Apparatus and method for automatically bending workpieces

Abstract

The present invention relates to an automated bending apparatus for workpieces (10), which includes a storage (2) for workpieces (10), a robotic device (3) for handling the workpieces (10), and a bending machine (5) by which the robotic device (3) deforms at least some of the workpieces (10) to be processed through a bending process, and the apparatus (1) also includes an image capture device (7) for capturing image data (ID) relating to the workpieces (10) in the storage (2), and a control device (6) for controlling the robotic device (3) using the image data (ID). The image acquisition device (7) can be moved via an actuator system (8) to different positions (CP1, CP2) to acquire image data (ID) from different storage compartments (201, 202, 203, 204) of the storage unit (2) associated with each position (CP1, CP2), and a plurality of markings (M1, M2, ..., M10) are provided on the storage unit (2), and the positions (PO1, PO2, ..., PO10) of the markings relative to a reference coordinate system (RC) are stored in the control device (6) and are stored in the associated storage compartments (201, 202, 203, 204). Each individual position (CP1, CP2) of the image acquisition device (7) in the storage compartment (201, 202, 203, 204) comprises at least two markings (M1, M2, ..., M10), and the control device (6) is configured to perform an evaluation of the image data (ID) in the associated storage compartment (201, 202, 203, 204), and the storage locations (PO1, PO2, ..., PO10) of the markings (M1, M2, ..., M10) automatically determine the position (CL) of the image acquisition device (7) and / or the position (WL) of the workpiece (10) relative to the reference coordinate system (RC).

Description

Technical Field

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

Background Art

[0002] An apparatus for automatically bending a workpiece using a robot apparatus for handling the workpiece is known in the prior art. The workpiece to be processed is automatically taken out from a storage by the robot apparatus and supplied to a bending machine that deforms the workpiece by bending. Image data from an image acquisition device is used so that the robot apparatus can correctly take out the corresponding workpiece from the storage, and the arrangement of the workpieces to be processed in the storage is identified from the image data. Thereby, the robot apparatus is appropriately controlled according to the identified arrangement.

[0003] The document of International Publication No. 2020 / 250761 A1 discloses an automatic bending apparatus for a workpiece, in which an image of a workpiece layer in a storage is taken by a monocular camera and evaluated by pattern recognition. The arrangement of the workpiece placed at the uppermost part of the workpiece layer is detected using a plurality of models.

[0004] The document of International Publication No. 2021 / 079802 A1 describes an automatic bending method for a workpiece, in which the arrangement of the workpiece is determined using an image taken by a camera above the position of the workpiece, and based on this, a robot apparatus for transporting the workpiece is appropriately controlled.

[0005] In a conventional apparatus for automatically bending a workpiece, since the image acquisition device used for detecting the workpiece to be processed placed in the storage is arranged at a fixed position, the visual field of the image acquisition device is fixed, and there is a disadvantage that only a limited spatial area of the workpiece to be processed can be acquired.

[0006] A method for controlling a robot system is disclosed in the document U.S. Patent Application Publication No. 2020 / 023521A1. In the calibration process, a hand camera attached to the robot hand acquires an image of a reference marker. Based on the acquired image, configuration data between the robot coordinate system and the marker coordinate system is determined. For the robot to operate normally, the hand camera is removed from the robot hand so that the robot can process the workpiece. While operating normally, a fixed camera acquires images of the corresponding workpiece and the reference marker, and an image processing device calculates the relative position of the workpiece and the robot based on the acquired images and calibration data.

[0007] German Patent No. 102017123877A1 discloses a robotic system for a molding machine, the robotic system including a manipulator for operating a workpiece. A camera coupled to the manipulator acquires the relative position of the manipulator with respect to at least one marker. A computing unit connected to the camera calculates at least one correction value from the relative position to control the movement of the manipulator.

[0008] U.S. Patent No. 8,798,794B2 discloses a method for precisely positioning at least one object at a terminal location in space using an industrial robot. The method utilizes a 3D image recording device including an angle measuring unit. The object's position is determined based on the position of the 3D image recording device, the angle measuring unit, the 3D image recorded by the 3D image recording device, and knowledge of the object's features. [Prior art documents] [Patent Documents]

[0009] [Patent Document 1] International Publication No. 2020 / 250761A1 Specification [Patent Document 2] International Publication No. 2021 / 079802A1 [Patent Document 3] U.S. Patent Application Publication No. 2020 / 023521A1 [Patent Document 4] German Patent No. 102017123877A1 [Patent Document 5] U.S. Patent No. 8798794B2 [Overview of the project] [Problems that the invention aims to solve]

[0010] The objective of the present invention is to create an apparatus and method for performing automatic bending of a workpiece, which allows the workpiece to be processed to be acquired in a larger spatial area. [Means for solving the problem]

[0011] This objective is achieved by the apparatus described in claim 1 and the method described in claim 15. Further developments of the present invention are defined in the dependent claims.

[0012] The apparatus according to the present invention is used for the automatic bending of workpieces, preferably metal workpieces such as metal plates. The apparatus includes a storage unit for the corresponding workpieces, a robotic device for handling the workpieces, and a bending machine that deforms at least some of the workpieces handled by the robotic device through bending. The bending machine is preferably a press brake.

[0013] The apparatus according to the present invention also includes an image acquisition device for acquiring image data of workpieces to be processed in a storage chamber, and a control device for controlling a robotic apparatus using the image data.

[0014] In the apparatus according to the present invention, the image acquisition device can be moved to different positions via an actuator system in order to acquire image data from different compartments of a storage unit associated with each position. Preferably, the actuator system can be controlled via the control device described above.

[0015] Furthermore, multiple markings are provided in the storage unit, and the position of these markings relative to the reference coordinate system is stored in the control device; that is, the position of the markings is known. Preferably, the position of the markings is a three-dimensional spatial position. However, if necessary, for example, if the height position of the workpiece to be processed is obtained from an information source other than image data, the position may be a two-dimensional position. The reference coordinate system is a coordinate system stationary to the apparatus according to the present invention and does not follow the relative movement of elements within the apparatus, such as the movement of a robotic device.

[0016] According to the present invention, at least two of a plurality of markings are included in the individual positions of the image acquisition device within the associated storage compartment, the control device is configured to perform an evaluation of the image data of the associated storage compartment, the arrangement of the image acquisition device is automatically determined using the stored positions of the markings within the associated storage compartment, and / or the arrangement of the workpiece to be processed relative to the reference coordinate system is automatically determined. The arrangement of the image acquisition device or the workpiece to be processed describes the position and orientation of the image acquisition device or the workpiece to be processed, where the position is preferably a three-dimensional spatial position and the orientation is preferably a three-dimensional spatial direction.

[0017] The markings used in the method according to the present invention may be passive and / or active markings. Positional information cannot be read from passive markings. For this reason, before the method according to the present invention is performed, the position of individual passive markings relative to a reference coordinate system is determined using appropriate measurements and stored in the control device. In contrast, positional information is stored in active markings. Before the method according to the present invention is performed, this information is read from the active markings and then assigned to and stored in the reference coordinate system within the control device.

[0018] By arranging the image acquisition device at different positions, the device according to the present invention can expand the field of view of the corresponding workpiece storage. At the same time, external calibration at the current position of the image acquisition device becomes possible, and appropriate markings on the storage are used for this purpose. External calibration ensures that the arrangement in space is known for each position of the image acquisition device. Therefore, by moving the image acquisition device, a wider spatial area of the workpiece can be acquired.

[0019] In a preferred embodiment of the device according to the present invention, the arrangement relative to the reference coordinate system of the workpiece to be processed in the associated storage is determined from the arrangement of the image acquisition device. Then this arrangement can be used to handle the corresponding workpiece. The arrangement of the workpiece to be processed describes its position and orientation, where the position is preferably a three-dimensional spatial position and the orientation is preferably a three-dimensional spatial direction.

[0020] In a particularly preferred embodiment, the image acquisition device is a 3D image acquisition device, i.e., an image acquisition device that acquires three-dimensional image data. The 3D image acquisition device is preferably a 3D camera device. If necessary, a 2D image acquisition device can also be used in the device according to the present invention. This applies, for example, when the height position of the workpiece is obtained from an information source other than the image data.

[0021] In a further preferred embodiment of the device according to the present invention, separate storage areas for the workpieces are assigned to storage compartments, and each individual storage compartment completely covers the assigned storage area vertically in plan view. The separate storage areas are understood to be spatially separated storage areas. In contrast, the storage compartments including the markings defined above may not be spatially discontinuous. That is, the storage can be larger than the storage area, and the same markings may belong to multiple storages.

[0022] In a preferred variation of the embodiments described above, the storage area is a conveying device for storing the workpiece, and the conveying device is preferably a pallet. Further, the workpieces may preferably be stacked in the corresponding storage areas.

[0023] In a further preferred embodiment of the device according to the invention, the storage compartments including the markings are arranged adjacent to one another in a predetermined direction.

[0024] In a further variant, the image acquisition device is linearly movable by an actuator system, and as a result, the position of the image acquisition device can be easily changed. The linear movement preferably occurs in the predetermined direction defined above, and the storage compartments are arranged adjacent to one another.

[0025] In a further particularly preferred embodiment of the device according to the invention, all of the markings of the plurality of markings are arranged within 500 mm above and / or on the floor of the storage vault, and the image acquisition device is movable above the storage vault. As a result, the acquisition of the markings by the image acquisition device can be particularly reliably ensured. The markings do not all have to be at the same level. Rather, the markings may be placed in several different planes. This improves the accuracy in the vertical direction.

[0026] The number of storage compartments provided in the device according to the invention can be selected to be different. The larger the number, the more workpieces stored in a larger space area can be acquired. In a preferred variant, at least 3 storage compartments, preferably 3 to 10 storage compartments, and particularly preferably 4 storage compartments are provided.

[0027] In a further preferred variant, at least two markings of an individual storage compartment represent at least some of the markings of the storage compartments, preferably a subset of the plurality of markings of each storage compartment. The markings are thus at least partially different between the storage compartments.

[0028] In a further preferred variant, at least two markings in an individual storage compartment are at least part of a plurality of storage sections, preferably at least 3 markings, more preferably 4 markings are provided in each storage compartment. By using two or more markings, the accuracy of the position determination of the image acquisition device is improved.

[0029] In a more preferred embodiment of the apparatus according to the present invention, one or more markings, preferably two, of individual storage compartments belong to at least some of a plurality of storage compartments, and preferably, in each storage compartment, also belong to storage compartments other than a specific storage compartment. Therefore, the number of markings can be reduced by using at least some of the markings for multiple storage compartments simultaneously.

[0030] In a more preferred embodiment, at least some individual storage compartments, and preferably each storage compartment, have a polygonal, particularly rectangular, outline in plan view. Due to this outline, the evaluation of image data for determining the arrangement of the image acquisition device is simplified, and the arrangement of the workpiece to be processed can be determined directly if necessary. Markings are preferably provided at one or more corners of the polygonal contour, particularly at each corner.

[0031] In a more preferred embodiment, the markings have a different optical design to be identifiable by the control device. The markings preferably include an optical code. As a result, the evaluation of image data can be simplified and the accuracy of position determination of the image acquisition device can be improved. Optically different markings may have, for example, different colors. If the markings include an optical code, the markings are preferably binary codes that can be processed very easily by the control device of the device according to the present invention.

[0032] In a more preferred modification, the individual markings include at least some of a plurality of markings, and in particular, each marking includes at least two arcs having a common center. By using such markings, the position of the markings can be extracted from the image data with great accuracy and compared with the position stored in the control device. As a result, the accuracy of position determination by the image acquisition device can be further improved.

[0033] The present invention also relates to an automatic bending method for workpieces using an apparatus according to the present invention or one or more suitable modifications of the apparatus. In other words, the apparatus of the invention used in the method includes a workpiece storage unit, a robotic device for handling workpieces, and a bending machine for deforming at least some of the workpieces handled by the robotic device through bending, the apparatus also includes an image acquisition device for acquiring image data of workpieces to be processed in the storage unit, and a control device for controlling the robotic device using the image data.

[0034] As part of the method according to the present invention, the image acquisition device is moved to different positions, preferably via an actuator system controlled via the control device described above, in order to acquire image data from different compartments of a storage unit associated with each position, a plurality of markings are provided in the storage unit, the position of the storage unit relative to a reference coordinate system is stored in the control device, and at least two of the plurality of markings are included in the individual positions of the image acquisition device within the associated storage compartment. Furthermore, the control device of the method according to the present invention performs an evaluation of the image data of the associated storage compartment and determines the position of the image acquisition device relative to the reference coordinate system using the stored positions of the markings within the associated storage compartment.

[0035] All additional statements made above in connection with the description of the apparatus according to the present invention are also applicable to the method according to the present invention. In particular, the arrangement of the image acquisition device describes the position and orientation of the image acquisition device, where the position is preferably a three-dimensional spatial position and the orientation is preferably a three-dimensional spatial direction. Furthermore, the arrangement of the workpiece to be processed in the associated storage chamber relative to the reference coordinate system is preferably determined from the arrangement of the image acquisition device. The corresponding workpiece can then be processed using this arrangement. The arrangement of the workpiece to be processed describes the position and orientation of the workpiece, where the position is preferably a three-dimensional spatial position and the orientation is preferably a three-dimensional spatial direction.

[0036] Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying figures. [Brief explanation of the drawing]

[0037] [Figure 1] This is a schematic diagram of the structure of one modified example of the apparatus according to the present invention. [Figure 2] This is a schematic side view of a workpiece storage cabinet with an image acquisition device positioned above it, according to a preferred embodiment of the apparatus according to the present invention. [Figure 3] Figure 2 is a floor plan of the storage facility. [Figure 4] This is a flowchart showing the steps performed by one embodiment of the apparatus according to the present invention. [Modes for carrying out the invention]

[0038] Figure 1 shows a schematic diagram of one embodiment of the apparatus according to the present invention for automatic bending of workpieces. The apparatus includes a storage cabinet 2, indicated by reference numeral 1, which, as is well known, includes two storage compartments 201 and 202 in the illustrated embodiment. The storage compartments are provided with corresponding pallets on which metal plate-shaped workpieces to be processed can be stacked. A movable image acquisition device 7 is installed above the storage cabinet 2 in the form of a 3D camera and is movable along a linear suspension by an actuator system 8. In other words, the suspension includes a corresponding actuator system 8, which allows the image acquisition device 7 to move along the suspension.

[0039] A robotic device 3, movable along guide 4, is provided to automatically handle corresponding workpieces in storage 2. The robotic device 3, shown schematically here, can automatically retrieve workpieces from storage via a multi-joint assembly (not shown), for example, by a gripper or via suction cups. The retrieved workpiece is then transported by the robotic device 3 to a bending machine 5, which is known and therefore only schematically shown in Figure 1. The robotic device 3 sends the workpiece to be processed to the bending machine 5, which deforms the workpiece by applying force via a bending beam. The deformed workpiece can then be placed in the corresponding storage unit, which can also be housed in storage 2.

[0040] To ensure the automated processing of workpieces by the robotic device 3, a control device 6 is provided to evaluate the image data ID acquired by the image acquisition device 7. It should be noted that multiple markings are provided at known three-dimensional positions within the storage unit 2, and these markings are taken into account when the image data ID is processed by the control device 6. For clarity, the markings are not visible in the schematic diagram of Figure 1. However, the markings can be obtained from the embodiment of the apparatus according to the present invention, which is described in detail below (see Figure 3 in particular).

[0041] By evaluating the image data ID containing the marking, the current 3D position CL of the image acquisition device 7 relative to the stationary reference coordinate system RC can be determined by comparing the marking included in the image data with the known position of the marking. Known methods can be used for this. In this way, external calibration can be performed for any position of the image acquisition device 7. Using the determined position CL of the image acquisition device 7, the 3D position WL of the corresponding workpiece to be grasped by the robot device 3 within the stationary reference coordinate system RC can be determined again using a known method by further evaluating the acquired image data ID. Using this position information, the control device 6 can appropriately control the robot device 3 to retrieve the corresponding workpiece from the storage unit 2 and supply it to the bending machine 5 for deformation.

[0042] Figure 2 shows a side view of a storage cabinet 2 in one modified example of the apparatus according to the present invention. In contrast to the apparatus in Figure 1, storage cabinet 2 includes a total of four storage compartments 201, 202, 203, and 204. As also shown in Figure 3 below, according to the orthogonal coordinate system of the x, y, and z axes shown in Figure 2, the storage compartments are arranged adjacent to each other in the y direction of the coordinate system. Each storage compartment includes a corresponding pallet-shaped storage area 9 on which corresponding workpieces 10 in the shape of thin metal sheets can be stacked. As an example, two layers of workpieces 10 are shown in the third storage area from the left.

[0043] The linear actuator system 8, already described above, is positioned vertically above storage unit 2 (i.e., in the z-direction of the illustrated coordinate system), allowing the image acquisition device 7 to be moved linearly in the y-direction. The direction of movement of the image acquisition device is indicated by arrow P. In Figure 2, the image acquisition device 7 is at position CP1 above the left pallet, while at position CP2 it is above the third pallet from the left. The detection area DE of the image acquisition device 7 is shown as an example at position CP2. The planar coverage area of ​​the detection area in a plan view correlates with the corresponding storage compartments 201-204, as can be seen from Figure 3, which will be described in detail below.

[0044] As shown in Figure 2, by appropriately positioning the image acquisition device 7 above each storage compartment, workpieces 10 can be acquired in each of the storage compartments 201 to 204. Therefore, the robot device 3 can handle workpieces in a region extending in the y-direction using the corresponding image data of the storage compartment.

[0045] Figure 3 again shows a top view of the four storage compartments 201, 202, 203, and 204. As can be seen from the figure, the storage compartments have a rectangular shape. Storage compartment 203, which corresponds to the plan view of the detection area DE in Figure 2, is shown by a dashed line. The other storage compartments are shown by dotted lines. Each storage compartment is correlated with the position of the image acquisition device 7 above the center of the corresponding storage compartment. As is clear from Figure 3, each of the storage compartments 201 to 204 contains a storage area 9 in the shape of a rectangular pallet, and each pallet is uniquely assigned to a storage compartment. In addition, markings M1, M2, ..., M10 of known three-dimensional spatial positions PO1, PO2, ..., PO10 are provided at the corners of storage compartments 201 to 204. The markings and their positions are stored as digital data in the control device 6.

[0046] Each of the markings M1 to M10 is formed by two opposing black circular segments with a common center. This optical structure allows for extremely accurate identification of the markings within the image data ID acquired by the image acquisition device 7. Each of the storage compartments 201 to 204 contains four markings at the corners of its own rectangular contour. The storage compartments overlap each other so that the two markings in each compartment also belong to the adjacent storage compartment. Specifically, storage compartment 201 contains markings M1, M2, M3, and M4. Storage compartment 202 contains markings M3, M4, M5, and M6, with markings M3 and M4 also belonging to storage compartment 201. Storage compartment 203 contains markings M5, M6, M7, and M8, with markings M5 and M6 also belonging to storage compartment 202. Storage compartment 204 contains markings M7, M8, M9, and M10, with markings M7 and M8 also belonging to storage compartment 203.

[0047] To handle workpieces in storage compartment 203, for example, the image acquisition device 7 moves to position CP2 shown in Figure 2 by the linear actuator system 8. Image data IDs are then acquired via the image acquisition device 7. The image data includes markings M5, M6, M7, and M8. By comparing the positions of known markings with their positions in the image data, the precise three-dimensional position of the image acquisition device 7 at its own position CP2 can be determined in a known manner. In other words, the external calibration of the image acquisition device 7 can be performed instantaneously. This external calibration, i.e., using the position of the image acquisition device 7, allows the control device 6 to determine the three-dimensional position of the workpiece to be processed above the corresponding layer by evaluating the known image data IDs, and enables appropriate control of the robotic device handling the workpiece.

[0048] In the embodiments described herein, since multiple markings are used simultaneously for adjacent storage compartments, the number of markings can be kept to a minimum. Furthermore, the shape of the markings ensures high-precision identification of image data IDs, thereby improving the placement determination accuracy of the image acquisition device 7.

[0049] Figure 4 again shows the essential steps performed by the apparatus described above in relation to the automatic bending of a workpiece. In step S1, the image acquisition device 7 is first moved by the robot device 3 to the location of the storage compartment where the workpiece is gripped (e.g., location CP2 in Figure 2). In step S2, the image acquisition device 7 acquires the 3D image information ID of the storage compartment. This image information includes the workpiece being gripped, as well as four corresponding markings. When the image acquisition device 7 is at location CP2, these are markings M5, M6, M7, and M8. Next, in step S3, the 3D position CL of the image acquisition device 7 relative to the aforementioned stationary reference coordinate system RC is determined using a known method. Thus, this step realizes the external calibration of the image acquisition device at the associated location.

[0050] Finally, in step S4, the three-dimensional arrangement WL of the workpiece to be gripped relative to the reference coordinate system RC is determined using the three-dimensional arrangement CL of the image acquisition device 7, and the robot device 3 is controlled based on the arrangement WL. In other words, the robot device moves into the storage unit 2 by its articulated assembly and retrieves the workpiece to be gripped from the corresponding stack, for example via a suction cup. The robot device 3 then supplies the retrieved workpiece to the bending machine 5 for the bending process.

[0051] The above-described embodiments of the present invention have many advantages. In particular, the movable image acquisition device makes it possible to significantly widen the field of view of stored workpieces, allowing the use of workpiece storage facilities with significantly larger area areas without the need to use multiple image acquisition devices for the automatic handling of workpieces. Thus, it is also guaranteed that the image acquisition device will be properly calibrated after being moved, which is achieved by external calibration via appropriate markings.

[0052] The markings may be designed differently depending on the embodiment. It is essential that they be identifiable by corresponding image data from an image acquisition device. The markings do not necessarily have to be identifiable to each other. However, they may be designed to be optically identifiable to each other, which can be achieved, for example, by optical coding. In a preferred embodiment, the markings can be used simultaneously in different storage compartments to reduce the number of markings. [Explanation of Symbols]

[0053] 1. Automatic bending machine for workpieces 2 Storage Storage compartments 201, 202, 203, 204 3. Robot equipment 4 Guide 5 Bending machine 6 Control device 7. Image acquisition device (camera) 8 Actuator System 9. Storage area (conveyor equipment) 10 Workpieces (metal plates) RC reference coordinate system ID image data CL Image Acquisition Device Layout WL machining / arrangement of the workpiece to be gripped CP1, CP2 locations (camera positions) Detection area of ​​DE image acquisition device P predetermined direction (direction of movement of the image acquisition device) M1, M2, ..., M10 marking (passive or active) PO1, PO2, ..., PO10 Marking positions S1, S2, S3, S4 Step

Claims

1. An automatic bending apparatus for workpieces (10), comprising a storage unit (2) for workpieces (10), a robotic device (3) for handling the workpieces (10), and a bending machine (5) for deforming at least some of the workpieces (10) handled by the robotic device (3) through bending, wherein the apparatus (1) also comprises an image acquisition device (7) for acquiring image data (ID) relating to the workpieces (10) in the storage unit (2) that it handles, and a control device (6) for controlling the robotic device (3) using the image data (ID), The image acquisition device (7) is movable via an actuator system (8) to different positions (CP1, CP2) to acquire image data (ID) from different storage compartments (201, 202, 203, 204) of the storage unit (2) associated with each of the positions (CP1, CP2), and a plurality of markings (M1, M2, ..., M10) are provided in the storage unit (2), and the positions of the markings (PO1, PO2, ..., PO10) relative to a reference coordinate system (RC) are stored in the control device (6), and the positions (CP1, CP2) of the image acquisition device (7) within the associated storage compartments (201, 202, 203, 204) are linked to the plurality of markings The apparatus includes at least two markings (M1, M2, ..., M10) from among the markings (M1, M2, ..., M10), wherein the control device (6) is configured to perform evaluation of the image data (ID) of the associated storage compartments (201, 202, 203, 204), and the arrangement (CL) of the image acquisition device (7) and / or the arrangement (WL) of the workpiece to be processed (10) relative to the reference coordinate system (RC) is automatically determined by the stored positions (PO1, PO2, ..., PO10) of the markings (M1, M2, ..., M10) in the associated storage compartments (201, 202, 203, 204).

2. The apparatus according to claim 1, characterized in that the image acquisition device (7) is a 3D image acquisition device, preferably a 3D camera device, that acquires three-dimensional image data (ID).

3. The apparatus according to claim 1, characterized in that separate storage areas (9) for workpieces (10) are assigned to storage compartments (201, 202, 203, 204), the individual storage compartments (201, 202, 203, 204) completely cover the assigned storage areas (9) in a plan view, and the individual storage areas (9) preferably store the workpieces (10) in a conveying device.

4. The apparatus according to claim 1, characterized in that the storage compartments (201, 202, ..., 204) are arranged adjacent to each other in a predetermined direction (P).

5. The apparatus according to claim 1, characterized in that the image acquisition device (7) is linearly movable by an actuator system (8).

6. The apparatus according to claim 1, characterized in that all of the plurality of markings (M1, M2, ..., M10) are arranged on the floor of the storage cabinet (2) and / or at a height of 500 mm from the floor, and the image acquisition device (7) is movable above the storage cabinet (2).

7. The apparatus according to claim 1, characterized in that it is provided with at least three storage compartments (201, 202, 203, 204), preferably three to ten storage compartments (201, 202, 203, 204), and particularly preferably four storage compartments (201, 202, 203, 204).

8. The apparatus according to claim 1, characterized in that at least some of the storage compartments (201, 202, 203, 204), specifically at least two markings (M1, M2, ..., M10) within each storage compartment (201, 202, 203, 204), represent a subset of the plurality of markings (201, 202, 203, 204).

9. The apparatus according to claim 1, characterized in that at least some of the storage compartments (201, 202, 203, 204) have at least three markings (M1, M2, ..., M10) in each storage compartment (201, 202, 203, 204).

10. The apparatus according to claim 1, characterized in that at least some of the storage compartments (201, 202, 203, 204), specifically individual storage compartments (201, 202, 203, 204), preferably one or more markings (M1, M2, ..., M10) within each storage compartment (201, 202, 203, 204), preferably two markings (M1, M2, ..., M10) also belong to storage compartments (201, 202, 203, 204) other than the individual storage compartments (201, 202, 203, 204).

11. The apparatus according to claim 1, characterized in that at least some of the storage compartments (201, 202, 203, 204), each individual storage compartment (201, 202, 203, 204), preferably each storage compartment (201, 202, 203, 204), has a polygonal, particularly rectangular, outline in plan view.

12. The apparatus according to claim 11, characterized in that markings (M1, M2, ..., M10) are provided at one or more corners, preferably at each corner, of the outline of the polygon.

13. The apparatus according to claim 1, characterized in that the markings (M1, M2, ..., M10) have different optical designs so that they can be identified by the control device (6), and include an optical code.

14. The apparatus according to claim 1, characterized in that at least some of the multiple markings (M1, M2, ..., M10) include individual markings (M1, M2, ..., M10), in particular each marking (M1, M2, ..., M10) includes at least two arcs having a common center.

15. An automatic bending method for a workpiece using the apparatus (1) described in any one of claims 1 to 14, The image acquisition device (7) is moved via the actuator system (8) to different locations (CP1, CP2) to acquire the image data (ID) from the different storage compartments (201, 202, 203, 204) of the storage unit (2) associated with each location (CP1, CP2). A method characterized in that the control device (6) performs an evaluation of the image data (ID) of the associated storage compartments (201, 202, 203, 204).

Images