface of the folding die is in the same plane; in response to determining that the side surface of the folding die is in the same plane, determining that the folding die does not need to be adjusted; and in response to determining that the side surface of the folding die is not in the same plane, determining that one or more folding knives in the folding die need to be adjusted.

[0009] Preferably, the folding device further includes a machine tool, and the method further includes: determining coordinates of a plurality of calibration points on a straight line on the machine tool in a machine tool coordinate system, where the straight line is within a field of view of the laser sensor; determining coordinates of the plurality of calibration points in a laser sensor coordinate system; and determining a conversion relationship between the machine tool coordinate system and the laser sensor coordinate system based on the coordinates of the plurality of calibration points in the machine tool coordinate system and the coordinates of the plurality of calibration points in the laser sensor coordinate system.

[0010] Preferably, the laser sensor is a point laser sensor, and the point laser sensor is disposed on a shaft of the folding device that carries the folding die.

[0011] Preferably, the laser sensor is a line laser sensor.

[0012] According to a second aspect of the present invention, a bending device is provided, wherein the bending device includes: a bending die, the bending die including one or more folding knives; a laser sensor positioned on a guide rail such that during the movement of the laser sensor along the guide rail, the field of view of the laser sensor passes through the entire length of at least one side of the bending die along the arrangement direction of the folding knives; an acquisition unit configured to: during the process of the laser sensor scanning the side of the bending die, acquire point cloud data representing the side of the bending die; and a processing unit configured to: based on the point cloud data of the side of the bending die, determine whether it is necessary to adjust the one or more folding knives in the bending die.

[0013] Preferably, the processing unit is configured to: perform data processing on the point cloud data to identify information of each of the one or more folding knives in the bending die; determine whether the arrangement of each of the identified folding knives corresponds to the arrangement of each folding knife in a target bending die; in response to determining that the arrangement of each folding knife of the identified bending die corresponds to the arrangement of each folding knife in the target bending die, determine that it is not necessary to adjust the bending die; and in response to determining that the arrangement of one or more of the folding knives of the identified bending die does not correspond to the arrangement of one or more of the folding knives in the target bending die, determine that it is necessary to adjust the one or more folding knives in the bending die.

[0014] Preferably, the processing unit is configured to: perform data processing on the point cloud data to identify surface contour information of each folding knife in the bending die; and based on the surface contour information of each folding knife, determine the parameters and arrangement of each folding knife to identify information of each of the one or more folding knives.

[0015] Preferably, the processing unit is configured to: perform data processing on the acquired point cloud data to determine position information of the side of the bending die; determine whether the sides of the bending die are in the same plane; in response to determining that the sides of the bending die are in the same plane, determine that it is not necessary to adjust the bending die; and in response to determining that the sides of the bending die are not in the same plane, determine that it is necessary to adjust one or more folding knives in the bending die.

[0016] Preferably, the bending device further includes a machine tool, and the obtaining unit is further configured to: determine the coordinates of a plurality of calibration points on a straight line on the machine tool in the machine tool coordinate system, where the straight line is within the field of view of the laser sensor; determine the coordinates of the plurality of calibration points in the laser sensor coordinate system; and the processing unit is further configured to: determine the conversion relationship between the machine tool coordinate system and the laser sensor coordinate system based on the coordinates of the plurality of calibration points in the machine tool coordinate system and the coordinates of the plurality of calibration points in the laser sensor coordinate system.

[0017] Preferably, the laser sensor is a point laser sensor, and the point laser sensor is disposed on the axis of the bending device that carries the bending die.

[0018] Preferably, the laser sensor is a line laser sensor.

[0019] Other features and aspects will become apparent through the following detailed description, the drawings, and the claims. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings, where:

[0021] Figure 1a A schematic side view of a bending device according to an embodiment of the present invention is shown.

[0022] Figure 1b A schematic partial enlarged view of a bending die according to an embodiment of the present invention is shown.

[0023] Figure 2 A flowchart of a method for identifying a bending die 150 of a bending device according to an embodiment of the present invention is shown.

[0024] Figure 3 Schematically shown is the contour information obtained by scanning the side of the bending die by a laser sensor.

[0025] Figure 4 A flowchart of determining whether one or more folding knives in the bending die need to be adjusted based on the point cloud data of the side of the bending die according to an embodiment of the present invention is shown.

[0026] Figure 5 Schematically shown is the projection of the side of the bending die in the -Y axis direction.

[0027] Figure 6 The flowchart of a method for hand-eye calibration of a bending device according to an embodiment of the present invention is shown.

[0028] Figure 7 The partial enlarged schematic diagram of a bending device according to an embodiment of the present invention is shown. Detailed implementation manners

[0029] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings.

[0030] In the following description, many specific details are set forth to facilitate a thorough understanding of the present invention. However, the present invention may be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0031] Secondly, the present invention will be described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views showing the device structure will be enlarged locally out of the general scale, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0032] The following will describe the detailed implementation manners of the present invention. It should be noted that in the process of the specific description of these implementation manners, for the sake of concise description, this specification may not describe all the features of the actual implementation manners in detail. It should be understood that in the actual implementation process of any implementation manner, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet the system-related or business-related restrictions, various specific decisions are often made, and these decisions will also change from one implementation manner to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present invention, some design, manufacturing, or production changes based on the technical content disclosed in this disclosure are only conventional technical means and should not be understood as the content of this disclosure being insufficient.

[0033] Unless otherwise defined, technical terms or scientific terms used in the claims and the specification shall have the ordinary meanings as understood by those of ordinary skill in the technical field to which the present invention pertains. The terms "first", "second" and similar terms used in the specification and claims of the present patent application do not denote any order, quantity or importance, but are merely used to distinguish different components. The terms such as "a" or "an" do not denote a limitation of quantity, but rather denote the existence of at least one. The terms such as "comprising" or "including" mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalent elements, and do not exclude other elements or items. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0034] In this application, unless otherwise specified, all the embodiments and preferred embodiments mentioned herein can be combined with each other to form a new technical solution. In this application, unless otherwise specified, all the technical features and preferred features mentioned herein can be combined with each other to form a new technical solution.

[0035] In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the front and rear associated objects.

[0036] As mentioned above, during the automated bending process, the automatic tool-changing device may have problems such as improper installation, uncalibrated equipment, improper operation, and incorrect software control. In view of this, this article aims to propose a method for identifying the bending die of a bending device and a bending device for implementing this method. Thus, it is possible to identify the bending die during the bending process and prevent the bending die that does not meet the design requirements due to factors such as improper installation, uncalibrated equipment, improper operation, and incorrect software control from bending the incoming material to obtain an undesired workpiece.

[0037] Figure 1a A schematic side view of a bending device 100 according to an embodiment of the present invention is shown. The bending device 100 includes a machine tool 110 and a laser sensor 120. The laser sensor 120 can be installed on the machine tool 110 through a guide rail 121 and can move along the guide rail 121. In addition, the bending device 100 may further include a carrier 130 for placing the incoming material 140 thereon for bending treatment and a bending die 150 for bending the incoming material 140. Figure 1bFIG. 0 shows a schematic partial enlarged view of a bending die 150 according to an embodiment of the present invention. The bending die 150 includes one or more folding knives 1501, 1502... 150 arranged along the X-axis. n The laser sensor 120 can be positioned such that during the movement of the laser sensor 120 along the guide rail 121, the field of view of the laser sensor 120 passes through the entire length of at least one side of the bending die 150 in the direction of the arrangement of the folding knives (i.e., the X-axis direction). Optionally, the laser sensor 120 can be a point laser sensor, and the point laser sensor is disposed on the axis of the bending device 100 that carries the bending die 150. Additionally or alternatively, the laser sensor 120 can be a line laser sensor, such as a highly accurate line laser sensor with a Z-direction error within 0.1 mm, and the repeat positioning accuracy can reach ±0.04°. In addition, the bending device 100 can further include various components for performing the bending process (e.g., a loading unit, a tool holder, etc.).

[0038] Figure 2 FIG. 6 shows a flowchart 200 of a method for identifying the bending die 150 of the bending device 100 according to an embodiment of the present invention.

[0039] In step S201, the side of the bending die 150 is scanned using the laser sensor 120 to obtain point cloud data characterizing the side of the bending die 150. The bending device 100 can include an acquisition unit (not shown in the figure), and the acquisition unit can be configured to obtain the point cloud data characterizing the side of the bending die 150 based on the information scanned by the laser sensor 120 during the scanning of the side of the bending die 150 by the laser sensor 120. "Point cloud data" is a data set composed of a large number of points in three-dimensional space, and each point includes its three-dimensional coordinates (x, y, z). Additionally, other information such as color, normal vector, or intensity can also be included. Figure 3 Schematically shows the contour information obtained by scanning the side of the bending die 150 by the laser sensor 120.

[0040] In step S203, it is determined whether one or more folding knives in the bending die need to be adjusted based on the point cloud data of the side of the bending die 150. The bending device 100 can further include a processing unit (not shown in the figure), and the processing unit can be configured to execute step S203.

[0041] Figure 4 FIG. 18 shows a flowchart 400 for determining whether one or more folding knives in the bending die need to be adjusted (step S203) based on the point cloud data of the side of the bending die according to an embodiment of the present invention.

[0042] In step S401, the acquired point cloud data can be processed (such as filtering, denoising, registration, segmentation, and classification, etc.) to identify the information of each folding knife among one or more folding knives of the bending die 150. Processing the acquired point cloud data to identify the information of each folding knife in the bending die 150 may include: processing the point cloud data (such as clustering, segmentation, and classification, etc.) to identify the surface profile information of each folding knife in the bending die 150; and determining the parameters and arrangement of each folding knife based on the surface profile information of each folding knife. The parameters of the folding knife may include, for example, the model, type, etc. of the folding knife. Additionally or alternatively, the shape parameters (such as the length in the X-axis direction) of each folding knife can also be identified.

[0043] In step S403, it is determined whether the arrangement of each identified folding knife corresponds to the arrangement of each folding knife in the target bending die. The target bending die can be the bending die required to bend the incoming material into the target workpiece, and data (such as design data) about the target bending die can be obtained from, for example, design software, design files, or storage devices. The arrangement of the folding knives can be the installation order of the folding knives, and what needs to be determined in step S403 is whether the order of the folding knives in the bending die 150 is consistent with the order of the folding knives in the target bending die.

[0044] When it is determined in step S403 that the arrangement of each folding knife of the identified bending die 150 corresponds to the arrangement of each folding knife in the target bending die, the method proceeds to step S405 to determine that no adjustment of the folding knives in the bending die 150 is required; when it is determined in step S403 that the arrangement of one or more folding knives among the folding knives of the identified bending die 150 does not correspond to the arrangement of one or more folding knives in the target bending die, the method proceeds to step S407 to determine that one or more folding knives in the bending die 150 need to be adjusted. When it is determined that one or more folding knives in the bending die 150 need to be adjusted, the folding knife order or position can be automatically readjusted by the bending device or the used folding knives can be changed, or manual processing can also be reminded.

[0045] Preferably, in step S409, the acquired point cloud data can be processed to determine the position information of the side surface of the bending die 150. Thanks to the use of a laser sensor capable of acquiring depth information, compared with using a 2D camera, it is easier and more accurate to obtain the position information about the side surface of the bending die 150.

[0046] Furthermore, in step S411, it can be determined whether the side surfaces of the bending die 150 are on the same plane. Here, the flatness in the Z-axis direction of the side surface of the bending die 150 facing the laser sensor 120 can be determined. Figure 5Schematically shows a projection of a side surface of the bending die 150 in the -Y axis direction (i.e., the surface of the incoming material). As Figure 5 indicated by the arrow in, there are misaligned folding knives in the bending die 150. Additionally or alternatively, it can also be determined whether the lower edges of the bending die 150 are on the same straight line based on the acquired point cloud data.

[0047] When it is determined in step S411 that the side surfaces of the bending die 150 are in the same plane, the method proceeds to step S405 to determine that the folding knives in the bending die 150 do not need to be adjusted; when it is determined in step S411 that the side surfaces of the bending die 150 are not in the same plane, the method proceeds to step S407 to determine that one or more folding knives in the bending die 150 need to be adjusted.

[0048] In addition, in order to more accurately acquire and determine various information of the bending die 150, hand-eye calibration can be performed on the bending device 100. The devices involved in this article are mainly applied to the working scenario of automatic bending. The device is configured with a robotic arm capable of performing bending processing (for example, devices such as machine tools, folding knives, and pressing knives), and a vision system capable of realizing robot vision (for example, a line laser sensor) is integrated on the device. Each component constituting the device can be set with different coordinate systems according to its own needs, and calibration is required between different coordinate systems to ensure that the device can guide each component to work in coordination. Among them, the calibration between the robotic arm and the vision system is the hand-eye calibration of the electronic device. The "hand" is the robotic arm, and the "eye" is the vision system. Hand-eye calibration is to solve the transformation matrix between the coordinate systems of the two. Figure 6 Shows a flowchart 500 of a method for performing hand-eye calibration on the bending device 100 according to an embodiment of the present invention. Figure 7 Shows a partially enlarged schematic view of a bending device according to an embodiment of the present invention.

[0049] In step S601, determine the coordinates of multiple calibration points on a straight line on the machine tool 110 in the machine tool coordinate system, where the straight line is within the field of view of the laser sensor 120. The laser sensor 120 can move along the guide rail 121 to obtain an image within the field of view, and hand-eye calibration can be performed based on the straight line on the machine tool 110 within the field of view. The bending device itself can have an approximately ideal straight line in the machine tool coordinate system. As an example, the straight line on the machine tool 110 can be a straight line l1 along the edge of the carrier table 130 (for example, the bending edge for bending the incoming material), as Figure 7As shown. However, it should be understood that other structural features on the machine tool 110 can be used as the reference for hand-eye calibration as long as the structural features are within the field of view of the laser sensor 120. The straight line l1 can be considered parallel to the X-axis direction of the machine tool coordinate system. Therefore, the straight line l1 can be represented by B = AX. Assuming that the parametric equation of the points on the straight line l1 in the machine tool coordinate system can be expressed as x = t, y = 0, z = 0, where t ∈ R. Preferably, four calibration points A1, A2, A3, and A4 are taken on the straight line l1. Among them, the coordinates of point A1 in the machine tool coordinate system are P 1_机床 (X b1 , 0, 0), the coordinates of point A2 in the machine tool coordinate system are P 2_机床 (X b2 , 0, 0), the coordinates of point A3 in the machine tool coordinate system are P 3_机床 (X b3 , 0, 0) and the coordinates of point A4 in the machine tool coordinate system are P 4_机床 (X b4 , 0, 0). Those skilled in the art should understand that more calibration points can be taken.

[0050] In step S603, determine the coordinates of the calibration points A1, A2, A3, and A4 in the laser sensor coordinate system. The aforementioned acquisition unit can be configured to execute step S403. During the process of the laser sensor moving along the guide rail, when the laser of the laser sensor irradiates on the target point, extract the coordinates of the target point in the laser sensor coordinate system. The coordinates of point A1 in the laser sensor coordinate system are P 1_传感器 (X s1 , Y s1 , Z s1 ), the coordinates of point A2 in the laser sensor coordinate system are P 2_传感器 (X s2 , Y s2 , Z s2 ), the coordinates of point A3 in the laser sensor coordinate system are P 3_传感器 (X s3 , Y s3 , Z s3 ), and the coordinates of point A4 in the laser sensor coordinate system are P 4_传感器 (X s4 , Y s4 , Z s4 ).

[0051] In step S605, based on the coordinates of the calibration points A1, A2, A3, and A4 in the machine tool coordinate system and the coordinates of the calibration points A1, A2, A3, and A4 in the laser sensor coordinate system, determine the conversion relationship between the machine tool coordinate system and the laser sensor coordinate system, that is where P 机床 is P 1_机床 、P2_机床 , P 3_机床 and P 4_机床 is the collective term of P 传感器 is P 1_传感器 , P 2_传感器 , P 3_传感器 and P 4_传感器 is the collective term of, and is the transformation matrix for converting the laser sensor coordinate system to the machine tool coordinate system. The bending device 100 may further include a processing unit, and the processing unit may be configured to execute step S605.

[0052] Specifically, the laser sensor 120 can be moved along the guide rail 121. When the laser emitted by the laser sensor 120 irradiates the calibration point A1, the coordinates P 1_机床 (X b1 , 0, 0) of point A1 in the machine tool coordinate system are determined. Among them, the guide rail can be initially set to be parallel to the straight line l1, and the projection of the laser emitted by the laser sensor 120 at the starting point of the axis coordinate on the straight line l1 is used as the origin P 机床 (0, 0, 0) of the machine tool coordinate system. Then, during the hand-eye calibration process, the coordinates P 1_机床 (X b1 , 0, 0) in the machine tool coordinate system are directly obtained by reading the axis coordinates of the laser sensor 120 (i.e., the position of the laser sensor 120 on the guide rail 121) to obtain the value of X b1 in. On the other hand, when the laser emitted by the laser sensor 120 irradiates the calibration point A1, the coordinates P 1_传感器 (X s1 , Y s1 , Z s1 ) of point A1 in the laser sensor coordinate system and the axis coordinates S 1_轴 (X a1 , Y a1 , Z a1 ) of the laser sensor are determined.

[0053] Next, as the laser sensor 120 moves along the guide rail 121 to the calibration points A2, A3, and A4, the same data is also obtained for the calibration points A2, A3, and A4.

[0054] Based on the above parameters, the following equation is constructed:

[0055]

[0056] where P 1_轴 represents the coordinates of the calibration point A1 in the axis coordinate system. In Equation 1, there is only one unknown After calculating , the transformation matrix for converting the laser sensor coordinate system to the machine tool coordinate system can be calculated

[0057] So far, a method for identifying a bending die of a bending device and the bending device for implementing the method have been described. By the method for identifying a bending die of a bending device and the bending device for implementing the method described herein, it is possible to identify the bending die during the bending process, preventing the bending die that does not conform to the design requirements caused by factors such as improper installation, uncalibrated equipment, improper operation, and incorrect software control from bending the incoming material to obtain an undesired workpiece.

[0058] Some exemplary embodiments have been described above. However, it should be understood that various modifications can be made to the above exemplary embodiments without departing from the spirit and scope of the present invention. For example, if the described techniques are performed in a different order and / or if the components in the described system, architecture, device, or circuit are combined in a different manner and / or replaced or supplemented by other components or their equivalents, suitable results can also be achieved. Accordingly, these other modified embodiments also fall within the scope of protection of the claims.

Claims

1. A method for identifying a bending die of a bending device, characterized in that: The bending device comprises a laser sensor, the laser sensor is positioned so that the field of view of the laser sensor passes through the entire length of at least one side of the bending die along the folding knife arrangement direction during movement along the guide rail, the bending die comprises one or more folding knives, and the method comprises: Scanning the side surface of the bending mold using the laser sensor to obtain point cloud data representing the side surface of the bending mold; Based on the point cloud data of the side surface of the bending mold, determine whether it is necessary to adjust the one or more folding knives in the bending mold.

2. The method according to claim 1, characterized in that Determining whether it is necessary to adjust the one or more folding knives in the bending mold based on the point cloud data of the side surface of the bending mold includes: Performing data processing on the acquired point cloud data to identify information of each of the one or more folding knives of the bending die; Determining whether the arrangement of each folding knife identified corresponds to the arrangement of each folding knife in the target bending die; In response to determining that the identified arrangement of each folding knife of the bending die corresponds to the arrangement of each folding knife in the target bending die, determining that the bending die does not need to be adjusted; and In response to determining that the arrangement of one or more folding knives among the identified folding knives of the bending die does not correspond to the arrangement of one or more folding knives among the folding knives of the target bending die, it is determined that the one or more folding knives in the bending die need to be adjusted.

3. The method according to claim 2, characterized in that Processing the acquired point cloud data to identify information of each folding knife of the one or more folding knives includes: Processing the acquired point cloud data to identify surface profile information of each folding knife in the bending die; The parameters and arrangement of each folding knife are determined based on the surface profile information of each folding knife.

4. The method according to claim 1, characterized in that Determining whether it is necessary to adjust the one or more folding knives in the bending mold based on the point cloud data of the side surface of the bending mold includes: Performing data processing on the acquired point cloud data to determine position information of the side surface of the bending mold; Determining whether the side surfaces of the bending mold are on the same plane; In response to determining that the sides of the bending die are on the same plane, determining that the bending die does not need to be adjusted; and In response to determining that the side surfaces of the bending die are not on the same plane, it is determined that one or more folding knives in the bending die need to be adjusted.

5. The method according to claim 1, characterized in that The bending device also includes a machine tool, and the method further includes: Determining the coordinates of a plurality of calibration points on a straight line on the machine tool in the machine tool coordinate system, wherein the straight line is within the field of view of the laser sensor; Determine the coordinates of the plurality of calibration points in the laser sensor coordinate system; Based on the coordinates of the multiple calibration points in the machine tool coordinate system and the coordinates of the multiple calibration points in the laser sensor coordinate system, a conversion relationship between the machine tool coordinate system and the laser sensor coordinate system is determined.

6. The method according to claim 1, characterized in that The laser sensor is a point laser sensor, and the point laser sensor is arranged on the shaft of the bending device that carries the bending mold.

7. The method according to claim 1, characterized in that The laser sensor is a line laser sensor.

8. A bending device, characterized in that: The bending device comprises: A bending die, wherein the bending die comprises one or more folding knives; A laser sensor, wherein the laser sensor is positioned on the guide rail so that during the movement of the laser sensor along the guide rail, the field of view of the laser sensor passes through the entire length of at least one side of the bending mold along the direction in which the folding knives are arranged; An acquisition unit, wherein the acquisition unit is configured to: In the process of the laser sensor scanning the side surface of the bending mold, acquiring point cloud data representing the side surface of the bending mold; and A processing unit, wherein the processing unit is configured to: Based on the point cloud data of the side surface of the bending mold, determine whether it is necessary to adjust the one or more folding knives in the bending mold.

9. The bending device according to claim 8, characterized in that: The processing unit is configured to: Processing the point cloud data to identify information of each of the one or more folding knives of the bending die; Determining whether the arrangement of each folding knife identified corresponds to the arrangement of each folding knife in the target bending die; In response to determining that the identified arrangement of each folding knife of the bending die corresponds to the arrangement of each folding knife in the target bending die, determining that the bending die does not need to be adjusted; and In response to determining that the arrangement of one or more folding knives among the identified folding knives of the bending die does not correspond to the arrangement of one or more folding knives among the folding knives of the target bending die, it is determined that the one or more folding knives in the bending die need to be adjusted.

10. The bending device according to claim 9, characterized in that: The processing unit is configured to: Processing the point cloud data to identify surface profile information of each folding knife in the bending die; The parameters and arrangement of each folding knife are determined based on the surface profile information of each folding knife to identify the information of each folding knife in the one or more folding knives.

11. The bending device according to claim 8, characterized in that: The processing unit is configured to: Performing data processing on the acquired point cloud data to determine position information of the side surface of the bending mold; Determining whether the side surfaces of the bending mold are on the same plane; In response to determining that the side surfaces of the bending die are on the same plane, determining that the bending die does not need to be adjusted; and In response to determining that the side surfaces of the bending die are not on the same plane, it is determined that one or more folding knives in the bending die need to be adjusted.

12. The bending device according to claim 8, characterized in that: The bending device also includes a machine tool, The acquisition unit is further configured to: Determining the coordinates of a plurality of calibration points on a straight line on the machine tool in the machine tool coordinate system, wherein the straight line is within the field of view of the laser sensor; Determine the coordinates of the plurality of calibration points in the laser sensor coordinate system; and The processing unit is further configured to: Based on the coordinates of the multiple calibration points in the machine tool coordinate system and the coordinates of the multiple calibration points in the laser sensor coordinate system, a conversion relationship between the machine tool coordinate system and the laser sensor coordinate system is determined.

13. The bending device according to claim 8, characterized in that: The laser sensor is a point laser sensor, and the point laser sensor is arranged on the shaft of the bending device that carries the bending mold.

14. The bending device according to claim 8, characterized in that: The laser sensor is a line laser sensor.

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