Sorting method for an automatic sorting process, and sorting device

1 . A sorting method for automatically sorting workpieces arranged in a removal area of a flatbed machine tool, the flatbed machine tool comprising a laser cutting machine or a punching machine, into a deposit area after a sorting process, the method comprising:

creating at least one actual image that depicts an actual state of the removal area; and

analyzing the actual image to identify a process disruption, wherein a measure to adjust the sorting process is automatically initiated upon identifying the process disruption.

2 . The sorting method according to claim 1 , wherein the creation of the actual image and the identification of the process disruption takes place before and/or after the sorting of one of the workpieces.

3 . The sorting method according to claim 1 , wherein the actual image is created photographically by a camera, and/or is created by a laser scanner.

4 . The sorting method according to claim 1 , wherein at least two actual images are created and the process disruption is identified by analyzing the two actual images.

5 . The sorting method according to claim 1 , wherein a plurality of respective spatial positions and/or a plurality or respective spatial orientations of a plurality of the workpieces are determined from the actual image and analyzed.

6 . The sorting method according to claim 5 , wherein the process disruption is identified by a distance determined by comparing the spatial positions of two workpieces in the actual image.

7 . The sorting method according to claim 5 , wherein a target image is provided which represents an expected state of the removal area; and wherein the process disruption is identified from a predetermined deviation of the spatial positions of the workpieces between the actual image and the target image and/or from a predetermined deviation of the spatial orientations of the workpieces between the actual image and the target image.

8 . The sorting method according to claim 1 , wherein a target image is provided which comprises an expected state of the removal region; and wherein the process disruption is identified by comparing a state of a sorted removal region determined from the actual image with a proper state of the sorted removal region determined from the target image.

9 . The sorting method according to claim 1 , wherein the sorting process is adapted by suspending the sorting process, changing a removal sequence of the workpieces, issuing a warning, informing an operator, cleaning the removal area, and/or changing access by a gripper.

10 . A sorting device for automatically removing workpieces from a removal area of a flatbed machine tool and depositing the workpieces in a depositing area after a sorting process, the sorting device being configured for carrying out the sorting process according to claim 1 , the sorting device comprising:

a controller for controlling a gripper of the sorting device, wherein the gripper is designed to grip the workpieces; and

at least one imaging device, configured to create an actual image of the removal area;

wherein the controller is configured to automatically initiate a measure for adjusting a sorting sequence of the sorting process based on having identified a process disruption, the process disruption being identified by analyzing the actual image of the removal area.

11 . The sorting device according to claim 10 , wherein the at least one imaging device is a camera, a laser scanner, and/or a light section sensor.

12 . The sorting device according to claim 10 , wherein the at least one imaging device is positioned in a stationary manner above the removal area.

13 . The sorting device according to claim 10 , wherein the sorting device comprises at least two imaging devices, wherein at least one of the imaging device is attached to the gripper.

14 . The sorting method according to claim 1 ,

wherein the sorting process is predetermined prior to the analyzing of the actual image,

wherein the identified process disruption is an impairment to executing the sorting process, and

wherein the measure to adjust the sorting process comprises deviating from the predetermined sorting process.

15 . The sorting method according to claim 14 , wherein the identified process disruption is a missing part, a displaced workpiece, a tilted workpiece, a contaminated workpiece support, a jammed and/or stuck workpiece, or an incorrect occupancy of the workpiece support.

16 . The sorting method according to claim 14 , wherein the measure to adjust the sorting process comprises bypassing the process disruption, rectifying the process disruption, changing a removal sequence of the workpieces, changing access setting for a removal attempt, or changing an occupancy of a workpiece support.