Bending machine and method for operating a bending machine
The bending machine employs a camera-based image recognition system to detect and prevent hazardous situations, ensuring safer operations by accurately identifying operators and workpieces, thereby reducing accidents.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- TRUMPF MASCHEN AUSTRIA
- Filing Date
- 2025-12-04
- Publication Date
- 2026-06-11
AI Technical Summary
Bending machine operations pose significant risks of accidents and near misses due to hazardous situations involving the backgauge, including crushing or cutting of operators' hands and pushing of workpieces towards them during movements.
A bending machine equipped with at least one camera for capturing monitoring areas, an evaluation unit using an image recognition model to identify objects and persons, and a control unit to trigger safety functions upon detection, such as stopping or reversing movements, to prevent injuries.
Enhances safety by providing precise and adaptable recognition of potential hazards, reducing the risk of injuries and improving operational safety through flexible and accurate detection of operators and workpieces.
Smart Images
Figure AT2025060447_11062026_PF_FP_ABST
Abstract
Description
[0001] BENDING MACHINE AND METHOD FOR OPERATING A BENDING MACHINE
[0002] The invention relates to a bending machine comprising a stationary lower bending beam for receiving a lower tool and a movable upper bending beam for receiving a top tool, which is movable in a substantially vertical bending plane relative to the lower bending beam, wherein the bending machine has a working area for an operator to perform a bending operation on a first side of the bending plane and comprises a backgauge with a number of movable stop fingers on a second side of the bending plane opposite the working area, wherein the bending machine includes a control unit configured to control a movement of the number of movable stop fingers for positioning a workpiece relative to the bending plane.
[0003] The invention further relates to a method for operating a bending machine comprising a stationary lower bending beam for receiving a lower tool and a movable upper bending beam for receiving a upper tool, wherein the upper bending beam is movable in a substantially vertical bending plane relative to the lower bending beam, wherein the bending machine has a working area for an operator to perform a bending operation on a first side of the bending plane and comprises a backgauge with a number of movable stop fingers on a second side of the bending plane opposite the working area, wherein the bending machine includes a control unit configured to control the movement of the number of movable stop fingers for positioning a workpiece to be bent relative to the bending plane.
[0004] Besides the movement of the bending beam, movements of the backgauge are among the most frequent causes of accidents and near misses when operating bending machines. There are essentially two hazardous situations: In the first, an operator brings one or both hands into the backgauge area, and one or both hands are crushed or cut by the backgauge movement. In the second, the operator places a workpiece in the backgauge area before the movement has finished. This can cause the workpiece to be pushed by the backgauge towards the operator, injuring them.
[0005] To solve this problem, it was proposed in EP3431203A1 that during a
[0006] During the adjustment movement of the stop finger, a monitoring area, horizontally leading the stop finger in the adjustment direction, is monitored for obstacles between the foremost stop surface and the bending plane by means of an image acquisition device coupled to the stop finger's movement. A light beam is projected into the monitoring area by means of a lighting device mounted on the stop finger, which is coupled to the stop finger's movement and spaced apart from the image acquisition device. An obstacle can be detected based on the resulting light image on a component. If an obstacle is detected during the adjustment movement of the stop finger, a safety measure, such as stopping or resetting the stop finger, is automatically implemented.
[0007] The object of the present invention was to provide a simpler and more flexible way to further reduce the risk of injury to operators in a bending machine with a back gauge.
[0008] This task is accomplished by the aforementioned bending machine in that the bending machine includes at least one camera for capturing a defined or definable monitoring area of the machine, an evaluation unit designed to recognize an object and / or person and / or parts thereof within the monitoring area using an image recognition model stored in the evaluation unit and based on a number of images captured by the camera, and that the control unit is designed to trigger a safety function upon detection or to refrain from triggering a safety function. This allows hazardous situations to be detected and automatically addressed in a very simple and flexible manner. Recognizable objects could be, for example, specific tools or workpieces whose shape is known and therefore identifiable.For example, people can be identified by a body part, particularly a hand, whose shape is known and therefore recognizable. Unlike conventional methods, the camera directly captures images of the object, person, or parts thereof, eliminating the need for illumination and image processing. Especially when using a high-resolution camera, this results in significantly more precise recognition than detection based on image processing. Furthermore, the system is considerably simpler, requiring essentially only the camera and the processing unit. Adjusting and adapting the system to changing circumstances is also much easier than with conventional methods. The image recognition model preferably incorporates an AI model (Artificial Intelligence).This allows for easy adaptation to various boundary conditions, as the AI model can be trained to reliably recognize certain objects and people, and, if necessary, to either not recognize certain objects and people or to recognize and potentially ignore them. A neural network or other known models can be used as the AI model. Known AI models for image recognition include: Convolutional Neural Networks (CNNs), Transfer Learning models, Region-based CNNs (R-CNNs), Single Shot Detectors (SSDs), You Only Look Once (YOLO), Generative Adversarial Networks (GANs), Vision Transformers (ViTs), and Semantic Segmentation models. Such AI models are known in the prior art. While known methods only evaluate outlines based on a light image, the recognition within the scope of the invention is based on images taken directly of the object or person, or parts thereof.This allows for a significant improvement in recognition accuracy and enables better differentiation between various objects, people, or parts. For example, the AI model can also be used to detect and distinguish colors, patterns, and the like.
[0009] It can be advantageous for the AI model to contain training data from a variety of hazardous situations, each involving one or more objects and / or people, or parts thereof, within the monitored area. This training data can be generated beforehand on the bending machine itself or, if necessary, on an identical bending machine. Through this training, the AI model can be tailored to specific use cases, making it particularly flexible in its application. For example, it would be conceivable to select the training data in such a way that certain objects or parts thereof are deliberately not detected. By selecting the appropriate training data, the AI model could also be trained to selectively detect, ignore, or recognize certain features. Such features could include, for example, specific shapes or colors.
[0010] The camera can be a standard digital camera, for example, one with a CCD or CMOS sensor. It can also be advantageous if the camera is a 3D camera. This allows for spatial depth perception, which improves the detection of hazardous situations. Alternatively or additionally, the camera could also include an infrared camera to detect infrared radiation. This allows, for example, warm objects or human body parts to be detected more easily and distinguished from other objects. Alternatively or additionally, the camera could also include a video camera to detect hazardous situations from moving images. Alternatively or additionally, the camera could include multiple cameras. This allows, for example, redundancy in the coverage of a monitored area, or the monitoring of multiple areas, each with at least one camera.The camera can alternatively or additionally include a smart camera. This allows the output value unit to be integrated into the camera, requiring only a simple communication link between the smart camera and the control unit.
[0011] The monitoring area can comprise several monitoring areas, preferably intersecting or adjacent to the bending plane. Each monitoring area can be assigned at least one camera. For example, a first monitoring area can be defined on the first side of the bending plane in a part of the work area, preferably adjacent to the bending plane, and a second monitoring area can be defined on the second side of the bending plane in an area, preferably adjacent to the bending plane, where the backgauge is located. Preferably, at least part of the movable stop fingers of the backgauge lies within at least one monitoring area, and / or at least a section of the bending beam, preferably a section with an upper tool and a cooperating lower tool, lies within at least one monitoring area.
[0012] It can be advantageous if the size and / or shape of at least one monitoring area is variable, and / or if the position of at least one monitoring area relative to the bending plane is variable, preferably by the control unit. This allows the monitoring area to be easily and flexibly adapted to different boundary conditions. For example, the same system (comprising at least one camera and one output evaluation unit) could be used for different types of bending machines, especially bending machines of different sizes. It might also be desirable, under certain circumstances, to exclude certain areas of the bending machine from monitoring. These could be excluded from monitoring by changing the position or size of a monitoring area. This change could, for example, be made by an operator via an operating unit on the bending machine.The control unit can also automatically adjust the monitoring area depending on a stored bending program.
[0013] Preferably, the bending machine includes an alarm unit, in particular an optical, acoustic, or electronic one, and the safety function includes triggering an alarm by means of the alarm unit. An acoustic and / or optical signal can warn the operator and / or other persons in the vicinity of the bending machine in the event of a detected hazardous situation. For example, a suitable signal lamp can be provided as an optical alarm unit. An acoustic alarm unit can be, for example, a suitable horn or a loudspeaker. Within the scope of the invention, an electronic signal can be understood, for example, as a message that can be sent, for example, by a suitable transmitting device, to a receiving device, for example, a specific stationary terminal device, such as a computer, and / or to a mobile terminal device, such as a tablet or smartphone.The transmitting device can be integrated into or connected to the control unit, for example. The transmitting device can be configured to send the message via a wired connection, e.g., Ethernet, or wirelessly, e.g., via Bluetooth, cellular network, WLAN, etc.
[0014] According to an advantageous embodiment, the safety function comprises stopping the movement of at least one stop finger, reducing the speed of at least one stop finger, or reversing the direction of at least one stop finger. For example, the stop finger can be completely stopped upon detection of a person, while upon detection of an object, only the speed is reduced, since the potential hazard may be lower in this case. Alternatively or additionally, the safety function can comprise stopping the upper bending beam, reducing the speed of the upper bending beam, or reversing the direction of the upper bending beam.
[0015] The bending machine can optionally include a display unit, and the safety function can include displaying information to the operator via this unit. The display unit can, for example, be a screen or a suitable display. It can also serve as the operator control unit, such as a touchscreen. The information displayed can include, for example, a message about the detected hazard or a visual representation of the hazard. It could also include information about a detected object, such as a specific workpiece being bent. For instance, if the wrong workpiece is inserted or incorrectly positioned, the display could show relevant information, allowing the operator to more easily identify and correct the error.This can improve the quality of the bending process and reduce scrap.
[0016] The safety function can, for example, include a safety function to protect the life and limb of detected persons and / or a safety function to protect detected objects or the bending machine from damage. This allows, for example, a distinction to be made between particularly critical hazardous situations involving personal injury and less critical hazardous situations involving only property damage. A different safety function can be executed in the case of a risk of personal injury than in the case of a risk of property damage. For example, in the case of a risk of personal injury, all drives (especially the bending beam and backgauge) could be stopped immediately, whereas in the case of a risk of property damage, only an alarm signal or information might initially be generated.
[0017] Preferably, the control unit is configured to selectively trigger the safety function only when a specific predefined object, person, or part thereof is detected, or to selectively refrain from triggering it. This allows differentiation between various objects, persons, or parts thereof. For objects, persons, or parts thereof that are not classified as critical, the safety function could, for example, be refrained from being triggered. Alternatively or additionally, the control unit can be configured to trigger or refrain from triggering the safety function depending on the movement of at least one stop finger of the backgauge and / or the movement of the upper bending beam.This allows, for example, a suitable safety function to be triggered in a safety-critical operating condition where the stop finger and / or the upper bending beam is in motion. In less safety-critical operating conditions, the triggering of a safety function can be omitted, or a different safety function can be performed.The task is also solved with the aforementioned method by means of at least one camera capturing a defined or definable monitoring area of the bending machine, by means of an evaluation unit using an image recognition model based on a number of images taken by the camera, and by means of a control unit triggering a safety function upon detection of the object and / or the specific person or parts thereof, or by refraining from triggering a safety function.
[0018] Advantageous embodiments of the method are specified in the dependent claims. The advantages mentioned above result in each of these embodiments.
[0019] To better understand the invention, it is explained in more detail with reference to the following figures.
[0020] They each show, in a highly simplified, schematic representation:
[0021] Fig. 1 shows a bending machine in a perspective view and
[0022] Fig. 2 shows a schematic side view of a bending machine, and
[0023] Fig. 3 shows a flowchart of a method according to the invention.
[0024] It should be noted at the outset that in the differently described embodiments, identical parts are provided with the same reference numerals or component designations, and the disclosures contained in the entire description can be applied analogously to identical parts with the same reference numerals or component designations. Furthermore, the positional designations chosen in the description, such as top, bottom, side, etc., refer to the figure directly described and illustrated, and these positional designations must be applied analogously to the new position if the position changes.
[0025] Figure 1 shows a perspective view of a bending machine 1 of an exemplary embodiment of the invention. The bending machine 1 has, in a known manner, a stationary lower bending beam 2 for receiving a lower tool 17 and a movable upper bending beam 3 for receiving a upper tool 16. The upper bending beam 3 is movable in a substantially vertical bending plane 4 relative to the lower bending beam 2. The bending plane 4 is typically arranged parallel to a plane defined by a longitudinal axis Z and a vertical axis R of the bending machine 1.
[0026] The bending machine 1 has a working area 5 on one side of the bending plane 4 for an operator to perform a bending operation. An operator located in the working area 5 can place a workpiece 9, in particular a sheet metal part, between the tools 16, 17, which are attached to the bending beams 2, 3. The bending machine 1 also typically has a control unit 24, via which the functions of the bending machine 1 can be controlled by an operator. The control unit can, for example, include a display unit 15, such as a display or a touchscreen.
[0027] On a second side of the bending plane 4 opposite the working area 5, a backgauge 6 with a number of movable stop fingers 7 is provided. The bending machine 1 can also have a housing 25 which separates an interior space from the surrounding area in which the backgauge 6 is located.
[0028] In the illustrated example, the backgauge 6 comprises two movable stop fingers 7. The stop fingers 7 can each be movable, for example, independently of each other, in the direction of the longitudinal axis Z, transverse axis X, and vertical axis R. The operator can strike or contact the inserted workpiece 9 against the stop fingers 7 to position the workpiece 9 in the desired position relative to the bending plane 4. The position of the workpiece is determined by the corresponding position of the available stop fingers 7. The design and function of the backgauge 6 are known, therefore no further description is provided here.
[0029] The bending machine 1 further comprises a control unit 8 for controlling functions of the bending machine 1. In addition to controlling the movement of the upper bending beam 3, the control unit 8 is specifically designed to control the movement of the number of movable stop fingers 7 for positioning a workpiece 9 relative to the bending plane 4. The backgauge 6 can, for example, have a suitable drive for each axis of movement. Figure 2 shows a schematic example of a drive device 18 of the backgauge 6. The control unit 8 can, for example, store a bending program which may contain the position of the stop fingers 7 of the backgauge 6 for a specific workpiece 9 to be bent. Within the scope of the invention, the bending machine 1 has at least one camera 10 for capturing a defined or definable monitoring area 11 of the bending machine 1.Furthermore, an evaluation unit 12 is provided, which is designed to recognize an object O and / or a person P or parts thereof in the monitoring area 11 by means of an image recognition model 13 stored in the evaluation unit 12, based on a number of images taken by the camera 10. The control unit 8 is further designed to trigger a defined safety function of the bending machine 1 upon detection of an object O and / or a person P and / or parts thereof, or, if applicable, to refrain from triggering a safety function.
[0030] Figure 1 schematically shows an exemplary monitoring area 11. Here, the monitoring area 11 is arranged such that it covers, on the one hand, a section of the working area 5 in which the movement range of the bending beams 2, 3 is located. On the other hand, the monitoring area 11 covers a movement range of the backgauge 6, or rather its stop finger 7. However, the size and / or shape of the monitoring area 11 and / or its position relative to the bending plane 4 need not be fixed, but could also be changeable. For example, the size and / or shape and / or position of the monitoring area 11 could be changed by the control unit 8, for example by an operator via a suitable user interface, e.g., the operating unit 24.
[0031] In Fig. 1, a hand is shown as an example of part of a person P. When the hand is within the monitoring area 11, it is directly detected by the camera 10. The evaluation unit 12 recognizes the hand in the images generated by the camera 10 using the image recognition model 13 and can transmit corresponding information about the detected object O, the detected person P, or the detected parts to the control unit 8. Depending on the information received, the control unit 8 can execute one or more safety functions. The available safety functions can, for example, be stored in a memory unit of the control unit 8, preferably depending on specific objects O, persons P, or parts thereof.
[0032] It can be advantageous if the control unit 8 selectively triggers or omits the triggering of the safety function only when a very specific object O, a very specific person P, or a very specific part thereof is detected. For example, depending on whether a person P or a (body) part of a person P, or an object O or a part of an object O, is detected, different safety functions may be executed. Alternatively, the execution of a safety function can also be omitted, for example, if a specific object O is detected.
[0033] It would also be conceivable that the triggering or omission of the safety function is controlled by the control unit 8 depending on the operating state of the bending machine 1, for example a movement of a stop finger 7 and / or a movement of the upper bending beam 3.
[0034] Upon detection of a person P or a (body) part of a person, the safety function may include a safety function to protect life and limb. This may include, for example, an immediate stop, a reduction in the speed of a stop finger 7, or, if necessary, a reversal of the direction of the stop finger 7. Alternatively or additionally, the safety function could also include an immediate stop and / or a reduction in the speed of the upper bending beam 3, or, if necessary, a reversal of the direction of the upper bending beam 3.
[0035] The bending machine 1 can also include an alarm unit 14, and the safety function can include triggering an alarm signal. In Fig. 1, the alarm unit 14 shows a signal lamp only as an example.
[0036] Upon detection of an object O, the safety function can, for example, include a safety function to protect detected objects O from damage or to protect the bending machine 1. The bending machine 1 can, for example, include a display unit 15, and the safety function can include displaying specific information to an operator via the display unit 15. The display unit 15 is shown in Fig. 1 as an example integrated into the control unit 24 of the bending machine 1. Of course, a separate or additional display unit 15 could also be provided.
[0037] While in the event of a person P being detected, the bending beam 3 is preferably stopped, or possibly its direction is reversed, and a stop finger 7 is also stopped or possibly its direction is reversed, this is not necessarily the case when an object O is detected, as there is no immediate danger to life or limb. For example, the image recognition model 13 could be configured to distinguish between different bending workpieces 9. In this case, the safety function could, for example, include displaying information to the operator. This information could include, for example, information or an image of the detected bending workpiece, or possibly a notification that an incorrect bending workpiece has been detected, one that is not suitable for the planned bending process.
[0038] In particular, when an object O is detected, the control unit 8 could, for example, also be configured to omit one or more safety functions. While it is advantageous to trigger an alarm using the alarm unit 14 when a person P is detected, this may not be necessary when an object O is detected, and triggering the alarm may be omitted.
[0039] Figure 1 schematically depicts a camera 10, which is shown here as an example located inside the bending machine 1. The camera 10 is therefore shown with a dashed line. The camera 10 captures the entire monitoring area 11 and can generate images of it. For example, a sequence of individual images can be continuously recorded. The camera 10 can be configured, for example, as a conventional digital camera, a 3D camera, an infrared camera, or a video camera. Contrary to the illustration, several cameras 10 can also be provided, as shown, for example, in Figure 2. A design as a smart camera would also be conceivable, in which the output unit 12 can be integrated into the camera 10.
[0040] The evaluation unit 12 can also be implemented in the control unit 8 of the bending machine 1, as shown in Fig. 1. The evaluation unit 12 can be designed as hardware and / or software. For example, the evaluation unit 12 could be a separate hardware unit that can be connected to the camera 10 via a suitable data communication link and to the control unit 8 via a suitable data communication link. The data communication links can be wired or wireless.
[0041] It is advantageous if the image recognition model 13 includes an AI model (AI = artificial intelligence). The image recognition model 13 is preferably implemented in the output unit 12 in the form of suitable software. The AI model can, for example, comprise a neural network. The AI model, in particular the neural network, can, for example, contain training data of a multitude of hazardous situations in which one or more objects O and / or persons P or parts thereof are located in the monitoring area 11. The training data can have been generated on the bending machine 1 itself or on another, preferably identical, bending machine 1.
[0042] Figure 2 shows a schematic side view of a bending machine 1 of a further exemplary embodiment. The bending machine 1 essentially corresponds to the bending machine 1 according to Figure 1, except that only the components relevant to the invention are shown. The housing 25 (see Figure 1) is, for example, omitted. The bending machine 1 again comprises an upper bending beam 3, which is movable in the bending plane 4 relative to a lower bending beam 2. The bending machine 1 includes a suitable bending drive 19 for driving the upper bending beam 3. The bending drive 19 can be controlled by the control unit 8. The bending drive 19 can, for example, have a known (electro-)hydraulic drive or an (electro-)mechanical drive in the form of a spindle drive.
[0043] The bending machine 1 further comprises a backgauge 6, which is arranged on the second side of the bending plane 4. The second side is opposite the first side in the direction of the transverse axis X, on which the operator's work area 5 is located. A workpiece 9 to be bent can be inserted between the tools 16, 17 via the work area 5. After insertion, the workpiece 9 can be aligned as desired relative to the bending plane 4 by bringing it into contact with the stop fingers 7 of the backgauge 6. The backgauge 6 includes a suitable drive device 18 for moving the movable stop fingers 7 in the available directions of movement, preferably parallel to the longitudinal axis Z (perpendicular to the plane of the drawing in Fig. 2), parallel to the transverse axis X, and parallel to the vertical axis R.
[0044] In the example shown in Fig. 2, the monitoring area 11 comprises two separate monitoring areas 11a, 11b, each adjacent to the bending plane 4. Each of the monitoring areas 11a, 11b is assigned a camera 10a, 10b and a signal processing unit 12a, 12b. The two cameras 10a, 10b are designed as known smart cameras in which the signal processing units 12a, 12b are integrated. The smart cameras are each connected to the control unit 8 of the bending machine 1 via a suitable communication link. In the illustrated example, the communication links are shown as wired. Alternatively, they could also be implemented wirelessly, for example as a radio link, Bluetooth connection, or the like.
[0045] A section of the movable stop fingers 7, facing the bending plane 4, lies within the second monitoring area 11b. In principle, however, the entire backgauge 6 could also lie within the second monitoring area 11b. In the direction of the longitudinal axis Z, the first monitoring area 11a is preferably dimensioned such that it extends at least over the length of the bending beams 2, 3. The second monitoring area 11b is preferably dimensioned in the direction of the longitudinal axis Z such that it covers the available travel distance of the backgauge 6.
[0046] The size and / or shape of the monitoring areas 11a, 11b and / or the position of the monitoring areas 1a, 11b relative to the bending plane 4 could be changed again, preferably by the control unit 8. The control unit 8 can for this purpose include a suitable user interface, e.g. in the form of an operating unit 24, which may, for example, have a touchscreen 15 (see Fig. 1).
[0047] In the example shown in Fig. 2, the bending machine 1 has an alarm unit 14. The safety function (which is executed upon detection of a person P, a (body) part of a person, and / or upon detection of an object O or a part thereof) preferably includes triggering an alarm by means of the alarm unit 14. As symbolically indicated in Fig. 2, the alarm unit 14 can, for example, be configured to generate an audible alarm, a visual alarm, or an electronic alarm. Of course, several alarms could also be triggered simultaneously. The alarm unit 14 is connected to the control unit 8 via a suitable communication link, for example, wirelessly or via a wired connection.
[0048] The alarm unit 14 can be positioned at a suitable location to alert desired recipients (i.e., people). For example, a loudspeaker 20 and / or a signal lamp 21 can be positioned in the work area 5 to immediately alert the operator of the bending machine 1 or people in the vicinity. Alternatively or additionally, an electronic alarm, e.g., in the form of a message, could be sent to a more distant location to alert a different recipient (not the operator). For this purpose, the alarm unit 14 could, for example, include a suitable transmitter 22 to send the message to one or more suitable receivers 23. The receiver 23 could, for example, be a mobile device, e.g., a mobile phone, as illustrated by example in Fig. 2.
[0049] Finally, a method according to the invention for operating a bending machine 1 is described in more detail below with reference to Fig. 3. The bending machine 1 can be designed as described with reference to Fig. 1 and Fig. 2.
[0050] In a first step S1, a defined or definable monitoring area 11 of the bending machine 1 is captured using a camera 10 (or several cameras 10). A number of images are recorded in the process.
[0051] In a further step S2, an object O and / or a person P or parts thereof in the monitoring area 11 is recognized by an evaluation unit 12 using an image recognition model 13 stored in the evaluation unit 12, based on a number of images taken by at least one camera 10.
[0052] In a further step S3, the control unit 8 triggers a safety function upon detection of an object O and / or a person P and / or parts thereof (or alternatively refrains from triggering a safety function).
[0053] The exemplary embodiments show possible embodiment variants, whereby it should be noted at this point that the invention is not limited to the specifically illustrated embodiment variants, but rather various combinations of the individual embodiment variants are also possible and this possibility of variation lies within the skill of the person skilled in this technical field due to the teaching on technical action by the present invention.
[0054] The scope of protection is defined by the claims. However, the description and drawings must be consulted for the interpretation of the claims. Individual features or combinations of features from the different embodiments shown and described can, in themselves, represent independent inventive solutions. The problem underlying these independent inventive solutions can be found in the description.
[0055] All references to value ranges in this description are to be understood as encompassing any and all sub-ranges thereof, e.g., the reference 1 to 10 is to be understood as including all sub-ranges, starting from the lower limit 1 and the upper limit 10, i.e., all sub-ranges begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g., 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.
[0056] Finally, for the sake of clarity, it should be noted that, for a better understanding of the structure, some elements have been shown not to scale and / or enlarged and / or reduced in size.
[0057] Reference numeral list
[0058] Bending machine
[0059] Lower bending beam
[0060] Upper bending beam
[0061] Bending plane
[0062] work area
[0063] Backstop
[0064] tapping finger
[0065] Control unit
[0066] Bend workpiece
[0067] camera
[0068] Surveillance area
[0069] From unit of value
[0070] Image recognition model
[0071] Alarm unit
[0072] Display unit
[0073] Upper tool
[0074] Subtool
[0075] drive unit
[0076] Bending drive
[0077] Speakers
[0078] Signal lamp
[0079] Transmitting device
[0080] Reception facilities
[0081] Control unit
[0082] Housing
Claims
P a t e n t a n s p r ü c h e 1. Bending machine (1) comprising a stationary lower bending beam (2) for receiving a lower tool (17) and a movable upper bending beam (3) for receiving a upper tool (16), which is movable in a substantially vertical bending plane (4) relative to the lower bending beam (2), wherein the bending machine (1) has a working area (5) for an operator to perform a bending operation on a first side of the bending plane (4) and comprises a backgauge (6) with a number of movable stop fingers (7) on a second side of the bending plane (4) opposite the working area (5), wherein the bending machine (1) comprises a control unit (8) configured to control a movement of the number of movable stop fingers (7) for positioning a workpiece (9) to be bent relative to the bending plane (4), characterized in thatthat the bending machine (1) comprises at least one camera (10) for capturing a defined or definable monitoring area (11) of the bending machine (1), comprises an evaluation unit (12) which is configured to recognize an object (O) and / or a person (P) and / or parts thereof in the monitoring area (11) by means of an image recognition model (13) stored in the evaluation unit (12) based on a number of images taken by the camera (10), and that the control unit (8) is configured to trigger a safety function upon detection or to refrain from triggering a safety function.
2. Bending machine (1) according to claim 1, characterized in that the image recognition model (13) comprises a KL model.
3. Bending machine (1) according to claim 2, characterized in that the KL model contains training data of a plurality of hazardous situations in which one or more objects (O) and / or persons (P) or parts thereof are located in the monitoring area (11), wherein the training data were preferably generated on the bending machine (1) or on an identical bending machine (1).
4. Bending machine (1) according to one of claims 1 to 3, characterized in that the camera (10) is a digital camera and / or a 3D camera and / or an infrared camera. camera and / or a video camera and / or a plurality of cameras (10) and / or a smart camera.
5. Bending machine (1) according to one of claims 1 to 4, characterized in that the monitoring area (11) comprises several monitoring areas (11a, 11b) which preferably intersect or adjoin the bending plane (4), wherein preferably each monitoring area (11a, 11b) is assigned at least one camera (10a, 10b).
6. Bending machine (1) according to one of claims 1 to 5, characterized in that at least a part of the movable stop fingers (7) of the back gauge (6) lies in at least one monitoring area (11b) and / or at least a section of the bending beams (2, 3), preferably a section with an upper tool (16) and a lower tool (17) cooperating therewith, lies in at least one monitoring area (11a).
7. Bending machine (1) according to one of claims 1 to 6, characterized in that a size of at least one monitoring area (11) and / or a shape of at least one monitoring area (11) and / or a position of at least one monitoring area (11) relative to the bending plane (4) can be changed, preferably by the control unit (8).
8. Bending machine (1) according to one of claims 1 to 7, characterized in that the bending machine (1) comprises an alarm unit (14), in particular an optical, acoustic or electronic alarm unit, and that the safety function comprises triggering an alarm by means of the alarm unit (14).
9. Bending machine (1) according to one of claims 1 to 8, characterized in that the safety function comprises stopping, reducing speed or reversing the direction of at least one stop finger (7) and / or that the safety function comprises stopping, reducing speed or reversing the direction of the upper bending beam (3).
10. Bending machine (1) according to one of claims 1 to 9, characterized in that the bending machine (1) comprises a display unit (15) and that the safety function comprises displaying information for an operator by means of the display unit (15), wherein the display unit (15) is preferably integrated in an operating unit (24) of the bending machine (1).
11. Bending machine (1) according to one of claims 1 to 10, characterized in that the safety function comprises a safety function to protect life and limb for detected persons (P) and / or a safety function to protect against damage to detected objects (O) or the bending machine (1).
12. Bending machine (1) according to one of claims 1 to 11, characterized in that the control unit (8) is configured to selectively trigger or selectively refrain from triggering the safety function when a specific predetermined object (O), a specific person (P) or specific parts thereof are detected and / or that the control unit (8) is configured to trigger or refrain from triggering the safety function depending on an operating state of the bending machine (1), in particular a movement of at least one stop finger (7) of the back gauge (6) and / or a movement of the upper bending beam (3).
13. Method for operating a bending machine (1) comprising a stationary lower bending beam (2) for receiving a lower tool (17) and a movable upper bending beam (3) for receiving a upper tool (16), wherein the upper bending beam is movable in a substantially vertical bending plane (4) relative to the lower bending beam (2), wherein the bending machine (1) has a working area (5) for an operator to perform a bending operation on a first side of the bending plane (4) and comprises a backgauge (6) with a number of movable stop fingers (7) on a second side of the bending plane (4) opposite the working area (5), wherein the bending machine (1) comprises a control unit (8) configured to control a movement of the number of movable stop fingers (7) for positioning a workpiece (9) relative to the bending plane (4), characterized in thatthat by means of at least one camera (10) a defined or definable surveillance area (11) of the, The bending machine (1) detects that an object (O) and / or a person (P) or parts thereof in the monitoring area (11) is detected by means of an image recognition model (13) using a number of images taken by means of the camera (10) and that the control unit (8) triggers a safety function or refrains from triggering a safety function when an object (O) and / or a person (P) or parts thereof is detected.
14. Method according to claim 13, characterized in that a computer model is used as the image recognition model (13), wherein the computer model preferably contains training data of a plurality of hazardous situations in which one or more objects (O) and / or persons (P) or parts thereof are located in the hazardous area, wherein the training data were preferably generated on the bending machine (1) or on an identical bending machine (1).
15. Method according to claim 13 or 14, characterized in that a 3D camera and / or an infrared camera and / or a video camera and / or a plurality of cameras (10) are used as the camera (10).
16. Method according to one of claims 13 to 15, characterized in that several monitoring areas (11) are monitored, which preferably intersect or border the bending plane (4), wherein preferably at least one camera (10) is assigned to each monitoring area (11).
17. Method according to one of claims 13 to 16, characterized in that at least one monitoring area (11b) is defined such that at least a part of the movable stop fingers (7) of the backgauge (6) lies in the at least one monitoring area (11b) and / or at least one monitoring area (11a) is defined such that at least one section of the bending beams (2, 3), preferably a section with an upper tool (16) and a cooperating lower tool (17), lies in the monitoring area (11a) and / or that a size and / or a shape and / or a position of at least one monitoring area (11) relative to the bending plane (4) is changed, preferably by means of the control unit (8).
18. Method according to one of claims 13 to 17, characterized in that, as a safety function, an alarm is triggered by means of an alarm unit (14), in particular an optical, acoustic or electronic alarm unit, and / or that, as a safety function, a movement of at least one stop finger (7) is stopped or its speed is reduced, and / or that, as a safety function, a movement of the upper bending beam (3) is stopped or its speed is reduced, and / or that, as a safety function, information is displayed to an operator by means of a display unit (15).
19. Method according to one of claims 13 to 18, characterized in that a safety function to protect the life and health of identified persons (P) is performed and / or a safety function to protect the identified objects (O) or the bending machine (1) from damage is performed.
20. Method according to one of claims 13 to 19, characterized in that the control unit (8) selectively triggers the safety function or selectively refrains from triggering it when a specific predetermined object (O), a specific person (P) or specific parts thereof are detected and / or that the control unit (8) triggers or refrains from triggering the safety function depending on an operating state of the bending machine, in particular a movement of at least one stop finger (7) of the back gauge (6) and / or a movement of the upper bending beam (3).