Code arrangement, manufacturing and / or logistics plant, method for manufacturing the code arrangement, and use of a code field for position determination in the code arrangement

Abstract

The invention relates to a code arrangement 8 with a code field carrier 7, with a code field 2, wherein the code field 2 is arranged on the code field carrier 7, wherein the code field 2 provides location-dependent position information, in particular with a position determination device 4, wherein the position determination device 4 is configured to determine a position of the sub-area 6 in the code field 2 from a sub-area 6 of the code field 2, wherein the code field 2 is applied to the code field carrier 7 by means of laser material processing, wherein the code field 2 is constructed by parallel line segments 14.

Description

State of the art

[0001] The invention relates to a code arrangement with the features of the preamble of claim 1. The invention also relates to a manufacturing and / or logistics plant, a method for manufacturing the code arrangement, and the use of a code field for determining the position in the code arrangement.

[0002] Modern production facilities increasingly employ autonomous robots that can orient themselves independently within the production environment. These robots read location information, for example, via GPS, graphical position markers, etc.

[0003] German patent application DE 10 2016 216 221 A1 describes a 2D code pattern in which positions are encoded. The 2D code pattern is read by an image processing device to decode the positions. The 2D code pattern is, for example, arranged on a floor to enable mobile robots to orient themselves. Disclosure of the invention

[0004] The invention relates to a code arrangement with the features of claim 1, a manufacturing and / or logistics system with the features of claim 11, a method for manufacturing the code arrangement with the features of claim 12, and a use of a code field for position determination with the features of claim 15.

[0005] Preferred or advantageous embodiments of the invention will become apparent from the dependent claims, the following description and the accompanying figures.

[0006] The invention relates to a code arrangement for determining a position within a code field. The code arrangement thus allows a position within the code field to be determined. The position can be configured as a relative position within the code field or – if the code field is calibrated in world coordinates – as an absolute position in world coordinates.

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

[0008] The code arrangement includes the code field, which is arranged, in particular applied, to the code field carrier. The code field provides location-dependent, in particular spatially resolved, position information. In particular, the code field is two-dimensional. In particular, a sub-area of ​​the code field can be read, which contains encoded position information that is uniquely and / or unambiguously assigned to the position in the code field. By reading different sub-areas at different positions of the code field, the different positions belonging to the sub-areas can be determined.

[0009] The code arrangement preferably includes a position determination device configured to determine the position of a sub-area within the code field. Specifically, the position determination device detects the sub-area and decodes position information to determine its position. Alternatively, the position determination device compares the sub-area, for example, with a plan or model of the code field, and if the sub-area matches a search area within the code field, the position can be determined. The position resolution within the code field is, for example, less than 10 mm, preferably less than 5 mm, and particularly less than 1 mm.

[0010] Based on the position of the sub-area within the code field, the positioning device can determine its own position or the position of its sensors relative to the code field. Its own position can encompass location (spatial coordinates) and / or orientation (orientation in space). The orientation and / or distance information between the code field and the positioning device or its sensors can be determined through perspective analysis of the code field.

[0011] Within the scope of the invention, it is proposed that the code field be applied to the code field carrier by means of laser material processing. In particular, the code field is laser-etched onto the code field carrier by means of laser material processing. The code field is thereby constructed by parallel line segments. It is particularly provided that the line segments are applied to the code field carrier in parallel rows. In particular, the rows have a total length greater than 1 m.

[0012] An advantage of the invention is that by applying the code field to the code field carrier using laser material processing, the code field can be applied with high precision and precise positioning, and in particular without distortion and / or warping. In contrast, a non-inventive alternative, where the code field is laminated onto the code field carrier, leads to distortion of the code field due to warping of the laminate. Since the beam guidance during laser material processing is highly precise, such distortions are eliminated. A further advantage of the invention is that the laser-applied code field is less sensitive compared to a laminate, so that the code arrangement experiences less wear and tear in harsh everyday use and thus enables continuous operation.By using line segments, the code field can be applied in rows, allowing the use of a laser processing system and / or laser system that guides the laser beam line by line across the code field carrier. This method enables particularly fast application of the code field.

[0013] The code field is preferably applied using ultrashort pulse laser radiation during laser material processing. Markings applied using ultrashort pulse laser radiation have a larger process window and, particularly when using metal as the substrate material, offer improved corrosion resistance. The pulse duration is preferably in the pico- and / or femtosecond range. The shallow heat penetration achieved through the extremely short interactions of the ultrashort pulses (USP) with the material is advantageous for distortion-free marking of the particularly large code field carriers.

[0014] It is particularly preferred that the code field carrier be made of a rigid material, such as glass or fiber-reinforced plastic. This ensures that the code field is not distorted by mechanical stress when the code field carrier is installed at its designated location. For example, the code field carrier is designed as a plate or sheet.

[0015] In particular, the code field carrier is made of a metal, especially steel, specifically stainless steel, or of glass. Alternatively or additionally, a rigid material is used which has similar mechanical properties to metal or glass.

[0016] In one possible design variant, due to thermal expansion, the code field can be inscribed on glass, in particular on a glass pane as a carrier plate.

[0017] In one possible embodiment, the code field carrier is made of anodized, in particular matte black anodized, aluminum or a corresponding aluminum alloy. The usable layer thickness is preferably a maximum of 10 µm. For reasons of manufacturing time, the code field is preferably formed as a laser-cut code field, whereby the code field stands out visually against the anodized aluminum, particularly as white, after the oxide layer has been removed. The improved manufacturing time is due to the process time and the composition of the code field used, which occupies less than 50% of the total surface area.

[0018] In a preferred embodiment of the invention, the code field carrier is made of steel, in particular stainless steel. Laser material processing makes it possible to apply the code field permanently and with resistance, especially with regard to mechanical stresses, specifically abrasion or scratching.

[0019] In principle, the laser material processing process can be carried out in such a way that the code field is applied to the code field carrier in black. The color "black" can be achieved by scaling the visible side of the code field carrier.

[0020] A particular advantage of a code field carrier made of steel, especially stainless steel, is that the code field is applied to the carrier using tempering colors (also called annealing colors). Possible tempering colors range from light yellow through red to blue. Black layers are no longer temper colors but are referred to as scale. Black dots or sections of the code field therefore require the greatest heat input, have a longer processing time (multiple laser passes), and are less durable because the scale flakes off under external influences. For this reason, it is very advantageous to create a code field based on tempering colors and optionally omit black dots. Tempering colors (e.g., on steels) are formed by oxidation on the surface. The thickness of this layer is determined by the depth to which oxygen atoms can diffuse.This depth is particularly dependent on the processing temperature. For example, with steel, especially stainless steel, pale yellow (straw yellow) tempering colors are found when heated to 200°C, cornflower blue at 300°C, and gray at 500°C, all of which can be used for the code field. Using this method, the code field can be colored on a preferably matte steel or stainless steel plate. In particular, the predetermined tempering color, especially the tempering color of the parallel line segments produced by the polygon scanner, is set depending on 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 necessary for the tempering color.

[0021] Preferred tarnish colors for the positioning device are particularly the somewhat richer / darker tones, such as yellowish-brown, brownish-red, red, crimson, violet, and / or dark blue. The durability of the code field based on tarnish colors is significantly higher than a code field with black (scale) dots.

[0022] Preferably, a matte steel, in particular stainless steel (sheet or plate), is used. The matte finish prevents overexposure and / or reflection effects in a camera arranged orthogonally to the surface, which serves as the sensor for the position determination device. The matte surface of the code field carrier is preferably produced by shot blasting, sandblasting, or brushing in one or more directions, or by etching (e.g., with ferric chloride, copper sulfate, nitric or sulfuric acid).

[0023] It is generally preferred that the roughness, expressed as an Ra value, is greater than 3 µm in order to obtain a matte surface.

[0024] In another version, the stainless steel can also be (matt) colored before the marking process, so that the coloring can then be vaporized again using a laser.

[0025] Optionally, the code field can be made of Laser Induced Periodic Surface Structures (LIPSS) or nanowaves, which, through their effect on incident light, lead to a particularly high contrast and very good detectability of a camera of the positioning device.

[0026] In a preferred embodiment of the invention, the code field has an area larger than 3 m². 2 , preferably larger than 5 m 2 This design emphasizes that the code field is a two-dimensional shape.

[0027] In one possible embodiment of the invention, the code field has a plurality of code markers, wherein the code markers preferably each have the same geometric shape but differ in size. In particular, the code markers are configured as points and / or dots (code points) in a grid. Preferably, exactly two different sizes of code markers are used.

[0028] Preferably, the code field comprises a plurality of code points of varying sizes as code field markers. In particular, the code field is structured as described in the applicant's patent application DE 10 2016 216 221 A1 cited above, the disclosure of which is incorporated into the present disclosure by reference with regard to the structure, design, and encoding of the code field. In particular, the described code field makes it possible to determine a 6D position of the positioning device or its sensors, and thus of the transport device and / or a tool carrier of a machine, within the code field. In particular, the code field comprises points and / or dots arranged in an equidistant grid, wherein the points and / or dots have at least two, and in particular exactly two, different diameters. In particular, the points and / or dots are circular.Preferably, the points and / or dots with the larger diameter have an area at least twice as large as that of the points and / or dots with the smaller diameter. Particularly preferably, the points and / or dots (code points) are formed by at least two, preferably a plurality, parallel line segments. In particular, the line segments of a point and / or dot have different lengths within the point and / or dot such that the shape of the point and / or dot is filled. Preferably, the line segments of the points and / or dots are applied line by line to the code field carrier using a laser device, in particular a polygon scanner laser device. In particular, during the line by line application, the laser is controlled such that a line segment is generated in the area of ​​the points and / or dots, and in particular, no line segment is applied outside of the points and / or dots.

[0029] In an alternative embodiment of the invention, the code field is constructed based on a plurality of Einstein tile segments with the same basic shape, serving as code markers. In particular, the Einstein tile segments have an identical outer contour. The Einstein tile segments are placed next to each other without gaps to form the code field. The code field constructed with the Einstein tile segments is designed as an aperiodic code field. Thus, it is provided that each sub-area of ​​the code field is unique, in particular unmistakable, and especially independent of the rotational position of the sub-area within the aperiodic code field. Einstein tile segments are therefore understood to be those tile segments which, when placed next to each other, result in the aperiodic code field.The positioning device is designed to determine the position of a unique and / or distinctive sub-area within the code field. Specifically, the positioning device detects the sub-area and compares it, for example, with a plan or model of the code field. If the sub-area matches a search area within the code field, its position can be determined. A theoretical discussion of the Einstein tile as an Einstein tile segment can be found in the publication: David Smith, Joseph Samuel Myers, Craig S. Kaplan, and Chaim Goodman-Strauss: An aperiodic monotile (arXiv:2303.10798v2 [math.CO] 29 May 2023), the disclosure of which regarding the structure and function of the Einstein tile is incorporated into the present disclosure by reference.For this specific implementation, it is particularly preferred that the respective Einstein tile section is designed as a hat or T-shirt shape, or is based on one. The basic hat or T-shirt shape was first proposed by the printing equipment engineer David Smith from Yorkshire. It is a 13-sided shape with straight edges. It has been demonstrated that this basic shape leads to the aperiodic code field used in the code arrangement presented here. With the hat or T-shirt shape, the respective Einstein tile section can be decomposed into congruent kites, each having two opposite angles of 90° and two further angles of 120° and 60°, respectively. In a preferred embodiment of the invention, the respective Einstein tile section is designed as a vampire tile section and / or a spectre tile section, or is based on one.In a preferred embodiment of the invention, each Einstein tile segment is assigned a representative, wherein the representative contains information about a tile segment position, a tile rotation position, and optionally, a tile mirror state. In principle, it is thus assumed that the code field is built on the basis of the plurality of Einstein tile segments. However, instead of reading the edge lines of the basic shapes of the Einstein tile segments, a representative is applied to each Einstein tile segment, wherein preferably the representative occupies the same position in the basic shape of the Einstein tile segment in each case, so that the tile segment position is the same for all Einstein tile segments. The representative contains information about a tile rotation position and optionally, a tile mirror state.The representative thus allows the derivation of the basic shape, position, angular orientation, and optionally the tile mirror state of the Einstein tile section, so that the sub-area containing the Einstein tile sections can be reproduced based on the representative. In this way, it is possible to use a representative that may be better suited for automated reading by the positioning device while still obtaining all information about the Einstein tile section.

[0030] A further aspect of the invention is a manufacturing and / or logistics system with a code arrangement as previously described. The manufacturing and / or logistics system comprises at least one mobile transport device. The mobile transport device is, for example, designed as an autonomous transport device. The positioning device includes sensors for detecting the relevant area, with at least the sensors being arranged in the mobile transport device so that the position of the mobile transport device within the code field can be determined by the positioning device. The code field carrier and / or the code field can, for example, be located on the floor of the manufacturing and / or logistics system and / or in a processing cell of the manufacturing and / or logistics system.The at least one mobile transport device orients itself within the production and / or logistics facility by evaluating its position in the code field. Alternatively or additionally to the mobile transport device, a tool carrier from a machine tool can also incorporate the positioning device or at least its sensors, whereby the position of the tool carrier can be determined within the code field.

[0031] Another aspect of the invention relates to a method for manufacturing the code field arrangement, particularly as previously described. It is provided that the code field is applied line by line to the code field carrier. In particular, an ultrashort pulse laser is used as the laser device.

[0032] Preferably, the line segments are applied using a polygon laser device, wherein the polygon laser device includes at least one polygon scanner, the polygon scanner deflecting the laser beam in the line direction. The polygon scanner has an optical element with polygon surfaces which is rotated, the laser beam being deflected line by line over the rotating polygon surfaces.

[0033] Preferably, the laser beam is guided through an F-theta lens to create a sharp laser marking even in the edge regions. For example, the lines are spaced apart, with the spacing being smaller than the focus diameter on the code field carrier, so that the lines and / or line segments are applied overlapping in the transverse direction to the line. The polygon laser device makes it possible to scan the code field carrier very quickly, thus achieving short production times for the area code field.

[0034] In laser material processing, the code field can be scanned row by row across its entire width in one processing variant. In a second processing variant, the code field is divided into column segments, with the laser beam scanning each column segment row by row across its entire width. The column segments are processed sequentially.

[0035] In a preferred further development of the method, dimensional data for the code field is provided in a requirements step. This dimensional data includes the size and / or contour of the code field for later use. In a data preparation step, a code field image with code markers, such as dots or Einstein tile segments, is generated from the dimensional data based on configuration data for the code field. This configuration data can be stored, for example, in a database and can specify the exact structure, particularly the dimensions of the code markers, and / or a grid spacing for the code markers.

[0036] Alternatively, in a request step, dimension data as described previously, as well as position and description data for the code markers, are provided. Thus, in this request step, both the dimension data and the structural layout of the code field, including a description of the code markers, are provided. The description data includes information such as whether a large or small code marker should be placed at a given position, for example, if the code markers are represented as dots. In a data preparation step, a code field image with code markers is provided based on the configuration data for the code markers. This configuration data includes, in particular, the precise structure of the code markers.

[0037] The code field image is output as a raster graphic and passed to the polygon reader device to generate the code field on the code field carrier.

[0038] This training has the advantage that, for example, the customer only needs to provide the dimension data or the dimension and position data of the code markers. From a data processing perspective, this requires only a small data volume. Only in the data preparation step is the code field image generated based on the configuration data for the code markers; this image comprises a pixel-by-pixel structure of the code field. It is important to consider that the code field occupies a relatively large area, and a corresponding raster graphic therefore has a large data volume. It is impractical if, for example, the customer provides the code field image, as this would require them to provide a substantial amount of data. Instead, the customer describes the code field with metadata, and the code field image is only generated in the data preparation step.

[0039] Furthermore, it can be taken into account that raster graphics, such as BMP, have a limited maximum size. If the code field image exceeds this maximum size, it can be divided into several image sections during the data preparation step, which are then passed to the polygon laser device. Based on the code field image or the majority of its sections, the polygon laser device can implement the path planning for guiding the laser beam in a technology-oriented manner. In this way, the data preparation for generating the code field is improved and adapted to the technology used.

[0040] The switch from foil printing to UKP laser marking with a polygon scanner enables: • the complete elimination of stretch error (up to 5000 µm) compared to laminates. • the production of code fields in sizes up to 4.5 m 2 or larger. • homogeneous, equidistant application of the code markings over the entire surface (especially also at the edges) by using polygon scanner technology. • achieving the high accuracy of + / -50µm (these values ​​are not achievable with foil printing or for marking lasers with such large code field areas, e.g.: conventional laser optics have a very limited scan field, this requires a step-and-repeat approach, which cannot achieve the required accuracies). • Very high beam velocity of the UKP laser system with polygon scanner (approx. 300 m / sec, about a factor of 100 compared to conventional marking systems), so that the high-precision processing of large code fields (using lasers) also becomes economical. • High durability and wear resistance of the code field due to the permanent change in material properties at that location.

[0041] When metal is used as the substrate material for the code field carrier, especially stainless steel or aluminum (alloy) plates, the method can optionally include compensation for the thermally induced code field expansion in the positioning system of the laser system by means of a real-time measurement of the code field carrier temperature.

[0042] A further aspect of the invention relates to the use of the code field, as described above, for position determination within the code arrangement, as described above. In particular, the code field is used in the manufacturing and / or logistics plant.

[0043] Further features, advantages, and effects of the invention will become apparent from the following description of a preferred embodiment of the invention and the accompanying figures. These show: Fig. 1 a highly schematic representation of a manufacturing and / or logistics plant with a code arrangement as an embodiment of the invention; Fig. 2 a polygon laser device for producing the code field for the code arrangement; Fig. 3a, b, c Code markings made with the polygon laser device of the Fig. 2 are applied; Fig. 4 an alternative code field with Einstein tile sections; Fig. 5a, b an Einstein tile section designed as a hat or T-shirt in original and reversed orientation with the same basic shape; Fig. 6. An Einstein tile section trained as a vampire, ghost, or spectre; Fig. 7 a code field with the Einstein tile section of the Fig. 6; Fig. 8. A flowchart to illustrate data processing for generating the code field.

[0044] Figure 1 shows a highly schematic representation of a manufacturing and / or logistics plant 1, wherein the manufacturing and / or logistics plant 1 has an area with a code field 2, which is described in more detail below.

[0045] Furthermore, the manufacturing and / or logistics plant 1 includes a mobile transport device 3 for transporting workpieces, manufacturing materials, and / or tools. The mobile transport device 3 is specifically designed as an autonomous transport device. The transport device 3 includes a position determination device 4 with a sensor 5, wherein the sensor 5 is configured to detect a sub-area 6 of the code field 2.

[0046] The position determination device 4 is located in the exemplary embodiment in the Fig. 1 is arranged in the transport device 3. Alternatively, it is also possible that only the sensor 5 is arranged in the transport device 3 and an evaluation unit (not shown) of the position determination device 4 is arranged decentrally, whereby sensor data from the sensor 5 is sent to the evaluation unit, evaluated there, and the corresponding position can be returned in the code field 2.

[0047] Knowing the position of the sensor 5 relative to the transport device 3, the position of the transport device 3 relative to the code field 2 can be determined. Thus, the transport device 3 can move on the code field 2 and simultaneously determine its own position via the code field 2, allowing the transport device 3 to orient itself using the code field 2.

[0048] The code field 2 is applied to a code field carrier 7 by means of laser material processing. The code field 2 together with the position determination device 4 forms a code arrangement 8.

[0049] In this embodiment, the code field 2 has code markings 9 formed as points or dots, which are distributed in a grid pattern. In particular, the code markings 9 are arranged in rows. The position determination device 4 is configured to detect and decode the code markings in the sub-area 6 and thereby determine the position of the sub-area 6 in the code field 2.

[0050] The Fig. Figure 2 illustrates in a schematic representation a procedure for manufacturing the code field 2 for the code arrangement 8.

[0051] In the method, a polygon laser device 10 is used as a laser system, wherein the polygon laser device 10 comprises a laser unit 11 configured to generate an ultrashort pulse laser radiation as a laser beam 12. The ultrashort pulse laser radiation is characterized by laser pulses with a duration in the picosecond or femtosecond range.

[0052] The laser device 11 thus makes it possible to generate the laser beam 12, which can perform laser material processing with minimal heat input into the code field carrier 7. The laser beam 12, with its ultrashort pulse laser radiation, is guided onto a polygon scanner 13 for beam guidance. The polygon scanner 13 has a rotating optical element with polygon surfaces. The optical element rotates so that the laser beam 12 is applied line by line to the code field carrier 7 across its entire width, in particular a width greater than 1 m, to perform the laser material processing.

[0053] The code field carrier 7 is moved, for example, by a machine axis in a direction perpendicular to the line orientation, so that the lines can be applied to the code field carrier 7 one after the other. The polygon scanner 13 makes it possible to achieve traverse speeds of the laser beam 12 on the code field carrier 7 that are greater than 100 m / s or greater than 200 m / s. The code markings 9 and / or line segments 14 are generated by switching the laser beam 12 on and off. This enables economical and highly accurate marking of the code field carrier 7 with the code field 2.

[0054] The Fig. Figure 3a shows one of the laser markings 9, where the laser marking 9 is formed by line segments 14 which are arranged parallel to each other and which run in the line direction. The line segments 14 are in the Fig. 3 a to c are shown spaced apart from each other. However, the process is carried out in such a way that the distance between the line segments 14 is smaller than a focus diameter of the laser beam 12 on the code field carrier 7, so that the line segments 14 are arranged overlapping each other and thus a full-surface design results.

[0055] The Fig. Figure 3b shows a schematic representation of how a plurality of the laser markings 9 are formed row by row on the code field carrier 7. Fig. Figure 3c shows an option where the laser markings 9 are enclosed by a continuous border line 15 to better define the contour. The border line 15 is applied in the same way by scanning the code field carrier 7 line by line with the laser beam 12.

[0056] By arranging individual line segments 14 in succession, fully labeled circles / dots are created step by step (across the entire width of the sheet, i.e., all points in this column are created simultaneously). Optionally, these can be closed with a circular border at the end.

[0057] There are several options for selecting the code field carrier 7. In principle, a plate with a visible surface onto which the code field 2 is applied is preferred. Alternatively, any visible surface of the arbitrarily shaped code field carrier 7 can be provided with the code field 2 using the following methods.

[0058] Several techniques are available for displaying the code markers 9: - Tempering color: Tempering colors, also known as tempering discoloration or tarnish colors, are color changes that occur when metals are heated to temperatures below their melting point after heat treatment. These colors arise primarily on the surface of the metal due to oxidation or other chemical reactions. The colors that appear during tempering depend on various 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 through purple to blue and gray. - Scaling: Scaling is a process in which the surface of a metal is altered by oxidation with oxygen from the air or other oxidizing agents. It frequently occurs in metals that have a certain affinity for oxygen, such as iron and its alloys (like steel). During scaling, a thin layer of metal oxides forms on the surface of the metal, which is called scale. - Laser removal: During laser removal, a coating of the code field carrier 7 is removed. - Laser Induced Periodic Surface Structures or nanowaves, which, through their effect on incident light, lead to a particularly high contrast and very good detectability of the camera of the transport device 3 (e.g. movable tool carrier). - In another version, the stainless steel can also be (matt) colored before the marking process, so that the coloring can then be vaporized again using a laser.

[0059] Optionally, the code field carrier 7 can be frosted to prevent overexposure and / or reflection effects in a camera arranged orthogonally to the viewing side of the code field carrier 7, which serves as the sensor 5 of the position determination device 4. The frosted surface is preferably produced by shot blasting, sandblasting, or brushing in one or more directions, or by etching (e.g., with ferric chloride, copper sulfate, nitric or sulfuric acid).

[0060] Example 1: Code field carrier 7: Stainless steel / steel (matt / unmatted) Code marking 9: Occasion color

[0061] Example 2: Code field carrier 7: Stainless steel / steel (matt / unmatted) Code Marker 9: Scaling

[0062] Example 3: Code field carrier 7: Stainless steel / steel (matt / unmatted) Code Marker 9: Laser Induced Periodic Surface Structures

[0063] Example 4: Code field carrier 7: Stainless steel / steel (matt / unmatted) Code marking 9: matte colored / abrasion

[0064] Example 5: Code field carrier 7: Aluminum / aluminum alloy (matt / unmatted) Code marking 9: (matt) anodized, especially black, abrasion

[0065] The Fig. Figure 4 shows an alternative configuration for a code field 2. The code field 2 is aperiodic, meaning the pattern does not repeat even to infinity. The position determination device 4 detects the sub-area 6 of the code field 2 and compares it with a model and / or a structural representation of the code field 2, so that the detected sub-area 6 can be assigned to a position in the code field 2. Knowing the position of the sensor 5 relative to the transport device 3, the position of the transport device 3 relative to the code field 2 can thus be determined.

[0066] The code field 2 is generated from a multitude of Einstein tile segments 16, which are arranged without gaps to one another. The contours of the Einstein tile segments 16 are generated using the same method as described previously. The dimensions of the Einstein tile segments 16 are such that a minimum circle enclosing each Einstein tile segment 16 is smaller than 5 mm, and in particular smaller than 2 mm. In this way, sufficient spatial resolution can be achieved. Furthermore, it is possible to detect a plurality of the Einstein tile segments 16 with the sensor 5 in order to uniquely determine their position within the code field 2. As before, the sensor 5 is designed in particular as a camera device that optically detects the Einstein tile segments 16.

[0067] The Fig. Figures 5a and 5b show an embodiment of the Einstein tile section 16, which is designed as a hat or T-shirt. It is a polygon with 13 segments. In the variant shown, the polygon is constructed from kites, each of which has two right angles, one 60° angle, and one 120° angle. The angles are in the Fig. 5a is entered. The segments have a length of a or 2a, as shown in the Fig. 5a is entered, on.

[0068] The Einstein tile sections 16 have a basic shape formed by the subsections. In the variant shown, the Einstein tile sections 16 are arranged in their original form and rotated by 180°, i.e., mirrored, as shown in the Fig. 5 a, b is shown. However, the Einstein tile sections 8 have the same basic shape, which is used once in its original form and once mirrored. It has been mathematically proven that the code field 2 can be generated aperiodically with such an Einstein tile section 8. A laying pattern is shown in the Fig. 4 is shown as the code field 2.

[0069] The variant "Hat" or "T-Shirt" is, however, only one of an infinite number of solutions for an Einstein tile segment 16. In particular, the lengths of the segments are changed to generate the additional variants. However, it is preferred that, regardless of the variant, 13 segments always form the Einstein tile segments 16.

[0070] The Fig. Figure 6 shows a schematic top view of an alternative to the Einstein tile section 16, which is configured as a vampire, ghost, or spectre. This Einstein tile section 16 differs from the previously described Einstein tile section 16 in that it can form the code field 2 solely through rotation and translation. A reversal, i.e., a reflection, of the Einstein tile section 16 is neither necessary nor possible.

[0071] A theoretical treatise on the Einstein tile as Einstein tile section 16 can be found in the publication: David Smith, Joseph Samuel Myers, Craig S. Kaplan, and Chaim Goodman-Strauss: An aperiodic monotile (arXiv:2303.10798v2 [math.CO] 29 May 2023), whose revelation on the structure and effect of the Einstein tile is incorporated into the present revelation via reference.

[0072] The Fig. Figure 7 shows a section of a code field 2, which is formed by the Einstein tile section 16, as shown in the Fig. 6 is shown.

[0073] The positioning device 4 can evaluate the subsection 6, for example, by edge detection, whereby the recorded edge pattern is compared with the model or the plan of the code field 2. From a technical point of view, it may be sufficient if the edges are only present in sections.

[0074] It is also possible that a code field 2 is constructed based on the Einstein tile sections 16, but the edges and thus the basic shape of the Einstein tile section 16 are not represented. Instead, a representative is created using the described method, which contains information about a tile section position, a tile rotation position, and optionally, additionally, for the variants in the Fig. 2 a, b exhibits a tile mirror state. The representatives can, for example, be designed such that they can be read out particularly easily by the sensor 5. With the aforementioned information, the corresponding Einstein tile section 16 is completely described for each representative, so that the position determination device 4 can deduce the position of the sub-area 6 in the code field 2.

[0075] The Fig.Figure 8 illustrates, in a schematic block diagram, a partial step in the data processing of code field 2 for processing in the polygon laser device 10. In a first implementation variant, 100 dimensional data points for code field 2 are provided in a single requirements step. These dimensional data points relate to the size, shape, and / or contour of code field 2 for its subsequent application, particularly in the production and / or logistics system 1. The dimensional data points are provided by a single user and represent a small data volume.

[0076] In data preparation step 200, a code field image with code markers 9, as shown in the preceding figures, is created using configuration data provided, for example, by a database 17. The configuration data describes the exact layout, shape, and structure of the code markers 9; optionally, the configuration data can also specify a grid spacing for the code markers 9. In data preparation step 200, a raster graphic, such as a BMP bitmap, is generated. The raster graphic represents the code field 2 as a high-resolution code field image. The code field image thus has a very large data volume compared to the configuration data. The code field image is subsequently transferred to the polygon laser device 10, enabling it to prepare a technology-oriented path plan for the laser beam 12 and perform the processing.

[0077] Alternatively, in requirement step 100, the dimension data as well as position and description data of the code markers 9 are provided. Thus, at least part of the coding definition takes place in requirement step 100. In the data preparation step, the data field image is created in the same way as before and transferred to the polygon laser device 10. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2016 216 221 A1 [0003, 0028] Cited non-patent literature

[0000] David Smith, Joseph Samuel Myers, Craig S. Kaplan, und Chaim Goodman-Strauss: An aperiodic monotile (arXiv:2303.10798v2 [math.CO] 29 May 2023 [0029, 0071]

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