US 12,106,513 B2
Method and flat bed machine tool for detecting a fitting position of a supporting bar
Frederick Struckmeier, Heimsheim (DE)
Assigned to TRUMPF WERKZEUGMASCHINEN SE + CO. KG, Ditzingen (DE)
Filed by TRUMPF Werkzeugmaschinen SE + Co. KG, Ditzingen (DE)
Filed on Jan. 25, 2023, as Appl. No. 18/159,099.
Application 18/159,099 is a continuation of application No. PCT/EP2021/071593, filed on Aug. 2, 2021.
Claims priority of application No. 10 2020 120 887.1 (DE), filed on Aug. 7, 2020.
Prior Publication US 2023/0186516 A1, Jun. 15, 2023
Int. Cl. G06T 7/73 (2017.01); B23K 37/04 (2006.01); G06T 5/10 (2006.01); G06T 5/50 (2006.01); G06T 5/94 (2024.01); G06T 7/00 (2017.01); H04N 23/21 (2023.01); H04N 23/74 (2023.01)
CPC G06T 7/74 (2017.01) [B23K 37/0408 (2013.01); G06T 5/10 (2013.01); G06T 5/50 (2013.01); G06T 5/94 (2024.01); G06T 7/001 (2013.01); H04N 23/21 (2023.01); H04N 23/74 (2023.01); G06T 2207/10048 (2013.01); G06T 2207/30108 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for detecting a suspension position of a supporting bar in a pallet, which is fitted with a plurality of supporting bars along a longitudinal direction, the supporting bars comprising the supporting bar, each of the supporting bars having multiple supporting bar tips along a main direction of extent, which is aligned transversely to the longitudinal direction of the pallet, and the supporting bar tips of the plurality of supporting bars defining a supporting plane, the method comprising:
creating a two-dimensional contrast-image dataset of the pallet, having a plurality of image pixels, each of the image pixels being assigned a pixel value and a pixel-area unit of the supporting plane, and the contrast-image dataset comprising regions that are assigned to the supporting bar tips as local pixel-value extremes in a uniform pixel-value background;
determining a longitudinal position in the contrast-image dataset of the regions that are assigned to the supporting bar tips of one of the plurality of supporting bars using the local pixel-value extremes; and
deducing the suspension position of the supporting bar in the pallet on the basis of the longitudinal position in the contrast-image dataset and an extent of the pixel-area unit in the longitudinal direction.