Manufacturing and / or logistics facility, code device, method for manufacturing same, and corresponding use

Abstract

The invention relates to a code device 8 having a code region carrier 7 and a code region 2, the code region 2 being arranged on the code region carrier 7, the code region 2 providing position-dependent position information, in particular having a position determination device 4, the position determination device 4 is designed to determine a position of a sub-region 6 in the code region 2 depending on the sub-region 6 of the code region 2, the code region 2 being applied to the code region carrier 7 by means of laser material processing.

Description

Technical Field

[0001] This invention relates to a code device having the features of the preamble of claim 1. The invention also relates to a manufacturing and / or logistics facility, a method for manufacturing the code device, and the use of code regions to determine positions within the code device. Background Technology

[0002] Modern manufacturing plants are increasingly using autonomous robots that navigate independently within the production facility environment. These robots obtain location information, for example, through GPS or graphical location markers.

[0003] Document DE 10 2016 216 221 A1 describes a two-dimensional code pattern in which positions are encoded. This two-dimensional code pattern is read by an image processing device to decode the positions. For example, this two-dimensional code pattern is placed on a floor, enabling a mobile robot to navigate. Summary of the Invention

[0004] The subject of this invention is a coding device having the features of claim 1, a manufacturing and / or logistics facility having the features of claim 9, a method for manufacturing a coding device having the features of claim 10, and the use of a coding area for determining location having the features of claim 12.

[0005] Preferred or advantageous embodiments of the invention are derived from the dependent claims, the following description, and the accompanying drawings.

[0006] The subject of this invention is a coding device for determining a position within a coding region. This coding device is thus capable of determining a position within a coding region. This position can be designed as a relative position within the coding region, or as an absolute position in world coordinates if the coding region is calibrated in world coordinates.

[0007] The code device includes a code region carrier. The code region carrier particularly has a visible side. Especially preferably, the visible side is designed to be flat and / or planar.

[0008] The coding device includes a code region, wherein the code region is arranged, particularly applied, on a code region carrier. The code region provides location-related, particularly location-resolved, location information. Specifically, the code region is designed to be planar. In particular, sub-regions of the code region can be read, each sub-region having location information in an encoded manner, which is specifically and / or uniquely and / or unambiguously assigned to a location within the code region. By reading different sub-regions at different locations within the code region, different locations associated with these sub-regions can be determined.

[0009] The coding device preferably includes a location determining device designed to determine the location of a sub-region within the code region based on sub-regions of the code region. Specifically, the location determining device records the sub-region and decodes the location information to determine the location. Alternatively, the location determining device compares, for example, the sub-region with a plan or model of the code region, where the sub-region matches a search area within the code region. In this case, the position within the code region can be determined. The position resolution within the code region is, for example, less than 10 millimeters, preferably less than 5 millimeters, and particularly less than 1 millimeter.

[0010] Based on the location of this sub-region within the code region, the location determination device can determine its own location or the location of its own sensing device (Sensorik) relative to the code region. The self-location may include position (position coordinates) and / or attitude (lage) (orientation in space). Distance information and / or orientation between the code region and the location determination device or its sensing device can be determined by perspective evaluation of the code region.

[0011] Within the scope of this invention, it is proposed to apply code regions onto a code region carrier using laser material processing. Specifically, the code regions are laser-engraved onto the code region carrier using laser material processing. The code region carrier is constructed of steel, particularly stainless steel. This ensures that the code regions will not distort due to mechanical stress when the code region carrier is installed in its predetermined position. For example, the code region carrier is designed as a plate or sheet.

[0012] Another advantage of the present invention is that by applying the code region to the code region carrier using laser material processing, the code region can be applied with high precision and orientation definition, and particularly in a distortion-free and / or warp-free manner. For example, if compared to an alternative not according to the invention, where the code region is laminated onto the code region carrier, lamination leads to code region distortion due to the warping of the laminate. This warping is eliminated because the beam guidance during laser material processing is performed with high precision. Another advantage of the present invention is that the laser-etched code region is less sensitive than a laminate, thus resulting in less wear on the code region carrier with the code region during harsh daily use, and therefore enabling long-term use. Laser material processing on steel, particularly stainless steel, makes it possible to achieve durability and resistance, especially to mechanical loads, particularly wear or scratches. Apply code regions in a specific manner.

[0013] In one implementation variant, the stainless steel can be (matte-colored) prior to the marking process, allowing the color to be subsequently evaporated again using a laser. Alternatively, the code region can be a laser-induced periodic surface structure (LIPSS) or a nanometer wave, which, due to their influence on incident light, results in exceptionally high contrast and very good detectability for the camera of the positioning device. In principle, the laser material processing can be performed by applying the code region in black to a code region carrier. The "black" color can be achieved through oxidation peeling on the visible side of the code region carrier.

[0014] Particularly advantageous is that the code area is applied with a tempering color (also known as an annealing color) on the code area carrier. Possible tempering colors range from pale yellow to red to blue. The black layer is no longer tempering color but is referred to as oxide scale. For this reason, the black spots or sub-segments of the code area require the greatest heat input, have longer processing times (multiple laser scans), and have lower durability due to the oxide scale peeling off under external influences. For this reason, it is highly advantageous to generate the code area based on the tempering color and optionally omit the black spots. The tempering color (e.g., in the case of steel) is produced by oxidation on the surface. The thickness of this layer is determined by the depth to which oxygen atoms can diffuse in. This depth depends particularly on the processing temperature. For example, in the case of steel, a pale yellow (straw yellow) color is observed when heated to 200°C, a cornflower blue color at 300°C, and a gray annealed color at 500°C; these colors can be used for code areas. This method allows code areas to be colored, preferably on matte stainless steel sheets. In this method, the coded area can be colored on a preferred matte steel or stainless steel sheet. Specifically, the predetermined annealing color is adjusted based on and / or by adjusting the laser intensity and / or by adjusting the laser scanning speed, particularly the annealing color of the parallel line segments generated by the polygon scanner. This ensures that the steel is heated to the temperature required for the annealing color.

[0015] Determine the appropriate tempering color for the equipment based on its location, especially a more saturated / darker shade, such as: yellowish-brown, reddish-brown, red, magenta, purple, and / or dark blue. Code areas based on tempering color have significantly higher durability than code areas with black (oxide) spots.

[0016] The preferred method of using matte steel, especially stainless steel (sheet or plate), avoids overexposure and / or specular reflection effects in cameras arranged perpendicular to the surface, which serve as sensors for position determination devices. -und / oder Spiegelungseffekte). The matte surface of the code area carrier is preferably produced by shot peening, sandblasting, or brushing or etching (e.g., using ferric chloride, copper sulfate, nitric acid, or sulfuric acid) along one or more directions. In particular, a roughness as Ra value greater than 3 μm is used to obtain a matte surface.

[0017] In a preferred embodiment of the invention, the area of ​​the code region is greater than 3 square meters, preferably greater than 5 square meters. This embodiment emphasizes that the code region is designed to be planar.

[0018] In a preferred embodiment of the invention, the code area is composed of parallel line segments. Specifically, these line segments are applied to the code area carrier in parallel rows. In particular, the total length of these rows is greater than 1 meter. By using multiple line segments, the code area can be applied in rows, allowing the use of system techniques and / or laser facilities for laser material processing, which guide the laser beam through the code area carrier in rows. In this way, the code area can be applied particularly quickly. Particularly preferred is that the code area is applied by ultrashort pulse laser radiation during laser material processing. Marking using ultrashort pulse laser radiation has a larger process window and, especially, better corrosion resistance when using metal as the carrier material. The pulse duration is preferably in the picosecond and / or femtosecond range. A small heat input is achieved through the extremely short interaction between the ultrashort pulse (USP) and the material. Depth is advantageous for warp-free marking, especially for large code region carriers.

[0019] In one possible configuration of the invention, the code region has a plurality of code markers, each having the same geometry but different sizes. Specifically, the code markers are designed as points and / or dots (code points) in a raster. Preferably, exactly two different sizes of code markers are used. Preferably, the code region has a plurality of code points of different sizes as code region markers. Specifically, the code region is constructed as described in the applicant's DE 10 2016 216 221 A1 cited at the beginning, the disclosure of which is incorporated herein by reference to the construction, configuration, and encoding of the code region. Specifically, the code region includes points and / or dots arranged in an equidistant grid, wherein these points and / or dots have at least two, particularly exactly two, different diameters. Specifically, these points and / or dots are circular. Preferably, the area of ​​the larger diameter point and / or dot is at least twice that of the smaller diameter point and / or dot. Particularly preferably, these dots and / or dot-like objects (code dots) are composed of at least two, preferably multiple, parallel line segments. In particular, the line segments of the dots and / or dot-like objects within the dots and / or dot-like objects have different lengths, such that the shape of the dots and / or dot-like objects is filled. Preferably, the line segments of the dots and / or dot-like objects are applied line by line onto the code area carrier using a laser device, particularly a polygon scanning laser device. Specifically, when applying these line segments line by line, the laser is manipulated in such a way that line segments are generated in the areas of these dots and / or dot-like objects, and particularly, no line segments are applied outside the dots and / or dot-like objects.

[0020] In an alternative configuration of the invention, the code region is constructed based on a plurality of Einstein tile segments (Einstein-Kachelabschnitten) as code markers having the same basic shape. Specifically, these Einstein tile segments have the same outer contour. These Einstein tile segments are stacked seamlessly to form the code region. The code region constructed from the Einstein tile segments is designed to be aperiodic. Therefore, it is stipulated that each sub-region of the code region exists uniquely, in particular indistinguishably, and in particular independently of the rotational position of the sub-region within the aperiodic code region. Thus, an Einstein tile segment is understood to be a tile segment that, when one is stacked on top of another, produces an aperiodic code region. The position determination device is designed to determine the position of a sub-region within the code region based on the unique and / or indistinguishable sub-regions within the code region. In particular, the location-determining device records the sub-region and compares it, for example, with a plan or model of the code region, where the location in the code region can be determined if the sub-region matches a search area in the code region. The theoretical discussion of the Einstein tile as a segment of the Einstein tile should be found in the following publication: David Smith, Joseph Samuel Myers, Craig S. Kaplan, and Chaim Goodman-Strauss, “An aperiodic monotile” (arXiv:2303.10798v2 [math.CO] 29 May 2023), where the disclosure regarding the structure and effect of the Einstein tile is incorporated herein by reference. In particular, it is preferred for this embodiment to design the corresponding Einstein tile segment as a hat or t-shirt, or based on it. This basic shape of a hat or t-shirt was originally proposed by David Smith, a printing facility engineer in Yorkshire. It is a 13-sided polygon with straight edges. It has been shown that this basic shape results in a non-periodic code region as used herein in the code device. In the case of a basic shape like a hat or T-shirt, the corresponding Einstein tile segment can be decomposed into congruent rhomboid quadrilaterals, which have two opposite angles of 90° and two other angles of 120° or 60° respectively. In a preferred embodiment of the invention, the corresponding Einstein tile segment is designed as a vampire tile segment and / or a phantom tile segment, or based thereon. In a preferred extension of the invention, a representative is assigned to each Einstein tile segment. The representative contains information about the tile segment's orientation, rotational position, and optionally, information about the tile's mirror state. Therefore, it is assumed in principle that the code region is constructed based on multiple Einstein tile segments. However, instead of reading the edge lines of the basic shape of the Einstein tile segment, the representative is applied to each Einstein tile segment, whereby the representative preferably occupies the same position within the basic shape of each Einstein tile segment, ensuring that the tile segment orientation is identical for all Einstein tile segments. The representative contains information about the tile's rotational position and optionally, information about the tile's mirror state. Therefore, the basic shape, position, angular position, and optionally, the mirror state of the Einstein tile segment can be derived from this representative, allowing the reproduction of sub-regions containing these Einstein tile segments. In this way, it becomes possible to use a representative that is better suited for automatic reading by a location-determining device, and still obtain all the information about the Einstein tile section.

[0021] Another subject of the invention is a manufacturing and / or logistics facility having the coding device described above. The manufacturing and / or logistics facility has at least one mobile conveyor. This mobile conveyor is designed, for example, as an autonomous conveyor. The position determination device has sensing devices for detecting sub-regions, wherein at least said sensing devices are arranged within the mobile conveyor, so that the position determination device can be used to determine the position of the mobile conveyor in the coding region. The coding region carrier and / or coding region may, for example, be laid on the bottom surface of the manufacturing and / or logistics facility and / or in the processing unit of the manufacturing and / or logistics facility. The at least one mobile conveyor navigates within the manufacturing and / or logistics facility by assessing its position in the coding region. As an alternative to or supplement to the mobile conveyor, the tool carrier of a machine tool may also have a position determination device or at least its sensing devices, wherein the position of the tool carrier in the coding region can be determined.

[0022] Another aspect of the invention relates to a method for manufacturing a code region device, particularly as described above. Specifically, the code region is applied to a code region carrier by a laser device, particularly a polygonal laser device. In particular, an ultrashort pulse laser is used as the laser device. The polygonal laser device includes at least one polygonal scanner, wherein the polygonal scanner deflects the laser beam in the row direction. The travel speed of the laser beam on the code region carrier is preferably greater than 100 m / s, particularly greater than 200 m / s. The polygonal scanner has polygonal surfaces. The optical element is rotated, wherein the laser beam is deflected row by row through a rotating polygonal surface.

[0023] Preferably, the laser beam is guided by an F-theta objective lens to form clear laser markings even in edge regions. For example, these rows are spaced apart, where the spacing is smaller than the focal diameter on the code area carrier, so that the rows and / or line segments are applied overlappingly in the lateral direction of the row. This polygonal laser device allows for very rapid scanning of the code area carrier, thereby achieving a shorter production time for planar code areas.

[0024] The transition from film printing (Foliendruck) to UKP laser marking using a polygon scanner can achieve the following:

[0025] ●Compared to laminates, stretching error (in the form of 5% of the film length) is completely eliminated.

[0026] ● Manufacture code areas with a size of 4.5 square meters or larger.

[0027] ● By applying polygon scanner technology, code markings are applied evenly and at equal intervals across the entire surface (especially at the edges).

[0028] ● Achieve high precision of + / -50μm (these values ​​cannot be achieved by thin-film printing or laser marking in such a large code area. For example, the scanning field of traditional laser optics is very limited, which requires a step-by-step repetitive method, but this method cannot achieve the required precision).

[0029] ● The UKP laser facility with a polygon scanner has a very high beam speed (approximately 300 m / s, about 100 times faster than conventional UKP marking systems), making high-precision processing of large coding areas (using lasers) affordable.

[0030] ● Due to the permanent changes in material properties at this location, the code area exhibits high durability and wear resistance.

[0031] When using metal as the carrier material for the code area, particularly stainless steel or aluminum (alloy) plates, this method can selectively compensate for thermal expansion of the code area in the positioning system of the laser facility by measuring the temperature of the code area carrier in real time. Alternatively, this method can also compensate for thermal expansion of the code area in the positioning system of the polygonal laser device by measuring the temperature of the code area carrier in real time.

[0032] Another subject of the invention relates to the use of the code region as described above for determining location within the code apparatus described above. In particular, the code region is used for manufacturing and / or logistics facilities. Attached Figure Description

[0033] Other features, advantages, and effects of the present invention can be derived from the following description and accompanying drawings of preferred embodiments of the invention. Wherein:

[0034] Figure 1 A highly schematic illustration is shown of a manufacturing and / or logistics facility with a coding device as an embodiment of the present invention;

[0035] Figure 2 A polygonal laser device for manufacturing code regions for a code device is shown;

[0036] Figure 3a b and c show the use of Figure 2 The code markings applied by the polygonal laser device;

[0037] Figure 4 An alternative code area with Einstein tile sections is shown;

[0038] Figure 5a b shows an Einstein tile section designed as a hat or t-shirt, with the same basic shape in its original orientation and reverse orientation;

[0039] Figure 6 Showing sections of Einstein tiles designed as vampires, ghosts, or phantoms;

[0040] Figure 7 It shows having Figure 6 The code area for the Einstein tile section;

[0041] Figure 8 A flowchart depicting the data processing used to generate code regions is shown. Detailed Implementation

[0042] Figure 1A manufacturing and / or logistics facility 1 is illustrated in a highly schematic diagram, wherein the manufacturing and / or logistics facility 1 has an area with a coded area 2, which will be described in more detail below.

[0043] Furthermore, the production and / or logistics facility 1 includes a mobile conveyor 3 for transporting workpieces, production materials, and / or tools. This mobile conveyor 3 is specifically designed as an autonomous conveyor. The conveyor 3 includes a position determination device 4 with a sensor 5, wherein the sensor 5 is designed to detect sub-regions 6 of the code area 2.

[0044] exist Figure 1 In one embodiment, the position determination device 4 is arranged within the conveying device 3. Alternatively, only the sensing device 5 may be arranged within the conveying device 3, and the evaluation devices (not shown) for the position determination device 4 may be distributed, wherein the sensor data of the sensing device 5 is sent to the evaluation devices for evaluation, and the corresponding position can be returned in the code area 2.

[0045] Knowing the position of the sensing device 5 relative to the conveying device 3, the position of the conveying device 3 relative to the code area 2 can be determined in this way. Therefore, the conveying device 3 can move on the code area 2 and simultaneously determine its own position through the code area 2, thereby enabling the conveying device 3 to navigate based on the code area 2.

[0046] The code region 2 is applied to the code region carrier 7 by laser material processing. The code region 2 and the position determination device 4 together constitute the code device 8.

[0047] In this embodiment, code region 2 has code markers 9 designed to be distributed in a grid pattern of dots or dot-like objects. In particular, the code markers 9 are arranged in rows. The position determination device 4 is designed to detect and decode the code markers in sub-region 6, and thereby determine the position of sub-region 6 in code region 2.

[0048] Figure 2 A method for manufacturing code region 2 for code device 8 is shown in schematic form.

[0049] In this method, a polygonal laser device 10 is used as a laser facility, wherein the polygonal laser device 10 has a laser device 11 designed to generate ultrashort pulse laser radiation as a laser beam 12. The ultrashort pulse laser radiation is characterized in that the length of the laser pulse is in the picosecond or femtosecond range.

[0050] Therefore, the laser device 11 can generate a laser beam 12 that enables laser material processing with minimal thermal input depth within the code area carrier 7. The laser beam 12, emitting ultrashort pulses, is guided to a polygon scanner 13 for beam guidance, the polygon scanner 13 having rotating optical elements with polygonal faces. These optical elements rotate, causing the laser beam 12 to be applied line by line across the entire width, particularly a width greater than 1 meter, to perform laser material processing.

[0051] The code region carrier 7 can be applied sequentially onto the code region carrier 7 by moving the machine axis in a direction perpendicular to the row orientation, for example. The polygon scanner 13 allows the laser beam 12 to move at a speed greater than 100 m / s or 200 m / s on the code region carrier 7. Code marks 9 and / or line segments 14 are generated by turning the laser beam 12 on and off. This enables economical and simultaneously high-precision marking of the code region carrier 7 with the code region 2.

[0052] Figure 3a One of the laser markers 9 is shown, wherein the laser marker 9 is composed of line segments 14 arranged parallel to each other and extending in the row direction. Figure 3a In section c, these line segments 14 are shown spaced apart from each other. However, the implementation of this process makes the distance between the line segments 14 smaller than the focusing diameter of the laser beam 12 on the code area carrier 7, thereby causing the line segments 14 to be arranged to overlap each other, thus resulting in a full-surface configuration.

[0053] Figure 3b The diagram illustrates how multiple laser marks 9 are formed line by line on the code area carrier 7. Figure 3c One option is shown in which the laser markings 9 are surrounded by a continuous boundary line 15 to better define the outline. This boundary line 15 is applied in the same manner by scanning the code region carrier 7 line by line using the laser beam 12.

[0054] By arranging the individual line segments 14, circles / dots that are fully marked are gradually generated (covering the entire width of the board, i.e., generating all dots in this column simultaneously). Optionally, these circles / dots can also be closed with circular borders at their ends.

[0055] For the code area carrier 7, a plate with a visible side made of steel, particularly stainless steel, is preferably used, on which the code area 2 is applied. Alternatively, for this plate, any visible side of the code area carrier 7 made of steel, particularly stainless steel, of any shape may also be equipped with the code area 2.

[0056] There are several techniques that can be used to display code markup 9:

[0057] - Annealing color: Annealing color, also known as annealing tinting or tempering color, is the color change that occurs when a metal is heated to a temperature below its melting point after heat treatment. These colors are primarily produced on the metal surface due to oxidation or other chemical reactions. The colors that appear during annealing depend on a variety of factors, including the type of metal, its alloy composition, the temperature and duration of heating, and environmental conditions such as air composition and humidity. Typically, the color ranges from yellow and purple to blue and gray.

[0058] - Oxidation scabbing: Oxidation scabbing is a process in which the surface of a metal is altered by oxidation from oxygen in the air or other oxidizing agents. It typically occurs in metals with an affinity for oxygen, such as iron and its alloys (like steel). During oxidation scabbing, a thin layer of metal oxide forms on the metal surface, which is called oxide scale.

[0059] -Laser etching: During the laser etching process, the coating of the code region carrier 7 is removed.

[0060] - Laser-induced periodic surface structures or nanowaves, due to their effect on incident light, result in cameras on the delivery device 3 (e.g., a movable tool carrier) having exceptionally high contrast and very good detectability.

[0061] Optionally, the code area carrier 7 may be matte-finished to avoid overexposure and / or specular reflection effects in the camera of the sensing device 5, which is orthogonally arranged to the visible side of the code area carrier 7 and serves as the position determination device 4. The matte surface is preferably produced by shot peening, sandblasting, or brushing and etching in one or more directions (e.g., using ferric chloride, copper sulfate, nitric acid, or sulfuric acid). In another embodiment, steel, particularly stainless steel, may also be (matte-finished) colored prior to the marking process, allowing the color to be subsequently evaporated again using a laser.

[0062] Example 1:

[0063] Code area carrier 7: Stainless steel / steel (matte finish / non-matte finish)

[0064] Code marker 9: Annealing color

[0065] Example 2:

[0066] Code area carrier 7: Stainless steel / steel (matte finish / non-matte finish)

[0067] Code mark 9: Oxidation peeling

[0068] Example 3:

[0069] Code area carrier 7: Stainless steel / steel (matte finish / non-matte finish)

[0070] Code Marker 9: Laser-induced periodic surface structure

[0071] Example 4:

[0072] Code area carrier 7: Stainless steel / steel (matte finish / non-matte finish)

[0073] Code marker 9: Matte Shading / Removal (Abtragung)

[0074] Figure 4 An alternative configuration for code region 2 is shown. Code region 2 is designed to be aperiodic, meaning the pattern will not repeat even up to infinity. Position determining device 4 records sub-regions 6 of code region 2 and compares them with the model and / or construction structure of code region 2, thereby assigning the recorded sub-regions 6 to positions within code region 2. Given the position of sensing device 5 relative to conveying device 3, the position of conveying device 3 relative to code region 2 can be determined in this way.

[0075] Code region 2 is generated from multiple Einstein tile segments 16, which serve as code markers 9, and these Einstein tile segments are arranged seamlessly to each other. The outlines of the Einstein tile segments 16 are generated using the same method described above. The dimensions of the Einstein tile segments 16 are designed such that the smallest circle surrounding each Einstein tile segment 16 is designed to be less than 5 mm, and especially less than 2 mm. In this way, sufficient spatial resolution can be achieved. Furthermore, multiple Einstein tile segments 16 can be detected using a sensing device 5 to precisely determine their positions within code region 2. As described above, the sensing device 5 is specifically designed as a camera device for optically detecting the Einstein tile segments 16.

[0076] Figure 5a Figure b shows an embodiment of the Einstein tile segment 16, designed as a hat or T-shirt. It is a polygon containing 13 sub-segments (Teilstrecken). In the variant shown, the polygon is composed of rhomboid quadrilaterals, which have two right angles, 60°, and 120° angles respectively. These angles are in... Figure 5a As shown in the image. Figure 5a As shown, these segments have a length of either a or 2a.

[0077] Einstein tile section 16 has a basic shape composed of sub-sections. In the variant shown, Einstein tile section 16 is arranged in its original state as well as rotated 180°, i.e., mirrored, as shown... Figure 5a As shown in Figures 1 and 2. However, Einstein tile segment 8 has the same basic shape, which is used once in its original state and once in a mirror image. It has been mathematically proven that, using such an Einstein tile segment 8, code region 2 can be generated non-periodicly. Figure 4 The image shows the tiling pattern for code area 2.

[0078] However, the hat or T-shirt variation is just one of countless solutions for the Einstein tile segment 16. In particular, changing the length of the sub-segments generates additional variations. However, it is preferably stipulated that, regardless of the variation, each Einstein tile segment 16 consists of 13 sub-segments.

[0079] Figure 6 An alternative to Einstein tile segment 16 is illustrated in a schematic top view, where the Einstein tile segment is designed as a vampire, ghost, or spectre. Compared to the previously described Einstein tile segment 16, this alternative has the following characteristic: it forms code region 2 simply by rotation and translation. Flipping, or mirroring, the Einstein tile segment 16 is neither necessary nor possible.

[0080] The theoretical discussion of Einstein tiles as Einstein tile section 16 can be found in the publication "An aperiodicmonotile" by David Smith, Joseph Samuel Myers, Craig S. Kaplan, and Chaim Goodman-Strauss (arXiv:2303.10798v 2 [math.CO] May 29, 2023), in which the disclosure regarding the structure and effects of Einstein tiles is incorporated herein by reference.

[0081] Figure 7 The code snippet shown is from region 2, which is composed of, for example Figure 6 The Einstein tile section 16 shown is formed.

[0082] The location determination device 4 can evaluate the sub-segment 6, for example, through edge detection, where the recorded edge pattern is compared with a model or planar view of the code region 2. From a technical point of view, it is sufficient if the edges exist only in a segmental manner.

[0083] Code region 2 can also be constructed based on Einstein tile segment 16; however, the edges of Einstein tile segment 16 are not shown, and therefore its basic shape is not shown. Instead, a representative is applied using the method described above, which contains information about the tile segment's orientation, information about the tile's rotational position, and information about... Figure 5a The variants in b can optionally and supplementarily include information about the mirrored state of the tiles. For example, the representations can be designed to be particularly easy to read by the sensing device 5. The information fully describes the Einstein tile segment 16 associated with each representation, thereby enabling the position of sub-region 6 in code region 2 to be inferred by the position determining device 4.

[0084] Figure 8 The sub-steps for data processing of code region 2 for machining in the polygonal laser device 10 are depicted in schematic block diagram form. In a first embodiment, dimensional data for code region 2 is provided in request step 100. The dimensional data relates to the size, shape, and / or outline of code region 2 to be adopted in subsequent applications, particularly in manufacturing and / or logistics facilities 1. The dimensional data is provided, in particular, by the user. The amount of dimensional data is relatively small.

[0085] In data preparation step 200, a code region image with code marker 9 (as shown in the previous figure) is created, specifically using configuration data provided, for example, by database 17. The configuration data describes the precise construction, shape, and structure of code marker 9. Optionally, the configuration data may also include the grid spacing for code marker 9. In data preparation step 200, a mesh graphic, such as a BMP bitmap, is generated. The mesh graphic represents code region 2 as a code region image in a high-resolution manner. Therefore, the code region image has a much larger data volume compared to the configuration data. Subsequently, the code region image is passed to the polygonal laser device 10, enabling it to prepare path planning for laser beam 12 and perform processing in a technology-oriented manner.

[0086] Alternatively, the size data, location, and description data of code marker 9 are provided in request step 100. Therefore, the definition of the code is at least partially performed in request step 100. In the data preparation step, a data area image is created in the same manner as before and transferred to the polygonal laser device 10.

Claims

1. A code device (8), the code device having: Code region carrier (7); Code region (2), wherein the code region (2) is arranged on the code region carrier (7), wherein the code region (2) provides location-related location information. Its features are, The code region (2) is applied to the code region carrier (7) using laser material processing, wherein the code region carrier (7) is made of steel, particularly stainless steel.

2. The code device (8) according to claim 1, characterized in that, The code region (2) is formed by the tempering color on the code region carrier (7).

3. The code device (8) according to claim 1 or 2, characterized in that, The steel has a matte finish.

4. The coding device (8) according to any one of the preceding claims, characterized in that, The area of ​​the code region (2) is greater than 3 square meters, preferably greater than 5 meters.

5. The coding device (8) according to any one of the preceding claims, characterized in that, The code region (2) is composed of parallel line segments (14).

6. The code arrangement (8) according to any one of the preceding claims, characterized in that, The code region (2) is applied by ultrashort pulse laser radiation during laser material processing.

7. The coding device (8) according to any one of the preceding claims, characterized in that, The code region (2) has multiple code points of different sizes as code region markers (9).

8. The coding device (8) according to claim 7, characterized in that, The code point is composed of at least two, preferably multiple, parallel line segments (14).

9. The coding device according to any one of claims 1 to 8, characterized in that, The code region has Einstein tile segments (16) or their representatives as code region markers (9).

10. A manufacturing and / or logistics facility (1) having a coding device (8) according to any one of the preceding claims, having a mobile conveying device (3), wherein a position determining device (4) has a sensing device (5) for detecting a sub-region (6) of a coding region (2), wherein the sensing device (5) is arranged in the mobile conveying device (3) so that the position of the mobile conveying device (3) in the coding region (2) can be determined using the position determining device (4).

11. A method for manufacturing a code device (8), particularly a code device (8) according to any one of claims 1 to 9, characterized in that, The code region (2) is applied to the code region carrier (7) using a laser device, particularly a polygon scanning laser device (10).

12. The method according to claim 11, characterized in that, In the request step (100), size data for the code region (2) is provided, wherein the size data includes the size and / or outline of the code region (2), wherein in the data preparation step (200), a code region image with code markers (9) is provided based on configuration data for the code region (2), or in the request step (100), size data, position and description data of the code markers (9) are provided, wherein in the data preparation step (200), a code region image with code markers (9) is provided based on configuration data for the code markers (9), wherein the code region image is designed as a grid graphic, wherein the laser device, particularly a polygonal laser device (10), generates the code region based on the code region image, particularly using an ultrashort pulse laser.

13. Use of a code region (2) in a code device according to any one of claims 1 to 9 for determining a position, wherein the code device has a code region carrier (7) having a code region (2), wherein the code region (2) is disposed on the code region carrier (7), wherein the code region (2) provides position information related to the position, wherein the code region (2) is applied to the code region carrier (7) by processing with a laser material.

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