Cutting machine and machine-readable carrier

Abstract

The present invention relates to a cutting machine and a machine-readable carrier, the cutting machine being designed to cut an object having a flat surface with a graphic design having optical alignment features, the cutting machine comprising: a work surface for accommodating at least one object; a first camera unit, which is arranged relative to the work surface so that its field of view covers the entire work surface; a work group, which is arranged above the work surface in a movably manner; at least one cutting device for cutting at least one object; and a computing unit having circuits and program codes for controlling the cutting machine and comprising a storage unit for storing instructions for cutting a determined object, the computing unit comprising circuits and program codes for evaluating an image of the first camera unit and being designed to identify alignment features of at least one object in the image of the first camera unit and being designed to define a cutting path according to at least one stored instruction and based on the position of the alignment features in the image.

Description

[0001] This application is a divisional application of the invention patent application with the original application number 201780090415.4 (international application number PCT / EP2017 / 058153) (application date: April 5, 2017, invention name: cutting machine and machine-readable carrier). Technical Field

[0002] The present invention relates to a cutting machine with a camera, in particular a cutting machine designed to cut objects with graphic designs and optical registration features on their surfaces, such as printed sheets made of paper, cardboard or similar materials, plastic films or cloth or the like. Background Art

[0003] Universal machines are described, for example, in documents EP 1 385 674 B1 and EP 2 488 333 B1. Such a cutting machine has a work surface, which is designed to accommodate at least one object, and a work group, which is movably arranged above the work surface and has a blade or another cutting device for cutting the object located on the work surface. In addition, a camera unit is arranged relative to the work surface, in particular above the work surface, so that the field of view of the camera unit includes the entire work surface ("panoramic camera"). Based on the position of the optical alignment feature in the image of the panoramic camera, the cutting path can then be defined according to the selected cutting instruction.

[0004] The term "cutting" is not necessarily to be understood as meaning a complete severing, and thus "cutting instructions" may also include perforating or folding the object, or similar processing steps that may be performed using general-purpose machines. Summary of the invention

[0005] It is an object of the present invention to provide an improved cutting machine.

[0006] In particular, it is an object of the invention to provide a cutting machine with the aid of which cutting instructions can be executed more quickly.

[0007] A further object is to provide a cutting machine with which cutting instructions can be carried out with less personnel required or with a high degree of automation.

[0008] Another object is to provide a cutting machine with a panoramic camera, with the aid of which the cut parts can be defined more quickly and / or more accurately.

[0009] Another object is to provide such a cutting machine which generates less waste.

[0010] The invention relates to a cutting machine, which is designed to cut an object having a flat surface, wherein the surface has a graphic design with optical alignment features. The cutting machine according to the invention has a work surface, which is designed to accommodate at least one object, a first camera unit, which is arranged relative to the work surface in such a way that the field of view of the camera includes the entire work surface, and a work group, which is movably arranged above the work surface and has at least one cutting device for cutting at least one object.

[0011] In addition, a computing unit having circuits and program code for controlling a cutting machine is provided, the computing unit comprising a storage unit for storing instructions for cutting certain objects. The computing unit has circuits and program code for analyzing an image of a first camera unit and is designed to identify an alignment feature of at least one object in the image of the first camera unit. In addition, the computing unit is designed to define a cutting path of the cutting device according to at least one stored instruction and based on the position of the alignment feature in the image.

[0012] The alignment feature may in particular be in the form of an alignment mark which is specially designed for use with the cutting machine in order to enable the position and orientation of the object relative to the work surface to be detected. The computing unit is then designed to recognize the alignment mark on the surface of the at least one object in the image of the first camera unit and also to define the cutting path based on the position of the alignment mark.

[0013] In one embodiment, the computing unit is designed to select instructions based on the identified alignment features and / or their positions.

[0014] Furthermore, the invention relates to a computer program product having a program code stored on a machine-readable carrier for controlling a cutting machine according to the invention, wherein the program runs on a computing unit of the cutting machine and comprises at least the following steps:

[0015] - record images of the work surface,

[0016] - identifying an alignment feature of at least one object in the image,

[0017] - associating at least one object with at least one stored instruction,

[0018] - defining at least one cutting path based on the instructions and based on the position of the alignment features in the image, and

[0019] - controlling a cutting device to cut said at least one object along said at least one cutting path.

[0020] A first aspect of the invention relates to a cutting machine, wherein reference markings are provided on the working surface and in the field of view of the camera, with the aid of which the position of the object can be determined more precisely.

[0021] A second aspect of the invention relates to a cutting machine, wherein a known material thickness of the object is taken into account during the position determination.

[0022] A third aspect of the invention relates to a cutting machine, wherein the camera is designed to record a plurality of images of the same scene and to superimpose these images.

[0023] A fourth aspect of the invention relates to a cutting machine, wherein an additional, movably arranged second camera is used in conjunction with the first camera in order to determine the position of the object, the field of view of the second camera including small details of the work surface.

[0024] A fifth aspect of the invention relates to a cutting machine, wherein the first camera can be calibrated using an additional, movably arranged second camera, the field of view of which includes small details of the work surface.

[0025] A sixth aspect of the invention relates to a cutting machine, wherein further information is used in order to more quickly and / or more accurately determine the position of the alignment feature on the work surface, with the aid of which information local areas of the work surface are defined as regions of interest.

[0026] In a cutting machine according to the invention according to the first aspect, reference features are additionally arranged with a known position and distribution relative to the work surface and are arranged within the field of view of the first camera, wherein the computing unit is designed to recognize the reference features in the image of the first camera unit and also to define the cutting path based on the relative position of the alignment features and the reference features in the image of the first camera unit.

[0027] In one embodiment, the positions of the reference feature and the workgroup relative to each other are known.

[0028] In a further embodiment, the computing unit is designed to check the orientation of the first camera unit relative to the working surface based on the position of a plurality of reference features in the image of the first camera unit.

[0029] In the cutting machine according to the invention according to the second aspect, information about the material thickness of the object to be cut is provided to the calculation unit and the calculation unit is designed to define the cutting path also based on this information about the material thickness.

[0030] In one embodiment, the computing unit is designed to determine the position of the alignment feature based on the image of the first camera unit and based on the information about the material thickness.

[0031] In another embodiment, the material thickness can be determined by the cutting machine itself, in particular in a camera-based manner.

[0032] In a further embodiment, the material thickness is provided in the storage unit together with the corresponding instruction, in particular as part of the instruction.

[0033] In the cutting machine according to the invention according to the third aspect, the computing unit is designed to jointly analyze at least two images of the work surface recorded at different times by means of the first camera unit and to determine the position of the alignment feature by analyzing the at least two images.

[0034] In one embodiment, the first camera unit is designed to record at least two images of the work surface at different times and in different situations with different exposure times, wherein a high-contrast image is created based on the at least two images.

[0035] In another embodiment, the computing unit is designed to create a high contrast image based on a bracketing of a plurality of images of the first camera unit.

[0036] In another embodiment, the first camera unit is designed to record high-contrast images.

[0037] In another embodiment, the first camera unit is designed to provide high-contrast images of the work surface, wherein the images are recorded using different exposure times, and the computing unit has circuits and program code for analyzing the high-contrast images of the first camera unit and is designed to identify alignment features of at least one object in the high-contrast image.

[0038] In a fourth and fifth aspect of the cutting machine according to the invention, the cutting machine further comprises an optical sensor unit which is oriented in the direction of the working surface and is arranged movably relative to the working surface in such a way that a plurality of positions can be captured by the optical sensor unit in which the detection area of ​​the optical sensor unit includes a part of the working surface. The computing unit further comprises circuits and program code for analyzing the data of the optical sensor unit.

[0039] In the cutting machine according to the fourth aspect of the present invention, the control unit is designed to:

[0040] - detecting the position of at least a plurality of alignment features relative to one another as a relative position by means of the image of the first camera unit,

[0041] - determining the position of a first subset of the plurality of alignment features relative to the work surface as an absolute position by means of the data of the optical sensor unit, and

[0042] - Determining the position of a second subset of the plurality of alignment features relative to the work surface based on the detected relative positions and the determined absolute positions.

[0043] In one embodiment, the optical sensor unit is designed as a second camera unit.

[0044] In another embodiment, the optical sensor unit is designed as part of a working group.

[0045] In another embodiment, the detection area of ​​the optical sensor unit (considered together) includes the entire working surface.

[0046] In a further embodiment, the first camera unit is designed as a line scan camera, wherein the field of view extends over the entire width of the working surface.

[0047] In another embodiment, the control unit is designed to determine the position of the object on the work surface and / or to define the cutting path based on the position of the alignment feature relative to the work surface.

[0048] In the cutting machine according to the fifth aspect of the present invention, the working group and the optical sensor unit can be displaced relative to the working surface by the same displacement mechanism. The cutting machine has a calibration function for the first camera unit, wherein within the scope of the calibration function, the cutting machine is designed to:

[0049] - determining the position of a plurality of points by means of an optical sensor unit,

[0050] - recording the same point with the aid of the first camera unit, and

[0051] - Calibrating the first camera unit using the position determined by the optical sensor unit as a target position.

[0052] 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.

[0053] In another embodiment, points of the plurality of points are designed as grid points specifically for use with the calibration function.

[0054] In a further embodiment, the cutting machine is designed to calibrate the displacement mechanism and the first camera unit relative to one another within the scope of a calibration function.

[0055] In another embodiment, the calibration function is carried out completely automatically after its activation, in particular wherein the activation can be initiated by the user.

[0056] In another embodiment, the optical sensor unit is designed as a second camera unit.

[0057] In another embodiment, the optical sensor unit is designed as part of a working group.

[0058] In another embodiment, the detection area of ​​the optical sensor unit (considered together) includes the entire working surface.

[0059] In a cutting machine according to the sixth aspect of the present invention, the instruction for cutting a specific object includes information related to an expected position of the object on a work surface, wherein the control unit is designed to derive an expected position of an alignment feature based on the expected position of at least one object, and is designed to limit a range around the expected position as an area of ​​interest in an image of the first camera unit, and the alignment feature is not searched outside the area of ​​interest.

[0060] In one embodiment, the first camera unit is designed to show only a local range or a plurality of local ranges including a range defined as the area of ​​interest.

[0061] In another embodiment, the first camera unit has a zoom function and is designed to magnify a local range.

[0062] In another embodiment, the control unit is designed to analyze only at least one area defined as a region of interest in the local area.

[0063] In a cutting machine according to any of the preceding aspects, the alignment features may be in the form of "alignment marks" which are specially designed for use with the cutting machine and which enable the position and orientation of the object relative to the work surface to be detected. The computing unit is then designed to recognize these alignment marks on the surface of at least one object in the image of the first camera unit and also to define the cutting path based on the position of the alignment marks. The alignment marks may comprise, in particular, geometric figures.

[0064] In one embodiment, the alignment feature may also include an edge of the object.

[0065] In another embodiment, the computing unit is designed to select instructions based on the identified alignment features.

[0066] The invention also relates to a computer program product with a program code stored on a machine-readable carrier for controlling at least one of the above-mentioned cutting machines, wherein the program is executed on a computing unit of the cutting machine and comprises at least the following steps:

[0067] - record images of the work surface;

[0068] - identifying an alignment feature of at least one object in the image;

[0069] - associating at least one object with at least one stored instruction;

[0070] - defining at least one cutting path based on the instructions and the location of the alignment features in the image; and

[0071] - controlling a cutting device to cut said at least one object along said at least one cutting path. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In the following, the cutting machine according to the invention will be described in more detail, purely by way of example, based on specific exemplary embodiments schematically shown in the accompanying drawings, wherein further advantages of the invention will also be discussed. These drawings show in particular:

[0073] Figure 1 Universal cutting machine with panoramic camera;

[0074] Figure 2a to Figure 2c an image from a panoramic camera, a cutting contour derived from the image, and a cutting path of a cutting device defined based on the image;

[0075] Figure 3 An example embodiment of a cutting machine according to the first aspect of the invention;

[0076] Figure 4 An example embodiment of a cutting machine according to the second aspect of the invention;

[0077] Figure 5 Distortion in the images from panoramic cameras;

[0078] Figure 6 Shadows in the panoramic camera image;

[0079] Figure 7 An example embodiment of a cutting machine according to a fourth aspect of the invention;

[0080] Figure 8 Viewed from above Figure 7 Working group of cutting machines;

[0081] Figure 9a to Figure 9b Two example embodiments of a cutting machine according to the fifth aspect of the invention; and

[0082] Figure 10a to Figure 10b According to the sixth aspect of the present invention, the range is defined as the region of interest. DETAILED DESCRIPTION

[0083] Figure 1 A universal cutting machine 1 is shown. As a flatbed cutting machine, it has a table with a flat work surface 10, on which two objects 40, 40' to be cut are placed, for example.

[0084] A work group 12 with a cutting tool 15 (especially a blade) is arranged above the work surface 10. The work group 12 can be moved two-dimensionally relative to the work surface 10 in an electrically powered manner, so that any point of the work surface 10 can be approached. For this purpose, the work group 12 is movably mounted in the X direction on a crossbeam 13, which in turn is movably mounted on a table in the Y direction.

[0085] The camera unit (panoramic camera 20 ) is arranged above the working surface 10 , so that an image of the entire working surface 10 can be recorded.

[0086] In particular, the cutting machine 1 can also have a cutting tool 15 which is driven in an oscillating manner and / or can be designed to cut multi-wall composite panels, as described in EP 2 894 014 B1.

[0087] The cutting machine 1 also has a computing unit 30. As shown here, this computing unit can be implemented as an external computer with a data connection to the machine, or can be integrated into the machine itself in the form of an internal control unit. The panoramic camera 20 is designed to provide the data of the recorded images to the computing unit 30 for analysis.

[0088] The computing unit 30 comprises a processor with computing power and an algorithm for controlling the cutting machine 1 in accordance with the provided cutting instructions. The computing unit 30 also has a data memory for storing the cutting instructions and possibly other data.

[0089] As a starting position, one or more objects 40, 40' to be cut are placed on the work surface 10. It is known exactly which instruction or instructions the object 40, 40' placed on the work surface 10 is associated with, or at least from which instruction set the instruction or instructions originate.

[0090] An image of the entire working area is recorded by means of a panoramic camera 20 and the position of the cutting contour is determined based on this image. This can be achieved by detecting alignment features in the graphic surface of the object and also by detecting the position of said alignment features. The alignment features are stored as part of the instruction data in the relevant instructions and can be present in the form of general features of the graphic design or, advantageously, as alignment marks provided specifically for alignment. This is known from the prior art.

[0091] If the corresponding command is not yet known, the corresponding command can initially be determined with the aid of these markings and their positions. If there are multiple commands, all corresponding commands are determined. The position of the cutting contour on the work surface is then determined via the object position and the relative position of the cutting contour in the command data. This is done by Figure 2a to Figure 2c The example in is shown.

[0092] Figure 2a Shown by Figure 1 50 recorded by a panoramic camera 20 of a cutting machine 1 of FIG. The image area includes the entire working area of ​​the cutting machine, including the working surface 10, on which two objects 40, 40' to be cut are located. A working group 12 can be seen at the upper edge of the image, and the working group 12 is preferably moved to the edge of the working area in order to record the image. In this example, the objects to be cut are plates (for example, made of paper, cardboard or plastic), and each has a graphic design with a pattern and / or inscription on its side facing the camera. In the example shown, the graphic design is a crescent-shaped moon-shaped pattern 41 in one case and a heart-shaped pattern 41' in another case. In addition, a plurality of alignment marks 42 on each of the plates are shown. The alignment marks 42 can be in particular geometric figures, such as circular dots of a certain diameter, as shown here.

[0093] Figure 2b The cutting contours 45, 45' of the sheets to be cut are shown. The shapes of the cutting contours 45, 45' and their relative positions on each of the sheets are stored in the instructions. Figure 2a Together with the image 50 of FIG. 4 , the position of the cutting contour 45 , 45 ′ on the work surface can be determined.

[0094] Based on Figure 2a The image 50 can also be optionally associated with the relevant sheet material by the control unit.

[0095] Figure 2c By way of example, a movement path for a cutting tool of a machine generated based on the determined position of the cutting contours 45, 45' is illustrated. Here, the working group is moved relative to the working surface in such a way that the cutting tool first moves a first cutting path (dashed line 151) from its home position 150. The cutting tool is then placed, for example, in a lower cutting position and the object is cut along the cutting path (solid line 152).

[0096] Figure 3An exemplary embodiment of a cutting machine 1 is shown, which has a plurality of reference markers 25 corresponding to the first aspect of the invention, which are arranged in the field of view of a panoramic camera 20 and are arranged fixedly relative to a work surface 10. In the example shown, six reference markers 25 are distributed around the edge of the work surface. The reference markers 25 can be identified in the image of the panoramic camera 20, and their positions in the image can be compared with their known defined positions relative to the work surface 10. Thus, a computing unit 30 (here shown as being integrated in the machine) is able to determine the position of an object 40, 40' on the work surface 10 or the position of a reference feature on the object 40, 40' with greater accuracy in each case based on the position of the reference markers 25.

[0097] Based on the position of the reference markers 25 in the image of the panoramic camera 20 , it is also possible to verify the correct orientation of the panoramic camera 20 relative to the work surface 10 and correct this orientation if necessary.

[0098] Figure 4 A cutting machine 1 is shown, on the working surface 10 of which two objects 40, 40' of different material thicknesses are placed. The first object 40 has a greater material thickness and is made, for example, of a multi-layer cardboard or composite board. Due to the position of the panoramic camera 20, there are distortions in the image recorded by the panoramic camera, and these distortions increase as one approaches the edge of the image. However, in the case of negligible material thickness (for example in the case of paper), as in the case of the second object 40', due to the flat surface of the working surface 10, no problems are encountered when identifying the objects 40, 40' or their position on the working surface 10.

[0099] However, this distortion becomes more relevant as the material thickness increases and as the eccentricity of the object's positioning relative to the camera position increases. Figure 5 is exemplified in . Figure 5 shows the image from the camera. Figure 4 However, the assumed position of the feature 44' of the thin object 40' made of paper is assumed to be in its correct position, while the assumed position of the feature 44 of the thick object 40 is located on a plane farther from the work surface 10 than the feature 44 of the thin object 40' due to the greater material thickness, and the assumed position of the feature 44 of the thick object 40 deviates more from its actual position with increasing distance from the camera position 21. Therefore, the reference marks in the camera image are each shown at a greater distance from the image center (dashed circle 49) than they are actually located.

[0100] On the one hand, this may mean that the object 40 is not recognized based on the image of the panoramic camera 20, or is even misidentified as another object and is therefore incorrectly cut. On the other hand, it is possible that the object 40 is correctly recognized, but due to the incorrect inference of the position of the reference features, an inaccurate or even completely wrong cutting path is calculated. In this case, the object 40 is also cut incorrectly.

[0101] According to a second aspect of the invention, this problem is solved by providing information about the material thickness of the object 40 to be cut to the calculation unit 30. For example, the material thickness can be predetermined by the camera, specified by the user or also provided as part of the instructions.

[0102] With the aid of the information about the material thickness, deviation distortions in the image of the panoramic camera 20 can be eliminated, thereby making it possible to accurately identify and determine the position of the object 40 and its alignment features.

[0103] Alternatively, the panoramic camera 20 may be designed to be automatically height-adjustable and movable in the Z direction according to the material thickness, whereby the distance to the object surface and thus the focal point remains constant regardless of the specific material thickness.

[0104] Figure 6 An image 50 of a work surface 10 recorded by a panoramic camera 20 is shown. The work surface 10 is partially in shadow 70. As in the example, this may be the result of direct solar radiation, for example causing the work surface 12 to cast a shadow 70 on the work surface 10. The object 40 to be cut is partially located in the shadow 70 and partially in the bright area of ​​the work surface 10.

[0105] Therefore, it may be disadvantageous that not all contours of the alignment features are detected with sufficient accuracy in the image 50 of the panoramic camera. According to a third aspect of the invention, the camera therefore detects an HDR (= High Dynamic Range) image of the work surface 10 in order to ensure a sufficiently high contrast both in dark and light areas in order to determine the position of the alignment mark 42 in the image 50.

[0106] Various methods are known for recording HDR images. For example, two images recorded one directly after the other with different exposure times can be superimposed. Alternatively, only one image is recorded, wherein the panoramic camera is designed to select the exposure time for individual pixels or for certain pixel areas depending on the brightness of the specific imaging area.

[0107] In order to reduce artifacts and image noise and thus to determine the contour more accurately, thereby enabling a more accurate and faster determination of the position of the alignment mark 42 in the image 50, it is advantageously possible to use the recording of a plurality of images of the same scene (also with uniform exposure). For example, pixels at the edge region of the alignment mark 42 can be assigned a brightness value averaged from the values ​​of a plurality of images.

[0108] according to Figure 7 and Figure 8 In the fourth aspect of the invention shown, the cutting machine 1 has another camera in addition to the panoramic camera 20. This second camera is also oriented toward the working surface 10. This second camera has a significantly smaller recording area than the panoramic camera 20, but is arranged movably relative to the working surface 10, so that preferably the image of the entire working surface 10 can be recorded. The second camera is preferably movably mounted on the same crossbar 13 as the working group 12 as a crossbar camera. In particular, it can be realized as part of this working group 12. Figure 7 and Figure 8 A corresponding embodiment of a cutting machine 1 is shown by way of example.

[0109] exist Figure 7 , an example embodiment of a cutting machine 1 is shown, in which a second camera unit is arranged in the working group 12 and is designed to record images in the direction of the working surface 10. Here, the image area of ​​the camera in each position only includes a small part of the working surface 10. In this embodiment, the panoramic camera 20 is also designed to record images of the entire working surface 10.

[0110] exist Figure 8 , a workgroup 12 is shown from above, which is movably mounted on a crossbar 13 and comprises a blade and a crossbar camera 60. The position of a relatively high panoramic camera 20 is also shown. The workgroup 12 is positioned here in such a way that two alignment marks 42 of the object 40 to be cut are located within the field of view 62 of the crossbar camera 60.

[0111] The detailed image recorded by the crossbar camera 60 can now be compared with the overall image previously recorded by the panoramic camera 20. The position of the alignment marks 42 relative to the work surface 10 can thus be verified or determined. An image is first recorded with the aid of the panoramic camera 20. With the aid of this image, the relative position of the alignment marks 42 is first determined, that is to say the arrangement of the alignment marks relative to one another. The crossbar camera 60 then approaches one or more alignment marks 42 and determines their position with high precision.

[0112] To verify the alignment mark positions, the positions determined by the panoramic camera 20 are compared to the positions determined by the crossbar camera 60 .

[0113] To determine the positions of the alignment marks on the work surface 10 , the positions of all alignment marks 42 are determined with high accuracy by transforming the positions determined in the image of the panoramic camera 20 by means of the positions determined in the image of the crossbar camera 60 .

[0114] According to the fifth aspect of the present invention, the additional camera 60 can also be used to calibrate the panoramic camera 20. Figure 9a and Figure 9b In this case, the cutting machine 1 has a calibration function which is controlled by the computing unit 30. Within the scope of this function, once started, the positions of a plurality of grid points over the entire working surface 10 can be determined fully automatically with high precision by means of the beam camera 60. For this purpose, Figure 9a As shown, the working surface itself can be realized as a calibration working surface 18, that is, the working surface itself can include corresponding grid points, or alternatively, as shown in FIG. Figure 9b As shown, a calibration sheet 48 is placed on the work surface 10 for calibration and comprises grid points.

[0115] The positions of the grid points determined by the crossbar camera 60 are stored as target positions. The same grid points are then recorded by the panoramic camera 20. With the aid of the target positions and the comparison with the positions of the grid points in the image of the panoramic camera 20, the panoramic camera 20 and the crossbar camera 60 can be calibrated relative to one another. If the crossbar camera 60 is accommodated in the same workgroup 12 as the cutting tool 15, it is advantageously possible to compensate for errors in the drive system of the workgroup 12.

[0116] According to a sixth aspect of the invention, a ROI (=Region of Interest) range can be selected before recording the image of the panoramic camera, and this ROI range is the only range of interest for determining the position of the alignment feature. Fig.10a and Fig.10b is exemplified in .

[0117] For this purpose, cutting instructions are provided in which specific additional information is stored which allows the work surface 10 to be limited to the ROI range. In particular, the cutting instructions include the expected position of the object 40, 40' to be cut and its size. Then either only one image of the selected range is recorded or only the corresponding range of the entire image is analyzed. This advantageously saves computing and storage capacity and speeds up processing. In addition, it can be prevented that the printed image is mistakenly misinterpreted as an alignment mark. If the panoramic camera only records one image of the ROI, the panoramic camera can additionally be designed to enlarge the corresponding range, so that a higher resolution can be achieved.

[0118] exist Fig.10a In FIG. 5 , an image 50 of the entire working surface 10 is shown, as has been recorded by a panoramic camera (see FIG. 5 ). Figure 2a ). Based on the information about the possible positions of the objects 40, 40' on the work surface 10, ranges 52 are defined by the computing unit, each of which includes the expected position of the associated alignment mark 42. Only in these ranges 52 are the alignment marks 42 searched for, and thus only the positions of the alignment marks 42 which are also located in these ranges 52 are determined. Advantageously, this not only saves computing capacity in time, but also prevents features of the graphic design from being misinterpreted as alignment features.

[0119] exist Fig.10b In, from Fig.10a The image 50 of the panoramic camera has been restricted to two ROI ranges and therefore only includes range images 51 and 51 '. The objects 40, 40' to be cut are at least partially shown in the respective range images 51, 51', and the alignment marks 42 are therefore visible, so that a cutting path can be generated in each case. Since the image range that needs to be analyzed is smaller, the relative position of the alignment marks 42 can be detected more quickly, thus speeding up the processing.

[0120] It goes without saying that the described figures only schematically show possible example embodiments. The various methods can also be combined with one another and with devices or methods from the prior art.

Claims

1. A cutting machine, the cutting machine being designed for cutting an object having a flat surface, wherein: The surface has a graphic design with optical alignment features, and the cutting machine has: - a work surface designed to accommodate at least one object, a first camera unit, which is arranged relative to the working surface in such a way that the field of view of the camera includes the entire working surface, a working group, which is movably arranged above the working surface and has at least one cutting device for cutting the at least one object, an optical sensor unit, which is oriented in the direction of the working surface and is movably arranged relative to the working surface such that a plurality of positions can be captured by the optical sensor unit in which a detection area of ​​the optical sensor unit includes a portion of the working surface, and - a computing unit having circuits and program code for controlling the cutting machine, the computing unit comprising a storage unit for storing instructions for cutting certain objects, wherein the computing unit having circuitry and program code for analyzing the image of the first camera unit and designed to identify alignment features of the at least one object in the image of the first camera unit, having circuitry and program code for analyzing data from the optical sensor unit, and designed to define a cutting path of the cutting device according to at least one stored instruction and based on the position of the alignment feature in the image, It is characterized in that The computing unit is designed to - detecting the position of at least a plurality of alignment features relative to one another as relative position by means of the image of the first camera unit, - determining the position of a first subset of the plurality of alignment features relative to the work surface as an absolute position by means of the data of the optical sensor unit, and - determining the position of a second subset of the plurality of alignment features relative to the work surface based on the detected relative position and the determined absolute position.

2. The cutting machine according to claim 1, It is characterized in that The optical sensor unit is designed as a second camera unit.

3. The cutting machine according to claim 1 or 2, It is characterized in that The optical sensor unit is designed as part of the working group.

4. The cutting machine according to claim 1 or 2, It is characterized in that The detection area of ​​the optical sensor unit considered together comprises the entire working surface.

5. The cutting machine according to claim 1 or 2, It is characterized in that The first camera unit is designed as a line scan camera, wherein the field of view extends over the entire width of the working surface.

6. The cutting machine according to claim 1 or 2, It is characterized in that The computing unit is designed to determine a position of an object on the work surface and / or to define a cutting path based on a position of the alignment feature relative to the work surface.

7. The cutting machine according to claim 1 or 2, It is characterized in that The alignment features are in the form of alignment marks specifically designed for use with the cutting machine to enable the position and orientation of the object relative to the work surface to be detected.

8. The cutting machine according to claim 1 or 2, It is characterized in that The first camera unit includes a panoramic camera arranged above the working surface, so that the entire working surface can be imaged.

9. The cutting machine according to claim 1 or 2, It is characterized in that The working group and the optical sensor unit are displaceable relative to the working surface by the same displacement mechanism, and A calibration function is provided for the first camera unit, wherein within the scope of the calibration function the cutting machine is designed to - determining the position of a plurality of points by means of the optical sensor unit, - recording the same point with the aid of the first camera unit, and - calibrating the first camera unit (20) using the position determined by the optical sensor unit as a target position.

10. The cutting machine according to claim 9, It is characterized in that The work surface is designed as a calibration work surface, and the plurality of points are optical marks on the calibration work surface.

11. The cutting machine according to claim 9, It is characterized in that The plurality of points are designed as grid points specifically for use with the calibration function.

12. A cutting machine designed for cutting an object having a flat surface, wherein: The surface has a graphic design with optical alignment features, and the cutting machine has: - a work surface designed to accommodate at least one object, a first camera unit, which is arranged relative to the working surface in such a way that the field of view of the camera includes the entire working surface, a working group, which is movably arranged above the working surface and has at least one cutting device for cutting the at least one object, an optical sensor unit, which is oriented in the direction of the working surface and is movably arranged relative to the working surface such that a plurality of positions can be captured by the optical sensor unit in which a detection area of ​​the optical sensor unit includes a portion of the working surface, and - a computing unit having circuits and program code for controlling the cutting machine, the computing unit comprising a storage unit for storing instructions for cutting certain objects, wherein the computing unit having circuitry and program code for analyzing the image of the first camera unit and designed to identify alignment features of the at least one object in the image of the first camera unit, having circuitry and program code for analyzing data from the optical sensor unit, and designed to define a cutting path of the cutting device according to at least one stored instruction and based on the position of the alignment feature in the image, wherein the working group and the optical sensor unit can be displaced relative to the working surface by the same displacement mechanism, It is characterized in that A calibration function for the first camera unit, wherein within the scope of the calibration function the cutting machine is designed - determining the position of a plurality of points by means of the optical sensor unit, - recording the same point with the aid of the first camera unit, and - calibrating the first camera unit using the position determined by the optical sensor unit as a target position.

13. The cutting machine according to claim 12, It is characterized in that The work surface is designed as a calibration work surface, and the plurality of points are optical marks on the calibration work surface.

14. A cutting machine according to claim 12 or 13, It is characterized in that The plurality of points are designed as grid points specifically for use with the calibration function.

15. A cutting machine according to claim 12 or 13, It is characterized in that The cutting machine is designed to calibrate the displacement mechanism and the first camera unit relative to one another within the scope of the calibration function.

16. A cutting machine according to claim 12 or 13, It is characterized in that The calibration function is carried out fully automatically after its activation, wherein the activation can be initiated by the user.

17. A cutting machine according to claim 12 or 13, It is characterized in that The optical sensor unit is designed as a second camera unit.

18. The cutting machine according to claim 17, It is characterized in that The optical sensor unit is designed as part of the working group.

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