EP3606709B1 - Cutting machine with overview camera - Google Patents

Cutting machine with overview camera Download PDF

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

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

Definitions

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

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

Description

Die Erfindung betrifft eine Schneidemaschine mit einer Kamera, insbesondere eine Schneidemaschine, die ausgebildet ist zum Schneiden von Objekten, die eine Oberfläche mit graphischer Gestaltung und optischen Registriermerkmalen aufweisen. Diese Objekte können insbesondere bedruckte Bögen aus Papier, Karton oder ähnlichen Materialien, Kunststofffolien oder Tücher oder ähnliches darstellen.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.

Gattungsgemässe Maschinen sind beispielsweise in den Dokumenten EP 1 385 674 B1 und EP 2 488 333 B1 beschrieben. Eine solche Schneidemaschine weist eine Arbeitsfläche auf, die zur Aufnahme mindestens eines Objekts ausgestaltet ist, eine beweglich über der Arbeitsfläche angeordnete Arbeitsgruppe mit einem Messer oder einer anderen Schneidevorrichtung zum Schneiden von auf der Arbeitsfläche befindlichen Objekten. Des weiteren ist relativ zur Arbeitsfläche, insbesondere oberhalb von dieser, eine Kameraeinheit derart angeordnet, dass ihr Sichtfeld die gesamte Arbeitsfläche umfasst ("Überblickskamera"). Basierend auf Positionen der optischen Registriermerkmale in einem Bild der Überblickskamera kann dann in Abhängigkeit eines ausgewählten Schneideauftrags ein Schneidpfad definiert werden.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.

Unter "Schneiden" ist dabei nicht unbedingt ein vollständiges Durchtrennen zu verstehen, sodass ein "Schneideauftrag" ebenso ein Perforieren oder Falzen des Objekts oder einen ähnlichen Arbeitsschritt beinhalten kann, der mit einer gattungsgemässen Maschine ausführbar ist.“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.

Es ist eine Aufgabe der Erfindung, eine verbesserte Schneidemaschine bereitzustellen.It is an object of the invention to provide an improved cutting machine.

Insbesondere ist es eine Aufgabe der Erfindung, eine Schneidemaschine bereitzustellen, mittels welcher Schneidaufträge schneller ausführbar sind.In particular, it is an object of the invention to provide a cutting machine by means of which cutting jobs can be carried out more quickly.

Eine weitere Aufgabe ist es, eine Schneidemaschine bereitzustellen, mittels welcher Schneidaufträge mit weniger Personalbedarf bzw. mit einem höheren Automatisierungsgrad ausführbar sind.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.

Eine weitere Aufgabe ist es, eine Schneidemaschine mit einer Überblickskamera bereitzustellen, mittels welcher Schneidpfade schneller und/oder genauer definierbar sind. Eine weitere Aufgabe ist es, eine solche Schneidemaschine bereitzustellen, bei der weniger Ausschuss produziert wird. Mindestens eine dieser Aufgaben wird durch die Verwirklichung der Merkmale der unabhängigen Ansprüche gelöst. Vorteilhafte Ausgestaltungen der Erfindung finden sich dabei in den jeweils abhängigen Ansprüchen.Another task is to provide a cutting machine with an overview camera, by means of which cutting paths can be defined more quickly and/or more precisely. Another task is to provide such a cutting machine that produces less waste. At least one of these tasks is solved by implementing the features of the independent claims. Advantageous embodiments of the invention can be found in the respective dependent claims.

Die Erfindung betrifft eine Schneidemaschine, die ausgebildet ist zum Schneiden von Objekten mit einer ebenen Oberfläche, wobei die Oberfläche eine graphische Gestaltung mit optischen Registriermerkmalen aufweist. Die erfindungsgemässe Schneidemaschine weist eine Arbeitsfläche, die zur Aufnahme mindestens eines Objekts ausgestaltet ist, eine erste Kameraeinheit, die relativ zu der Arbeitsfläche derart angeordnet ist, dass ihr Sichtfeld die gesamte Arbeitsfläche umfasst, und eine Arbeitsgruppe, die beweglich über der Arbeitsfläche angeordnet ist und mindestens eine Schneidevorrichtung zum Schneiden des mindestens einen Objekts aufweist, auf.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.

Ausserdem ist eine Recheneinheit mit einer Schaltung und Programmcode zur Steuerung der Schneidemaschine vorgesehen, aufweisend eine Speichereinheit zum Speichern von Aufträgen zum Schneiden bestimmter Objekte. Die Recheneinheit weist eine Schaltung und Programmcode zum Auswerten von Bildern der ersten Kameraeinheit auf und ist dazu ausgestaltet, Registriermerkmale des mindestens einen Objekts in einem Bild der ersten Kameraeinheit zu erkennen. Sie ist ausserdem dazu ausgestaltet, gemäss mindestens einem gespeicherten Auftrag und basierend auf Positionen der Registriermerkmale in dem Bild einen Schneidpfad für die Schneidevorrichtung zu definieren.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.

Die Registriermerkmale können insbesondere in Form von Registriermarken vorliegen, die speziell zur Verwendung mit der Schneidemaschine ausgestaltet sind, um eine Position und Ausrichtung des Objektes relativ zur Arbeitsfläche erfassbar zu machen. Die Recheneinheit ist dann dazu ausgestaltet, die Registriermarken auf der Oberfläche des mindestens einen Objektes in einem Bild der ersten Kameraeinheit zu erkennen, und den Schneidpfad auch basierend auf den Positionen der Registriermarken zu definieren.The registration features can in particular be in the form of registration marks that are specifically designed for use with the cutting machine in order to make it possible to detect a position and orientation of the object relative to the work surface. The computing unit is then designed to recognize the registration marks on the surface of the at least one object in an image of the first camera unit, and also to define the cutting path based on the positions of the registration marks.

In einer Ausführungsform ist die Recheneinheit dazu ausgestaltet, basierend auf erkannten Registriermerkmalen bzw. deren Positionen, einen Auftrag auszuwählen.In one embodiment, the computing unit is designed to select an order based on recognized registration features or their positions.

Die Erfindung betrifft ausserdem ein Computerprogrammprodukt mit Programmcode, der auf einem maschinenlesbaren Träger gespeichert ist, zur Steuerung der erfindungsgemässen Schneidemaschine, wobei das Programm auf der Recheneinheit der Schneidemaschine ausgeführt wird und mindestens die folgenden Schritte aufweist:

  • 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.

Ein die vorliegende Erfindung kennzeichnender Aspekt betrifft dabei eine Schneidemaschine, bei welcher an der Arbeitsfläche und im Sichtfeld der Kamera Referenzmarken vorgesehen sind, mit deren Hilfe eine genauere Positionsbestimmung der Objekte ermöglicht wird.One aspect characterizing the present invention relates to a cutting machine in which reference marks are provided on the work surface and in the field of view of the camera, with the help of which a more precise positioning of the objects is possible.

Bei der erfindungsgemässen Schneidemaschine sind zusätzlich in bekannter Positionierung und Verteilung relativ zur Arbeitsfläche und im Sichtfeld der ersten Kamera Referenzmerkmale angeordnet, wobei die Recheneinheit dazu ausgestaltet ist, die Referenzmerkmale in dem Bild der ersten Kameraeinheit zu erkennen und den Schneidpfad auch basierend auf relativen Positionen der Registriermerkmale und der Referenzmerkmale in dem Bild der ersten Kameraeinheit zu definieren.In the cutting machine according to the invention, reference features are additionally arranged in a known positioning and distribution relative to the work surface and in the field of view of the first camera, the computing unit being designed to recognize the reference features in the image of the first camera unit and the cutting path also based on relative positions of the registration features and to define the reference features in the image of the first camera unit.

In einer Ausführungsform sind die relativen Positionen der Referenzmerkmale und der Arbeitsgruppe zueinander bekannt. In einer weiteren Ausführungsform ist die Recheneinheit dazu ausgestaltet, anhand von Positionen einer Vielzahl von Referenzmerkmalen im Bild der ersten Kameraeinheit eine Ausrichtung der ersten Kameraeinheit relativ zur Arbeitsfläche zu überprüfen.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.

Weitere Ausführungen werden durch die abhängigen Ansprüche definiert.Further embodiments are defined by the dependent claims.

Die Erfindung betrifft auch ein Computerprogrammprodukt mit Programmcode, wie im Anspruch 7 definiert.The invention also relates to a computer program product with program code as defined in claim 7.

Die erfindungsgemässe Schneidemaschine wird nachfolgend anhand von in den Zeichnungen schematisch dargestellten konkreten Ausführungsbeispielen rein beispielhaft näher beschrieben, wobei auch auf weitere Vorteile der Erfindung eingegangen wird. Im Einzelnen zeigen:

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 kennzeichnenden, ersten Aspekt der Erfindung;
Fig. 4
eine beispielhafte Ausführungsform einer Schneidemaschine gemäss dem zweiten Aspekt, der jedoch nicht unter den Schutzbereich der Erfindung fällt;
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 jedoch nicht unter den Schutzbereich der Erfindung fällt;
Fig. 8
die Arbeitsgruppe der Schneidemaschine aus Figur 7 von oben;
Fig. 9a-b
zwei beispielhafte Ausführungsformen einer Schneidemaschine gemäss dem fünften Aspekt, der jedoch nicht unter den Schutzbereich der Erfindung fällt; und
Fig. 10a-b
gemäss dem sechsten Aspekt, der jedoch nicht unter den Schutzbereich der Erfindung fällt, 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 characteristic first aspect of the invention;
Fig. 4
an exemplary embodiment of a cutting machine according to the second aspect, which, however, does not fall within the scope 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, which, however, does not fall within the scope 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, which, however, does not fall within the scope of the invention; and
Fig. 10a-b
According to the sixth aspect, which however does not fall within the scope of protection of the invention, areas defined as regions of interest.

Figur 1 zeigt eine gattungsgemässe Schneidemaschine 1. Als Flachbett-Schneidemaschine weist sie einen Tisch mit einer ebenen Arbeitsfläche 10 auf, auf welcher hier beispielhaft zwei zu schneidende Objekte 40, 40' plaziert sind. 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.

Oberhalb der Arbeitsfläche 10 ist eine Arbeitsgruppe 12 mit einem Schneidwerkzeug 15, insbesondere einem Messer, angeordnet. Die Arbeitsgruppe 12 ist relativ zur Arbeitsfläche 10 zweidimensional motorisiert verfahrbar, um jeden Punkt der Arbeitsfläche 10 anfahren zu können. Dazu ist die Arbeitsgruppe 12 in X-Richtung beweglich an einem Balken 13 angebracht, der wiederum in Y-Richtung beweglich an dem Tisch angebracht ist.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.

Eine Kameraeinheit (Überblickskamera 20) ist oberhalb der Arbeitsfläche 10 so angeordnet, dass Bilder der gesamten Arbeitsfläche 10 aufgenommen werden können.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.

Insbesondere kann die Schneidemaschine 1 auch ein oszillierend angetriebenes Schneidwerkzeug 15 aufweisen und/oder zum Schneiden mehrwandiger Verbundplatten ausgestaltet sein, wie beispielsweise in der EP 2 894 014 B1 beschrieben.In particular, the cutting machine 1 can also have an oscillatingly driven cutting tool 15 and/or for Cutting multi-walled composite panels can be designed, for example in the EP 2 894 014 B1 described.

Die Schneidemaschine 1 weist ausserdem eine Recheneinheit 30 auf. Diese kann wie hier dargestellt als ein externer Computer, der eine Datenverbindung mit der Maschine 1 aufweist, ausgestaltet sein oder als interne Steuereinheit in die Maschine 1 selbst integriert sein. Die Überblickskamera 20 ist dazu ausgestaltet, der Recheneinheit 30 Daten aufgenommener Bilder zur Auswertung bereitzustellen.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.

Die Recheneinheit 30 umfasst einen Prozessor mit Rechenkapazität und Algorithmen zur Steuerung der Schneidemaschine 1 entsprechend einem bereitgestellten Schneideauftrag. Die Recheneinheit 30 weist zudem einen Datenspeicher zum Speichern der Schneideaufträge und ggf. weiterer Daten auf.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.

Als Ausgangslage werden ein oder mehrere zu schneidende Objekte 40, 40' auf die Arbeitsfläche 10 gebracht. Es ist entweder genau bekannt, welchem Auftrag oder welchen Aufträgen, die auf der Arbeitsfläche 10 liegenden Objekte 40, 40' zugeordnet sind, oder es ist zumindest bekannt, aus welcher Sammlung von Aufträgen dieser Auftrag oder diese Aufträge stammen.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.

Mittels der Überblickskamera 20 wird ein Bild des gesamten Arbeitsbereichs aufgenommen und anhand dieses Bildes die Position der Schneidkonturen bestimmt. Dies geschieht, indem Registriermerkmale in der graphisch gestalteten Oberfläche der Objekte und ihre Position detektiert werden. Die Registriermerkmale sind als Teil der Auftragsdaten im jeweiligen Auftrag hinterlegt und können sowohl als allgemeine Merkmale der graphischen Gestaltung vorliegen, oder aber vorteilhaft als speziell zur Registrierung vorgesehene Registriermarken. Dies ist aus dem Stand der Technik bekannt.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 as general features of the graphic design, or else advantageous as registration marks specifically intended for registration. This is known from the prior art.

Wenn der entsprechende Auftrag noch nicht bekannt ist, kann mit Hilfe dieser Markierungen und deren Position zunächst der entsprechende Auftrag bestimmt werden. Wenn es mehrere Aufträge sind, werden alle entsprechenden Aufträge bestimmt. Dann wird über die Objekt-Positionen und die relative Lage der Schneidkonturen in den Auftragsdaten die Position der Schneidkonturen auf der Arbeitsfläche bestimmt. Dies ist in den Figuren 2a-c beispielhaft dargestellt.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.

Figur 2a zeigt ein von der Überblickskamera 20 der Schneidemaschine 1 aus Figur 1 aufgenommenes Bild 50. Der Bildbereich umfasst den gesamten Arbeitsbereich der Schneidemaschine inklusive der Arbeitsfläche 10, auf welcher sich zwei zu schneidende Objekte 40, 40' befinden. Am oberen Rand des Bildes ist die Arbeitsgruppe 12 zu sehen, die zur Bildaufnahme vorzugsweise an den Rand des Arbeitsbereichs gefahren wird. Die zu schneidenden Objekte sind in diesem Beispiel Bögen 40, 40' (z. B. aus Papier, Karton oder Kunststoff) und weisen auf ihrer der Kamera zugewandten Seite jeweils eine graphische Gestaltung 44, 44' mit Mustern und/oder Inschriften auf. Im dargestellten Beispiel handelt es sich einerseits um ein Muster in Form eines Halbmondes 41 und andererseits um ein herzförmiges Muster 41'. Daneben ist jeweils eine Anzahl von Registriermarken 42 auf den Bögen 40, 40' abgebildet. Die Registriermarken 42 können insbesondere geometrische Figuren sein, z. B. wie hier dargestellt kreisrunde Punkte eines bestimmten Durchmessers. 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. The example shown is, on the one hand, a pattern in the form of a crescent 41 and, on the other hand, a heart-shaped pattern 41'. 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.

Figur 2b zeigt die Schneidkonturen 45, 45' der zu schneidenden Bögen 40, 40'. Die jeweilige Form der Schneidkonturen 45, 45' und ihre relative Position auf dem jeweiligen Bogen 40, 40' ist in Aufträgen hinterlegt. Zusammen mit dem Bild 50 aus Figur 2a kann eine Position und Lage der Schneidkonturen 45, 45' auf der Arbeitsfläche ermittelt werden. Figure 2b shows the cutting contours 45, 45' of the sheets 40, 40' to be cut. The respective shape of the cutting contours 45, 45' and their relative position on the respective sheet 40, 40' is stored in orders. Together with the picture 50 out Figure 2a a position and position of the cutting contours 45, 45 'on the work surface can be determined.

Optional kann basierend auf dem Bild 50 aus Figur 2a durch die Steuereinheit einem Bogen 40, 40' auch der entsprechende Auftrag zuordenbar sein.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.

Figur 2c illustriert beispielhaft ein von der Steuereinheit anhand der ermittelten Positionen der Schneidkonturen 45, 45' generierten Bewegungspfad für das Schneidwerkzeug der Maschine. Dabei wird die Arbeitsgruppe relativ zur Arbeitsfläche dergestalt bewegt, dass das Schneidwerkzeug von seiner Ursprungsposition 150 zunächst zu einem ersten Schneidpfad gefahren wird (gestrichelte Linie 151). Dann wird das Schneidwerkzeug in eine Schneidposition gebracht, beispielsweise abgesenkt, und schneidet das Objekt entlang des Schneidpfades (durchgezogene Line 152). 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).

Figur 3 zeigt eine beispielhafte Ausführungsform einer Schneidemaschine 1, die entsprechend dem kennzeichnenden, ersten Aspekt der vorliegenden Erfindung eine Vielzahl von Referenzmarken 25 aufweist, die im Sichtfeld der Überblickskamera 20 und relativ zur Arbeitsfläche 10 fix angeordnet sind. Im dargestellten Beispiel sind sechs Referenzmarken 25 ringsum am Rand der Arbeitsfläche verteilt. Die Referenzmarken 25 können in den Bildern der Überblickskamera 20 identifiziert werden und ihre Positionen im Bild mit ihren relativ zur Arbeitsfläche 10 bekannt definierten Positionen abgeglichen werden. Die Recheneinheit 30 (hier in die Maschine integriert dargestellt) ist dadurch in der Lage, anhand der Positionen der Referenzmarken 25 im Bild Positionen von Objekten 40, 40' auf der Arbeitsfläche 10 bzw. Figure 3 shows an exemplary embodiment of a cutting machine 1, which, in accordance with the characteristic first aspect of the present invention, has a plurality of reference marks 25 which are fixedly arranged in the field of view of the overview camera 20 and relative to the work surface 10. 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

Positionen von Referenzierungsmerkmalen auf den Objekten 40, 40' jeweils mit grösserer Genauigkeit zu bestimmen.Positions of referencing features on the objects 40, 40 'can each be determined with greater accuracy.

Ebenso ist es möglich, anhand der Positionen der Referenzmarken 25 im Bild der Überblickskamera 20 eine korrekte Ausrichtung der Überblickskamera 20 bezüglich der Arbeitsfläche 10 zu verifizieren und ggf. zu korrigieren.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.

Figur 4 zeigt eine Schneidemaschine 1, auf deren Arbeitsfläche 10 zwei Objekte 40, 40' unterschiedlicher Materialdicke plaziert sind. Das erste Objekt 40 weist dabei eine höhere Materialdicke auf und besteht z. B. aus einem mehrschichtigem Karton oder einer Verbundplatte. Durch die Position der Überblickskamera 20 kommt es in von dieser aufgenommenen Bildern zu Verzerrungen, die zu den Bildrändern hin zunehmen. Bei einer zu vernachlässigenden Materialdicke (z. B. bei Papier), wie hier bei dem zweiten Objekt 40', stellt diese durch die plane Oberfläche der Arbeitsfläche 10 beim Erkennen von Objekten 40, 40' oder ihrer Lage auf der Arbeitsfläche 10 jedoch kein Problem dar. 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.

Mit zunehmender Materialdicke und zunehmender Exzentrizität bei der Positionierung des Objekts relativ zur Kameraposition werden die Verzerrungen jedoch relevant. Dies wird in Figur 5 illustriert. Diese zeigt die im Bild der Kamera erkannten Objektmerkmale 44, 44' der beiden Objekte aus Figur 4. Während die Merkmale 44' des dünnen Objekts 40' aus Papier an ihrer korrekten Position vermutet werden, weichen die vermuteten Positionen der Merkmale 44 des dicken Objekts 40, die sich aufgrund der grösseren Materialdicke in einer weiter von der Arbeitsfläche 10 entfernten Ebene befinden als die Merkmale 44' des dünnen Objekts 40', mit zunehmender Entfernung zur Kameraposition 21 stärker von ihren eigentlichen Positionen ab. So werden die Referenzmarken 42 im Bild der Kamera jeweils weiter entfernt vom Bildmittelpunkt abgebildet (punktierte Kreise 49) als sie sich eigentlich befinden.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. This is how the reference marks 42 appear in the camera image shown further away from the center of the image (dotted circles 49) than they actually are.

Dies kann einerseits dazu führen, dass das Objekt 40 anhand des Bildes der Überblickskamera 20 entweder gar nicht erkannt wird, oder sogar für ein anderes Objekt gehalten und somit falsch zugeschnitten wird. Andererseits ist es möglich, dass das Objekt 40 zwar korrekt erkannt wird, aber da die Positionen der Referenzmerkmale falsch abgeleitet werden, ein ungenauer bis gänzlich falscher Schneidepfad berechnet wird. In diesem Fall wird das Objekt 40 ebenfalls falsch zugeschnitten.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 because the positions of the reference features are incorrectly derived, an inaccurate or completely incorrect cutting path is calculated. In this case, the object 40 will also be cropped incorrectly.

Dieses Problem wird gemäss dem zweiten Aspekt dadurch gelöst, dass eine Information über die Materialdicke des zu schneidenden Objekts 40 der Steuereinheit 30 bereitgestellt wird. Die Materialdicke kann beispielsweise vorab durch eine Kamera ermittelt werden, von einem Benutzer abgefragt werden oder auch als Teil des Auftrags bereitgestellt werden.According to the second aspect, this problem is solved by providing information about the material thickness of the object 40 to be cut to the control unit 30. The material thickness can, for example, be determined in advance by a camera, queried by a user or even provided as part of the order.

Mittels der Information über die Materialdicke kann eine abweichende Verzerrung im Bild der Überblickskamera 20 herausgerechnet werden, wodurch eine exakte Erkennung und Positionsbestimmung des Objekts 40 und seiner Registriermerkmale ermöglicht wird.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.

Alternativ kann die Überblickskamera 20 automatisch höhenverstellbar ausgestaltet sein, und in Abhängigkeit von der Materialdicke in Z-Richtung verfahren werden, wodurch der Abstand zur Objektoberfläche und damit der Fokus unabhängig von der jeweiligen Materialdicke konstant bleiben.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.

Figur 6 zeigt ein von der Überblickskamera 20 aufgenommenes Bild 50 der Arbeitsfläche 10. Die Arbeitsfläche 10 liegt teilweise im Schatten 70. Dies kann beispielsweise Folge direkter Sonneneinstrahlung sein, sodass wie in diesem Beispiel die Arbeitsgruppe 12 einen Schatten 70 auf die Arbeitsfläche 10 wirft. Das zu schneidende Objekt 40 liegt dabei teilweise im Schatten 70 und teilweise im hell beleuchteten Bereich der Arbeitsfläche 10. Figure 6 shows an image 50 of the work surface 10 taken by the overview camera 20. The work surface 10 is partially in the shadow 70. This can result, for example be direct sunlight, so that, as in this example, the work group 12 casts a shadow 70 on the work surface 10. The object 40 to be cut lies partly in the shadow 70 and partly in the brightly lit area of the work surface 10.

Nachteilig können so im Bild 50 der Überblickskamera nicht alle Konturen der Registriermerkmale mit ausreichender Präzision erfasst werden. Gemäss dem dritten Aspekt erfasst die Kamera daher ein HDR-Bild (HDR = High Dynamic Range) der Arbeitsfläche 10, um sowohl in dunklen als auch hellen Bereichen einen ausreichend hohen Kontrast zur Positionsbestimmung der Registriermarken 42 im Bild 50 zu gewährleisten.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, 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.

Zur Aufnahme von HDR-Bildern sind verschiedene Verfahren bekannt. Beispielsweise können zwei direkt nacheinander aufgenommene Bilder unterschiedlicher Belichtungsdauer überlagert werden. Alternativ wird nur ein Bild aufgenommen, wobei die Überblickskamera dazu ausgestaltet ist, die Belichtungsdauer für jeden Pixel oder für bestimmte Pixelbereiche abhängig von der Helligkeit des jeweiligen Abbildungsbereiches auszuwählen.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.

Eine Aufnahme mehrerer Bilder derselben Szene kann vorteilhaft - auch bei gleichmässiger Beleuchtung - zur Reduzierung von Artefakten und von Bildrauschen und damit zur genaueren Bestimmung von Konturen verwendet werden, um eine genauere und schnellere Positionsbestimmung der Registriermarken 42 im Bild 50 zu ermöglichen. Pixeln in den Randbereichen der Registriermarken 42 kann beispielsweise ein aus Werten der mehreren Bilder gemittelter Helligkeitswert zugewiesen werden.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.

Gemäss dem vierten, in den Figuren 7 und 8 dargestellten, Aspekt weist die Schneidemaschine 1 neben der Überblickskamera 20 eine weitere Kamera 60 auf. Diese zweite Kamera ist ebenfalls auf die Arbeitsfläche 10 ausgerichtet. Sie hat einen deutlich kleineren Aufnahmebereich 62 als die Überblickskamera 20, ist aber relativ zur Arbeitsfläche 10 beweglich angeordnet, sodass vorzugsweise Bilder der gesamten Arbeitsfläche 10 aufnehmbar sind. Die zweite Kamera 60 ist vorzugsweise als Balkenkamera beweglich an demselben Balken 13 angebracht wie die Arbeitsgruppe 12. Insbesondere kann sie als Teil dieser Arbeitsgruppe 12 ausgestaltet sein. Die Figuren 7 und 8 zeigen beispielhaft eine entsprechende Ausführungsform der Schneidemaschine 1.According to the fourth, in the Figures 7 and 8 In the aspect shown, 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 Figur 7 ist eine beispielhafte Ausführungsform der Schneidemaschine 1 dargestellt, wobei in der Arbeitsgruppe 12 eine zweite Kameraeinheit 60 bereitgestellt wird, die dazu ausgestaltet ist, Bilder in Richtung der Arbeitsfläche 10 aufzunehmen. Dabei umfasst ihr Bildbereich 62 an jeder Position jeweils nur einen kleinen Teil der Arbeitsfläche 10. Die Überblickskamera 20 ist auch in dieser Ausführungsform dazu ausgestaltet, Bilder der gesamten Arbeitsfläche 10 aufzunehmen.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 Figur 8 ist die am Balken 13 beweglich angebrachte Arbeitsgruppe 12 mit Messer 15 und Balkenkamera 60 von oben dargestellt. Die Position der relativ höher befindlichen Überblickskamera 20 ist ebenfalls gezeigt. Die Arbeitsgruppe 12 ist hier derart positioniert, dass sich zwei Registriermarken 42 eines zu schneidenden Objekts 40 im Blickfeld 62 der Balkenkamera 60 befinden.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.

Ein von der Balkenkamera 60 aufgenommenes Detailbild kann nun mit dem zuvor von der Überblickskamera 20 aufgenommenen Gesamtbild verglichen werden. Dadurch können die Positionen der Registriermarken 42 verifiziert oder relativ zur Arbeitsfläche 10 bestimmt werden. Es wird zunächst ein Bild mit der Überblickskamera 20 aufgenommen. Mittels dieses Bildes werden zunächst relative Positionen der Registriermarken 42 bestimmt, also die Anordnung der Registriermarken relativ zueinander. Dann werden durch die Balkenkamera 60 ein oder mehrere Registriermarken 42 angefahren und deren Position(en) mit hoher Genauigkeit bestimmt.A detailed image recorded by the bar camera 60 can now be compared with the one previously recorded by the overview camera 20 Overall picture can be compared. This allows the positions of the registration marks 42 to be verified or determined relative to the work surface 10. 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.

Zum Verifizieren der Registriermarken-Positionen werden die mit der Überblickskamera 20 ermittelten Positionen mit den mit der Balkenkamera 60 ermittelten Positionen verglichen.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.

Zum Bestimmen der Registriermarken-Positionen auf der Arbeitsfläche 10 werden durch Transformation der im Bild der Überblickskamera 20 ermittelten Positionen durch die im Bild der Balkenkamera 60 ermittelten Positionen die Positionen aller Registriermarken 42 mit hoher Genauigkeit bestimmt.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.

Gemäss dem fünften Aspekt kann eine solche zusätzliche Kamera 60 auch zur Kalibrierung der Überblickskamera 20 verwendet werden. Dies ist in den Figuren 9a und 9b dargestellt. Die Schneidemaschine 1 weist dabei eine durch die Recheneinheit 30 gesteuerte Kalibrierfunktionalität auf. Im Rahmen dieser Funktionalität können nach dem Start vollautomatisch mit Hilfe der Balkenkamera 60 auf der ganzen Arbeitsfläche 10 Positionen einer Vielzahl von Gitterpunkten mit hoher Genauigkeit bestimmt werden. Dazu kann wie in Figur 9a dargestellt die Arbeitsfläche selbst als eine Kalibrier-Arbeitsfläche 18 ausgestaltet sein, d. h. selbst die entsprechenden Gitterpunkte aufweisen, oder alternativ, wie in Figur 9b gezeigt, wird zum Kalibrieren jeweils ein Kalibrierbogen 48 auf die Arbeitsfläche 10 gelegt, der die Gitterpunkte aufweist.According to the fifth aspect, 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, one is used for calibration Calibration sheet 48 is placed on the work surface 10, which has the grid points.

Die durch die Balkenkamera 60 bestimmten Positionen der Gitterpunkte werden als Soll-Positionen gespeichert. Anschliessend werden dieselben Gitterpunkte durch die Überblickskamera 20 aufgenommen. Mit Hilfe der Soll-Positionen und dem Vergleich mit den Positionen der Gitterpunkte im Bild der Überblickskamera 20 können die Überblickskamera 20 und die Balkenkamera 60 relativ zueinander kalibriert werden. Ist die Balkenkamera 60 in derselben Arbeitsgruppe 12 wie das Schneidwerkzeug 15 untergebracht, können so vorteilhaft auch Fehler im Antriebssystem der Arbeitsgruppe 12 kompensiert werden.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.

Gemäss dem sechsten Aspekt kann bereits vor Aufnahme des Bildes der Überblickskamera ein ROI-Bereich (ROI = Region of Interest) ausgewählt werden, der als einziger von Interesse für die Positionsbestimmung der Registriermerkmale ist. Dies ist in den Figuren 10a und 10b illustriert.According to the sixth aspect, 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.

Dazu werden Schneideaufträge bereitgestellt, bei denen bestimmte zusätzliche Informationen hinterlegt sind, die ein Eingrenzen der Arbeitsfläche 10 auf den ROI-Bereich erlauben. Dazu gehören insbesondere erwartete Positionen der zu schneidenden Objekte 40, 40' und deren Dimensionen. Es wird dann entweder nur ein Bild der ausgewählten Bereiche aufgenommen, oder nur die entsprechenden Bereiche des Gesamtbildes ausgewertet. Dies spart vorteilhaft Rechen- und Speicherkapazität und beschleunigt den Vorgang. Ausserdem wird verhindert, dass fälschlicherweise Druckbilder als Registriermarken fehlinterpretiert werden. Wird durch die Überblickskamera nur ein Bild der ROI aufgenommen, kann die Überblickskamera ausserdem dazu ausgestaltet sein, auf den entsprechenden Bereich zu zoomen, wodurch eine höhere Auflösung erreichbar ist.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 point to the to zoom in on the corresponding area, whereby a higher resolution can be achieved.

In Figur 10a ist ein Bild 50 der gesamten Arbeitsfläche 10 dargestellt, wie es von der Überblickskamera aufgenommen wurde (vgl. Figur 2a). Basierend auf Informationen über die voraussichtliche Lage der Objekte 40, 40' auf der Arbeitsfläche 10 werden durch die Recheneinheit Bereiche 52 definiert, die jeweils eine erwartete Position der relevanten Registriermarken 42 umfassen. Nur in diesen Bereichen 52 wird nach Registriermarken 42 gesucht, sodass nur Positionen von Registriermarken 42 ermittelt werden, die auch in diesen Bereichen 52 liegen. Vorteilhaft spart dies nicht nur Rechenkapazität und Zeit, sondern verhindert auch mögliche Fehlinterpretationen von Merkmalen der graphischen Gestaltung 41, 41' als Registriermerkmale.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 Figur 10b ist das Bild 50 der Überblickskamera aus Figur 10a auf zwei ROI-Bereiche beschränkt worden und umfasst daher nur die Bereichsbilder 51 und 51'. In jedem Bereichsbild 51, 51' ist ein zu schneidendes Objekt 40, 40' zumindest teilweise abgebildet, sodass die Registriermarken 42 sichtbar sind, sodass jeweils ein Schneidpfad generierbar ist. Durch die kleinere Bildfläche, die ausgewertet werden muss, können die relativen Positionen der Registriermarken 42 schneller erfasst werden, wodurch der Prozess beschleunigt wird.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.

Es versteht sich, dass diese dargestellten Figuren nur mögliche Ausführungsbeispiele schematisch darstellen.It goes without saying that these figures shown only schematically represent possible exemplary embodiments.

Claims (7)

  1. A cutting machine (1) designed for cutting of objects (40, 40') which have a flat surface, wherein the surface has a graphical design (44, 44') with optical register features, the cutting machine having
    - a working surface (10), which is designed to receive at least one object (40, 40'),
    - a first camera unit (20), which is arranged relative to the working surface (10) in such a way that the field of vision of the camera comprises the entire working surface (10),
    - a working group (12), which is arranged movably above the working 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), which computing unit comprises a memory unit for storing instructions for the cutting of certain objects (40, 40'), wherein the computing unit (30)
    • has a circuit and program code for analysing images (50) of the first camera unit (20) and is designed to recognise register 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) in accordance with at least one stored instruction and on the basis of positions of the register features in the image (50),
    characterised in that
    reference features (25) are arranged in a known positioning and distribution relative to the working surface (10) and in the field of vision of the first camera (20), wherein the computing unit (30) is designed
    - to recognise the reference features (25) in the image (50) of the first camera unit (20) and
    - to define the cutting path (45, 45') also on the basis of relative positions of the register features and the reference features (25) in the image (50) of the first camera unit (20).
  2. The cutting machine according to claim 1,
    characterised in that
    the positions of the reference features (25) and of the working group (12) relative to one another are known.
  3. The cutting machine according to claim 1 or claim 2,
    characterised in that
    the computing unit (30) is designed to check the orientation of the first camera unit (20) relative to the working surface (10) on the basis of positions of a plurality of reference features (25) in the image (50) of the first camera unit (20).
  4. The cutting machine (1) according to any one of the preceding claims,
    characterised in that
    the register features are present in the form of register marks (42) which are designed specifically for use with the cutting machine (1) so as to make a position and orientation of the object relative to the working surface (10) detectable, wherein the computing unit (30) is designed
    - to recognise the register marks (42) on the surface of the at least one object (40, 44') in an image (50) of the first camera unit (20) and
    - to define the cutting path (45, 45') also on the basis of the positions of the register marks (42).
  5. The cutting machine (1) according to any one of the preceding claims,
    characterised in that
    the register marks comprise edges of the object (40, 40').
  6. The cutting machine (1) according to any one of the preceding claims,
    characterised in that
    the computing unit (30) is designed to select an instruction on the basis of recognised register features.
  7. A computer program product with program code, which is stored on a machine-readable carrier, for controlling the cutting machine (1) according to any 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 caused to be carried out:
    - recording an image (50) of the working surface with the first camera unit (20) of the cutting machine (1);
    - recognising register features of at least one object (40, 40') and the reference features (25) of the cutting machine (1) in the image (50);
    - associating the at least one object (40, 40') with at least one stored instruction;
    - defining at least one cutting path (45, 45') on the basis of the instruction as well as on the basis of positions of the register and reference features (42, 25) in the image (50); and
    - controlling the cutting device (15) for cutting the at least one object (40, 40') along the at least one cutting path (45, 45').
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EP23211403.3A Division EP4302948A3 (en) 2017-04-05 2017-04-05 Cutting machine with overview camera
EP23211403.3A Division-Into EP4302948A3 (en) 2017-04-05 2017-04-05 Cutting machine with overview camera
EP23211411.6A Division EP4324609A3 (en) 2017-04-05 2017-04-05 Cutting machine with overview camera
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CN114274260A (en) 2022-04-05
CN110582385A (en) 2019-12-17
US20200031009A1 (en) 2020-01-30
EP4302949A3 (en) 2024-04-10
US11400614B2 (en) 2022-08-02
EP4302948A2 (en) 2024-01-10
EP3606709A1 (en) 2020-02-12
CN114227791B (en) 2024-05-07
CN114227791A (en) 2022-03-25
WO2018184677A1 (en) 2018-10-11
CN114260968A (en) 2022-04-01
EP4302948A3 (en) 2024-03-27
EP4324609A3 (en) 2024-05-22
US11712815B2 (en) 2023-08-01
CN110582385B (en) 2022-01-11
US20230219248A1 (en) 2023-07-13
US20220219347A1 (en) 2022-07-14
EP4324609A2 (en) 2024-02-21

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