Controller, forming machine, and control method

A forming machine for forming a workpiece, comprising:

• a body having a machining area where the workpiece is machined;
• a controller for controlling operation of the forming machine;
• and
• a depth sensor which outputs image data for determining a distance in a height direction by sensing a predetermined area including the machining area of the forming machine,
• the controller being configured to:
• acquire, from the depth sensor, first image data not including an image of the workpiece and an operator of the forming machine, and second image data representing a current state of the predetermined area during operation of the forming machine, as the image data,
• determine all area of the workpiece based on the difference data;
• determine a flat area f the workpiece as the determination of the area of the, workpiece, wherein the workpiece has a flat worked surface;
• determine an area of the operator in the predetermined area based on difference data indicating a difference between the first image data and the second image data, and
• control operation of the forming machine based on a result of the determination.

A control method for controlling operation of a forming machine for forming a workpiece, comprising:

• acquiring, from a depth sensor which outputs image data for determining a distance in a height direction by sensing a predetermined area including a machining area of the forming machine, first image data not including an image of the workpiece and an operator of the forming machine, as the image data;
• after acquiring the first image data, acquiring, from the depth sensor, second image data representing a current state of the predetermined area during operation of the forming machine, as the image data;
• calculating difference data indicating a difference between the first image data and the second image data;
• determining an area of the workpiece based on the difference data;
• determining a flat area of the workpiece as the determination of the workpiece, wherein the workpiece has a flat worked surface;
• determining an area of the operator in the predetermined area based on the difference data;
• and
• controlling operation of the forming machine based on a result of the determination.

A controller for controlling operation of a forming machine for forming a workpiece, comprising:

• a non-transitory memory storing information;
• and
• one or more hardware processors coupled to the non-transitory memory and configured to read instructions from the non-transitory memory to cause the controller to perform operations comprising:
• acquiring, from a sensor which outputs image data for determining a distance in a height direction by sensing a predetermined area including a machining area of the forming machine, first image data not including an image of the workpiece and an operator of the forming machine, and second image data representing a current state of the predetermined area during operation of the forming machine, as the image data;
• calculating difference data indicating a difference between the first image data and the second image data;
• determining an area of the operator in the predetermined area and an inclined area inclined at a prescribed area based on the difference data;
• and
• controlling operation speed of the forming machine based on the difference data, wherein the operation speed is limited when the inclined area is equal to or larger than a predetermined size.