Patent Publication Number: US-2022219347-A1

Title: Cutting machine with overview camera

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a Divisional application of U.S. application Ser. No. 16/603,185 filed on Oct. 4, 2019, which is a 371 National Phase of PCT Application No. PCT/EP2017/058153, filed on Apr. 5, 2017; the disclosures of each of which are herein incorporated by reference in their entirety. 
    
    
     BACKGROUND 
     The invention relates to a cutting machine with a camera, in particular a cutting machine which is designed for the cutting of objects which have a surface with a graphical design and optical register features. These objects may be in particular printed sheets made of paper, cardboard or similar materials, plastic films, or cloths or the like. 
     Generic machines are described for example in documents EP 1 385 674 B1 and EP 2 488 333 B1. Such a cutting machine has a working surface, which is designed to receive at least one object, and a working group arranged movably above the working surface and having a blade or another cutting device for cutting objects situated on the working surface. Furthermore, a camera unit is arranged relative to the working surface, in particular above the working surface, in such a way that the field of vision of the camera unit comprises the entire working surface (“overview camera”). Based on positions of the optical register features in an image of the overview camera, a cutting path may then be defined depending on a selected cutting instruction. 
     The term “cutting” shall not necessarily be understood to mean a complete severance, and therefore a “cutting instruction” may also include a perforating or folding of the object, or a similar process step which can be carried out using a generic machine. 
     SUMMARY 
     An object of the invention is to provide an improved cutting machine. 
     In particular, an object of the invention is to provide a cutting machine by means of which cutting instructions can be carried out more quickly. 
     A further object is to provide a cutting machine by means of which cutting instructions can be carried out with a lower staffing requirement or with a higher degree of automation. 
     A further object is to provide a cutting machine having an overview camera by means of which cutting parts are definable more quickly and/or more precisely. 
     A further object is to provide a cutting machine of this kind with which less waste is produced. 
     At least one of these objects is achieved by the realisation of the characterising features of the independent claims. Advantageous embodiments of the invention can be found in the dependent claims. 
     The invention relates to a cutting machine which is designed for the cutting of objects which have a flat surface, wherein the surface has a graphical design with optical register features. The cutting machine according to the invention has a working surface, which is designed to receive at least one object, a first camera unit, which is arranged relative to the working surface in such a way that the field of vision of the camera comprises the entire working surface, and a working group, which is arranged movably above the working surface and has at least one cutting device for cutting the at least one object. 
     In addition, a computing unit with a circuit and program code for controlling the cutting machine is provided, which computing unit comprises a memory unit for storing instructions for the cutting of certain objects. The computing unit has a circuit and program code for analysing images of the first camera unit and is designed to recognise register features of the at least one object in an image of the first camera unit. It is additionally designed to define a cutting path for the cutting device in accordance with at least one stored instruction and on the basis of positions of the register features in the image. 
     The register features can be present in particular in the form of register marks which are designed specifically for use with the cutting machine in order to make a position and orientation of the object relative to the working surface detectable. The computing unit is then designed to recognise the register marks on the surface of the at least one object in an image of the first camera unit and to define the cutting path also on the basis of the positions of the register marks. 
     In one embodiment the computing unit is designed to select an instruction on the basis of recognised register features and/or positions thereof. 
     The invention additionally 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, wherein the program is run on the computing unit of the cutting machine and comprises at least the following steps:
         recording an image of the working surface,   recognising register features of at least one object in the image,   associating the at least one object with at least one stored instruction,   defining at least one cutting path on the basis of the instruction and on the basis of positions of the register features in the image, and   controlling a cutting device for cutting the at least one object along the at least one cutting path.       

     A first aspect of the invention relates to a cutting machine in which reference marks are provided on the working surface and in the field of vision of the camera, with the aid of which reference marks a more accurate determination of the position of the objects is made possible. 
     A second aspect of the invention relates to a cutting machine in which a known material thickness of the objects is taken into consideration during the position determination. 
     A third aspect of the invention relates to a cutting machine in which the camera is designed to record a number of images of an identical scene and to superimpose the images. 
     A fourth aspect of the invention relates to a cutting machine in which an additional, movably arranged second camera of which the field of vision comprises a small detail of the working surface is used jointly with the first camera in order to determine the position of the objects. 
     A fifth aspect of the invention relates to a cutting machine in which an additional, movably arranged second camera of which the field of vision comprises a small detail of the working surface is usable in order to calibrate the first camera. 
     A sixth aspect of the invention relates to a cutting machine in which further information, by means of which a partial region of the working surface is defined as a region of interest, is used in order to determine the position of the register features on the working surface more quickly and/or more accurately. 
     In a cutting machine according to the invention according to the first aspect, reference features are additionally arranged in a known positioning and distribution relative to the working surface and in the field of vision of the first camera, wherein the computing unit is designed to recognise the reference features in the image of the first camera unit and to define the cutting path also on the basis of relative positions of the register features and the reference features in the image of the first camera unit. 
     In one embodiment the positions of the reference features and of the working group relative to one another are known. 
     In a further embodiment the computing unit is designed to check the orientation of the first camera unit relative to the working surface on the basis of positions of multiple reference features in the image of the first camera unit. 
     In a cutting machine according to the invention according to the second aspect, information regarding the material thickness of the object to be cut is provided to the computing unit, and the computing unit is designed to define the cutting path also on the basis of the information regarding the material thickness. 
     In one embodiment the computing unit is designed to determine positions of the register features on the basis of the image of the first camera unit and on the basis of the information regarding the material thickness. 
     In a further embodiment the material thickness can be determined by the cutting machine itself, in particular in a camera-based manner. 
     In a further embodiment the material thickness is provided in the memory unit together with the corresponding instruction, in particular as part of the instruction. 
     In a cutting machine according to the invention according to the third aspect, the computing unit is designed to jointly analyse at least two images of the working surface recorded at different times by means of the first camera unit and to determine positions of the register features by analysis of the at least two images. 
     In one embodiment the first camera unit is designed to record at least two images of the working surface at different times and in each case with a different exposure time, wherein one high-contrast image is created on the basis of the at least two images. 
     In a further embodiment the computing unit is designed to create high-contrast images from a bracketing of a plurality of images of the first camera unit. 
     In a further embodiment the first camera unit is designed to record high-contrast images. 
     In a further embodiment the first camera unit is designed to provide high-contrast images of the working surface, wherein different exposure times are used for recording and the computing unit has a circuit and program code for analysing the high-contrast images of the first camera unit and is designed to recognise register features of the at least one object in a high-contrast image. 
     In accordance with the fourth and fifth aspect of the cutting machine according to the invention, said cutting machine additionally has an optical sensor unit, which is oriented in the direction of the working surface and is arranged displaceably relative to the working surface in such a way that a plurality of positions in which a detection region of the optical sensor unit comprises part of the working surface can be captured by the optical sensor unit. The computing unit additionally has a circuit and program code for analysing data of the optical sensor unit. 
     In a cutting machine according to the invention according to the fourth aspect, the control unit is designed
         to detect positions of at least a plurality of the register features relative to one another by means of the image of the first camera unit as relative positions,   to determine positions of a first subset of the plurality of register features relative to the working surface by means of the data of the optical sensor unit as absolute positions, and   to determine positions of a second subset of the plurality of register features relative to the working surface on the basis of the detected relative positions and the determined absolute positions.       

     In one embodiment the optical sensor unit is designed as a second camera unit. 
     In a further embodiment the optical sensor unit is designed as part of the working group. 
     In a further embodiment the detection regions of the optical sensor unit, considered together, comprise the entire working surface. 
     In a further embodiment the first camera unit is designed as a line scan camera, wherein the field of vision extends over the entire width of the working surface. 
     In a further embodiment the control unit is designed to determine a position of an object on the working surface and/or to define a cutting path on the basis of positions of register features relative to the working surface. 
     In a cutting machine according to the invention according to the fifth aspect, the working group and the optical sensor unit are displaceable relative to the working surface by the same displacement mechanism. The cutting machine has a calibration function for the first camera unit, wherein the cutting machine, within the scope of the calibration function, is designed
         to determine positions of a plurality of points by means of the optical sensor unit,   to record the same points by means of the first camera unit, and   to calibrate the first camera unit with the positions determined by the optical sensor unit as target positions.       

     In one embodiment the working surface is designed as a calibration working surface, and the plurality of points are optical markings on the calibration working surface. 
     In a further embodiment the points of the plurality of points are designed as grid points intended specifically for use with the calibration function. 
     In a further embodiment the cutting machine is designed, within the scope of the calibration function, to calibrate the displacement mechanism and the first camera unit relative to one another. 
     In a further embodiment the calibration function progresses fully automatically following its start, in particular wherein the start is initiatable by a user. 
     In a further embodiment the optical sensor unit is designed as a second camera unit. 
     In a further embodiment the optical sensor unit is designed as part of the working group. 
     In a further embodiment the detection regions of the optical sensor unit, considered together, comprise the entire working surface. 
     In a cutting machine according to the invention according to the sixth aspect, an instruction for cutting a specific object comprises information regarding an anticipated position of the object on the working surface, wherein the control unit is designed, on the basis of the anticipated position of at least one object, to derive anticipated positions of register features and in an image of the first camera unit to define areas around the anticipated positions as region of interest, beyond which no register features are searched for. 
     In one embodiment the first camera unit is designed to show only one partial area or a plurality of partial areas comprising the areas defined as region of interest. 
     In a further embodiment the first camera unit has a zoom function and is designed to zoom in on a partial area. 
     In a further embodiment the control unit is designed to analyse, in a partial area, only the at least one area defined as region of interest. 
     In the cutting machines according to any of the aforementioned aspects, the register features may be present in the form of “register marks” which are designed specifically for use with the cutting machine and in such a way that a position and orientation of the object relative to the working surface is detectable. The computing unit is then designed to recognise these register marks on the surface of the at least one object in an image of the first camera unit and to define the cutting path also on the basis of the positions of the register marks. The register marks may comprise in particular geometric figures. 
     In one embodiment the register features may also comprise edges of the object. 
     In a further embodiment the computing unit is designed to select an instruction on the basis of recognised register features. 
     The invention also relates to a computer program product with program code, which is stored on a machine-readable carrier, for controlling at least one of the above-described cutting machines, wherein the program is executed on the computing unit of the cutting machine and comprises at least the following steps:
         recording an image of the working surface;   recognising register features of at least one object in the image;   associating the at least one object with at least one stored instruction;   defining at least one cutting path on the basis of the instruction and positions of the register features in the image; and   controlling a cutting device for cutting the at least one object along the at least one cutting path.       

    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The cutting machine according to the invention will be described in greater detail hereinafter purely by way of example on the basis of specific exemplary embodiments shown schematically in the drawings, wherein further advantages of the invention will also be discussed. The drawings specifically show: 
         FIG. 1  a generic cutting machine with an overview camera; 
         FIG. 2 a - c    an image of the overview camera, on the basis of cutting contours derived from the image and a cutting path of the cutting device defined on the basis of the image; 
         FIG. 3  an exemplary embodiment of a cutting machine according to the first aspect of the invention; 
         FIG. 4  an exemplary embodiment of a cutting machine according to the second aspect of the invention; 
         FIG. 5  distortions in an image of the overview camera; 
         FIG. 6  shadowing in an image of the overview camera; 
         FIG. 7  an exemplary embodiment of the cutting machine according to the fourth aspect of the invention; 
         FIG. 8  the working group of the cutting machine from  FIG. 7  from above; 
         FIG. 9 - b  two exemplary embodiments of the cutting machine according to the fifth aspect of the invention; and 
         FIG. 10 a - b    areas defined as region of interest in accordance with the sixth aspect of the invention. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  shows a generic cutting machine  1 . As a flat-bed cutting machine, it has a table with a flat working surface  10 , on which there are placed, by way of example, two objects  40 ,  40 ′ to be cut. 
     Above the working surface  10  there is arranged a working group  12  with a cutting tool  15 , in particular a blade. The working group  12  is displaceable two-dimensionally relative to the working surface  10  in a motorised manner so as to be able to approach any point of the working surface  10 . To this end, the working group  12  is mounted movably in the X direction on a beam  13 , which is in turn mounted movably in the Y direction on the table. 
     A camera unit (overview camera  20 ) is arranged above the working surface  10  so that images of the entire working surface  10  can be recorded. 
     In particular, the cutting machine  1  may also have a cutting tool  15  driven in oscillation and/or may be designed for cutting multi-walled composite plates, as described for example in EP 2 894 014 B1. 
     The cutting machine  1  additionally has a computing unit  30 . As shown here, the computing unit may be embodied as an external computer, which has a data connection to the machine  1 , or may be integrated in the form of an internal control unit into the machine  1  itself. The overview camera  20  is designed to provide data of recorded images to the computing unit  30  for analysis. 
     The computing unit  30  comprises a processor with computing capacity and algorithms for controlling the cutting machine  1  in accordance with a provided cutting instruction. The computing unit  30  additionally has a data memory for storing the cutting instructions and possibly further data. 
     As a starting position, one or more of the objects  40 ,  40 ′ to be cut are placed on the working surface  10 . It is either known precisely with which instruction or which instructions the objects  40 ,  40 ′ placed on the working surface  10  are associated, or it is at least known from which collection of instructions this instruction or these instructions originate. 
     An image of the entire working region is recorded by means of the overview camera  20 , and the position of the cutting contours is determined on the basis of this image. This is achieved by detection of register features in the graphical surface of the objects and also by detection of the position of said register features. The register features are stored as part of the instruction data in the relevant instruction and may be present either in the form of general features of the graphical design, or, advantageously, as register marks provided specifically for registration. This is known from the prior art. 
     If the corresponding instruction is not yet known, the corresponding instruction may be determined initially with the aid of these markings and position thereof. If there are a plurality of instructions, all corresponding instructions are determined. The position of the cutting contours on the working surface is then determined via the object positions and the relative position of the cutting contours in the instruction data. This is shown by way of example in  FIGS. 2 a   - c.    
       FIG. 2 a    shows an image  50  recorded by the overview camera  20  of the cutting machine  1  from  FIG. 1 . The image region comprises the entire working region of the cutting machine, inclusive of the working surface  10 , on which two objects  40 ,  40 ′ to be cut are situated. The working group  12  can be seen at the upper edge of the image and is preferably moved to the edge of the working region in order to record the image. The objects to be cut in this example are sheets  40 ,  40 ′ (for example made of paper, cardboard or plastic) and each have a graphical design  44 ,  44 ′ with patterns and/or inscriptions on their side facing the camera. In the shown example the graphical design in one case is a pattern in the shape of a crescent moon  41  and in the other case is a heart-shaped pattern  41 ′. In addition, a number of register marks  42  on each of the sheets  40 ,  40 ′ are shown. Register marks  42  may be in particular geometric figures, for example circular points of a certain diameter, as shown here. 
       FIG. 2 b    shows the cutting contours  45 ,  45 ′ of the sheets  40 ,  40 ′ to be cut. The shapes of the cutting contours  45 ,  45 ′ and the relative positions thereof on each of the sheets  40 ,  40 ′ are stored in instructions. Together with the image  50  from  FIG. 2 a   , a position of the cutting contours  45 ,  45 ′ on the working surface may be determined. 
     On the basis of the image  50  from  FIG. 2 a   , the corresponding instruction optionally also can be associated with the relevant sheet  40 ,  40 ′ by the control unit. 
       FIG. 2 c    illustrates, by way of example, a movement path for the cutting tool of the machine generated on the basis of the determined positions of the cutting contours  45 ,  45 ′. Here, the working group is moved relative to the working surface in such a way that the cutting tool is moved firstly from its original position  152  a first cutting path (dashed line  151 ). The cutting tool is then brought, for example lowered, into a cutting position and cuts the object along the cutting path (solid line  152 . 
       FIG. 3  shows an exemplary embodiment of a cutting machine  1 , which has a plurality of reference marks  25  corresponding to the first aspect of the present invention, which reference marks are arranged in the field of vision of the overview camera  20  and fixedly in relation to the working surface  10 . In the shown example six reference marks  25  are distributed around the edge of the working surface. The reference marks  25  may be identified in the images of the overview camera  20 , and their position in the image may be compared with their known defined positions relative to the working surface  10 . The computing unit  30  (shown here integrated in the machine) is thus able to determine positions of objects  40 ,  40 ′ on the working surface  10  or positions of referencing features on the objects  40 ,  40 ′, in each case with greater accuracy, on the basis of the positions of the reference marks  25 . 
     It is also possible to verify a correct orientation of the overview camera  20  relative to the working surface  10 , and to correct the orientation as necessary, on the basis of the positions of the reference marks  25  in the image of the overview camera  20 . 
       FIG. 4  shows a cutting machine  1 , on the working surface  10  of which there are placed two objects  40 ,  40 ′ of different material thickness. The first object  40  has a greater material thickness and is made for example of a multi-layer cardboard or a composite plate. As a result of the position of the overview camera  20 , there are distortions in the images recorded by said overview camera, and these distortions increase with greater proximity to the edges of the image. However, in the case of a negligible material thickness (for example in the case of paper), as is the case here with the second object  40 ′, due to the planar surface of the working surface  10  there are no problems encountered when recognising objects  40 ,  40 ′ or their position on the working surface  10 . 
     The distortions become relevant, however, with increasing material thickness and increasing eccentricity in the positioning of the object relative to the camera position. This is illustrated in  FIG. 5 . This shows the object features  44 ,  44 ′ of the two objects from  FIG. 4  recognised in the image of the camera. Whereas the features  44 ′ of the thin object  40 ′ made of paper are presumed to be in their correct position, the presumed positions of the features  44  of the thick object  40 , which on account of the greater material thickness are situated in a plane distanced further from the working surface  10  than the features  44 ′ of the thin object  40 ′, deviate more greatly from their actual positions with increasing distance from the camera position  21 . The reference marks  42  in the image of the camera are thus each shown further away from the image centre (dashed circles  49 ) than they are actually situated. 
     On the one hand, this may mean that the object  40  either is not recognised at all on the basis of the image of the overview camera  20 , or is even mistaken for another object and is thus cut incorrectly. On the other hand, it is possible that the object  40  is correctly recognised, but, since the positions of the reference features have been deduced incorrectly, an imprecise to completely incorrect cutting path is calculated. In this case the object  40  is also cut incorrectly. 
     This problem is solved in accordance with the second aspect of the present invention in that information regarding the material thickness of the object  40  to be cut is provided to the control unit  30 . The material thickness may be determined beforehand by a camera, specified by a user, or also provided as part of the instruction, for example. 
     A deviating distortion in the image of the overview camera  20  may be excluded by means of the information regarding the material thickness, whereby an exact recognition and determination of the position of the object  40  and its register features is made possible. 
     Alternatively, the overview camera  20  may be designed to be automatically height-adjustable and may be displaced in the Z direction depending on the material thickness, whereby the distance to the object surface and therefore the focus remain constant independently of the particular material thickness. 
       FIG. 6  shows an image  50  of the working surface  10  recorded by the overview camera  20 . The working surface  10  is partially in a shadow  70 . This may be the result of direct solar radiation, for example, such that the working group  12  casts a shadow  70  over the working surface  10 , as in this example. The object  40  to be cut is situated partially in the shadow  70  and partially in the brightly lit area of the working surface  10 . 
     A disadvantage may therefore be that not all contours of the register features are detected with sufficient precision in the image  50  of the overview camera. In accordance with the third aspect of the invention the camera therefore detects an HDR (=high dynamic range) image of the working surface  10 , so as to ensure a sufficiently high contrast both in dark and light areas for determination of the position of the register marks  42  in the image  50 . 
     Various methods are known for recording HDR images. For example, two images of different exposure time recorded directly one after the other may be superimposed. Alternatively, just one image is recorded, wherein the overview camera is designed to select the exposure time for each pixel or for certain pixel areas depending on the brightness of the particular imaging region. 
     A recording of a plurality of images of the same scene may be used advantageously—also with uniform exposure—in order to reduce artefacts and image noise and thus in order to more accurately determine contours, so as to enable a more accurate and quicker determination of the position of the register marks  42  in the image  50 . Pixels at the edge regions of the register marks  42  for example may be assigned a brightness value averaged from values of the plurality of images. 
     In accordance with the fourth aspect of the invention shown in  FIGS. 7 and 8 , the cutting machine  1  has a further camera  60  in addition to the overview camera  20 . This second camera is likewise oriented towards the working surface  10 . It has a clearly smaller recording region  62  than the overview camera  20 , but is arranged movably relative to the working surface  10 , so that preferably images of the entire working surface  10  can be recorded. The second camera  60  is preferably mounted movably as a beam camera on the same beam  13  as the working group  12 . In particular, it may be embodied as part of this working group  12 .  FIGS. 7 and 8  by way of example show a corresponding embodiment of the cutting machine  1 . 
     In  FIG. 7  an exemplary embodiment of the cutting machine  1  is shown, wherein a second camera unit  60  is provided in the working group  12  and is designed to record images in the direction of the working surface  10 . Here, the image region  62  of said camera in each position comprises only a small part of the working surface  10 . The overview camera  20  is also designed in this embodiment to record images of the entire working surface  10 . 
     In  FIG. 8  the working group  12  mounted movably on the beam  13  and comprising the blade  15  and beam camera  60  is shown from above. The position of the relatively high overview camera  20  is also shown. The working group  12  is positioned here in such a way that two register marks  42  of an object  40  to be cut are situated in the field of vision  62  of the beam camera  60 . 
     A detailed image recorded by the beam camera  60  may now be compared with the overall image recorded previously by the overview camera  20 . The positions of the register marks  42  may thus be verified or determined relative to the working surface  10 . An image is firstly recorded by means of the overview camera  20 . By means of this image, relative positions of the register marks  42  are firstly determined, that is to say the arrangement of the register marks relative to one another. One or more registered marks  42  is/are then approached by the beam camera  60 , and the position of said register mark(s) is determined with high accuracy. 
     In order to verify the register mark positions, the positions determined with the overview camera  20  are compared with the positions determined with the beam camera  60 . 
     In order to determine the register mark positions on the working surface  10 , the positions of all register marks  42  are determined with high accuracy by transformation of the positions determined in the image of the overview camera  20  by the positions determined in the image of the beam camera  60 . 
     In accordance with the fifth aspect of the invention, such an additional camera  60  may also be used for calibration of the overview camera  20 . This is shown in  FIGS. 9 a  and 9 b   . The cutting machine  1  in this case has a calibration function controlled by the computing unit  30 . Within the scope of this function, once started, positions of a plurality of grid points on the entire working surface  10  may be determined fully automatically with high accuracy with the aid of the beam camera  60 . To this end, as shown in  FIG. 9 a   , the working surface itself may be embodied as a calibration working surface  18 , i.e. may itself comprise the corresponding grid points, or alternatively, as shown in  FIG. 9 b   , a calibration sheet  48  is placed on the working surface  10  for calibration and comprises the grid points. 
     The positions of the grid points determined by the beam camera  60  are stored as target positions. The same grid points are then recorded by the overview camera  20 . With the aid 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 beam camera  60  may be calibrated relative to one another. If the beam camera  60  is housed in the same working group  12  as the cutting tool  15 , errors in the drive system of the working group  12  may thus also be compensated for, advantageously. 
     In accordance with the sixth aspect of the invention, an ROI (=region of interest) area may be selected already before the image of the overview camera is recorded and is the only area of interest for the determination of the position of the register features. This is illustrated in  FIGS. 10 a    and  10   b.    
     To this end, cutting instructions are provided, in which specific additional information is stored, which information allows the working surface  10  to be limited to the ROI area. It includes, in particular, anticipated positions of the objects  40 ,  40 ′ to be cut and their dimensions. Either just one image of the selected areas is then recorded, or just the corresponding areas of the overall image are analysed. This advantageously saves computing and memory capacity and accelerates the process. In addition, printed images are prevented from being incorrectly misinterpreted as register marks. If just one image of the ROI is recorded by the overview camera, the overview camera may additionally be designed to zoom in on the corresponding area, whereby a higher resolution is achievable. 
     In  FIG. 10 a    in image  50  of the entire working surface  10  is shown, as has been recorded by the overview camera (see  FIG. 2 a   ). On the basis of information regarding the likely position of the objects  40 ,  40 ′ on the working surface  10 , areas  52  which each comprise an anticipated position of the relevant registered marks  42  are defined by the computing unit. Only in these areas  52  are register marks  42  searched for, and therefore only positions of register marks  42  which also lie in these areas  52  are determined. This advantageously not only spares computing capacity in time, but also prevents misinterpretations of features of the graphical design  41 ,  41 ′ as register features. 
     In  FIG. 10 b    the image  50  of the overview camera from  FIG. 10 a    has been limited to two ROI areas and therefore comprises only the area images  51  and  51 ′. An object  40 ,  40 ′ to be cut is shown at least in part in each area image  51 ,  51 ′, and therefore the register marks  42  are visible, so that a cutting path can be generated in each case. Due to the smaller image area which has to be analysed, the relative positions of the register marks  42  may be detected more quickly, thus accelerating the process. 
     It goes without saying that these described figures schematically show only possible exemplary embodiments. The various approaches may also be combined with one another and with devices or methods from the prior art.