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, according to the invention, the position determination device 4 is designed to determine the position of a sub-region 6 in the code region 2 from the sub-region 6 of the code region 2, the code region 2 being applied to a code region carrier 7 by means of laser material processing, the code region 2 being formed by parallel line segments 14.

Description

TECHNICAL FIELD

[0001] The invention relates to a code arrangement 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 arrangement and the use of a code field for determining a position in the code arrangement. BACKGROUND

[0002] Increasingly, autonomous robots are used in modern production plants, which autonomously navigate within the environment of the production facility. Here, the robots read position information, for example, by means of GPS, graphic position markers, etc.

[0003] The document DE 10 2016 216 221 A1 describes a two-dimensional code pattern (2D-Code muster), in which a position is encoded. The two-dimensional code pattern is read by an image processing device in order to decode the position. The two-dimensional code pattern is arranged on a floor, for example, in order to enable a mobile robot to navigate. SUMMARY

[0004] The subject of the invention is a code arrangement having the features of claim 1, a manufacturing and / or logistics facility having the features of claim 11, a method for manufacturing a code arrangement having the features of claim 12 and the use of a code field for determining a position having the features of claim 15.

[0005] Preferred or advantageous embodiments of the invention result from the dependent claims, the following description and the figures.

[0006] The subject of the invention is a code arrangement for determining a position in a code field. The code arrangement is thus able to determine a position in a code field. The position can be designed as a relative position in the code field or as an absolute position in world coordinates if the code field is calibrated in world coordinates.

[0007] The code arrangement comprises a code field carrier, wherein the code field carrier in particular has a visible side (Sichtseite). In particular preferably, the visible side is designed to be flat and / or planar.

[0008] The coding device includes a coding region, wherein the coding region is arranged, particularly applied, on a coding region carrier. The coding region provides location-related, particularly location-resolved, location information. Specifically, the coding region is designed to be planar. In particular, sub-regions of the coding 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 coding region. By reading different sub-regions at different locations within the coding region, different locations associated with these sub-regions can be determined.

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

[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 can include position (location 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 a code region onto a code region carrier using laser material processing. Specifically, the code region is laser-engraved onto the code region carrier using laser material processing. This code region is composed of parallel line segments. It is specifically stipulated that these line segments are applied to the code region carrier in the form of parallel rows. In particular, the total length of these rows is greater than 1 meter.

[0012] One advantage of this 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 with zero distortion and / or zero warping. For example, if we compare this to an alternative not according to the invention, where the code region is laminated onto the code region carrier, lamination causes distortion of the code region 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 this invention is that the laser-etched code region is less sensitive than a laminate, thus reducing wear on the coding device during harsh daily use and enabling long-term durability. By using multiple line segments, the code region 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 region carrier in a row-like manner. In this way, the code region can be applied particularly quickly.

[0013] Particularly preferred is the application of the coding region during laser material processing using ultrashort pulse laser radiation. Marking with ultrashort pulse laser radiation offers 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. The extremely short interaction between the ultrashort pulse (USP) and the material results in a smaller heat input depth, which is advantageous for warp-free marking, particularly on large coding region carriers.

[0014] Particularly preferred is that the code area carrier is formed of a rigid material, such as glass or fiber-reinforced plastic. This ensures that the code area carrier does not distort due to mechanical stress when installed in its designated location. For example, the code area carrier is designed as a plate or sheet (Tafelware).

[0015] In particular, the code area carrier is made of metal, especially steel, and especially stainless steel, or of glass. Alternatively or supplementarily, a rigid material with similar mechanical properties to metal or glass is used.

[0016] In one possible implementation variant, the code area can be marked on the glass, particularly on the glass plate that serves as the carrier plate, due to thermal expansion.

[0017] In one possible configuration, the code area carrier is made of anodized, particularly matte black anodized aluminum or a corresponding aluminum alloy. The available layer thickness is preferably a maximum of 10 µm. For manufacturing time reasons, the code area is preferably configured as a laser-etched code area, wherein the code area appears white, particularly relative to anodized aluminum, by removing the oxide layer. Improvements in manufacturing time are based on process time and the composition of the code area used, which occupies less than 50% of the total area.

[0018] In a preferred embodiment of the invention, the code area carrier is made of steel, particularly stainless steel. Laser processing of the material enables the code area to be applied in a manner that is durable and resistant, especially to mechanical loads, wear, or scratches.

[0019] In principle, laser material processing can be performed as follows: the code region is applied as a black color onto the code region carrier. The "black color" can be achieved by oxidizing and peeling the visible side of the code region carrier.

[0020] Particularly advantageous is the case where the code area carrier is made of steel, especially stainless steel, and the code area is applied by a tempering color (Anlauffarbe) (also called 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 because the oxide scale will peel 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, especially stainless 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 the code area. This method allows the code area to be colored, preferably on matte steel or stainless steel sheets. Specifically, the predetermined annealing color, particularly the annealing color of parallel line segments generated by a polygon scanner, is adjusted according to and / or by adjusting the laser intensity and / or by adjusting the laser scanning speed. This ensures that the steel is heated to the temperature required for the annealed color.

[0021] Preferred tempering colors for location-determining devices are particularly more saturated / darker shades, such as: yellowish-brown, reddish-brown, red, magenta, purple, and / or dark blue. Code areas based on tempering colors have significantly higher durability than code areas with black (oxide) spots.

[0022] Matte steel, especially stainless steel (sheet or plate), is preferably used. The matte finish avoids overexposure and / or specular reflection effects in cameras arranged perpendicular to the surface, which are used as positioning devices. The matte surface of the code area carrier is preferably produced by shot peening, sandblasting, brushing in one or more directions, or etching (e.g., using ferric chloride, copper sulfate, nitric acid, or sulfuric acid).

[0023] Typically, it is preferred to have a roughness, specifically an Ra value greater than 3 µm, to obtain a matte surface.

[0024] In another implementation variant, the stainless steel can also be (matte) colored before the marking process, so that the color can be evaporated again using a laser.

[0025] Alternatively, the code region can be a laser-induced periodic surface structure (LIPSS) or a nanometer wave, which, due to their effect on the incident light, results in exceptionally high contrast and very good detectability for the camera of the position determination device.

[0026] 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.

[0027] In one possible configuration of the invention, the code region has a plurality of code markers, wherein these code markers preferably have the same geometry but different sizes. In particular, 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. In particular, the code region is constructed as described in the applicant's DE 10 2016 216 221 A1 cited at the beginning, wherein the disclosure thereof is incorporated herein by reference to the construction, configuration, and encoding of the code region. In particular, the code region enables the determination of the 6D position of a location determining device or its sensing device, and thus the conveying equipment and / or tool carrier of the machine, within the code region. In particular, the code region includes points and / or dots arranged in an equidistant grid, wherein these points and / or dots have at least two, in particular exactly two, different diameters. In particular, these points and / or dots are circular. Preferably, the area of ​​the larger diameter dots and / or dot-like objects is at least twice that of the smaller diameter dots and / or dot-like objects. 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.

[0028] In an alternative configuration of the invention, the code region is constructed based on a plurality of Einstein-Kachelabschnitten segments having the same basic shape, serving as code markers. Specifically, these Einstein-Kachelabschnitten segments have the same outer contour. These Einstein-Kachelabschnitten segments are stacked seamlessly to form the code region. The code region constructed from the Einstein-Kachelabschnitten 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-Kachelabschnitten 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, wherein 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 Einstein tiles as Einstein tile segments 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), in which the disclosure regarding the structure and effect of Einstein tiles 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 such as a hat or T-shirt, the corresponding Einstein tile segment can be decomposed into congruent rhombic 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 phantom tile segment, or based thereon.In a preferred extension of the invention, a representative is assigned to each Einstein tile segment, wherein the representative contains information about the tile segment's orientation, rotational position, and optionally, information about the tile's mirror state. Therefore, it is generally assumed 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, a representative is applied to each Einstein tile segment, wherein the representative preferably occupies the same position in the basic shape of each Einstein tile segment, such that the tile segment orientation is the same for all Einstein tile segments. The representative contains information about the tile's rotational position and optionally, information about the tile's mirror state. Thus, the basic shape, position, angular position, and optionally, the tile's mirror state of the Einstein tile segment can be derived from the representative, allowing the reproduction of sub-regions containing these Einstein tile segments based on the representative. 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.

[0029] 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.

[0030] 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 line by line to a code region carrier. In particular, an ultrashort pulse laser is used as the laser device. Preferably, a polygonal laser device is used to apply the line segments, wherein the polygonal laser device includes at least one polygonal scanner, which deflects the laser beam in the line direction. The polygonal scanner has an optical element with a polygonal surface that is rotated, wherein the laser beam is deflected line by line by the rotated polygonal surface.

[0031] 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 shorter production times for planar code areas.

[0032] In laser material processing, in the first processing variant, the code region can be scanned line by line across its entire width using a laser beam. In the second processing variant, the code region is divided into multiple column segments, which are then scanned line by line across their entire width using a laser beam. These column segments are then processed sequentially.

[0033] In a preferred extension of this method, during the request step, dimensional data for the code region is provided. This dimensional data includes the size and / or outline of the code region for subsequent application. During the data preparation step, based on configuration data for the code region, an image of the code region with code markers, such as dots or Einstein tile segments, is provided according to the dimensional data. The configuration data for the code region can be stored, for example, in a database, and can include precise structure, particularly the dimensions of the code markers and / or the grid spacing for the code markers.

[0034] Alternatively, in the request step, the dimensional data as described above, along with the location and description data of the code markers, are provided. Therefore, the request step provides not only the dimensional data but also the structural configuration of the code region along with a description of the code markers. If the code markers are designed as dots, for example, the description data is, for example, information about whether a large or small code marker should be placed in the corresponding location. In the data preparation step, a code region image (Codefeldabbild) with code markers is provided based on configuration data for the code markers. The configuration data specifically includes the precise construction of the code markers.

[0035] The code region image is output as a raster graphics and passed to a polygon reading device for generating code regions on the code region carrier.

[0036] The advantage of this extended approach is that, for example, only the size data or the location and size data of the code markers are provided from the client side. In terms of data technology, this requires only a small amount of data. The code region image, containing the pixel-by-pixel construction of the code region, is only generated during the data preparation step based on the configuration data for the code markers. Here, it is considered that the code region occupies a large area, and the corresponding mesh graphic data is therefore very large. For example, providing the code region image from the client side is impractical because it requires a large amount of data. Instead, the code region is described by the client using metadata, where the code region image is only generated during the data preparation step.

[0037] Furthermore, it can be considered that mesh graphics, such as BMPs, have a finite maximum size. If the code region image exceeds this maximum size, it can be segmented into multiple image segments during the data processing step, and these segments can then be transmitted to a polygonal laser device. The polygonal laser device can perform path planning (Bahnplanung) for guiding the laser beam in a technology-oriented manner based on the code region image or the multiple code region image segments. In this way, the data processing used to generate the code region is improved and adapted to the technology used.

[0038] The transition from film printing (Foliendruck) to UKP laser marking using a polygon scanner can achieve the following: • Compared to laminates, it completely eliminates stretch-fehler error (up to 5000µm).

[0039] • Manufacture code areas up to 4.5 square meters or larger.

[0040] • By applying polygon scanner technology, code markings are applied evenly and at equal intervals across the entire surface (especially at the edges).

[0041] • 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, however, this method cannot achieve the required precision).

[0042] • The UKP laser facility with a polygon scanner has a very high beam speed (approximately 300 m / s, about 100 times faster than conventional marking systems), making high-precision processing of large coding areas (using lasers) affordable.

[0043] • Due to the permanent changes in material properties at this location, the code area exhibits high durability and abrasion resistance.

[0044] When using metal as the carrier material for the code area carrier, especially 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.

[0045] 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

[0046] 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: 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; Figure 2 A polygonal laser device for manufacturing code regions for a code device is shown; Figure 3a b and c show the use of Figure 2 The code markings applied by the polygonal laser device; Figure 4 An alternative code area with Einstein tile sections is shown; 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; Figure 6 This section of Einstein tiles, designed as a phantom, is shown. Figure 7 It shows having Figure 6 The code area for the Einstein tile section; Figure 8 A flowchart depicting the data processing used to generate code regions is shown. Detailed Implementation

[0047] Figure 1 A 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] The code region 2 is applied to the code region carrier 7 by laser material processing. This code region 2, together with the position determination device 4, constitutes the code device 8.

[0052] 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.

[0053] Figure 2 The method for manufacturing the code region 2 for the code device 8 is illustrated in schematic form.

[0054] 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.

[0055] 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 guiding, wherein the polygon scanner 13 has rotating optical elements with polygonal surfaces. 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.

[0056] 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.

[0057] 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, so that the line segments 14 are arranged to overlap each other, thereby resulting in a full-surface configuration.

[0058] 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.

[0059] By arranging the individual line segments 14 (Aneinanderreihung), 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 (Kreisumrandung) at their ends.

[0060] There are several possibilities for the selection of the code region carrier 7. In principle, it is preferable to use a plate with a visible side, on which the code region 2 is applied. Alternatively, for this plate, any visible side of the code region carrier 7 of any shape can also be equipped with the code region 2 through the following possibilities.

[0061] There are several techniques that can be used to display code markup 9: - 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 colors range from yellow and purple to blue and gray.

[0062] - Oxidation Scale: Oxidation scale 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 scale formation, a thin layer of metal oxide forms on the metal surface, known as oxide scale.

[0063] - Laser etching: During the laser etching process, the coating of the code region carrier 7 is removed.

[0064] - 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.

[0065] - In another implementation variant, the stainless steel can also be (matte) colored before the marking process, so that the color can be evaporated again using a laser.

[0066] 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 or etching in one or more directions (e.g., using ferric chloride, copper sulfate, nitric acid, or sulfuric acid).

[0067] Example 1: Code area carrier 7: Stainless steel / steel (matte finish / non-matte finish) Code marker 9: Annealing color Example 2: Code area carrier 7: Stainless steel / steel (matte finish / non-matte finish) Code mark 9: Oxidation peeling Example 3: Code area carrier 7: Stainless steel / steel (matte finish / non-matte finish) Code Marker 9: Laser-induced periodic surface structure Example 4: Code area carrier 7: Stainless steel / steel (matte finish / non-matte finish) Code marker 9: Matte Shading / Removal (Abtragung) Example 5: Code area carrier 7: Aluminum / Aluminum alloy (matte finish / non-matte finish) Code mark 9: (Matte) Anodizing, especially black, to remove Figure 4 An alternative configuration for code region 2 is shown. Code region 2 is designed to be non-periodic, meaning the pattern (Muster) 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.

[0068] Code region 2 is generated from multiple Einstein tile segments 16, which are seamlessly arranged together. 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 less than 5 mm, and particularly 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.

[0069] 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.

[0070] 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 and also 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.

[0071] 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.

[0072] Figure 6 An alternative to Einstein tile segment 16 is shown in a schematic top view, where the Einstein tile segment is designed as a Spectre. Compared to the previously described Einstein tile segment 16, this Einstein tile segment 16 has the following characteristics: it can form code region 2 simply by rotation and translation. Flipping, or mirroring, the Einstein tile segment 16 is neither necessary nor possible.

[0073] 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.

[0074] 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.

[0075] 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 plan view of the code region 2. From a technical point of view, it is sufficient if the edges exist only in a segmental manner.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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 (2) is composed of parallel line segments (14).

2. The code device (8) according to claim 1, characterized in that, The line segments are arranged in rows (14).

3. The code device (8) according to claim 1 or 2, characterized in that, The code region (2) is applied by ultrashort pulse laser radiation during laser material processing.

4. The coding device (8) according to any one of the preceding claims, characterized in that, The code area carrier (7) is formed of a rigid material.

5. The coding device (8) according to any one of the preceding claims, characterized in that, The code area carrier (7) is made of steel, especially stainless steel.

6. The code device (8) according to claim 5, characterized in that, The code region (2) is formed by the tempering color on the code region carrier (7).

7. The code device (8) according to claim 5 or 6, characterized in that, The steel has a matte finish.

8. 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 square meters.

9. 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).

10. 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).

11. The coding device (8) according to claim 9, characterized in that, The code point is composed of at least two, preferably multiple, parallel line segments (14).

12. 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).

13. A method for manufacturing a code device (8), particularly a code device (8) according to any one of claims 1 to 11, characterized in that, Line segments targeting code region (2) are applied line by line to code region carrier (7).

14. The method according to claim 13, characterized in that, The line segment is applied using a polygonal laser device (10).

15. The method according to claim 14, 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 polygonal laser device (10) generates the code region based on the code region image.

16. Use of a code region (2) in a code device according to any one of claims 1 to 11 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 arranged on the code region carrier (7), wherein the code region (2) provides position information related to a position, wherein the code region (2) is applied to the code region carrier (7) by processing with a laser material, wherein the code region (2) is composed of parallel line segments (14).

Images