EP3606709B1 - Découpeuse avec caméra de vision générale - Google Patents

Découpeuse avec caméra de vision générale Download PDF

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Publication number
EP3606709B1
EP3606709B1 EP17716189.0A EP17716189A EP3606709B1 EP 3606709 B1 EP3606709 B1 EP 3606709B1 EP 17716189 A EP17716189 A EP 17716189A EP 3606709 B1 EP3606709 B1 EP 3606709B1
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EP
European Patent Office
Prior art keywords
cutting
cutting machine
image
camera
features
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP17716189.0A
Other languages
German (de)
English (en)
Other versions
EP3606709A1 (fr
Inventor
Rolf SUTTER
Andreas GRÜTER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zuend Systemtechnik AG
Original Assignee
Zuend Systemtechnik AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zuend Systemtechnik AG filed Critical Zuend Systemtechnik AG
Priority to EP23211413.2A priority Critical patent/EP4302949A3/fr
Priority to EP23211403.3A priority patent/EP4302948A3/fr
Priority to EP23211411.6A priority patent/EP4324609A3/fr
Publication of EP3606709A1 publication Critical patent/EP3606709A1/fr
Application granted granted Critical
Publication of EP3606709B1 publication Critical patent/EP3606709B1/fr
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Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/007—Control means comprising cameras, vision or image processing systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/005—Computer numerical control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/20—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
    • B26D5/30—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed having the cutting member controlled by scanning a record carrier
    • B26D5/34—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed having the cutting member controlled by scanning a record carrier scanning being effected by a photosensitive device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
    • B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
    • B26F1/38—Cutting-out; Stamping-out
    • B26F1/3806—Cutting-out; Stamping-out wherein relative movements of tool head and work during cutting have a component tangential to the work surface
    • B26F1/3813—Cutting-out; Stamping-out wherein relative movements of tool head and work during cutting have a component tangential to the work surface wherein the tool head is moved in a plane parallel to the work in a coordinate system fixed with respect to the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D2005/002—Performing a pattern matching operation

Definitions

  • the invention relates to a cutting machine with a camera, in particular a cutting machine that is designed to cut objects that have a surface with a graphic design and optical registration features.
  • These objects can in particular represent printed sheets of paper, cardboard or similar materials, plastic films or cloths or similar.
  • Such a cutting machine has a work surface that is designed to hold at least one object, a work group movably arranged above the work surface with a knife or another cutting device for cutting objects located on the work surface.
  • a camera unit is arranged relative to the work surface, in particular above it, in such a way that its field of view covers the entire work surface (“overview camera”). Based on positions of the optical registration features in an image from the overview camera, a cutting path can then be defined depending on a selected cutting order.
  • Cutting does not necessarily mean a complete severing, so that a “cutting job” can also include perforating or folding the object or a similar work step that can be carried out with a machine of the generic type.
  • Another task is to provide a cutting machine by means of which cutting jobs can be carried out with less personnel required or with a higher degree of automation.
  • Another task is to provide a cutting machine with an overview camera, by means of which cutting paths can be defined more quickly and/or more precisely. Another task is to provide such a cutting machine that produces less waste. At least one of these tasks is solved by implementing the features of the independent claims. Advantageous embodiments of the invention can be found in the respective dependent claims.
  • the invention relates to a cutting machine that is designed to cut objects with a flat surface, the surface having a graphic design with optical registration features.
  • the cutting machine according to the invention has a work surface which is designed to record at least one object, a first camera unit which is arranged relative to the work surface in such a way that its field of view covers the entire work surface, and a work group which is movably arranged above the work surface and at least has a cutting device for cutting the at least one object.
  • a computing unit with a circuit and program code for controlling the cutting machine having a memory unit for storing orders for cutting specific objects.
  • the computing unit has a circuit and program code for evaluating images from the first camera unit and is designed to recognize registration features of the at least one object in an image from the first camera unit. It is also designed to define a cutting path for the cutting device according to at least one stored order and based on positions of the registration features in the image.
  • the registration features can in particular be in the form of registration marks that are specifically designed for use with the cutting machine in order to make it possible to detect a position and orientation of the object relative to the work surface.
  • the computing unit is then designed to recognize the registration marks on the surface of the at least one object in an image of the first camera unit, and also to define the cutting path based on the positions of the registration marks.
  • the computing unit is designed to select an order based on recognized registration features or their positions.
  • One aspect characterizing the present invention relates to a cutting machine in which reference marks are provided on the work surface and in the field of view of the camera, with the help of which a more precise positioning of the objects is possible.
  • reference features are additionally arranged in a known positioning and distribution relative to the work surface and in the field of view of the first camera, the computing unit being designed to recognize the reference features in the image of the first camera unit and the cutting path also based on relative positions of the registration features and to define the reference features in the image of the first camera unit.
  • the relative positions of the reference features and the workgroup to one another are known.
  • the computing unit is designed to check an alignment of the first camera unit relative to the work surface based on positions of a large number of reference features in the image of the first camera unit.
  • the invention also relates to a computer program product with program code as defined in claim 7.
  • Figure 1 shows a generic cutting machine 1.
  • a flatbed cutting machine it has a table with a flat work surface 10, on which, for example, two objects 40, 40 'to be cut are placed.
  • a work group 12 with a cutting tool 15, in particular a knife is arranged above the work surface 10.
  • the work group 12 can be moved two-dimensionally in a motorized manner relative to the work surface 10 in order to be able to approach any point on the work surface 10.
  • the work group 12 is mounted movably in the X direction on a beam 13, which in turn is mounted movably in the Y direction on the table.
  • a camera unit (overview camera 20) is arranged above the work surface 10 so that images of the entire work surface 10 can be recorded.
  • the cutting machine 1 can also have an oscillatingly driven cutting tool 15 and/or for Cutting multi-walled composite panels can be designed, for example in the EP 2 894 014 B1 described.
  • the cutting machine 1 also has a computing unit 30. As shown here, this can be designed as an external computer that has a data connection with the machine 1, or it can be integrated into the machine 1 itself as an internal control unit.
  • the overview camera 20 is designed to provide the computing unit 30 with data from recorded images for evaluation.
  • the computing unit 30 includes a processor with computing capacity and algorithms for controlling the cutting machine 1 according to a provided cutting order.
  • the computing unit 30 also has a data memory for storing the cutting orders and possibly other data.
  • one or more objects 40, 40' to be cut are brought onto the work surface 10. It is either known exactly which order or orders the objects 40, 40' lying on the work surface 10 are assigned to, or it is at least known from which collection of orders this order or these orders come.
  • an image of the entire work area is recorded and the position of the cutting contours is determined based on this image. This is done by detecting registration features in the graphically designed surface of the objects and their position.
  • the registration features are stored as part of the order data in the respective order and can be present as general features of the graphic design, or else advantageous as registration marks specifically intended for registration. This is known from the prior art.
  • the corresponding order can first be determined using these markings and their position. If there are multiple orders, all corresponding orders are determined. The position of the cutting contours on the work surface is then determined using the object positions and the relative position of the cutting contours in the order data. This is in the Figures 2a-c shown as an example.
  • Figure 2a shows one from the overview camera 20 of the cutting machine 1 Figure 1 recorded image 50.
  • the image area includes the entire working area of the cutting machine including the work surface 10, on which two objects 40, 40 'to be cut are located.
  • the work group 12 which is preferably moved to the edge of the work area to take the image.
  • the objects to be cut are sheets 40, 40' (e.g. made of paper, cardboard or plastic) and each have a graphic design 44, 44' with patterns and/or inscriptions on their side facing the camera.
  • the example shown is, on the one hand, a pattern in the form of a crescent 41 and, on the other hand, a heart-shaped pattern 41'.
  • a number of registration marks 42 are shown on the sheets 40, 40 '.
  • the registration marks 42 can in particular be geometric figures, e.g. B. circular points of a certain diameter as shown here.
  • Figure 2b shows the cutting contours 45, 45' of the sheets 40, 40' to be cut.
  • the respective shape of the cutting contours 45, 45' and their relative position on the respective sheet 40, 40' is stored in orders. Together with the picture 50 out Figure 2a a position and position of the cutting contours 45, 45 'on the work surface can be determined.
  • Figure 2c illustrates, by way of example, a movement path for the cutting tool of the machine generated by the control unit based on the determined positions of the cutting contours 45, 45 '.
  • the work group is moved relative to the work surface in such a way that the cutting tool is initially moved from its original position 150 to a first cutting path (dashed line 151).
  • the cutting tool is then brought into a cutting position, for example lowered, and cuts the object along the cutting path (solid line 152).
  • Figure 3 shows an exemplary embodiment of a cutting machine 1, which, in accordance with the characteristic first aspect of the present invention, has a plurality of reference marks 25 which are fixedly arranged in the field of view of the overview camera 20 and relative to the work surface 10.
  • the reference marks 25 can be identified in the images of the overview camera 20 and their positions in the image can be compared with their positions known to be defined relative to the work surface 10.
  • the computing unit 30 (shown here integrated into the machine) is thereby able to determine positions of objects 40, 40' on the work surface 10 or
  • Positions of referencing features on the objects 40, 40 'can each be determined with greater accuracy.
  • Figure 4 shows a cutting machine 1, on the work surface 10 of which two objects 40, 40 'of different material thicknesses are placed.
  • the first object 40 has a higher material thickness and consists e.g. B. from a multi-layer cardboard or a composite panel. Due to the position of the overview camera 20, distortions occur in images taken by it, which increase towards the edges of the image. However, if the material thickness is negligible (e.g. paper), as here with the second object 40 ', this does not pose a problem when recognizing objects 40, 40' or their position on the work surface 10 due to the flat surface of the work surface 10 represents.
  • negligible e.g. paper
  • FIG. 5 This shows the object features 44, 44' of the two objects recognized in the camera image Figure 4 . While the features 44 'of the thin paper object 40' are assumed to be in their correct position, the assumed positions of the features 44 of the thick object 40, which are located in a plane further away from the work surface 10 than the features due to the greater material thickness, differ 44' of the thin object 40', differs more from their actual positions as the distance to the camera position 21 increases. This is how the reference marks 42 appear in the camera image shown further away from the center of the image (dotted circles 49) than they actually are.
  • the object 40 is recognized correctly, but because the positions of the reference features are incorrectly derived, an inaccurate or completely incorrect cutting path is calculated. In this case, the object 40 will also be cropped incorrectly.
  • this problem is solved by providing information about the material thickness of the object 40 to be cut to the control unit 30.
  • the material thickness can, for example, be determined in advance by a camera, queried by a user or even provided as part of the order.
  • the overview camera 20 can be designed to be automatically height-adjustable and can be moved in the Z direction depending on the material thickness, whereby the distance to the object surface and thus the focus remain constant regardless of the respective material thickness.
  • Figure 6 shows an image 50 of the work surface 10 taken by the overview camera 20.
  • the work surface 10 is partially in the shadow 70. This can result, for example be direct sunlight, so that, as in this example, the work group 12 casts a shadow 70 on the work surface 10.
  • the object 40 to be cut lies partly in the shadow 70 and partly in the brightly lit area of the work surface 10.
  • HDR images For example, two images with different exposure times taken directly one after the other can be superimposed. Alternatively, only one image is recorded, with the overview camera being designed to select the exposure duration for each pixel or for specific pixel areas depending on the brightness of the respective imaging area.
  • Pixels in the edge regions of the registration marks 42 can, for example, be assigned a brightness value averaged from values of the several images.
  • the cutting machine 1 has a further camera 60 in addition to the overview camera 20.
  • This second camera is also aligned with the work surface 10. It has a significantly smaller recording area 62 than the overview camera 20, but is arranged to be movable relative to the work surface 10, so that images of the entire work surface 10 can preferably be recorded.
  • the second camera 60 is preferably movably mounted as a bar camera on the same bar 13 as the work group 12. In particular, it can be designed as part of this work group 12.
  • the Figures 7 and 8 show an example of a corresponding embodiment of the cutting machine 1.
  • FIG 7 An exemplary embodiment of the cutting machine 1 is shown, with a second camera unit 60 being provided in the work group 12, which is designed to record images in the direction of the work surface 10. Its image area 62 only covers a small part of the work surface 10 at each position.
  • the overview camera 20 is also designed in this embodiment to record images of the entire work surface 10.
  • Figure 8 the working group 12 with knife 15 and beam camera 60, which is movably attached to the beam 13, is shown from above.
  • the position of the relatively higher overview camera 20 is also shown.
  • the working group 12 is positioned here in such a way that two registration marks 42 of an object 40 to be cut are in the field of view 62 of the bar camera 60.
  • a detailed image recorded by the bar camera 60 can now be compared with the one previously recorded by the overview camera 20 Overall picture can be compared. This allows the positions of the registration marks 42 to be verified or determined relative to the work surface 10.
  • the positions determined with the overview camera 20 are compared with the positions determined with the bar camera 60.
  • the positions of all registration marks 42 are determined with high accuracy by transforming the positions determined in the image of the overview camera 20 by the positions determined in the image of the bar camera 60.
  • such an additional camera 60 can also be used to calibrate the overview camera 20.
  • the cutting machine 1 has a calibration functionality controlled by the computing unit 30.
  • 10 positions of a large number of grid points can be determined fully automatically with high precision using the bar camera 60 on the entire work surface.
  • the work surface itself can be designed as a calibration work surface 18, that is, it itself has the corresponding grid points, or alternatively, as in Figure 9b shown, one is used for calibration Calibration sheet 48 is placed on the work surface 10, which has the grid points.
  • the positions of the grid points determined by the bar camera 60 are saved as target positions. The same grid points are then recorded by the overview camera 20. With the help of the target positions and the comparison with the positions of the grid points in the image of the overview camera 20, the overview camera 20 and the bar camera 60 can be calibrated relative to one another. If the beam camera 60 is housed in the same work group 12 as the cutting tool 15, errors in the drive system of the work group 12 can also be advantageously compensated for.
  • cutting orders are provided in which certain additional information is stored, which allows the work surface 10 to be limited to the ROI area.
  • FIG 10a an image 50 of the entire work surface 10 is shown, as recorded by the overview camera (cf. Figure 2a ).
  • the computing unit Based on information about the expected position of the objects 40, 40 'on the work surface 10, the computing unit defines areas 52, each of which includes an expected position of the relevant registration marks 42. Registration marks 42 are only searched for in these areas 52, so that only positions of registration marks 42 that are also in these areas 52 are determined. This not only advantageously saves computing capacity and time, but also prevents possible misinterpretations of features of the graphic design 41, 41' as registration features.
  • FIG 10b image 50 of the overview camera Figure 10a has been limited to two ROI areas and therefore only includes area images 51 and 51 '.
  • An object 40, 40' to be cut is at least partially depicted in each area image 51, 51', so that the registration marks 42 are visible, so that a cutting path can be generated in each case. Due to the smaller image area that has to be evaluated, the relative positions of the registration marks 42 can be recorded more quickly, thereby speeding up the process.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Forests & Forestry (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Control Of Cutting Processes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Numerical Control (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Details Of Cutting Devices (AREA)

Claims (7)

  1. Découpeuse (1) conçue pour découper des objets (40, 40') ayant une surface plane, laquelle surface présente un graphisme (44, 44') avec des repères d'alignement optiques, comprenant
    - une surface de travail (10) conçue pour recevoir au moins un objet (40, 40'),
    - une première unité de caméra (20) disposée par rapport à la surface de travail (10) de telle manière que son champ couvre toute la surface de travail (10),
    - un groupe de travail (12) disposé de façon mobile au-dessus de la surface de travail (10) et comportant au moins un dispositif de découpe (15) pour découper l'au moins un objet (40, 40') et
    - une unité de calcul (30) avec un circuit et un code de programme pour commander la découpeuse (1), comportant une unité de mémoire pour stocker en mémoire des tâches de découpe de certains objets (40, 40'), l'unité de calcul (30)
    □ comprenant un circuit et un code de programme pour analyser des images (50) de la première unité de caméra (20) et étant conçue pour reconnaître des repères d'alignement de l'au moins un objet (40, 40') dans une image (50) de la première unité de caméra (20) et
    □ étant conçue pour définir, selon au moins une tâche stockée en mémoire et sur la base de positions des repères d'alignement dans l'image (50), un trajet de découpe (45, 45') pour le dispositif de découpe (15),
    caractérisée en ce que des repères de référence (25) sont disposés selon un positionnement et une répartition connus par rapport à la surface de travail (10) et dans le champ de la première caméra (20), l'unité de calcul (30) étant conçue pour
    - reconnaître les repères de référence (25) dans l'image (50) de la première unité de caméra (20) et
    - définir le trajet de découpe (45, 45') sur la base également de positions relatives des repères d'alignement et des repères de référence (25) dans l'image (50) de la première unité de caméra (20).
  2. Découpeuse selon la revendication 1, caractérisée en ce que les positions relatives des repères de référence (25) et du groupe de travail (12) les uns par rapport aux autres sont connues.
  3. Découpeuse selon la revendication 1 ou la revendication 2, caractérisée en ce que l'unité de calcul (30) est conçue pour vérifier, à l'aide des positions de plusieurs repères de référence (25) dans l'image (50) de la première unité de caméra (20), une orientation de la première unité de caméra (20) par rapport à la surface de travail (10).
  4. Découpeuse (1) selon l'une des revendications précédentes, caractérisée en ce que les repères d'alignement prennent la forme de marques d'alignement (42) qui sont spécialement conçues pour être utilisées avec la découpeuse (1) afin de rendre perceptibles la position et l'orientation de l'objet par rapport à la surface de travail (10), l'unité de calcul (30) étant conçue pour
    - reconnaître les marques d'alignement (42) sur la surface de l'au moins un objet (40, 44') dans une image (50) de la première unité de caméra (20) et
    - définir le trajet de découpe (45, 45') sur la base également des positions des marques d'alignement (42).
  5. Découpeuse (1) selon l'une des revendications précédentes, caractérisée en ce que les repères d'alignement comprennent des bords de l'objet (40, 40').
  6. Découpeuse (1) selon l'une des revendications précédentes, caractérisée en ce que l'unité de calcul (30) est conçue pour sélectionner une tâche sur la base des repères d'alignement reconnus.
  7. Produit logiciel pour ordinateur avec un code de programme, enregistré sur un support pouvant être lu par une machine, pour la commande de la découpeuse (1) selon l'une des revendications précédentes, dans lequel, quand le programme est exécuté sur l'unité de calcul (30) de la découpeuse (1), l'exécution des étapes suivantes, au minimum, est ordonnée :
    - acquisition d'une image (50) de la surface de travail avec la première unité de caméra (20) de la découpeuse (1) ;
    - reconnaissance de repères d'alignement d'au moins un objet (40, 40') et des repères de référence (25) de la découpeuse (1) dans l'image (50) ;
    - association de l'au moins un objet (40, 40') avec au moins une tâche stockée en mémoire ;
    - définition d'au moins un trajet de découpe (45, 45') sur la base de la tâche et de positions des repères d'alignement (42) et des repères de référence (25) dans l'image (50) et
    - commande du dispositif de découpe (15) pour la découpe de l'au moins un objet (40, 40') le long de l'au moins un trajet de découpe (45, 45').
EP17716189.0A 2017-04-05 2017-04-05 Découpeuse avec caméra de vision générale Active EP3606709B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP23211413.2A EP4302949A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211403.3A EP4302948A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211411.6A EP4324609A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2017/058153 WO2018184677A1 (fr) 2017-04-05 2017-04-05 Découpeuse avec caméra de vision générale

Related Child Applications (6)

Application Number Title Priority Date Filing Date
EP23211411.6A Division EP4324609A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211411.6A Division-Into EP4324609A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211413.2A Division EP4302949A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211413.2A Division-Into EP4302949A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211403.3A Division-Into EP4302948A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211403.3A Division EP4302948A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision

Publications (2)

Publication Number Publication Date
EP3606709A1 EP3606709A1 (fr) 2020-02-12
EP3606709B1 true EP3606709B1 (fr) 2024-02-21

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Family Applications (4)

Application Number Title Priority Date Filing Date
EP23211413.2A Pending EP4302949A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211411.6A Pending EP4324609A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211403.3A Pending EP4302948A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP17716189.0A Active EP3606709B1 (fr) 2017-04-05 2017-04-05 Découpeuse avec caméra de vision générale

Family Applications Before (3)

Application Number Title Priority Date Filing Date
EP23211413.2A Pending EP4302949A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211411.6A Pending EP4324609A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision
EP23211403.3A Pending EP4302948A3 (fr) 2017-04-05 2017-04-05 Machine de coupe avec caméra de vision

Country Status (5)

Country Link
US (3) US11400614B2 (fr)
EP (4) EP4302949A3 (fr)
CN (3) CN114274260A (fr)
ES (1) ES2978185T3 (fr)
WO (1) WO2018184677A1 (fr)

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FR3044575B1 (fr) * 2015-12-08 2018-04-20 Airbus Group Sas Methode de controle de la fabrication de pieces en materiaux composites et dispositif pour sa mise en oeuvre
CN110035874A (zh) * 2016-12-01 2019-07-19 3M创新有限公司 转换工位中的膜对准
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EP4324609A3 (fr) 2024-05-22
CN110582385A (zh) 2019-12-17
US20230219248A1 (en) 2023-07-13
US11712815B2 (en) 2023-08-01
EP4324609A2 (fr) 2024-02-21
EP4302949A2 (fr) 2024-01-10
US11400614B2 (en) 2022-08-02
CN114274260A (zh) 2022-04-05
ES2978185T3 (es) 2024-09-06
EP4302949A3 (fr) 2024-04-10
US20220219347A1 (en) 2022-07-14
EP4302948A3 (fr) 2024-03-27
CN114227791A (zh) 2022-03-25
CN110582385B (zh) 2022-01-11
CN114260968A (zh) 2022-04-01
CN114227791B (zh) 2024-05-07
WO2018184677A1 (fr) 2018-10-11
US20200031009A1 (en) 2020-01-30
EP4302948A2 (fr) 2024-01-10

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