Apparatus for controlling at least one first radio transmission / radio receiving device which can be integrated in a formable system for interaction with at least one automatic cad / cam-based production process, for example in an industrial environment, radio transmission / radio receiving device, apparatus for manipulating electromagnetic waves hitting at least one surface of the apparatus, system and method for controlling

Abstract

The invention relates to an apparatus for controlling at least one first radio transmission / radio receiving device which can be integrated in a formable system for interaction with at least one automatic CAD / CAM-based production process, for example in an industrial environment, a radio transmission / radio receiving device, an apparatus for manipulating electromagnetic waves hitting at least one surface of the apparatus, a system and method for controlling, which, inter alia, can be configured such that optionally at least temporarily the communication, localisation and / or sensing function operates in such a way that the automatic CAD / CAM-based production process is carried out with access to at least the data that is generated by the operation of the first radio transmission / radio receiving device and exchanged directly and / or via the control apparatus with a production process control apparatus for a production machine such that a workpiece currently produced by the production machine can be checked for correct shaping of the workpiece based on at least one of the functions of the first radio transmission / radio receiving device at at least one point in time, and the production process is manipulated, in particular interrupted, depending on the result of the check.

Description

[0001] Description

[0002] Device for controlling at least one first radio transmitting / receiving device that can be integrated into a system that can be formed for interaction with at least one mechanical CAD / CAM-based manufacturing process, for example in an industrial environment, radio transmitting / receiving device, device for manipulating electromagnetic waves impinging on at least one surface of the device, system and method for controlling

[0003] The invention relates to a device for controlling at least one first radio transmitting / receiving device according to the preamble of claim 1 which can be integrated into a system which can be formed for interaction with at least one mechanical process, for example in an industrial environment, a radio transmitting / receiving device according to the preamble of claim 5 a device for manipulating electromagnetic waves impinging on at least one surface of the device according to the preamble of claim 6 a system according to the preamble of claim 9 and a method for controlling according to the preamble of claim 15.

[0004] The use of radio transmitters / receivers, in particular mobile radio transmitters / receivers, in mobile radio communication networks in accordance with radio communication standards such as the "Global System Mobile", GSM or 2G, 3G or "Long Term Evolution", LTE or 4G standard is well known. The standards mentioned were typically characterized primarily by the fact that subsequent developments gave radio transmitters / receivers more bandwidth for communication, which was increasingly also used for mobile data transmission, in particular for using the so-called mobile Internet. At the same time, the power of radio transmitters / receivers increased and many different applications were developed that enabled radio transmitters / receivers to be used for purposes beyond pure communication and Internet use.These functions, which are essentially used in the private environment, also increasingly suggested use in the industrial / machine environment, which led to the current fifth generation mobile communications standard, 5G, not only bringing about an increase in bandwidth, but also enabling an increase in the number of cells and smaller, particularly isolable, cells, and, for example, allowing isolated radio coverage without access by third parties, which above all enabled industrial use of the functions of radio transmitting / receiving devices.

[0005] Next-generation wireless communication systems, i.e. the 6th generation (6G) of the mobile communications standard, are expected to integrate several functionalities into the air interface used by radio transceivers, also known as the wireless interface.

[0006] This means that functions of the radio transmitters / receivers can be addressed and used directly via the air interface without the need for complex applications.

[0007] Projects like Hexa-X suggest that 6G will feature a close integration of localization and sensing with communications functions. The radio transceivers used in such an environment are accordingly referred to as "Integrated Communications and Sensing" (ICAS) devices.

[0008] These features will not only enable new use cases requiring extreme localization performance, but will also provide a means to support and enhance communication capabilities.

[0009] WYMEERSCH, Henk, et al. Integration of communication and sensing in 6G: A joint industrial and academic perspective. In: 2021 IEEE 32nd Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC). IEEE, 2021. pp. 1–7. provides an overview of the Hexa-X vision and the planned use cases. It also discusses how the performance gap required for these use cases with respect to 5G can be closed. To this end, several different technical prerequisites and the associated research challenges for the coming years are discussed.

[0010] A concrete implementation of the integration of the functions of radio transmitting / receiving devices, particularly for mechanical processes in industrial environments, is not mentioned or left open there.

[0011] In particular, the integration of radio transmitting / receiving devices of the type mentioned in the context of so-called "computer-aided design" / "computer-aided manufacturing", CAD / CAM-based production with machines such as CNC milling machines, laser cutters and 3D printers, which can be found both in industrial production and in private environments, such as hobby workshops, is not known.

[0012] In this manufacturing process, it is common, especially in industrial environments, for a digital twin of the workpiece to be manufactured to be available a priori, for example in the form of a CAD model in 3D printing.

[0013] Using this digital twin, the target shape can be compared with the shape of the workpiece to be manufactured. In the event of anomalies, an alarm can be triggered and / or production can be stopped prematurely before damage occurs. Anomalies can, for example,

[0014] • Failed 3D prints due to incorrect printer settings or defects in the filament

[0015] • Damage to the workpiece caused by an overheated milling bit (due to material failure or incorrect setting).

[0016] To solve this problem, optical methods (cameras) are used to monitor the workpiece. The major disadvantage of this method is that optical components in industrial environments are susceptible to dust, oil, etc. In addition, the so-called "light detection and ranging" (LIDAR) technology typically used in this case is very expensive.

[0017] The object underlying the invention is to overcome the disadvantage of the prior art and to provide a technical solution for integrating functions of radio transmitting / receiving devices for CAD / CAM-based manufacturing, in particular for mechanical processes in an industrial environment.

[0018] This object is achieved by the device for controlling at least one first radio transmitting / receiving device which can be integrated into a system which can be formed, in particular for interaction with at least one mechanical process, for example in an industrial environment, according to the preamble of claim 1, by the characterizing features thereof, by the radio transmitting / receiving device according to the preamble of claim 5, by the characterizing features thereof, by the device for manipulating electromagnetic waves impinging on at least one surface of the device according to the preamble of claim 6, by the characterizing features thereof, the system according to the preamble of claim 9, by the characterizing features thereof and by the method for controlling according to the preamble of claim 15, by the characterizing features thereof.

[0019] In the device according to the invention for controlling at least one first radio transmitter / receiver device which can be integrated into a system which can be formed for interaction with at least one mechanical CAD / CAM-based manufacturing process, for example in an industrial environment, and which is designed with at least one first interface which can be operated wirelessly according to at least one radio communication standard and is at least temporarily for communication, on radio transmitter / receiver of electromagnetic waves based localization and / or sensor technology, the control device has a second interface via which at least one control signal can be transmitted to the radio transmitter / receiver devices in such a way that the first radio transmitter / receiver device, by receiving and / or interpreting the control signal, at least for an at least temporary provision and / or deactivation of at least parts of the communication,The first interface providing localization and / or the sensor system is configured to be configurable in such a way that it is selectively operated at least temporarily for communication, localization and / or sensor technology in such a way that the mechanical CAD / CAM-based manufacturing process is carried out by accessing at least the data exchanged by the operation of the first radio transmitter / receiver device and directly and / or mediated by the control device with a manufacturing process control device of a manufacturing machine in such a way that a workpiece currently produced by the manufacturing machine can be checked for correct formation of the workpiece at least at one point in time based on at least one of the functions of the first radio transmitter / receiver device and the manufacturing process is manipulated, in particular interrupted, depending on the check result.

[0020] One of the advantages of the control device according to the invention is that the resources of one or more radio transmitters / receivers that can be integrated into a system are optimally utilized, since individual functions or combinations of their functions can be used or operated as needed in a CAD / CAM-based manufacturing process, where they can advantageously optimize the production of workpieces. The invention also enables the radio transmitters / receivers to accomplish this with virtually no major implementation effort, since only the second interface and the control device according to the invention and the implementation of the method according to the invention are required to achieve this.Conventional radio transmitters / receivers can therefore also be used, provided they are operated according to the method according to the invention, in particular one of their interfaces as a second interface to the control device according to the invention, so that the invention enables radio transmitters / receivers to be used on a broad basis in the new fields of application mentioned at the beginning. The control device according to the invention is advantageous, in particular when it controls several radio transmitters / receivers, because it can distribute and manage individual functions for a system requiring several functions. This provides many degrees of freedom, for example with regard to the location of the respective radio transmitter / receiver or its assignment to a network, work area or connection to an artificial intelligence.

[0021] The control device according to the invention also enables the use of electromagnetic waves, in particular RF signals with frequencies adapted to the respective requirements, preferably the material of the workpiece, for workpiece inspection. This also enables, among other things, early intervention in the production process. This allows corrections to be made and / or damage to the production machine to be prevented.

[0022] The radio transmitting / receiving device according to the invention, designed for interaction with at least one mechanical CAD / CAM-based manufacturing process, for example in an industrial environment, is designed in such a way that it can be connected to at least one device which is at least temporarily configured for communication,

[0023] Radio transmission / reception of electromagnetic wave-based localization and / or sensor technology (operable wirelessly according to at least one radio communication standard, first interface is designed and has an interface corresponding to the second interface of the control device according to one of the preceding claims, wherein the first radio transmission / reception device is designed and the interface corresponding to the second interface is functionally connectable and operable in such a way that by receiving and / or interpreting one of the control signals via the second interface for at least temporary provision and / or deactivation of at least parts of the communication, localization and / or at least parts of the sensor technology, the first interface is designed to be configurable in such a way that it can be used selectively at least temporarily for communication,Localization and / or sensor technology is operated in such a way that the mechanical CAD / CAM-based manufacturing process is carried out by accessing at least the data exchanged by the operation of the first radio transmitter / receiver device and directly and / or mediated by the control device with a manufacturing process control device of a manufacturing machine, in such a way that a workpiece currently produced by the manufacturing machine can be checked for correct formation of the workpiece at least at one point in time based on at least one of the functions of the first radio transmitter / receiver device and the manufacturing process is manipulated, in particular interrupted, depending on the check result.

[0024] In addition to the advantages mentioned in connection with the control device according to the invention, these advantages are also achieved mutatis mutandis by the radio transmitter / receiver according to the invention, since it is set up to interact with the control device in accordance with and carry out the method according to the invention and thus contributes to the realization of the advantages mentioned.

[0025] The device according to the invention for manipulating electromagnetic waves impinging on at least one surface of the device with at least one reflection property of the surface that can be changed by control signals can be functionally connected and controlled via a third interface, in particular implemented as a second interface, with a control device according to the invention or one of its developments.

[0026] The system according to the invention for controlling at least one first radio transmitting / receiving device which can be integrated into a system which can be formed for interaction with at least one mechanical CAD / CAM-based manufacturing process, for example in an industrial environment, is characterized by at least one control device according to the invention or a further development thereof and at least one radio transmitting / receiving device according to the invention or a further development thereof.

[0027] The advantages mentioned above also apply, mutatis mutandis, particularly to the system according to the invention, since this system is formed by the control device and at least one radio transceiver according to the invention. Furthermore, this provides a minimal arrangement for implementing the method according to the invention, which not only provides the aforementioned advantages with regard to optimal use of resources, but also provides flexible, configurable functions for technical tasks that go beyond pure communication.

[0028] The method according to the invention for controlling at least one first radio transmitter / receiver that can be integrated into a system that can be formed for interaction with at least one mechanical CAD / CAM-based manufacturing process, for example in an industrial environment, characterized by at least one control device or one of its developments, which are functionally connected and operated in such a way that the control device controls at least parts of the functions of the radio transmitter / receiver via the second interface, wherein the control is carried out in such a way that the integration, in particular the mechanical manufacturing process, is carried out at least temporarily using the communication, totalization and / or sensor operation of the radio transmitter / receiver,that the mechanical CAD / CAM-based manufacturing process is carried out by accessing at least the data exchanged by the operation of the first radio transmitter / receiver device and directly and / or mediated by the control device with a manufacturing process control device of a manufacturing machine, such that a workpiece currently produced by the manufacturing machine can be checked for correct formation of the workpiece at least at one point in time based on at least one of the functions of the first radio transmitter / receiver device and the manufacturing process is manipulated, in particular at least temporarily interrupted, depending on the check result.

[0029] By means of the method according to the invention, the advantages in the aforementioned inventions are achieved mutatis mutandis, since by carrying out the method according to the invention the advantages in the use of the invention can be realized.

[0030] Further advantageous embodiments and developments of the invention are specified in the subclaims.

[0031] The advantages mentioned below do not necessarily have to be achieved by the subject matter of the independent patent claims. Rather, they may also be advantages achieved solely by individual embodiments, variants, or further developments. The same applies to the following explanations.

[0032] According to a further development of the control device according to the invention, the control device is designed to be functionally connectable via at least one third interface, in particular implemented by the second interface, to at least one device, in particular designed as a so-called "intelligent surface", for manipulating electromagnetic waves impinging on at least one surface of the device with at least one reflection property of the surface that can be changed by control signals, so that it can at least temporarily change the reflection properties of the reflection surface, for example the reflection angle of the reflection device, on the basis of data exchanged via the first interface, second interface and / or third interface.This refinement increases the effectiveness of the inventive use of electromagnetic waves emitted by radio transmitters / receivers for the inspection of workpieces. This means that fewer transmitters / receivers are required, since this design allows signals emitted for inspection to be reflected back in a targeted manner. The control device according to the invention is then capable of controlling both radio transmitters / receivers and manipulation devices in a coordinated manner.

[0033] This advantageous coordinated control or configuration of the said devices / equipment is further improved if the control device according to the invention is preferably developed in such a way that the control device can at least temporarily change at least one property, for example frequency, waveform and / or radiation characteristic, of electromagnetic waves to be transmitted from data exchanged via the first interface, second interface and / or third interface in a way that is coordinated with the current reflection properties of the reflection device. With these setting options, a wide variety of degrees of freedom are possible, which make it possible to compensate for the reflection properties of the materials used for the workpiece, the reflection properties of the production area or other disturbances, in particular those caused by interference.

[0034] The control device according to the invention can further be developed, alternatively or additionally, in such a way that the control device is connected to a second radio transmitter / receiver via the second interface in such a way that the second radio transmitter / receiver is controlled by at least one control signal in such a way that it detects electromagnetic waves, in particular at least one property thereof, as a sensor, at least temporarily, and in particular at least one property thereof that is tailored to the electromagnetic waves transmitted by the first radio transmitter / receiver and / or the orientation of the reflection device. This makes it possible to place and operate a sensor spatially disjoint from the source of the electromagnetic waves transmitted for testing, which likewise provides additional degrees of freedom, for example for optimising signal detection and taking spatial conditions into account.

[0035] According to a further development of the manipulation device according to the invention, the connection via the third interface is designed such that the reflection property is changed by the control signal in such a way that incoming electromagnetic waves are excluded from detection, in particular by reflection in the direction of an absorption device. This further development gives the control device the option of configuring and using the manipulation device to remove interfering signals, in particular those caused by interference, wherein in the event of deflection to an absorption device the requirements for the manipulation device still essentially relate to the reflection properties. This means that the manipulation device can be configured both for interference elimination and for reflecting the signals for testing.

[0036] If it is desired to dispense with an external absorption device in order to save space or for cost reasons, the manipulation device according to the invention can alternatively or additionally be developed in such a way that the connection via the third interface is designed in such a way that the control signal changes the reflection property in such a way that the incoming electromagnetic waves are absorbed by the surface.

[0037] A further development of the system according to the invention is characterized by at least one manipulation device according to the invention or one of its further developments, located particularly at the edge of a production area of ​​the production process. With this further development, the system is capable of realizing the advantages of using manipulation devices together with radio transmitting / receiving devices.

[0038] Alternatively or additionally, the system according to the invention can be developed in such a way that the control device is connected to a further first radio transmitter / receiver via the second interface and a pair of the first radio transmitter / receiver and the manipulation device is arranged and designed in such a way that all can be controlled by the control device via at least one control signal in such a way that electromagnetic waves can be sent at least temporarily by the first radio transmitter / receiver along an x-coordinate of the currently produced workpiece, and parts of the electromagnetic waves that are at least partially manipulated by the workpiece can be reflected by the manipulation device in such a way that the reflected electromagnetic waves can be detected by the further first radio transmitter / receiver and can be fed for evaluation.This further development ensures that the signals along the x-axis are optimally recorded.

[0039] Furthermore, the system according to the invention can alternatively or additionally be developed in such a way that the control device is connected to a further first radio transmitter / receiver via the second interface and a pair consisting of the first radio transmitter / receiver and the manipulation device is arranged and designed in such a way that all can be controlled by the control device via at least one control signal in such a way that electromagnetic waves can be sent at least temporarily along a y-coordinate of the currently produced workpiece by the first radio transmitter / receiver, and parts of the electromagnetic waves that are at least partially manipulated by the workpiece can be reflected by the manipulation device in such a way that the reflected electromagnetic waves can be detected by the further first radio transmitter / receiver and fed into an evaluation process. In this way, the signals along the y-axis are optimally detected.In conjunction with the x-axis detection, this already provides a sufficiently accurate inspection option for workpieces. However, further combinations of radio transmitters / receivers along other axes, particularly for optimal detection of signals along the z-axis, can also be provided as an extension.

[0040] According to a further alternative or supplementary embodiment of the system according to the invention, at least one further manipulation device is arranged and configured and connected to the control device in such a way that, by means of at least one control signal, it at least temporarily changes at least one reflection property of its surface in such a way that disruptive reflections caused by the electromagnetic waves, in particular by reflection in the direction of an absorption device, can be excluded from detection. With this development, the system according to the invention is supplemented by an interference elimination function that realizes the advantages already mentioned in this context.

[0041] The same applies to the further development according to which the system according to the invention is further developed in such a way that the control signal changes the reflection property in such a way that the incoming electromagnetic waves are absorbed by the surface.

[0042] A further development of the method according to the invention consists in that the control device controls at least one pair consisting of a first radio transmitter / receiver and a manipulation device in such a way that the first radio transmitter / receiver transmits electromagnetic waves along an axis of a Cartesian coordinate system in such a way that portions of the electromagnetic waves manipulated by the workpiece strike the surface of the manipulation device and are reflected in such a way that the reflected portions are detected by another first radio transmitter / receiver, the detected signals forming the basis for the inspection. This further development enables optimal detection of the electromagnetic waves.

[0043] Alternatively or additionally, the method according to the invention can be further developed such that the control device controls at least one further manipulation device such that at least one reflection property of its surface is manipulated such that disruptive reflections caused by the electromagnetic waves, in particular by reflection in the direction of an absorption device, are excluded from detection. This makes the use of the manipulation device according to the invention possible both for the reflection of the signals for verification and for interference.

[0044] As an alternative or supplement to the above, the method according to the invention can be further developed such that the at least one reflection property of its surface is manipulated such that the incoming electromagnetic waves are absorbed by the surface. This allows interference elimination to be achieved in a space- and cost-saving manner.

[0045] As a further alternative or supplementary development of the method according to the invention, the electromagnetic waves can be generated and emitted as waves in the HF range. With this development, signals can be generated that can be adjusted to the material of the workpiece or materials, so that it is at least semi-transparent with regard to the workpiece but not with regard to other materials, such as those of the production area and / or the manipulation device, so that an image of the workpiece can be generated that is comparable to the images created in connection with the spectrography used in flow assurance. This can then be easily compared with CAD / CAM templates. Exemplary embodiments of the invention are explained in more detail below with reference to Figures 1 to 8.In Figures 1 to 8, identical or functionally equivalent elements are provided with the same reference numerals unless otherwise indicated. They show:

[0046] Fig. 1 schematically shows an embodiment of the radio transmitter / receiver device according to the invention,

[0047] Fig. 2 schematically shows an embodiment of the control device according to the invention,

[0048] Fig. 3 schematically shows an embodiment of the manipulation device according to the invention,

[0049] Fig. 4 schematically shows an embodiment of the system according to the invention as a component of a CAD / CAM production station,

[0050] Fig. 5 schematically shows an embodiment of the method according to the invention as a component of the CAD / CAM production station for measuring a workpiece along the x-axis,

[0051] Fig. 6 schematically shows an embodiment of the method according to the invention as a component of the CAD / CAM production station for measuring a workpiece along the y-axis,

[0052] Fig. 7 schematically shows an embodiment of the method according to the invention as a component of the CAD / CAM production station with deflection of interference signals to an absorption device,

[0053] Fig. 8 schematically shows an embodiment of the method according to the invention as a component of the CAD / CAM production station with absorption of interference signals by an embodiment of the manipulation device.

[0054] The embodiments explained below in Figures 1 to 8 are preferred embodiments and developments of the invention.

[0055] In particular, the following exemplary embodiments merely show exemplary implementation possibilities of how such implementations of the teaching according to the invention could look like, since it is impossible and also not expedient or necessary for understanding the invention to name all of these implementation possibilities.

[0056] In particular, a (relevant) person skilled in the art, with knowledge of the independent claims, will of course be aware of all the possibilities customary in the prior art for realising the invention, so that in particular there is no need for an independent disclosure in the description.

[0057] In the embodiments, the described components of the embodiments each represent individual features of the invention that are to be considered independently of one another, which also further develop the invention independently of one another and are therefore to be regarded as part of the invention, either individually or in a combination other than that shown.

[0058] Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0059] The same reference symbols have the same meaning in the various figures. They therefore designate the same units and / or units providing the same function. Figure 1 shows a schematic diagram of the structure of a radio transceiver ICAS_D according to the invention, also referred to as a so-called ICAS device.

[0060] A rough division into functional blocks of the radio transmitter / receiver device ICAS_D can be seen.

[0061] On the one hand, the ICAS_D radio transmitter / receiver has a functional block which is required for the operation and control of the functions of the ICAS_D radio transmitter / receiver, the computer and memory device which may also be referred to as a "compute & memory" block. This may be one or more predominantly integrated switching elements, in particular one or more processor and memory chips.

[0062] Furthermore, a functional block for the energy supply ES ("Energy Source") is provided for the operation of the radio transmitter / receiver ICAS_D. This can be designed as a battery or accumulator, mains power supply and / or comparable power supply, such as the so-called "Power over Ethernet" power supply.

[0063] Furthermore, a functional block can be seen which implements the functional block of the air interface AIR (“Air Interface”), which is also essential for a radio transmitter / receiver.

[0064] The air interface AIR will typically comprise analogue and / or digital radio transmission components, also known as so-called “radio frequency components”, as well as the radiating devices necessary for such transmission, i.e. essentially one or more antennas.

[0065] This air interface AIR designed in this way can be developed in such a way that it meets one or more standards for wireless or radio communication, i.e. enables communication via various channels, which can also take place via one or more frequency bands. What this first interface AIR of the device has in common is that a bi- or unidirectional transmission of signals, in particular data, is realized in accordance with one or more standards via the transmission and / or reception of electromagnetic waves. According to the invention, this can also be understood to mean, in addition to radio and radio wave applications, radar applications and / or spectrography applications or similar.

[0066] The ICAS_D radio transmitter / receiver shown is thus able to send and receive waveforms for various purposes with this first interface AIR, namely for

[0067] • Communication

[0068] • Localization

[0069] • Detection, for example using radar or spectrography.

[0070] In addition to communication, sensor capabilities are also feasible. Therefore, the radio transmitter / receiver ICAS_D according to the exemplary embodiment of the invention is also referred to as an "Integrated Communication and Sensing Device" (I-CAS).

[0071] The radio transmitter / receiver ICAS_D therefore has functions that go beyond communication and are expected to be present in 6G communication systems and other comparable communication systems and / or subsequent communication standards that go beyond 5G and can be used, in particular, in applications that support machine processes, particularly those carried out in industrial environments.

[0072] For this purpose, the exemplary embodiment of the radio transmitter / receiver device ICAS_D according to the invention has a further functional block which implements a feedback interface BI (“backhaul interface”) as the second interface according to the invention.

[0073] This second interface BI can be connected for communication via a wireless air interface or a wired interface to a control device according to the invention, for example the embodiment of the control device I-CAS_C shown in Figure 2, so that the radio transceiver ICAS_D according to the invention can receive data via this second interface BI which lead to a control of individual, several or all functions of the radio transceiver ICAS_D and / or send data which are made available by individual, several or all functions and which are forwarded and / or used via this second communication connection available as a feedback interface BI for the above-mentioned applications, in particular mechanical processes carried out in an industrial environment.

[0074] This feedback interface BI according to the invention thus enables, as an embodiment of the method according to the invention, control of the functions of the radio transmitter / receiver ICAS_D from an external side, so that the radio transmitter / receiver ICAS_D can be used flexibly for such processes largely without adaptations and functions individually or jointly lead to state changes, for example activated and / or deactivated and / or reacting to states of the process and / or commands, and parameters of individual, several or all functions are adapted.

[0075] According to a further embodiment of the invention, it can also be provided that the feedback interface BI, if it is designed to be at least partially wireless, is implemented by parts of the first interface AIR, so that the feedback according to the inventive control method takes place at least partially via the first interface AIR. A further embodiment of the invention is given if the first interface AIR provides the inventive feedback as an alternative or in addition to the second interface BI, for example in order to equip the device ICAS_D with the flexibility to be connectable to the control device ICAS_C both wirelessly via the first interface AIR and by wire via the second interface.

[0076] The advantages of the inventive control via the control device according to the inventive method reveal even more advantages because they enable a series of such ICAS devices to be integrated into a larger system, such as a driverless transport system (AGV) or a factory robot. With the invention, a management unit is provided for the clusters formed according to the inventive method by devices, such as the inventive radio transceiver ICAS_D, by means of the inventive feedback interface BI and the inventive control unit ICAS_C.

[0077] This offers, among other things, the advantage that this facility

[0078] - monitors the operation of the ICAS cluster

[0079] - can dynamically assign tasks to the ICAS devices, for example the duration and type of function(s) it is to provide.

[0080] The control of the radio transmitter / receiver according to the invention is therefore also capable of optimally utilizing the radio transmitter / receiver according to the invention and of meeting special requirements or overcoming problems that exist in particular in a CAD / CAM-based manufacturing process.

[0081] In such a process, it is essential to detect deviations from the target shape of a workpiece, especially one planned using CAD / CAM, to the actual shape of the workpiece currently in production as early as possible. Early detection of such anomalies reduces downtime, conserves raw materials, and, last but not least, prevents damage to the machines.

[0082] The inventive design of the radio transmitter / receiver ICAS_D and the control enabled by the inventive control device ICAS_C overcomes disadvantages that typically exist in known optical methods, i.e. the use of cameras, for monitoring workpieces in production, which essentially lie in the fact that this approach can be massively disrupted due to the optical components in industrial environments in which environmental influences such as dust and oil are often present, and the lidar technology frequently used there is very expensive.

[0083] Further details and advantages of the control device, in particular with regard to the last-mentioned manufacturing process, become clear from the exemplary embodiment of the control device ICAS_C ("controller") according to the invention, which is shown schematically in Figure 2.

[0084] This is a device which, according to an embodiment of the method according to the invention, can manage parameters or, by means of these, the configuration of a series of ICAS devices according to the invention which are designed, for example, like the ICAS device ICAS_D described in Figure 1 or the manipulation device described in Figure 3.

[0085] Figure 2 also shows a rough division into functional blocks as a schematic representation of an embodiment of the control device ICAS_C according to the invention.

[0086] Firstly, the exemplary embodiment of the control device ICAS_C according to the invention also has a functional block, the computer and memory device CM required for the operation and control of the functions of the exemplary embodiment of the control device ICAS_C according to the invention. This can also be one or more predominantly integrated circuit elements, in particular one or more processor and memory chips.

[0087] Furthermore, a functional block for the power supply ES is also provided for the operation of the exemplary embodiment of the control device ICAS_C according to the invention. This can also be configured as a battery or accumulator, mains power supply, and / or a comparable power supply, such as the so-called "Power over Ethernet" supply.

[0088] In contrast to the exemplary embodiment of the radio transceiver ICAS_D according to the invention, the exemplary embodiment of the control device ICAS_C according to the invention does not have an air interface AIR, but only the interface BI corresponding to the feedback interface BI of the exemplary embodiment of the radio transceiver ICAS_D according to the invention and the manipulation device, the exemplary embodiment of which is designed as a "Reconfigurable Intelligent Surface" RIS, for example according to Figure 3, and thus has the same designation, which interface BI is designed as a wired interface according to the exemplary embodiment, for example an interface that enables communication via a bus system, in particular designed and operated according to an industrial standard.

[0089] However, the control device according to the invention is not limited to this. The control device ICAS_C can also be configured such that it has a first air interface AIR and / or a wired second interface BI as an alternative or in addition to the wired interface BI, and the feedback according to the invention is at least partially implemented via this.

[0090] For example, it is conceivable that radio transmitting / receiving devices according to the invention, or a part thereof, and / or the manipulation device, for example that shown in Figure 3, use a wired interface as the feedback interface BI, while others use one of the wireless interfaces. This would also be a further development according to the invention, as long as it is ensured that radio transmitting / receiving devices and / or manipulation devices RIS according to the invention have some kind of connection as feedback to the control device according to the invention, via which the control device can configure or control the devices connected in this way.

[0091] Figure 3 shows an exemplary embodiment of the device for manipulating electromagnetic waves impinging on at least one surface of the device as a so-called "Reconfigurable Intelligent Surface" RIS. A rough division into functional blocks can also be seen as a schematic representation of an exemplary embodiment of the manipulation device RIS according to the invention.

[0092] A first functional block schematically represents the programmable, i.e. changeable, surface made of meta-material, i.e. a so-called "Programmable Meta Material Surface" (PMMS). In addition, exemplary designs of such a surface can be seen.

[0093] In addition, the exemplary embodiment of the manipulation device RIS according to the invention also comprises a functional block, the computer and memory device CM required for the operation and control of the functions of the exemplary embodiment of the manipulation device RIS according to the invention. This can also be one or more predominantly integrated circuit elements, in particular one or more processor and memory chips.

[0094] Furthermore, for the operation of the exemplary embodiment of the manipulation device RIS according to the invention, a functional block for the power supply ES is also provided. This can also be configured as a battery or accumulator, mains power supply, and / or a comparable power supply, such as the so-called "Power over Ethernet" supply.

[0095] According to the exemplary embodiment, this power supply is intended solely for controlling and aligning the surface's reflection angle and not for amplifying a radio signal. However, the invention is not limited to this.

[0096] In contrast to the exemplary embodiment of the radio transceiver ICAS_D according to the invention, the exemplary embodiment of the manipulation device RIS according to the invention does not have an air interface AIR, but only the interface BI corresponding to the feedback interface BI of the exemplary embodiment of the control device ICAS_C according to the invention and thus having the same designation, which according to the exemplary embodiment is designed as a wired interface, for example an interface which enables communication via a bus system which is designed and operated in particular according to an industrial standard.

[0097] However, the control device according to the invention is not limited to this. The manipulation device can also be configured, similarly to the control device ICAS_C, in such a way that it has a first air interface AIR and / or a wired second interface BI as an alternative or in addition to the wired interface BI, and the feedback according to the invention is at least partially implemented via this.

[0098] Figure 4 shows a schematic representation of an embodiment of the system according to the invention, which is integrated into a CAD / CAM production station.

[0099] It can be seen that in this exemplary embodiment, a first radio transmitter / receiver device ICAS_D1 according to the invention and a second radio transmitter / receiver device ICAS_D2 are arranged in the near field of a production space PR of the production station, that is to say in particular at the edge of the production space.

[0100] In principle, according to the invention, several radio transmitting / receiving devices ICAS_D1...2 can be provided, and with these ICAS devices alone, an inventive inspection of a workpiece that is manufactured in the production station, which is designed, for example, as a CNC machine such as a Sinumerik, can be carried out. Since the ICAS devices ICAS_D1...2 according to the invention, with the aforementioned functions, can be controlled in conjunction with the control by the control device ICAS_C according to the invention in such a way that an inspection is possible using high-frequency signals emitted by the ICAS devices, these HF signals can be used advantageously for the inspection of a workpiece according to the invention.

[0101] According to the exemplary embodiment of the system, however, a first manipulation device RIS1 and a second manipulation device RIS2 are additionally provided, which, like the two radio transmitters / receivers ICAS_D1...2, are connected to the control device ICAS_C according to the invention, according to the example via a wired feedback connection BI, and together with the radio transmitters / receivers ICAS_D1...2, are used for checking by means of high-frequency signals (HF signals) emitted by the radio transmitters / receivers ICAS_D1...2 or by the radio transmitters / receivers ICAS_D1...2, the received portions of the high-frequency signals manipulated by the workpiece and reflected by the manipulation devices interact by reflecting back portions of the RF signals manipulated by the workpiece, for example, in accordance with the direction under investigation, and / or manipulating interfering signals in such a way that the signal portions reflected back for the investigation are as free from interference as possible. Thus, according to the exemplary embodiment, an RIS device RIS 1...2 can be programmed to reflect electromagnetic waves at different angles.

[0102] It can also be seen that the ICAS devices ICAS_D1...2 are also connected to the control system of the production station, in the example, the CNC control system CNC_C. According to the exemplary embodiment, the received RF signals are directly and / or preprocessed in such a way that the control system can be directly supplied with the data for comparison with a CAD / CAM model of the workpiece to be manufactured. For this purpose, the CNS control system CNC_C has access to a database CAD_M.

[0103] Depending on the result of the comparison, if there is still agreement, production can continue; otherwise, an error process can be generated. This can consist of triggering an alarm that alerts a machine operator that action is required and / or that production must be interrupted. However, it can also, where possible, lead to attempts to correct the current workpiece, for example because permissible tolerances can still be maintained or, in the current production status, the workpiece can still be produced exactly according to the CAD / CAM template with appropriate adjustments during production.

[0104] This will also depend on the manufacturing method used, all of which are, in principle, amenable to the inventive investigations. For example, it could be a 3D printer, a CNC milling machine, a laser cutter, and / or a CNC lathe, or something similar.

[0105] To control this correction, as well as all other manufacturing processes such as the drives of machine parts or the tools used in the PR production area, the CNC_C control system features the appropriate hardware and software. For example, processors, interfaces, and modules, which operate according to a computer program product.

[0106] However, the use of the radio transceivers ICAS_D1...2 is not limited to testing alone. According to one embodiment of the method, the illustrated embodiment of the system according to the invention is to be controlled by the control device ICAS_C in such a way that the ICAS devices ICAS_D1...2 provide all their functions and are switched to one or more of their operating modes according to the current requirement. Basically, the ICAS devices ICAS_D1...2 have three operating modes according to the example:

[0107] • Mode for communication

[0108] • Self-localization mode

[0109] • Sensor mode, i.e. radar or spectrography.

[0110] At times when no inspection of a workpiece is requested, the radio transmitter / receiver devices ICAS_D1...2 are used for communication, for example as communication gateways of the system, and / or they are used in sensor and / or self-localization mode, for example to track the movement of tools and / or robot arms in real time or to control them according to the CNC programming.

[0111] And at times when a check is requested, the radio transmitter / receiver devices ICAS_Dl...l are used for monitoring, whereby exclusively ICAS devices ICAS_D1...2 or optionally in combination with one or more RIS 1...2 are operated for monitoring in order to monitor the workpiece in real time during production.

[0112] In other words, the illustrated embodiment of the system according to the invention and an embodiment of the method according to the invention can also be described as follows: An inventive system for monitoring the production of a CAD / CAM model-based workpiece can, according to the embodiment, be operated in a CAD / CAM-based production station, e.g. a 3D printer, a CNC router or a laser cutter. This can have a production space PR accommodated in a housing. ICAS devices I-CAS_D1...2, i.e. active transmitters and receivers, are located on one or more sides of the housing. The machine housing on these sides is made of material that is transparent to RF signals. RIS devices RIS 1...2 can be mounted on the other sides of the machine housing as controllable electromagnetic mirrors.

[0113] An inventive controller unit ICAS_C monitors the operation of IGAS-ICAS_D1...2 and RIS devices RIS 1...2 and configures their parameters.

[0114] A CNC_C control unit, which is common for machine control, controls the production station and monitors the production process.

[0115] The normal operation provided for in one embodiment of the method comprises the following steps:

[0116] 1 . The ICAS devices ICAS_D1...2 in the system are in "communication mode", where they are used as wireless gateways.

[0117] 2 . At a specific time, the CNC control CNC_C requests a real-time image of the workpiece and / or the real-time position of the working head.

[0118] 3 . The ICAS and RIS controller ICAS_C configures one or both ICAS devices ICAS_D1...2 , for example frequency, waveform & beamforming of the transmitted signal and one or both RIS devices RIS 1...2 , for example the reflection angle for this task.

[0119] 4 . The measurement is carried out .

[0120] 5. The ICAS and RIS controller ICAS_C then reconfigures one or both ICAS devices ICAS_D1...2 so that they resume their function as a wireless gateway.

[0121] 6. After receiving the requested real-time recording, the CNC control CNC_C compares the received real-time image of the workpiece with the reference CAD model CAD_M and, in case of an anomaly, triggers an alarm or stops the production process until a human operator can verify it.

[0122] The radio transmitter / receiver devices (ICAS devices) ICAS_D1...2 can be arranged so that they each perform real-time recording of the workpiece along an axis of a Cartesian coordinate system. For example, along the x-axis, the y-axis, and with the help of a third ICAS device, even along a z-axis. However, two axes are usually sufficient to perform a comparison with the CAD / CAM model CAD_M.

[0123] Figure 5 illustrates an example of the method-related implementation of a configuration for measuring the workpiece along the x-axis according to the embodiment of the method according to the invention.

[0124] The second ICAS device ICAS_D2 serves as a transmitter of the RF signal and is configured accordingly by the control device ICAS_C. Its beamforming is directed towards the first manipulation device RIS1. The first manipulation device RIS1 is configured such that it reflects the emitted RF signal through the workpiece along its x-axis. The control device ICAS_C has further configured the first ICAS device ICAS_D1 such that the signal is received at the first ICAS device ICAS_D1. The second manipulation device RIS2 is not used according to this exemplary embodiment, but can, as will be shown further below, be advantageously switched on according to a further development of the arrangement and method according to the invention.Figure 6 illustrates an example of the method-related implementation of a configuration for measuring the workpiece along the y-axis according to the embodiment of the method according to the invention.

[0125] In this example, the first ICAS device ICAS_D1 is configured by the control device ICAS_C according to the invention such that it serves as a transmitter of RF signals. Furthermore, it is configured such that its beamforming is directed towards the second manipulation device RIS2. The second manipulation device RIS2 is configured such that the emitted RF signal is reflected by the workpiece along its y-axis. The reflected signal is received at the second ICAS device ICAS_D2, which is also configured and controlled accordingly for this purpose by the control device ICAS_C. The first manipulation device RIS1 is not used, but can, as shown further below, be advantageously switched on according to a development of the arrangement and method according to the invention.

[0126] Figure 7 illustrates one of the further development options mentioned in Figure 5, in which, in addition to the process described in Figure 5, the second manipulation device RIS2 is configured by the IGAS and RIS controller ICAS_C in such a way that it reflects disturbances DIS in the direction of an electromagnetic absorber EA.

[0127] According to the illustrated example, the second manipulation device RIS2 is configured such that interference signals DIS, in particular interfering signal components of the RF signal sent and reflected for monitoring the workpiece, are deflected in the direction of the absorber. The absorber can be a physical structure that is suitable for completely absorbing the interference signals. As an example, a structure such as that found in a sound-absorbing room is shown. Figure 8 illustrates an alternative variant of the further development options mentioned in Figure 5, in which, in addition to the procedure described in Figure 5, the second manipulation device RIS2 is configured by the ICAS and RIS controller ICAS_C such that it absorbs the incoming interference signal DIS.

[0128] For this purpose, according to this alternative development, the surface of the second manipulation device RIS2, i.e., the variable metasurface itself, has been configured for absorption by the control device ICAS_C. This can be achieved, for example, by changing the phase of the incoming signal, which causes destructive interference to be eliminated.

[0129] Compared to state-of-the-art solutions, the use of RF-based signals for monitoring the workpiece reveals the following advantages and further details of the developments.

[0130] ICAS devices ICAS_D1...2, i.e., sixth-generation mobile communications devices or comparable, can be configured for workpiece monitoring, with the ICAS device ICAS_D1...2 still being reconfigurable for wireless communication as needed. Depending on the carrier frequency, the invention advantageously allows RF signals to penetrate certain materials, allowing observation of what's happening inside the workpiece—similar to airport security scanners.

[0131] The invention also helps in scenarios where strong shocks and vibrations on the machine or poor fixings and / or the slipping of inferior belts cause the tool head to move out of alignment. Without the invention, the CNC system would assume that the tool head is in the wrong position and would send the wrong commands, which can ruin the workpiece. The ICAS device ICAS_D1...2 according to the invention prevents this because, in addition to workpiece checking, it can also be used according to the invention to periodically determine the real position of the tool head and thereby correct the CNC commands sent to the machine.

[0132] The invention furthermore even offers the possibility of calibrating the position of the tool head with the aid of one of the ICAS devices ICAS_D1...2 in such a way that they enable a 3D printer to be mounted on an automated guided vehicle (AGV) and to print while in motion, since offsets due to vibrations during travel could be recalibrated. If, according to a further development of the invention, manipulation devices RIS 1...2 are used and not just exclusive radio transmitter / receiver devices ICAS_D1...2, and if these manipulation devices RIS 1...2 are attached, for example, to the housing of a CNC production station, this has the advantage that the number of active transmitters and receivers of RF signals is reduced to a minimum of either one transmitter and one receiver in simplex mode or one radio transmitter / receiver in full duplex mode.

[0133] Furthermore, RIS 1...2 manipulation devices offer the advantage of lower power consumption, lower heat dissipation, and a more convenient form factor. This allows a communications system to consume less energy overall and support more connections per area.

[0134] The invention is not limited to the described embodiments and further developments. Rather, all developments and combinations of individual, several or all of the claimed features falling within the scope of protection of the claims are included. To the extent that expressions were used above that show, imply or can be perceived as a grammatical gender and / or other features suitable for distinguishing people, it is understood that these expressions were not used in a separating but inclusive manner, i.e. that all

[0135] People are considered equal, regardless of given, self-assumed or presumed individual characteristics.

Claims

Patent claims 1. Device for controlling at least one first radio transmitting / receiving device which can be integrated into a system which can be formed for interaction with at least one mechanical CAD / CAM-based manufacturing process, for example in an industrial environment, and which is designed in such a way that it is equipped with at least one first interface which can be operated at least temporarily for communication, on radio transmitting / receiving of electromagnetic waves based localization and / or sensor technology, and which is designed wirelessly according to at least one radio communication standard, characterized in that the control device has a second interface via which at least one control signal can be transmitted to the radio transmitting / receiving devices in such a way thatthat the first radio transmitter / receiver is configured to receive and / or interpret the control signal at least for a temporally at least temporary provision and / or deactivation of at least parts of the communication, localization and / or sensor technology of the first interface in such a way that it is selectively operated at least temporarily for communication, localization and / or sensor technology in such a way that the machine CAD / CAM-based manufacturing process is carried out by accessing at least the data exchanged by the operation of the first radio transmitter / receiver and directly and / or mediated by the control device with a manufacturing process control device of a manufacturing machine,that a workpiece currently produced by the production machine can be checked for correct formation of the workpiece at least at one time based on at least one of the functions of the first radio transmitting / receiving device and the production process is dependent on the, The verification result is manipulated, in particular interrupted.

2. Control device according to the preceding claim, characterized in that the control device is designed to be functionally connectable via at least one third interface, in particular realized by the second interface, to at least one device, in particular designed as a so-called "intelligent surface", for manipulating electromagnetic waves impinging on at least one surface of the device with at least one reflection property of the surface that can be changed by control signals, in that it can change the reflection properties of the reflection surface, for example the reflection angle of the reflection device, at least temporarily, on the basis of data exchanged via the first interface, second interface and / or third interface.

3. Control device according to the preceding claim, characterized in that the control device can at least temporarily change the at least one property, for example frequency, waveform and / or radiation characteristic, of electromagnetic waves to be transmitted from data exchanged via the first interface, second interface and / or third interface in a manner adapted to the current reflection properties of the reflection device. 4 . Control device according to one of the two preceding claims, characterized in that the control device is connected via the second interface to a second radio transmitter / receiver in such a way that the second radio transmitter / receiver is controlled by at least one control signal in such a way that it at least temporarily acts as a sensor for electromagnetic waves, in particular at least one property thereof is detected which is matched to the electromagnetic waves transmitted by the first radio transmitting / receiving device and / or the orientation of the reflection device.

5. Radio transmission / reception device, configured for interaction with at least one mechanical CAD / CAM-based manufacturing process, for example in an industrial environment, which is configured in such a way that it is provided with at least one first interface, which is operable at least temporarily for communication, on radio transmission / reception of electromagnetic waves based localization and / or sensor technology, and which is configured wirelessly according to at least one radio communication standard, characterized in that it has an interface corresponding to the second interface of the control device according to one of the preceding claims, wherein the first radio transmission / reception device is configured in such a way and the interface corresponding to the second interface is functionally connectable and operable in such a way,that by receiving and / or interpreting one of the control signals via the second interface for at least temporarily providing and / or deactivating at least parts of the communication, localization and / or at least parts of the sensor system, the first interface is configured to be configurable in such a way that it is selectively operated at least temporarily for communication, localization and / or sensor system in such a way that the machine CAD / CAM-based manufacturing process is carried out by accessing at least the data exchanged by the operation of the first radio transmitter / receiver device and directly and / or mediated by the control device with a manufacturing process control device of a manufacturing machine in such a way that a data exchanged by the manufacturing machine, a currently produced workpiece can be checked for correct formation of the workpiece at least at one point in time based on at least one of the functions of the first radio transmitting / receiving device and the production process is manipulated, in particular interrupted, depending on the check result. 6 . Device for manipulating electromagnetic waves impinging on at least one surface of the device with at least one reflection property of the surface that can be changed by control signals, characterized in that it can be functionally connected and controlled via a third interface, in particular realized as a second interface, with a control device according to one of claims 1 to 3.

7. Manipulation device according to the preceding claim, characterized in that the connection via the third interface is designed in such a way that the reflection property is changed by the control signal in such a way that incoming electromagnetic waves are excluded from detection, in particular by reflection in the direction of an absorption device. 8 . Manipulation device according to one of the two preceding claims, characterized in that the connection via the third interface is designed in such a way that the control signal changes the reflection property in such a way that the incoming electromagnetic Waves are absorbed by the surface.

9. System for controlling at least one first radio transmitting / receiving device that can be integrated into a system that can be formed for interaction with at least one mechanical CAD / CAM-based manufacturing process, for example in an industrial environment, characterized by at least one control device according to one of claims 1 to 14, and at least one radio transmitting / receiving device according to claim 5. 10 . System according to the preceding claim, characterized by at least one , in particular at the edge of a production room of the production process, placed manipulation device according to one of claims 6 to 8 .

11. System according to one of the two preceding claims, characterized in that the control device is connected to a further first radio transmitter / receiver via the second interface and a pair of the first radio transmitter / receiver and the manipulation device is arranged and designed in such a way that all can be controlled by the control device via at least one control signal in such a way that electromagnetic waves can be sent at least temporarily along an x-coordinate of the currently produced workpiece by the first radio transmitter / receiver, and parts of the electromagnetic waves that are at least partially manipulated by the workpiece can be reflected by the manipulation device in such a way that the reflected electromagnetic waves can be detected by the further first radio transmitter / receiver and can be fed for evaluation. 12 . System according to one of the two preceding claims, characterized in that the control device is connected to a further first radio transmitter / receiver via the second interface and a pair of the first radio transmitter / receiver and the Manipulation device is arranged and designed in such a way that all can be controlled by the control device via at least one control signal in such a way that electromagnetic waves can be sent at least temporarily along a y-coordinate of the currently produced workpiece by the first radio transmitting / receiving device, and parts of the electromagnetic waves manipulated at least partially by the workpiece can be reflected by the manipulation device in such a way that the reflected electromagnetic waves can be detected by the further first radio transmitting / receiving device and can be fed to an evaluation.

13. System according to one of the two preceding claims, characterized in that at least one further manipulation device is arranged and designed and connected to the control device in such a way that it changes at least one reflection property of its surface at least temporarily by means of at least one control signal in such a way that disturbing reflections caused by the electromagnetic waves, in particular by reflection in the direction of an absorption device, can be excluded from detection.

14. System according to the preceding claim, characterized in that the control signal changes the reflection property in such a way that the incoming electromagnetic waves are absorbed by the surface. 15 . Method for controlling at least one first radio transmitting / receiving device which can be integrated into a system which can be formed for interaction with at least one mechanical CAD / CAM-based manufacturing process, for example in an industrial environment, characterized by at least one control device according to one of claims 1 to 5 and at least one Radio transmitter / receiver device according to claim 6, which are functionally connected and operated in such a way that the control device controls at least parts of the functions of the radio transmitter / receiver device via the second interface, wherein the control is carried out in such a way that the integration, in particular the mechanical manufacturing process, is carried out at least temporarily using the communication, totalization and / or sensor operation of the radio transmitter / receiver device, that the mechanical CAD / CAM-based manufacturing process is carried out by accessing at least the data exchanged by the operation of the first radio transmitter / receiver device and directly and / or mediated by the control device with a manufacturing process control device of a manufacturing machine,that a workpiece currently produced by the production machine can be checked for correct formation of the workpiece at least once on the basis of at least one of the functions of the first radio transmitter / receiver device, and the production process is manipulated, in particular at least temporarily interrupted, depending on the result of the check.

16. Method according to the preceding claim, characterized in that the control device controls at least one pair of a first radio transmitter / receiver and a manipulation device in such a way that the first radio transmitter / receiver transmits electromagnetic waves along an axis of a Cartesian coordinate system in such a way that parts of the electromagnetic waves manipulated by the workpiece strike the surface of the manipulation device and are reflected in such a way that the reflected parts are detected by a further first radio transmitter / receiver, the detected signals being used as the basis for the check.

17. Method according to one of the two preceding claims, characterized in that the control device controls at least one further manipulation device in such a way that at least one reflection property of its surface is manipulated in such a way that disturbing reflections caused by the electromagnetic waves, in particular by reflection in the direction of an absorption device, are excluded from detection.

18. Method according to the preceding claim, characterized in that the at least one reflection property of its surface is manipulated such that the incoming electromagnetic waves are absorbed by the surface. 19 . Method according to one of the preceding method claims, characterized in that the electromagnetic waves are generated and emitted as waves in the HF range.

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