EP4324609A2 - Cutting machine with overview camera - Google Patents

Abstract

Cutting machine (1), designed for cutting objects (40, 40') with a flat surface, the surface having a graphic design (44, 44') with optical registration features, comprising a work surface (10), a first camera unit (20 ), which is arranged relative to the work surface (10) in such a way that its field of view covers the entire work surface (10), a work group (12) which is movably arranged above the work surface (10) and has at least one cutting device (15), an optical sensor unit (60), which is aligned in the direction of the work surface (10) and is arranged to be movable relative to the work surface (10), and a computing unit (30) with a circuit and program code for controlling the cutting machine (1), having a memory unit for Storing jobs to cut specific objects (40, 40'). The computing unit (30) has a circuit and program code for evaluating images (50) of the first camera unit (20) and for evaluating data from the optical sensor unit (60) and is designed to record the registration features in the image (50) of the first Camera unit (20) to detect positions of the registration features relative to one another using the image (50) as relative positions, to determine positions of a first subset of the registration features relative to the work surface (10) using the data from the optical sensor unit (60) as absolute positions, and To determine positions of a second subset of the plurality of registration features relative to the work surface (10) based on the recorded relative positions and the determined absolute positions. Furthermore, the computing unit (30) is designed to define a cutting path (45, 45') for the cutting device (15) according to a stored order and at least also based on the determined positions of registration features relative to the work surface (10).

Description

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.

For example, generic machines are in the documents EP 1 385 674 B1 and EP 2 488 333 B1 described. 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. Furthermore, 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.

It is an object of the invention to provide an improved cutting machine.

In particular, an object of the invention is to provide a cutting machine by means of which cutting jobs can be carried out more quickly.

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 characterizing 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.

In addition, a computing unit with a circuit and program code for controlling the cutting machine is provided, 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: To recognize registration marks on the surface of the at least one object in an image of the first camera unit, and to also define the cutting path based on the positions of the registration marks.

In one embodiment, the computing unit is designed to select an order based on recognized registration features or their positions.

• Aufnehmen eines Bildes der Arbeitsfläche,
• Erkennen von Registriermerkmalen mindestens eines Objekts in dem Bild,
• Zuordnen des mindestens einen Objekts zu mindestens einem gespeicherten Auftrag,
• Definieren mindestens eines Schneidpfades basierend auf dem Auftrag und auf Positionen der Registriermerkmale in dem Bild, und
• Steuern einer Schneidvorrichtung zum Schneiden des mindestens einen Objekts entlang des mindestens einen Schneidpfades.

The invention also relates to a computer program product with program code, which is stored on a machine-readable carrier, for controlling the cutting machine according to the invention, the program being executed on the computing unit of the cutting machine and having at least the following steps:

• Taking a picture of the work surface,
• Detecting registration features of at least one object in the image,
• Assigning the at least one object to at least one saved order,
• defining at least one cutting path based on the job and locations of the registration features in the image, and
• Controlling a cutting device to cut the at least one object along the at least one cutting path.

A first aspect of the 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 determination of the position of the objects is possible.

A second aspect of the invention relates to a cutting machine in which a known material thickness of the objects is taken into account when determining the position.

A third aspect of the invention relates to a cutting machine in which the camera is designed to record and superimpose several images of the identical scene.

A fourth aspect of the invention relates to a cutting machine, in which an additional, movably arranged second camera, each with a field of view includes a small section of the work surface and is used together with the first camera to determine the position of the objects.

A fifth aspect of the invention relates to a cutting machine in which an additional, movably arranged second camera, whose field of view includes a small section of the work surface, can be used to calibrate the first camera.

A sixth aspect of the invention relates to a cutting machine in which further information is used to determine the position of the registration features on the work surface more quickly and/or more precisely, by means of which a partial area of the work surface is defined as a region of interest.

In a cutting machine according to the invention according to the first aspect, 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 also the cutting path based on to define relative positions of the registration features and the reference features in the image of the first camera unit.

In one embodiment, the relative positions of the reference features and the workgroup to one another are known.

In a further embodiment, 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.

In a cutting machine according to the invention according to the second aspect, the computing unit is provided with information about a material thickness of the object to be cut, and the computing unit is designed to also define the cutting path based on the information about the material thickness.

In one embodiment, the computing unit is designed to determine positions of the registration features based on the image of the first camera unit and based on the information about the material thickness.

In a further embodiment, the material thickness can be determined by the cutting machine itself, in particular camera-based.

In a further embodiment, the material thickness is provided in the storage unit together with the corresponding order, in particular as part of the order.

In a cutting machine according to the invention according to the third aspect, the computing unit is designed to jointly evaluate at least two images of the work surface taken at a time offset by the first camera unit and to determine positions of the registration features by evaluating the at least two images.

In one embodiment, the first camera unit is designed to take at least two images of the work surface at different times, each with a different exposure time, with a high-contrast image being created based on the at least two images.

In a further embodiment, the computing unit is designed to create high-contrast images from an exposure series of several images from the first camera unit.

In a further embodiment, the first camera unit is designed to record high-contrast images.

In a further embodiment, the first camera unit is designed to provide high-contrast images of the work surface, with different exposure times being used for recording, and the computing unit has a circuit and program code for evaluating the high-contrast images of the first camera unit and is designed to register features of the at least one object visible in a high contrast image.

According to the fourth and fifth aspects of the cutting machine according to the invention, it additionally has an optical sensor unit, which is aligned in the direction of the work surface and is arranged to be movable relative to the work surface in such a way that a large number of positions can be assumed by the optical sensor unit, in which a detection range of the optical Sensor unit each comprises part of the work surface. The computing unit additionally has a circuit and program code for evaluating data from the optical sensor unit.

• Positionen mindestens einer Vielzahl der Registriermerkmale relativ zueinander mittels des Bildes der ersten Kameraeinheit als Relativpositionen zu erfassen,
• Positionen einer ersten Teilmenge der Vielzahl der Registriermerkmale relativ zur Arbeitsfläche mittels der Daten der optischen Sensoreinheit als Absolutpositionen zu ermitteln, und
• Positionen einer zweiten Teilmenge der Vielzahl der Registriermerkmale relativ zur Arbeitsfläche basierend auf den erfassten Relativpositionen und den ermittelten Absolutpositionen zu ermitteln.

In a cutting machine according to the invention according to the fourth aspect, the control unit is designed to:

• to detect positions of at least a plurality of the registration features relative to one another as relative positions using the image of the first camera unit,
• To determine positions of a first subset of the plurality of registration features relative to the work surface as absolute positions using the data from the optical sensor unit, and
• To determine positions of a second subset of the plurality of registration features relative to the work surface based on the recorded relative positions and the determined absolute positions.

In one embodiment, the optical sensor unit is designed as a second camera unit.

In a further embodiment, the optical sensor unit is designed as part of the working group.

In a further embodiment, the detection areas of the optical sensor unit together cover the entire work surface.

In a further embodiment, the first camera unit is designed as a line camera, with the field of view extending over the entire width of the work surface.

In a further embodiment, the control unit is designed to determine a position of an object on the work surface and/or to define a cutting path based on positions of registration features relative to the work surface.

• mittels der optischen Sensoreinheit Positionen einer Vielzahl von Punkten zu bestimmen,
• mittels der ersten Kameraeinheit dieselben Punkte aufzunehmen, und
• die erste Kameraeinheit mit den von der optischen Sensoreinheit bestimmten Positionen als Soll-Positionen zu kalibrieren.

In a cutting machine according to the invention according to the fifth aspect, the working group and the optical sensor unit can be moved relative to the work surface by the same movement mechanism. The cutting machine has a calibration functionality for the first camera unit, with the cutting machine being designed as part of the calibration functionality to

• to determine positions of a large number of points using the optical sensor unit,
• to record the same points using the first camera unit, and
• to calibrate the first camera unit with the positions determined by the optical sensor unit as target positions.

In one embodiment, the work surface is designed as a calibration work surface, and the plurality of points are optical markings on the calibration work surface.

In a further embodiment, the points of the plurality of points are designed as grid points specifically intended for use with the calibration functionality.

In a further embodiment, the cutting machine is designed as part of the calibration functionality to calibrate the traversing mechanism and the first camera unit relative to one another.

In a further embodiment, the calibration functionality runs fully automatically after its start, in particular where the start can be initiated by a user.

In a further embodiment, the optical sensor unit is designed as a second camera unit.

In a further embodiment, the optical sensor unit is designed as part of the working group.

In a further embodiment, the detection areas of the optical sensor unit together cover the entire work surface.

In a cutting machine according to the invention according to the sixth aspect, an order for cutting a specific object includes information about an expected position of the object on the work surface, the control unit being designed to derive expected positions of registration features based on the expected position of at least one object and in an image from the first camera unit to define areas around the expected positions as a region of interest, outside of which no registration features are searched.

In one embodiment, the first camera unit is designed to image only one or more partial areas that include the areas defined as regions of interest.

In a further embodiment, the first camera unit has a zoom functionality and is designed to zoom into a partial area.

In a further embodiment, the control unit is designed to evaluate only the at least one area defined as a region of interest in a partial area.

In the cutting machines of each of the mentioned aspects, the registration features can be in the form of "registration marks" specially designed for use with the cutting machine, which are designed in such a way that a position and orientation of the object relative to the work surface can be detected. The computing unit is then designed to recognize these registration marks on the surface of the at least one object in an image of the first camera unit and to also define the cutting path based on the positions of the registration marks. The registration marks can in particular include geometric figures.

In one embodiment, the registration features can also include edges of the object.

In a further embodiment, the computing unit is designed to select an order based on recognized registration features.

• Aufnehmen eines Bildes der Arbeitsfläche;
• Erkennen von Registriermerkmalen mindestens eines Objekts in dem Bild;
• Zuordnen des mindestens einen Objekts zu mindestens einem gespeicherten Auftrag;
• Definieren mindestens eines Schneidpfades basierend auf dem Auftrag und auf Positionen der Registriermerkmale in dem Bild; und
• Steuern einer Schneidvorrichtung zum Schneiden des mindestens einen Objekts entlang des mindestens eines Schneidpfades.

The invention also relates to a computer program product with program code stored on a machine-readable carrier for controlling at least one of the cutting machines described above, the program being executed on the computing unit of the cutting machine and having at least the following steps:

• Taking a picture of the work surface;
• Detecting registration features of at least one object in the image;
• Assigning the at least one object to at least one saved job;
• defining at least one cutting path based on the job and locations of the registration features in the image; and
• Controlling a cutting device to cut the at least one object along the at least one cutting path.

Fig. 1

eine gattungsgemässe Schneidemaschine mit einer Überblickskamera;

Fig. 2a-c

ein Bild der Überblickskamera, basierend auf dem Bild abgeleitete Schneidkonturen und einen basierend auf dem Bild definierten Schneidepfad der Schneidvorrichtung;

Fig. 3

eine beispielhafte Ausführungsform einer Schneidemaschine gemäss dem ersten Aspekt der Erfindung;

Fig. 4

eine beispielhafte Ausführungsform einer Schneidemaschine gemäss dem zweiten Aspekt der Erfindung;

Fig. 5

Verzerrungen in einem Bild der Überblickskamera;

Fig. 6

einen Schattenwurf in einem Bild der Überblickskamera;

Fig. 7

eine beispielhafte Ausführungsform einer Schneidemaschine gemäss dem vierten Aspekt der Erfindung;

Fig. 8

die Arbeitsgruppe der Schneidemaschine aus Figur 7 von oben;

Fig. 9a-b

zwei beispielhafte Ausführungsformen einer Schneidemaschine gemäss dem fünften Aspekt der Erfindung; und

Fig. 10a-b

gemäss dem sechsten Aspekt der Erfindung als Region of Interest definierte Bereiche.

The cutting machine according to the invention is described in more detail below using concrete exemplary embodiments shown schematically in the drawings, purely by way of example, with further advantages of the invention also being discussed. Show in detail:

Fig. 1

a generic cutting machine with an overview camera;

Fig. 2a-c

an image of the overview camera, cutting contours derived based on the image, and a cutting path of the cutting device defined based on the image;

Fig. 3

an exemplary embodiment of a cutting machine according to the first aspect of the invention;

Fig. 4

an exemplary embodiment of a cutting machine according to the second aspect of the invention;

Fig. 5

Distortions in an overview camera image;

Fig. 6

a shadow cast in an image from the overview camera;

Fig. 7

an exemplary embodiment of a cutting machine according to the fourth aspect of the invention;

Fig. 8

the cutting machine working group Figure 7 from above;

Fig. 9a-b

two exemplary embodiments of a cutting machine according to the fifth aspect of the invention; and

Fig. 10a-b

Areas defined as regions of interest according to the sixth aspect of the invention.

Figure 1 shows a generic cutting machine 1. As 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.

Above the work surface 10, a work group 12 with a cutting tool 15, in particular a knife, is arranged. 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. For this purpose, 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.

In particular, the cutting machine 1 can also have an oscillatingly driven cutting tool 15 and/or can be designed for cutting multi-walled composite panels, as 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.

As a starting point, 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.

Using the overview camera 20, 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 either as general features of the graphic design or, advantageously, as registration marks specifically intended for registration. This is known from the prior art.

If the corresponding order is not yet known, 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. At the top of the image you can see the work group 12, which is preferably moved to the edge of the work area to take the image. In this example, 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. In the example shown this is the case on the one hand a pattern in the form of a crescent 41 and on the other hand a heart-shaped pattern 41 '. In addition, 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' are 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.

Optionally can be based on the image 50 Figure 2a The corresponding order can also be assigned to a sheet 40, 40 'by the control unit.

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 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. In the example shown, six reference marks 25 are distributed all around the edge of the work surface. 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' based on the positions of the reference marks 25 in the image to determine with greater accuracy.

It is also possible to use the positions of the reference marks 25 in the image of the overview camera 20 to verify and, if necessary, correct a correct alignment of the overview camera 20 with respect to the work surface 10.

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.

However, as the material thickness increases and the eccentricity in positioning the object relative to the camera position increases, the distortions become relevant. This will be in Figure 5 illustrated. 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. The reference marks 42 are shown in the camera image further away from the center of the image (dotted circles 49) than they actually are.

On the one hand, this can lead to the object 40 either not being recognized at all based on the image from the overview camera 20, or even being mistaken for another object and thus being cropped incorrectly. On the other hand, it is possible that the object 40 is recognized correctly, but since 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.

According to the second aspect of the present invention, this problem is solved in that information about the material thickness of the object 40 to be cut is provided 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.

Using the information about the material thickness, a different distortion in the image of the overview camera 20 can be eliminated, thereby enabling an exact detection and position determination of the object 40 and its registration features.

Alternatively, 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, for example, be the result of 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.

The disadvantage is that not all contours of the registration features can be captured with sufficient precision in the image 50 of the overview camera. According to the third aspect of the invention, the camera therefore captures an HDR image (HDR = High Dynamic Range) of the work surface 10 in order to ensure a sufficiently high contrast in both dark and light areas to determine the position of the registration marks 42 in the image 50.

Various methods are known for recording 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.

Taking several images of the same scene can advantageously be used - even with uniform lighting - to reduce artifacts and image noise and thus to determine contours more precisely in order to enable a more precise and faster position determination of the registration marks 42 in the image 50. 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.

According to the fourth, in the Figures 7 and 8 Illustrated aspect of the invention, 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.

In Figure 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.

In 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 overall image previously recorded by the overview camera 20. This allows the positions of the registration marks 42 to be verified or relative to the Work surface 10 can be determined. First, an image is recorded with the overview camera 20. Using this image, relative positions of the registration marks 42 are first determined, i.e. the arrangement of the registration marks relative to one another. Then the bar camera 60 approaches one or more registration marks 42 and their position(s) is determined with high accuracy.

To verify the registration mark positions, the positions determined with the overview camera 20 are compared with the positions determined with the bar camera 60.

To determine the registration mark positions on the work surface 10, 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.

According to the fifth aspect of the invention, such an additional camera 60 can also be used to calibrate the overview camera 20. This is in the Figures 9a and 9b shown. The cutting machine 1 has a calibration functionality controlled by the computing unit 30. As part of this functionality, after the start, 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. This can be done as in Figure 9a shown, 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, a calibration sheet 48, which has the grid points, is placed on the work surface 10 for calibration.

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.

According to the sixth aspect of the invention, an ROI area (ROI = Region of Interest) can be selected before the image is recorded by the overview camera, which is the only one of interest for determining the position of the registration features. This is in the Figures 10a and 10b illustrated.

For this purpose, cutting orders are provided in which certain additional information is stored, which allows the work surface 10 to be limited to the ROI area. This includes, in particular, expected positions of the objects 40, 40' to be cut and their dimensions. Either only one image of the selected areas is taken, or only the corresponding areas of the overall image are evaluated. This advantageously saves computing and storage capacity and speeds up the process. It also prevents print images from being misinterpreted as registration marks. If only one image of the ROI is recorded by the overview camera, the overview camera can also be designed to zoom in on the corresponding area, whereby a higher resolution can be achieved.

In Figure 10a an image 50 of the entire work surface 10 is shown, as recorded by the overview camera (cf. Figure 2a ). 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.

In Figure 10b is 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.

It goes without saying that these figures shown only schematically represent possible exemplary embodiments. The various approaches can also be combined with each other and with devices or methods of the prior art.

1. 1. Schneidemaschine (1), ausgebildet zum Schneiden von Objekten (40, 40') mit einer ebenen Oberfläche, wobei die Oberfläche eine graphische Gestaltung (44, 44') mit optischen Registriermerkmalen aufweist, aufweisend
   • eine Arbeitsfläche (10), die zur Aufnahme mindestens eines Objekts (40, 40') ausgestaltet ist,
   • eine erste Kameraeinheit (20), die relativ zu der Arbeitsfläche (10) derart angeordnet ist, dass ihr Sichtfeld die gesamte Arbeitsfläche (10) umfasst,
   • eine Arbeitsgruppe (12), die beweglich über der Arbeitsfläche (10) angeordnet ist und mindestens eine Schneidevorrichtung (15) zum Schneiden des mindestens einen Objekts (40, 40') aufweist, und
   • eine Recheneinheit (30) mit einer Schaltung und Programmcode zur Steuerung der Schneidemaschine (1), aufweisend eine Speichereinheit zum Speichern von Aufträgen zum Schneiden bestimmter Objekte (40, 40'), wobei die Recheneinheit (30)
     • □ eine Schaltung und Programmcode zum Auswerten von Bildern (50) der ersten Kameraeinheit (20) aufweist und dazu ausgestaltet ist, Registriermerkmale des mindestens einen Objekts (40, 40') in einem Bild (50) der ersten Kameraeinheit (20) zu erkennen, und
     • □ dazu ausgestaltet ist, gemäss mindestens einem gespeicherten Auftrag und basierend auf Positionen der Registriermerkmale in dem Bild (50) einen Schneidpfad (45, 45') für die Schneidevorrichtung (15) zu definieren,
     dadurch gekennzeichnet, dass
     in bekannter Positionierung und Verteilung relativ zur Arbeitsfläche (10) und im Sichtfeld der ersten Kamera (20) Referenzmerkmale (25) angeordnet sind, wobei die Recheneinheit (30) dazu ausgestaltet ist,
   • die Referenzmerkmale (25) in dem Bild (50) der ersten Kameraeinheit (20) zu erkennen, und
   • den Schneidpfad (45, 45') auch basierend auf relativen Positionen der Registriermerkmale und der Referenzmerkmale (25) in dem Bild (50) der ersten Kameraeinheit (20) zu definieren.
2. 2. Schneidemaschine nach Gegenstand 1,
   dadurch gekennzeichnet, dass
   die relativen Positionen der Referenzmerkmale (25) und der Arbeitsgruppe (12) zueinander bekannt sind.
3. 3. Schneidemaschine nach Gegenstand 1 oder Gegenstand 2,
   dadurch gekennzeichnet, dass
   die Recheneinheit (30) dazu ausgestaltet ist, anhand von Positionen einer Vielzahl von Referenzmerkmalen (25) im Bild (50) der ersten Kameraeinheit (20) eine Ausrichtung der ersten Kameraeinheit (20) relativ zur Arbeitsfläche (10) zu überprüfen.
4. 4. Schneidemaschine (1), ausgebildet zum Schneiden von Objekten (40, 40') mit einer ebenen Oberfläche, wobei die Oberfläche eine graphische Gestaltung (44, 44') mit optischen Registriermerkmalen aufweist, aufweisend
   • eine Arbeitsfläche (10), die zur Aufnahme mindestens eines Objekts (40, 40') ausgestaltet ist,
   • eine erste Kameraeinheit (20), die relativ zu der Arbeitsfläche (10) derart angeordnet ist, dass ihr Sichtfeld die gesamte Arbeitsfläche (10) umfasst,
   • eine Arbeitsgruppe (12), die beweglich über der Arbeitsfläche (10) angeordnet ist und mindestens eine Schneidevorrichtung (15) zum Schneiden des mindestens einen Objekts (40, 40') aufweist, und
   • eine Recheneinheit (30) mit einer Schaltung und Programmcode zur Steuerung der Schneidemaschine (1), aufweisend eine Speichereinheit zum Speichern von Aufträgen zum Schneiden bestimmter Objekte (40, 40'), wobei die Recheneinheit (30)
     • □ eine Schaltung und Programmcode zum Auswerten von Bildern (50) der ersten Kameraeinheit (20) aufweist und dazu ausgestaltet ist, Registriermerkmale des mindestens einen Objekts (40, 40') in einem Bild (50) der ersten Kameraeinheit (20) zu erkennen, und
     • □ dazu ausgestaltet ist, gemäss mindestens einem gespeicherten Auftrag und basierend auf Positionen der Registriermerkmale in dem Bild (50) einen Schneidpfad (45, 45') für die Schneidevorrichtung (15) zu definieren,
     dadurch gekennzeichnet, dass
   • der Recheneinheit (30) eine Information über eine Materialdicke des zu schneidenden Objekts (40, 40') bereitgestellt wird, und
   • die Recheneinheit (30) dazu ausgestaltet ist, den Schneidpfad (45, 45') auch basierend auf der Information über die Materialdicke zu definieren.
5. 5. Schneidemaschine (1) nach Gegenstand 4,
   dadurch gekennzeichnet, dass
   die Recheneinheit (30) dazu ausgestaltet ist, Positionen der Registriermerkmale anhand des Bildes (50) der ersten Kameraeinheit (20) und anhand der Information über die Materialdicke zu bestimmen.
6. 6. Schneidemaschine (1) nach Gegenstand 4 oder Gegenstand 5,
   dadurch gekennzeichnet, dass
   die Materialdicke durch die Schneidemaschine (1) ermittelbar ist, insbesondere kamerabasiert.
7. 7. Schneidemaschine (1) nach Gegenstand 4 oder Gegenstand 5,
   dadurch gekennzeichnet, dass
   die Materialdicke zusammen mit dem entsprechenden Auftrag in der Speichereinheit bereitgestellt wird, insbesondere als Teil des Auftrags.
8. 8. Schneidemaschine (1), ausgebildet zum Schneiden von Objekten (40, 40') mit einer ebenen Oberfläche, wobei die Oberfläche eine graphische Gestaltung (44, 44') mit optischen Registriermerkmalen aufweist, aufweisend
   • eine Arbeitsfläche (10), die zur Aufnahme mindestens eines Objekts (40, 40') ausgestaltet ist,
   • eine erste Kameraeinheit (20), die relativ zu der Arbeitsfläche (10) derart angeordnet ist, dass ihr Sichtfeld die gesamte Arbeitsfläche (10) umfasst,
   • eine Arbeitsgruppe (12), die beweglich über der Arbeitsfläche (10) angeordnet ist und mindestens eine Schneidevorrichtung (15) zum Schneiden des mindestens einen Objekts (40, 40') aufweist, und
   • eine Recheneinheit (30) mit einer Schaltung und Programmcode zur Steuerung der Schneidemaschine (1), aufweisend eine Speichereinheit zum Speichern von Aufträgen zum Schneiden bestimmter Objekte (40, 40'), wobei die Recheneinheit (30)
     • □ eine Schaltung und Programmcode zum Auswerten von Bildern (50) der ersten Kameraeinheit (20) aufweist und dazu ausgestaltet ist, Registriermerkmale des mindestens einen Objekts (40, 40') in einem Bild (50) der ersten Kameraeinheit (20) zu erkennen, und
     • □ dazu ausgestaltet ist, gemäss mindestens einem gespeicherten Auftrag und basierend auf Positionen der Registriermerkmale in dem Bild (50) einen Schneidpfad (45, 45') für die Schneidevorrichtung (15) zu definieren,
     dadurch gekennzeichnet, dass
     die Recheneinheit (30) dazu ausgestaltet ist,
   • mindestens zwei mittels der ersten Kameraeinheit (20) zeitlich versetzt aufgenommene Bilder (50) der Arbeitsfläche (10) gemeinschaftlich auszuwerten und
   • Positionen der Registriermerkmale durch Auswertung der mindestens zwei Bilder (50) zu bestimmen.
9. 9. Schneidemaschine nach Gegenstand 8,
   dadurch gekennzeichnet, dass
   die erste Kameraeinheit (20) dazu ausgestaltet ist, zeitlich versetzt mindestens zwei Bilder (50) der Arbeitsfläche (10) mit jeweils unterschiedlicher Belichtungszeit aufzunehmen, wobei basierend auf den mindestens zwei Bildern (50) ein Hochkontrastbild erstellt wird.
10. 10. Schneidemaschine nach Gegenstand 8 oder Gegenstand 9,
    dadurch gekennzeichnet, dass
    die Recheneinheit (30) dazu ausgestaltet ist, aus einer Belichtungsreihe mehrerer Bilder der ersten Kameraeinheit (20) Hochkontrastbilder zu erstellen.
11. 11. Schneidemaschine nach Gegenstand 8,
    dadurch gekennzeichnet, dass
    die erste Kameraeinheit (20) zur Aufnahme von Hochkontrastbildern ausgestaltet ist.
12. 12. Schneidemaschine nach Gegenstand 8,
    dadurch gekennzeichnet, dass
    • die erste Kameraeinheit (20) dazu ausgestaltet ist, Hochkontrastbilder der Arbeitsfläche (10) bereitzustellen, wobei zur Aufnahme unterschiedliche Belichtungszeiten verwendet werden; und
    • die Recheneinheit (30) eine Schaltung und Programmcode zum Auswerten der Hochkontrastbilder der ersten Kameraeinheit (20) aufweist und dazu ausgestaltet ist, Registriermerkmale des mindestens einen Objekts (40, 40') in einem Hochkontrastbild zu erkennen.
13. 13. Schneidemaschine (1), ausgebildet zum Schneiden von Objekten (40, 40') mit einer ebenen Oberfläche, wobei die Oberfläche eine graphische Gestaltung (44, 44') mit optischen Registriermerkmalen aufweist, aufweisend
    • eine Arbeitsfläche (10), die zur Aufnahme mindestens eines Objekts (40, 40') ausgestaltet ist,
    • eine erste Kameraeinheit (20), die relativ zu der Arbeitsfläche (10) derart angeordnet ist, dass ihr Sichtfeld die gesamte Arbeitsfläche (10) umfasst,
    • eine Arbeitsgruppe (12), die beweglich über der Arbeitsfläche (10) angeordnet ist und mindestens eine Schneidevorrichtung (15) zum Schneiden des mindestens einen Objekts (40, 40'),
    • eine optische Sensoreinheit (60), die in Richtung der Arbeitsfläche (10) ausgerichtet und relativ zur Arbeitsfläche (10) derart verfahrbar angeordnet ist, dass durch die optische Sensoreinheit (60) eine Vielzahl an Positionen einnehmbar ist, in welchen ein Erfassungsbereich (62) der optischen Sensoreinheit (60) jeweils einen Teil der Arbeitsfläche (10) umfasst, und
    • eine Recheneinheit (30) mit einer Schaltung und Programmcode zur Steuerung der Schneidemaschine (1), aufweisend eine Speichereinheit zum Speichern von Aufträgen zum Schneiden bestimmter Objekte (40, 40'), wobei die Recheneinheit (30)
      • □ eine Schaltung und Programmcode zum Auswerten von Bildern (50) der ersten Kameraeinheit (20) aufweist und dazu ausgestaltet ist, Registriermerkmale des mindestens einen Objekts (40, 40') in einem Bild (50) der ersten Kameraeinheit (20) zu erkennen,
      • □ eine Schaltung und Programmcode zum Auswerten von Daten der optischen Sensoreinheit (60) aufweist, und
      • □ dazu ausgestaltet ist, gemäss mindestens einem gespeicherten Auftrag und basierend auf Positionen der Registriermerkmale (42) in dem Bild (50) einen Schneidpfad (45, 45') für die Schneidevorrichtung (15) zu definieren,
      dadurch gekennzeichnet, dass
      die Steuereinheit (30) dazu ausgestaltet ist,
    • Positionen mindestens einer Vielzahl der Registriermerkmale relativ zueinander mittels des Bildes (50) der ersten Kameraeinheit (20) als Relativpositionen zu erfassen,
    • Positionen einer ersten Teilmenge der Vielzahl der Registriermerkmale relativ zur Arbeitsfläche (10) mittels der Daten der optischen Sensoreinheit (60) als Absolutpositionen zu ermitteln, und
    • Positionen einer zweiten Teilmenge der Vielzahl der Registriermerkmale relativ zur Arbeitsfläche (10) basierend auf den erfassten Relativpositionen und den ermittelten Absolutpositionen zu ermitteln.
14. 14. Schneidemaschine (1) nach Gegenstand 13,
    dadurch gekennzeichnet, dass
    die optische Sensoreinheit (60) als eine zweite Kameraeinheit ausgestaltet ist.
15. 15. Schneidemaschine (1) nach Gegenstand 13 oder Gegenstand 14,
    dadurch gekennzeichnet, dass
    die optische Sensoreinheit (60) als ein Teil der Arbeitsgruppe (12) ausgestaltet ist.
16. 16. Schneidemaschine (1) nach einem der Gegenstände 13 bis 15,
    dadurch gekennzeichnet, dass
    die Erfassungsbereiche (62) der optischen Sensoreinheit (60) zusammengenommen die gesamte Arbeitsfläche (10) umfassen.
17. 17. Schneidemaschine (1) nach einem der Gegenstände 13 bis 16,
    dadurch gekennzeichnet, dass
    die erste Kameraeinheit (20) als eine Zeilenkamera ausgestaltet ist, wobei sich das Sichtfeld über eine gesamte Breite der Arbeitsfläche (10) erstreckt.
18. 18. Schneidemaschine (1) nach einem der Gegenstände 13 bis 17,
    dadurch gekennzeichnet, dass
    die Steuereinheit (30) dazu ausgestaltet ist, basierend auf Positionen von Registriermerkmalen relativ zur Arbeitsfläche (10) eine Position eines Objektes (44, 44') auf der Arbeitsfläche (10) zu ermitteln und/oder einen Schneidpfad (45, 45') zu definieren.
19. 19. Schneidemaschine (1), ausgebildet zum Schneiden von Objekten (40, 40') mit einer ebenen Oberfläche, wobei die Oberfläche eine graphische Gestaltung (44, 44') mit optischen Registriermerkmalen aufweist, aufweisend
    • eine Arbeitsfläche (10), die zur Aufnahme mindestens eines Objekts (40, 40') ausgestaltet ist,
    • eine erste Kameraeinheit (20), die relativ zu der Arbeitsfläche (10) derart angeordnet ist, dass ihr Sichtfeld die gesamte Arbeitsfläche (10) umfasst,
    • eine Arbeitsgruppe (12), die beweglich über der Arbeitsfläche (10) angeordnet ist und mindestens eine Schneidevorrichtung (15) zum Schneiden des mindestens einen Objekts (40, 40'),
    • eine optische Sensoreinheit (60), die in Richtung der Arbeitsfläche (10) ausgerichtet und relativ zur Arbeitsfläche (10) derart verfahrbar angeordnet ist, dass durch die optische Sensoreinheit (60) eine Vielzahl an Positionen einnehmbar ist, in welchen ein Erfassungsbereich (62) der optischen Sensoreinheit (60) jeweils einen Teil der Arbeitsfläche (10) umfasst, und
    • eine Recheneinheit (30) mit einer Schaltung und Programmcode zur Steuerung der Schneidemaschine (1), aufweisend eine Speichereinheit zum Speichern von Aufträgen zum Schneiden bestimmter Objekte (40, 40'), wobei die Recheneinheit (30)
      • □ eine Schaltung und Programmcode zum Auswerten von Bildern (50) der ersten Kameraeinheit (20) aufweist und dazu ausgestaltet ist, Registriermerkmale des mindestens einen Objekts (40, 40') in einem Bild (50) der ersten Kameraeinheit (20) zu erkennen,
      • □ eine Schaltung und Programmcode zum Auswerten von Daten der optischen Sensoreinheit (60) aufweist, und
      • □ dazu ausgestaltet ist, gemäss mindestens einem gespeicherten Auftrag und basierend auf Positionen der Registriermerkmale (42) in dem Bild (50) einen Schneidpfad (45, 45') für die Schneidevorrichtung (15) zu definieren,
      wobei die Arbeitsgruppe (12) und die optische Sensoreinheit (60) durch denselben Verfahrmechanismus relativ zur Arbeitsfläche (10) verfahrbar sind, gekennzeichnet durch
      eine Kalibrierfunktionalität für die erste Kameraeinheit (20), wobei die Schneidemaschine (1) im Rahmen der Kalibrierfunktionalität dazu ausgestaltet ist,
    • mittels der optischen Sensoreinheit (60) Positionen einer Vielzahl von Punkten zu bestimmen,
    • mittels der ersten Kameraeinheit (20) dieselben Punkte aufzunehmen, und
    • die erste Kameraeinheit (20) mit den von der optischen Sensoreinheit (60) bestimmten Positionen als Soll-Positionen zu kalibrieren.
20. 20. Schneidemaschine (1) nach Gegenstand 19,
    dadurch gekennzeichnet, dass
    die Arbeitsfläche als eine Kalibrier-Arbeitsfläche (18) ausgestaltet ist und die Vielzahl von Punkten optische Markierungen auf der Kalibrier-Arbeitsfläche (18) sind.
21. 21. Schneidemaschine (1) nach Gegenstand 19 oder Gegenstand 20,
    dadurch gekennzeichnet, dass
    die Vielzahl von Punkten als speziell zur Verwendung mit der Kalibrierfunktionalität vorgesehene Gitterpunkte ausgestaltet sind.
22. 22. Schneidemaschine (1) nach einem der Gegenstände 19 bis 21,
    dadurch gekennzeichnet, dass
    • die Schneidemaschine (1) im Rahmen der Kalibrierfunktionalität dazu ausgestaltet ist,
    • den Verfahrmechanismus und die erste Kameraeinheit (20) relativ zueinander zu kalibrieren.
23. 23. Schneidemaschine (1) nach einem der Gegenstände 19 bis 22,
    dadurch gekennzeichnet, dass
    die Kalibrierfunktionalität nach ihrem Start vollautomatisch abläuft, insbesondere wobei der Start durch einen Benutzer initiierbar ist.
24. 24. Schneidemaschine (1) nach einem der Gegenstände 19 bis 23,
    dadurch gekennzeichnet, dass
    die optische Sensoreinheit (60) als eine zweite Kameraeinheit ausgestaltet ist.
25. 25. Schneidemaschine (1) nach einem der Gegenstände 19 bis 24,
    dadurch gekennzeichnet, dass
    die optische Sensoreinheit (60) als ein Teil der Arbeitsgruppe (12) ausgestaltet ist.
26. 26. Schneidemaschine (1) nach einem der Gegenstände 19 bis 25,
    dadurch gekennzeichnet, dass
    die Erfassungsbereiche (62) der optischen Sensoreinheit (60) zusammengenommen die gesamte Arbeitsfläche (10) umfassen.
27. 27. Schneidemaschine (1), ausgebildet zum Schneiden von Objekten (40, 40') mit einer ebenen Oberfläche, wobei die Oberfläche eine graphische Gestaltung (44, 44') mit optischen Registriermerkmalen aufweist, aufweisend
    • eine Arbeitsfläche (10), die zur Aufnahme mindestens eines Objekts (40, 40') ausgestaltet ist,
    • eine erste Kameraeinheit (20), die relativ zu der Arbeitsfläche (10) derart angeordnet ist, dass ihr Sichtfeld die gesamte Arbeitsfläche (10) umfasst,
    • eine Arbeitsgruppe (12), die beweglich über der Arbeitsfläche (10) angeordnet ist und mindestens eine Schneidevorrichtung (15) zum Schneiden des mindestens einen Objekts (40, 40') aufweist, und
    • eine Recheneinheit (30) mit einer Schaltung und Programmcode zur Steuerung der Schneidemaschine (1), aufweisend eine Speichereinheit zum Speichern von Aufträgen zum Schneiden bestimmter Objekte (40, 40'), wobei die Recheneinheit (30)
      • □ eine Schaltung und Programmcode zum Auswerten von Bildern (50) der ersten Kameraeinheit (20) aufweist und dazu ausgestaltet ist, Registriermerkmale des mindestens einen Objekts (40, 40') in einem Bild (50) der ersten Kameraeinheit (20) zu erkennen, und
      • □ dazu ausgestaltet ist, gemäss mindestens einem gespeicherten Auftrag und basierend auf Positionen der Registriermerkmale (42) in dem Bild (50) einen Schneidpfad (45, 45') für die Schneidevorrichtung (15) zu definieren,
      dadurch gekennzeichnet, dass
      ein Auftrag zum Schneiden eines bestimmten Objektes (40, 40') Informationen über eine erwartbare Lage des Objektes (40, 40') auf der Arbeitsfläche (10) umfasst, wobei die Steuereinheit (30) dazu ausgestaltet ist,
    • basierend auf der erwartbaren Lage mindestens eines Objektes (40, 40'), erwartbare Positionen von Registriermerkmalen abzuleiten und
    • in einem Bild (50) der ersten Kameraeinheit (20) Bereiche (52) um die erwartbaren Positionen als Region of Interest zu definieren, ausserhalb derer keine Registriermerkmale gesucht werden.
28. 28. Schneidemaschine (1) nach Gegenstand 27,
    dadurch gekennzeichnet, dass
    die erste Kameraeinheit (20) dazu ausgestaltet ist, nur einen oder mehrere Teilbereiche (51, 51'), die die als Region of Interest definierten Bereiche (52) umfassen, abzubilden.
29. 29. Schneidemaschine (1) nach Gegenstand 28,
    dadurch gekennzeichnet, dass
    die erste Kameraeinheit (20) eine Zoomfunktionalität aufweist und dazu ausgestaltet ist, auf einen Teilbereich (51, 51') zu zoomen.
30. 30. Schneidemaschine (1) nach Gegenstand 28 oder Gegenstand 29,
    dadurch gekennzeichnet, dass
    die Steuereinheit (30) dazu ausgestaltet ist, in einem Teilbereich (51, 51') nur den mindestens einen als Region of Interest definierten Bereich (52) auszuwerten.
31. 31. Schneidemaschine (1) nach einem der vorangehenden Gegenstände,
    dadurch gekennzeichnet, dass
    die Registriermerkmale in Form von Registriermarken (42) vorliegen, die speziell zur Verwendung mit der Schneidemaschine (1) ausgestaltet sind, um eine Position und Ausrichtung des Objektes relativ zur Arbeitsfläche (10) erfassbar zu machen, wobei die Recheneinheit (30) dazu ausgestaltet ist,
    • die Registriermarken (42) auf der Oberfläche des mindestens einen Objektes (40, 44') in einem Bild (50) der ersten Kameraeinheit (20) zu erkennen, und
    • den Schneidpfad (45, 45') auch basierend auf den Positionen der Registriermarken (42) zu definieren.
32. 32. Schneidemaschine (1) nach einem der vorangehenden Gegenstände,
    dadurch gekennzeichnet, dass
    die Registriermerkmale Kanten des Objektes (40, 40') umfassen.
33. 33. Schneidemaschine (1) nach einem der vorangehenden Gegenstände,
    dadurch gekennzeichnet, dass
    die Recheneinheit (30) dazu ausgestaltet ist, basierend auf erkannten Registriermerkmalen einen Auftrag auszuwählen.
34. 34. Computerprogrammprodukt mit Programmcode, der auf einem maschinenlesbaren Träger gespeichert ist, zur Steuerung der Schneidemaschine (1) nach einem der vorangehenden Gegenstände, wobei das Programm auf der Recheneinheit (30) der Schneidemaschine (1) ausgeführt wird und mindestens die folgenden Schritte aufweist:
    • Aufnehmen eines Bildes (50) der Arbeitsfläche;
    • Erkennen von Registriermerkmalen mindestens eines Objekts (40, 40') in dem Bild (50);
    • Zuordnen des mindestens einen Objekts (40, 40') zu mindestens einem gespeicherten Auftrag;
    • Definieren mindestens eines Schneidpfades (45, 45') basierend auf dem Auftrag und auf Positionen der Registriermerkmale (42) in dem Bild (50); und
    • Steuern einer Schneidvorrichtung (15) zum Schneiden des mindestens einen Objekts (40, 40') entlang des mindestens eines Schneidpfades (45, 45').

In other words, the invention relates to the following subjects:

1. 1. Cutting machine (1), designed for cutting objects (40, 40') with a flat surface, the surface having a graphic design (44, 44') with optical registration features
   • a work surface (10) which is designed to accommodate at least one object (40, 40'),
   • a first camera unit (20), which is arranged relative to the work surface (10) in such a way that its field of view covers the entire work surface (10),
   • a work group (12) which is movably arranged above the work surface (10) and has at least one cutting device (15) for cutting the at least one object (40, 40'), and
   • a computing unit (30) with a circuit and program code for controlling the cutting machine (1), having a storage unit for storing orders for cutting specific objects (40, 40'), the computing unit (30)
     • □ has a circuit and program code for evaluating images (50) of the first camera unit (20) and is designed to recognize registration features of the at least one object (40, 40 ') in an image (50) of the first camera unit (20), and
     • □ is designed to define a cutting path (45, 45') for the cutting device (15) according to at least one stored order and based on positions of the registration features in the image (50),
     characterized in that
     Reference features (25) are arranged in a known positioning and distribution relative to the work surface (10) and in the field of view of the first camera (20), the computing unit (30) being designed to do this,
   • to recognize the reference features (25) in the image (50) of the first camera unit (20), and
   • to define the cutting path (45, 45') also based on relative positions of the registration features and the reference features (25) in the image (50) of the first camera unit (20).
2. 2. Cutting machine according to item 1,
   characterized in that
   the relative positions of the reference features (25) and the working group (12) to one another are known.
3. 3. Cutting machine according to item 1 or item 2,
   characterized in that
   the computing unit (30) is designed to check an alignment of the first camera unit (20) relative to the work surface (10) based on positions of a large number of reference features (25) in the image (50) of the first camera unit (20).
4. 4. Cutting machine (1), designed for cutting objects (40, 40') with a flat surface, the surface having a graphic design (44, 44') with optical registration features
   • a work surface (10) which is designed to accommodate at least one object (40, 40'),
   • a first camera unit (20), which is arranged relative to the work surface (10) in such a way that its field of view covers the entire work surface (10),
   • a work group (12) which is movably arranged above the work surface (10) and has at least one cutting device (15) for cutting the at least one object (40, 40'), and
   • a computing unit (30) with a circuit and program code for controlling the cutting machine (1), having a storage unit for storing orders for cutting specific objects (40, 40'), the computing unit (30)
     • □ has a circuit and program code for evaluating images (50) of the first camera unit (20) and is designed to recognize registration features of the at least one object (40, 40 ') in an image (50) of the first camera unit (20), and
     • □ is designed to define a cutting path (45, 45') for the cutting device (15) according to at least one stored order and based on positions of the registration features in the image (50),
     characterized in that
   • the computing unit (30) is provided with information about a material thickness of the object (40, 40') to be cut, and
   • the computing unit (30) is designed to define the cutting path (45, 45') based on the information about the material thickness.
5. 5. Cutting machine (1) according to item 4,
   characterized in that
   the computing unit (30) is designed to determine positions of the registration features based on the image (50) of the first camera unit (20) and based on the information about the material thickness.
6. 6. Cutting machine (1) according to item 4 or item 5,
   characterized in that
   the material thickness can be determined by the cutting machine (1), in particular camera-based.
7. 7. Cutting machine (1) according to item 4 or item 5,
   characterized in that
   the material thickness is provided together with the corresponding order in the storage unit, in particular as part of the order.
8. 8. Cutting machine (1), designed for cutting objects (40, 40') with a flat surface, the surface having a graphic design (44, 44') with optical registration features
   • a work surface (10) which is designed to accommodate at least one object (40, 40'),
   • a first camera unit (20), which is arranged relative to the work surface (10) in such a way that its field of view covers the entire work surface (10),
   • a work group (12) which is movably arranged above the work surface (10) and has at least one cutting device (15) for cutting the at least one object (40, 40'), and
   • a computing unit (30) with a circuit and program code for controlling the cutting machine (1), having a storage unit for storing orders for cutting specific objects (40, 40'), the computing unit (30)
     • □ has a circuit and program code for evaluating images (50) of the first camera unit (20) and is designed to recognize registration features of the at least one object (40, 40 ') in an image (50) of the first camera unit (20), and
     • □ is designed to define a cutting path (45, 45') for the cutting device (15) according to at least one stored order and based on positions of the registration features in the image (50),
     characterized in that
     the computing unit (30) is designed to
   • to jointly evaluate at least two images (50) of the work surface (10) recorded at a time offset by the first camera unit (20), and
   • Positions of the registration features are determined by evaluating the at least two images (50).
9. 9. Cutting machine according to item 8,
   characterized in that
   the first camera unit (20) is designed to record at least two images (50) of the work surface (10) at different times, each with a different exposure time, a high-contrast image being created based on the at least two images (50).
10. 10. Cutting machine according to item 8 or item 9,
    characterized in that
    the computing unit (30) is designed to create high-contrast images from an exposure series of several images from the first camera unit (20).
11. 11. Cutting machine according to item 8,
    characterized in that
    the first camera unit (20) is designed to record high-contrast images.
12. 12. Cutting machine according to item 8,
    characterized in that
    • the first camera unit (20) is designed to provide high-contrast images of the work surface (10), different exposure times being used for recording; and
    • the computing unit (30) has a circuit and program code for evaluating the high-contrast images of the first camera unit (20) and is designed to recognize registration features of the at least one object (40, 40 ') in a high-contrast image.
13. 13. Cutting machine (1), designed for cutting objects (40, 40') with a flat surface, the surface having a graphic design (44, 44') with optical registration features
    • a work surface (10) which is designed to accommodate at least one object (40, 40'),
    • a first camera unit (20), which is arranged relative to the work surface (10) in such a way that its field of view covers the entire work surface (10),
    • a work group (12) which is movably arranged above the work surface (10) and at least one cutting device (15) for cutting the at least one object (40, 40'),
    • an optical sensor unit (60), which is aligned in the direction of the work surface (10) and is arranged to be movable relative to the work surface (10) in such a way that a large number of positions can be assumed by the optical sensor unit (60), in which a detection area (62) the optical sensor unit (60) each comprises a part of the work surface (10), and
    • a computing unit (30) with a circuit and program code for controlling the cutting machine (1), having a storage unit for storing orders for cutting specific objects (40, 40'), the computing unit (30)
      • □ has a circuit and program code for evaluating images (50) of the first camera unit (20) and is designed for this purpose, to recognize registration features of the at least one object (40, 40') in an image (50) of the first camera unit (20),
      • □ has a circuit and program code for evaluating data from the optical sensor unit (60), and
      • □ is designed to define a cutting path (45, 45') for the cutting device (15) according to at least one stored order and based on positions of the registration features (42) in the image (50),
      characterized in that
      the control unit (30) is designed to
    • to detect positions of at least a plurality of the registration features relative to one another as relative positions using the image (50) of the first camera unit (20),
    • Positions of a first subset of the plurality of registration features relative to the work surface (10) are determined as absolute positions using the data from the optical sensor unit (60), and
    • To determine positions of a second subset of the plurality of registration features relative to the work surface (10) based on the recorded relative positions and the determined absolute positions.
14. 14. Cutting machine (1) according to item 13,
    characterized in that
    the optical sensor unit (60) is designed as a second camera unit.
15. 15. Cutting machine (1) according to item 13 or item 14,
    characterized in that
    the optical sensor unit (60) is designed as part of the working group (12).
16. 16. Cutting machine (1) according to one of items 13 to 15,
    characterized in that
    the detection areas (62) of the optical sensor unit (60) together cover the entire work surface (10).
17. 17. Cutting machine (1) according to one of items 13 to 16,
    characterized in that
    the first camera unit (20) is designed as a line camera, the field of view extending over an entire width of the work surface (10).
18. 18. Cutting machine (1) according to one of items 13 to 17,
    characterized in that
    the control unit (30) is designed to determine a position of an object (44, 44') on the work surface (10) and/or to assign a cutting path (45, 45') based on positions of registration features relative to the work surface (10). define.
19. 19. Cutting machine (1), designed for cutting objects (40, 40') with a flat surface, the surface having a graphic design (44, 44') with optical registration features
    • a work surface (10) which is designed to accommodate at least one object (40, 40'),
    • a first camera unit (20), which is arranged relative to the work surface (10) in such a way that its field of view covers the entire work surface (10),
    • a work group (12) which is movably arranged above the work surface (10) and at least one cutting device (15) for cutting the at least one object (40, 40'),
    • an optical sensor unit (60), which is aligned in the direction of the work surface (10) and is arranged to be movable relative to the work surface (10) in such a way that a large number of positions can be assumed by the optical sensor unit (60), in which a detection area (62) the optical sensor unit (60) each comprises a part of the work surface (10), and
    • a computing unit (30) with a circuit and program code for controlling the cutting machine (1), having a storage unit for storing orders for cutting specific objects (40, 40'), the computing unit (30)
      • □ has a circuit and program code for evaluating images (50) of the first camera unit (20) and is designed to recognize registration features of the at least one object (40, 40 ') in an image (50) of the first camera unit (20),
      • □ has a circuit and program code for evaluating data from the optical sensor unit (60), and
      • □ is designed to define a cutting path (45, 45') for the cutting device (15) according to at least one stored order and based on positions of the registration features (42) in the image (50),
      wherein the work group (12) and the optical sensor unit (60) can be moved relative to the work surface (10) by the same movement mechanism, characterized by
      a calibration functionality for the first camera unit (20), the cutting machine (1) being designed for this purpose as part of the calibration functionality,
    • to determine positions of a large number of points by means of the optical sensor unit (60),
    • to record the same points using the first camera unit (20), and
    • to calibrate the first camera unit (20) with the positions determined by the optical sensor unit (60) as target positions.
20. 20. Cutting machine (1) according to item 19,
    characterized in that
    the work surface is designed as a calibration work surface (18) and the plurality of points are optical markings on the calibration work surface (18).
21. 21. Cutting machine (1) according to item 19 or item 20,
    characterized in that
    the multitude of points are designed as grid points specifically intended for use with the calibration functionality.
22. 22. Cutting machine (1) according to one of items 19 to 21,
    characterized in that
    • the cutting machine (1) is designed to do this as part of the calibration functionality,
    • to calibrate the travel mechanism and the first camera unit (20) relative to each other.
23. 23. Cutting machine (1) according to one of items 19 to 22,
    characterized in that
    the calibration functionality runs fully automatically after its start, in particular where the start can be initiated by a user.
24. 24. Cutting machine (1) according to one of items 19 to 23,
    characterized in that
    the optical sensor unit (60) is designed as a second camera unit.
25. 25. Cutting machine (1) according to one of items 19 to 24,
    characterized in that
    the optical sensor unit (60) is designed as part of the working group (12).
26. 26. Cutting machine (1) according to one of items 19 to 25,
    characterized in that
    the detection areas (62) of the optical sensor unit (60) together cover the entire work surface (10).
27. 27. Cutting machine (1), designed for cutting objects (40, 40') with a flat surface, the surface having a graphic design (44, 44') with optical registration features
    • a work surface (10) which is designed to accommodate at least one object (40, 40'),
    • a first camera unit (20), which is arranged relative to the work surface (10) in such a way that its field of view covers the entire work surface (10),
    • a work group (12) which is movably arranged above the work surface (10) and has at least one cutting device (15) for cutting the at least one object (40, 40'), and
    • a computing unit (30) with a circuit and program code for controlling the cutting machine (1), having a storage unit for storing orders for cutting specific objects (40, 40'), the computing unit (30)
      • □ has a circuit and program code for evaluating images (50) of the first camera unit (20) and is designed to recognize registration features of the at least one object (40, 40 ') in an image (50) of the first camera unit (20), and
      • □ is designed to define a cutting path (45, 45') for the cutting device (15) according to at least one stored order and based on positions of the registration features (42) in the image (50),
      characterized in that
      an order for cutting a specific object (40, 40') includes information about an expected position of the object (40, 40') on the work surface (10), the control unit (30) being designed to do this,
    • based on the expected position of at least one object (40, 40'), to derive expected positions of registration features and
    • in an image (50) of the first camera unit (20) areas (52) to define the expected positions as a region of interest, outside of which no registration features are searched.
28. 28. Cutting machine (1) according to item 27,
    characterized in that
    the first camera unit (20) is designed to image only one or more partial areas (51, 51') which include the areas (52) defined as regions of interest.
29. 29. Cutting machine (1) according to item 28,
    characterized in that
    the first camera unit (20) has a zoom functionality and is designed to zoom into a partial area (51, 51').
30. 30. Cutting machine (1) according to item 28 or item 29,
    characterized in that
    the control unit (30) is designed to evaluate only the at least one area (52) defined as a region of interest in a partial area (51, 51 ').
31. 31. Cutting machine (1) according to one of the preceding items,
    characterized in that
    the registration features are in the form of registration marks (42) which are specially designed for use with the cutting machine (1). to make a position and orientation of the object relative to the work surface (10) detectable, the computing unit (30) being designed to do this,
    • to recognize the registration marks (42) on the surface of the at least one object (40, 44') in an image (50) of the first camera unit (20), and
    • also define the cutting path (45, 45') based on the positions of the registration marks (42).
32. 32. Cutting machine (1) according to one of the preceding items,
    characterized in that
    the registration features include edges of the object (40, 40').
33. 33. Cutting machine (1) according to one of the preceding items,
    characterized in that
    the computing unit (30) is designed to select an order based on recognized registration features.
34. 34. Computer program product with program code stored on a machine-readable medium for controlling the cutting machine (1) according to one of the preceding subjects, the program being executed on the computing unit (30) of the cutting machine (1) and having at least the following steps:
    • taking an image (50) of the work surface;
    • Detecting registration features of at least one object (40, 40') in the image (50);
    • Assigning the at least one object (40, 40') to at least one stored order;
    • defining at least one cutting path (45, 45') based on the job and positions of the registration features (42) in the image (50); and
    • Controlling a cutting device (15) for cutting the at least one object (40, 40') along the at least one cutting path (45, 45').

Claims (10)

Cutting machine (1), designed for cutting objects (40, 40') with a flat surface, the surface having a graphic design (44, 44') with optical registration features - a work surface (10) which is designed to accommodate at least one object (40, 40'), - a first camera unit (20), which is arranged relative to the work surface (10) in such a way that its field of view covers the entire work surface (10), - a work group (12) which is movably arranged above the work surface (10) and at least one cutting device (15) for cutting the at least one object (40, 40'), - an optical sensor unit (60), which is aligned in the direction of the work surface (10) and is arranged to be movable relative to the work surface (10) in such a way that the optical sensor unit (60) can assume a large number of positions in which a detection area (62 ) the optical sensor unit (60) each comprises a part of the work surface (10), and - a computing unit (30) with a circuit and program code for controlling the cutting machine (1), having a storage unit for storing orders for cutting certain objects (40, 40 '), the computing unit (30) □ has a circuit and program code for evaluating images (50) of the first camera unit (20) and is designed to recognize registration features of the at least one object (40, 40 ') in an image (50) of the first camera unit (20), □ has a circuit and program code for evaluating data from the optical sensor unit (60), and □ is designed to define a cutting path (45, 45') for the cutting device (15) according to at least one stored order and based on positions of the registration features (42) in the image (50), characterized in that
the computing unit (30) is designed to - to record positions of at least a plurality of the registration features relative to one another as relative positions using the image (50) of the first camera unit (20), - to determine positions of a first subset of the plurality of registration features relative to the work surface (10) as absolute positions using the data from the optical sensor unit (60), and - Determine positions of a second subset of the plurality of registration features relative to the work surface (10) based on the recorded relative positions and the determined absolute positions. Cutting machine (1) according to claim 1,
characterized in that
the optical sensor unit (60) is designed as a second camera unit. Cutting machine (1) according to claim 1 or claim 2,
characterized in that
the optical sensor unit (60) is designed as part of the working group (12). Cutting machine (1) according to one of claims 1 to 3,
characterized in that
the detection areas (62) of the optical sensor unit (60) together cover the entire work surface (10). Cutting machine (1) according to one of claims 1 to 4,
characterized in that
the first camera unit (20) is designed as a line camera, the field of view extending over an entire width of the work surface (10). Cutting machine (1) according to one of claims 1 to 5,
characterized in that
the computing unit (30) is designed to determine a position of an object (44, 44') on the work surface (10) based on positions of registration features relative to the work surface (10) and/or to assign a cutting path (45, 45'). define. Cutting machine (1) according to one of the preceding claims,
characterized in that
the registration features are in the form of registration marks (42) which are specifically designed for use with the cutting machine (1) in order to make it possible to detect a position and orientation of the object relative to the work surface (10), the computing unit (30) being designed for this purpose , - to recognize the registration marks (42) on the surface of the at least one object (40, 44 ') in an image (50) of the first camera unit (20), and - also define the cutting path (45, 45') based on the positions of the registration marks (42). Cutting machine (1) according to one of the preceding claims,
characterized in that
the registration features include edges of the object (40, 40'). Cutting machine (1) according to one of the preceding claims,
characterized in that
the computing unit (30) is designed to select an order based on recognized registration features. Computer program product with program code stored on a machine-readable medium for controlling the cutting machine (1) according to one of the preceding claims, wherein when the program is executed on the computing unit (30) of the cutting machine (1), at least the following steps are executed become: - Taking an image (50) of the work surface with the first camera unit (20) of the cutting machine (1); - Detecting registration features of at least one object (40, 40') in the image (50); - Evaluating data from the optical sensor unit (60); - Detecting positions of at least a plurality of the registration features relative to one another using the image (50) of the first camera unit (20) as relative positions; - Determining positions of a first subset of the plurality of registration features relative to the work surface (10) using the data from the optical sensor unit (60) as absolute positions; - Determining positions of a second subset of the plurality of registration features relative to the work surface (10) based on the recorded relative positions and the determined absolute positions. - Assigning the at least one object (40, 40') to at least one stored order; - defining at least one cutting path (45, 45') based on the order and on positions of the registration features (42) in the image (50) as well as based on determined positions of registration features relative to the work surface (10); and - Controlling a cutting device (15) for cutting the at least one object (40, 40') along the at least one cutting path (45, 45').

Images