DE202019106569U1 - security system - Google Patents

Abstract

Safety system (1) for localizing a movable machine (2), with a safety control (3), with at least one radio location system (4), with at least one sensor (7) for determining position,
characterized in that
the radio location system (4) has stationarily arranged radio stations (5), at least one radio transponder (6) being arranged on the movable machine,
or wherein the radio location system has radio transponders arranged in a stationary manner, with at least three radio stations being arranged on the movable machine,
wherein position data of the movable machine (2) can be determined by means of the radio location system (4),
wherein the position data from the radio station (5) or the radio transponder (6) of the radio location system (4) can be transmitted to the safety controller (3),
and position data of the movable machine (2) can be determined by means of the sensor (7),
wherein the safety controller (3) is designed to compare the position data of the radio location system (4) and the position data of the sensor (7) and to form checked position data if they match.

Description

The present invention relates to a security system for localizing a movable machine according to the preamble of claim 1.

In applications with movable machines, that is to say in particular autonomous mobile machines or driverless vehicles, there is the challenge of precisely knowing a position of the movable machine, since, for example, switching over of protective devices is necessary on the basis of the position.

Switching over the protective device is necessary, for example, because the functional safety must adapt to the requirements of the application depending on the situation. For example, a primary protection function, e.g. B. a person detection using a safe laser scanner is unsuitable, as this would disrupt the automation application.

For example, an autonomous vehicle drives through an industrial plant using map navigation instead of lane guidance. An intrinsically safe laser scanner takes on a primary protection function, i. H. a person detection and then stops the autonomous vehicle if necessary. The safety function of the autonomous vehicle must be adapted at bottlenecks, transfer points, as otherwise there is a risk of process stoppages, as a protective field of the primary protection function is interrupted at the bottlenecks or transfer points.

One object of the invention is to provide a solution for the above-mentioned applications.

The object is achieved according to claim 1 by a safety system for locating a movable machine, with a safety controller, with at least one radio location system, with at least one sensor for position determination, the radio location system having stationary radio stations, with at least one radio transponder being arranged on the movable machine or wherein the radio location system has stationary radio transponders, with at least three radio stations being arranged on the movable machine, wherein position data of the movable machine can be determined by means of the radio location system, the position data from the radio station or the radio transponder of the radio location system can be transmitted to the safety controller, and by means of position data of the movable machine can be determined by the sensor, the safety controller being designed to compare the position data of the radio location system and the position data of the sensor and if they match, verified position data are generated.

The movable machine or mobile machine can, for example, be a driverless vehicle, driverless vehicle or autonomous vehicle, an automatically guided vehicle (AGV), an automatically mobile robot (Automated Mobile Robots, AMR), be an industrial mobile robot (IMR) or a robot with movable robot arms. The movable machine thus has a drive and can be moved in different directions.

The safety system is formed at least by the safety controller, the radio location system and the sensor.

The position data from the radio location system are transmitted to the safety control of the movable machine. In this way, the position data of the radio location system and the position data of the optoelectronic sensor can be compared in the safety controller, and if they match, for example, checked position data can be formed. The checked position data can then be further processed by the safety controller.

The safety controller has inputs, a processing unit and outputs. The sensor is connected to the inputs. The outputs are connected to functional units such as the drive, the brakes and / or the steering of the movable machine. The safety controller can be a modular safety controller that can be programmed using software.

A safety controller can only have binary inputs, for example. The signals, in particular position signals, of the connected sensor are transmitted in binary form. The signals, in particular position signals, of the radio location system are also transmitted in binary form.

The sensor and the radio location system measure the angle or direction to an object and the distance to the object. The sensor can therefore also be referred to as a location sensor.

The sensor can also be connected directly to a navigation system, the navigation system being connected to the safe control. The sensor data from the sensor is processed by the navigation system and the position data generated is transmitted to the safety controller.

However, the safety controller can also have inputs or interfaces, with Data, for example data bytes with more complex data structures, can be read.

The outputs of the safety controller can in particular be redundant safety outputs. These are semiconductor-controlled switching outputs, for example to safely switch off the drive of the movable machine.

The invention is based on the fact that a position of the movable machine can be clearly identified by two mutually independent features. These features are the position that is determined by the sensor and the position that is determined by the radio location system. The position is thus determined by a redundant, in particular diverse system.

The radio location is based, for example, on a triangulation of at least one radio transponder on the movable machine. This requires at least three radio stations that can detect the radio transponder. The radio location system knows the distance between the two radio stations.

Or the radio location is based on triangulation, the radio location system having radio transponders arranged in a stationary manner, with at least three radio stations being arranged on the movable machine.

It is preferably a real-time location system or the English equivalent RTLS (Real-Time-Locating-System). The radio transponders are arranged on the movable machine. Fixed reference points, namely the radio stations optionally receive the radio signals from the radio transponders and can thus determine their position and thus the position of the vehicle.

The position data are transmitted from the radio location system, namely the radio stations, to the safety controller.

A local positioning mode can also be provided (Local Position System Mode, LPS Mode. The position is determined similar to a GPS system (Global Positioning System). The radio transponders receive radio signals from various known radio stations at certain times Based on the location information of the radio stations and the times of the radio signals, the safety controller can determine the position of the movable machine, the radio transponders being arranged on the vehicle and the radio stations being arranged stationary.

The position data are transmitted from the radio location system, namely the radio transponders, to the safety controller.

The radio location system can also be radio frequencies from radio networks such as WLAN or Wi-Fi. For example, a 2.4 GHz or a 5 GHz band is used with a bandwidth of 20 MHz or 40 MHz.

The radio location system can also be radio frequencies from radio links such as Bluetooth. Radio frequencies of 2.402 and 2.480 GHz are used for this. The advantage of these frequencies is that they can be operated worldwide without authorization. Depending on the power used, ranges of 0 to 100 m can be achieved. The ranges and the associated maximum services are in classes 1 to 3 assigned.

The sensor is designed, for example, to detect reflectors that are attached to certain positions, so that when at least one reflector is detected, the position of the movable machine can be determined by the sensor connected to the safety controller.

In a further development of the invention, the radio location system is an ultra-broadband radio location system, the frequency used being in the range from 3.1 GHz to 10.6 GHz, the transmission energy being a maximum of 0.5 mW. In the case of an ultra-wideband radio location system, an absolute bandwidth is at least 500 MHz or a relative bandwidth is at least 20% of the central frequency.

The range of such a radio location system is, for example, 0 to 50 m, the short duration of the radio pulses being used for the location.

The radio location system therefore only sends out radio waves with a low level of energy. The system can be used very flexibly and shows no interference.

Only a single radio transponder needs to be arranged on the vehicle, which is detected by at least three stationary radio stations, the distance between the radio stations being known.

A plurality, for example more than three, radio stations are preferably arranged which monitor at least part of the movement range of the movable machine.

At least two or more radio transponders can also be arranged on the movable machine. As a result, the position of the vehicle can be identified more precisely and the orientation of the vehicle can also be detected when the vehicle is stationary if the arrangement of the radio transponders on the vehicle is known.

In a further development of the invention, the sensor is an optoelectronic sensor. The optoelectronic sensor is, for example, a time-of-flight sensor or, for example, a triangulation sensor.

In the case of a light transit time sensor, the light emitted by a light transmitter which is remitted by an object is received by a light receiver and the light transit time from transmission to reception by the object is evaluated, whereby the distance to the object can be determined.

However, the sensor can also be an ultrasonic sensor or a radar sensor.

An ultrasonic sensor sends out ultrasound and evaluates the reflected sound waves, i.e. the echo signals. Frequencies from 16 kHz are used. Detection ranges from a few centimeters to many meters can be achieved.

A radar sensor is a sensor that emits a so-called primary signal as a bundled electromagnetic wave, receives the echoes reflected from objects as a secondary signal and evaluates them according to various criteria. This is a localization, namely the determination of distance and angle.

Position information or the position can be obtained from the received waves reflected by the object: As already mentioned, the angle or the direction to the object and the distance to the object can be determined from the time difference between sending and receiving the signal. The relative movement between the transmitter and the object can also be determined, for example by means of a simple multiple measurement at time intervals. The stringing together of individual measurements provides the distance and the absolute speed of the object. With a good resolution of the radar sensor, contours of the object can be recognized.

A radiation from the radar sensor is largely bundled in one direction, for example due to the antenna design. The radiation pattern of the antenna then has a so-called lobe shape.

The wavelength of the radar is in the range of radio waves in the short to microwave range. A pulse radar sensor sends pulses with a typical duration in the lower microsecond range and then waits for echoes. The duration of the pulse is the time between sending and receiving the echo. It is used to determine the distance.

A direction of the scanning beam of a pulse radar sensor can also be effected electronically by phased antenna arrays instead of by the alignment of the antenna or antennas. This means that several objects can be sighted in quick succession and followed virtually simultaneously.

The radar sensor works with a power of, for example, approx. 10 mW. This performance is so low that there are no health effects. The radar frequency permitted for this application is, for example, in the range of 76-77 GHz, corresponding to a wavelength of around 4 mm.

In a further development of the invention, the sensor is designed for at least two-dimensional monitoring of a monitoring area.

The distance sensor for at least two-dimensional monitoring of a monitoring area is a sensor for distance measurement. The distance sensor supplies distance values in at least two-dimensional space. The sensor outputs measured values with distance information and angle information. For example, the distance is determined using the time-of-flight method or triangulation method.

In a further development of the invention, the sensor is designed for at least spatial monitoring of a monitoring area.

In a further development of the invention, based on the checked position data, the safety control is used to change the safety function of the safety control.

Based on matching position data by means of the safety controller, the safety function of the safety system is changed.

If both subsystems, ie the sensor and the radio location system, provide a coherent position that can be assigned to one another, then a predetermined position, which is stored, for example, can be recognized and the safety control can switch to another protective measure or safety function. Switching over the protective measure can, for example, be a Switchover of measurement data contours, switchover of protective fields, size or shape adaptation of measurement data contours or protective fields and / or switchover of the properties of a protective field. The properties of a protective field include, for example, the resolution and / or the response time of the protective field. A switchover of the protective measure can also be a safety function, such as a force limitation of the drive, to which a switchover is made.

In a further development of the invention, the checked position data are checked for correspondence with stored position data of a security point by means of the safety controller and, if they match, the security function of the security system is changed.

The safety point (Safe Point of Interest, SPol) is a simplified variant of safe positioning, which is limited to the detection of special positions in an industrial application to which it is necessary to adapt the safety system or a protective device or a safety function of the movable machine, to ensure both personal protection and machine availability. As a synonymous designation, the security point is a security location, i.e. not a singular point.

The development is based on the fact that a security point can be uniquely identified by two mutually independent features. These features are the position which is determined by the radio location system and the position which is determined by the sensor. The security point is thus identified by a redundant, in particular diverse system.

In a further development of the invention, the optoelectronic sensor is a distance sensor, a laser scanner, a safety laser scanner, a 3D camera, a stereo camera or a time-of-flight camera.

For position detection, the laser scanner, safety laser scanner, 3D camera, stereo camera or time-of-flight camera monitors a two-dimensional or three-dimensional measurement data contour of the environment. This can also be synonymous with a monitoring field.

For example, the laser scanner or the safety laser scanner monitors a measurement data contour for position detection.

Safety systems used in safety technology must work particularly reliably and intrinsically and therefore meet high safety requirements, for example the EN13849 standard for machine safety and the EN61496 device standard for electro-sensitive protective devices (ESPE).

To meet these safety standards, a number of measures must be taken, such as safe electronic evaluation through redundant and / or diverse electronics or various function monitoring, especially monitoring the contamination of optical components including a front window. A safety laser scanner according to such standards is, for example, from DE 43 40 756 A1 known.

The term “functionally safe” is to be understood in the sense of the named or comparable standards, so measures have been taken to control errors up to a specified safety level. The safety system and / or at least one non-safe sensor also generate non-safe data, such as raw data, point clouds or the like. Not safe is the opposite term too safe, for non-safe devices, transmission paths, evaluations and the like and accordingly the mentioned requirements for fail-safe security are not met.

A 3D camera, for example, also monitors a monitoring area of the movable machine by means of a large number of recorded distance values. A 3D camera has the advantage that a volume-like protection area can be monitored.

A stereo camera, for example, also monitors a monitoring area of the movable machine by means of a large number of detected distance values. The distance values are determined on the basis of the two cameras of the stereo camera, which are mounted at a basic distance from one another. A stereo camera also has the advantage that a volume-like protection area can be monitored.

A time-of-flight camera is used to determine distance values based on the measured time of flight, which are determined by an image sensor. A time-of-flight camera also has the advantage that a volumetric or spatial protection area can be monitored.

In a further development of the invention, the sensor, in particular the optoelectronic sensor, is arranged on the movable machine. For example, an optoelectronic sensor is arranged on the front of a vehicle in order to acquire information from the environment. A plurality of optoelectronic sensors can also be arranged, in particular at the corners of the vehicle.

As a result, the vehicle can detect its own position based on recognized contours or recognized position of the environment. For example, an orientation is based on a known starting point or starting point of the movable machine and is then continuously updated on the basis of detected environmental positions.

In this case, the safety control is also arranged on the movable machine and connected to the optoelectronic sensor.

In a further development of the invention, the safety system has at least one second sensor which is able to measure a movement, a change in position and / or a speed. The further sensor is arranged on the movable machine. In addition to the first sensor and the radio location system, the further second sensor forms a diagnostic channel for checking the plausibility of the position or for testing or checking the position data determined. The second sensor itself does not determine a position, but is used for safety-related diagnosis as to whether the two positioning systems are still working properly.

In a further development of the invention, the safety system has at least one encoder which detects a rotational position of a rotating axle or a wheel, the encoder being connected to the safety controller. The further encoder is arranged on the movable machine. In addition to the first sensor and the radio location system, the further encoder forms a diagnostic channel for checking the position or for testing or checking the position data determined. The encoder itself does not determine a position, but is used for safety-related diagnostics as to whether the two positioning systems are still working properly.

In a further development of the invention, the sensor is arranged in a stationary manner and the position data are transmitted from the sensor to the movable machine.

As a result, the movable machine or the vehicle does not need any sensors or active components for position determination. In particular, a plurality of stationary sensors are arranged at a distance along movement paths of the movable machine in order to determine a position of the vehicle.

The position data are preferably transmitted to the movable machine by radio. However, optical data transmission can also be provided.

In a further development of the invention, the security system has a map or a map model, with security points being entered in the map or the map model and navigation of the movable machine taking place in the map or the map model.

The current position and / or location of the movable machine is continuously processed in the safety controller on the basis of the captured surrounding contours and the map or the map model is updated. The map has a coordinate system. This type of position determination is known as the Simultaneous Localization and Mapping (SLAM for short) method. At least one position and an associated orientation in the map are known, or an original position and original orientation are known in the map. Recognized positions and / or contours are continuously entered into the map, whereby the map is expanded or changes to objects and / or routes, for example, are entered into the map.

In a further development of the invention, a first zone / localization unit is arranged between the sensor and the safety control, the first zone / localization unit converting position signals from the sensor into binary data and / or a second zone / localization unit between the radio transponder or the radio station and the safety control. / Localization unit arranged, wherein the second zone / localization unit converts position signals of the radio transponder or the radio station into binary data.

This means that a simpler safety controller can be used that can only process binary signals. This increases the choice of possible safety controls.

• 1 ein Sicherheitssystem zur Lokalisierung einer bewegbaren Maschine;
• 2 und 3 jeweils ein weiteres Sicherheitssystem;
• 4 ein Sicherheitssystem zur Lokalisierung einer bewegbaren Maschine mit stationär angeordneten Entfernungssensoren.

In the following, the invention will also be explained with regard to further advantages and features with reference to the accompanying drawings using exemplary embodiments. The figures of the drawing show in:

• 1 a security system for locating a moving machine;
• 2 and 3 another security system each;
• 4th a security system for locating a moving machine with stationary distance sensors.

In the following figures, identical parts are provided with identical reference symbols.

1 shows a security system 1 to locate a moving machine 2 , with a Safety control 3 , with at least one radio location system 4th , with at least one sensor 7th for position determination, the radio location system 4th stationary radio stations 5 having, on the movable machine 2 at least one radio transponder 6th is arranged or wherein the radio location system has stationarily arranged radio transponders, wherein at least three radio stations are arranged on the movable machine, wherein by means of the radio location system 4th Movable machine position data 2 can be determined, the position data from the radio station 5 or the radio transponder 6th of the radio location system 4th to the safety controller 3 are transmitted, and by means of the sensor 7th Movable machine position data 2 can be determined, the safety controller 3 the position data of the radio location system is formed 4th and the position data of the sensor 7th to compare and if they match, checked position data are generated.

With the moving machine 2 or mobile machine is, for example, according to 1 a driverless vehicle, driverless vehicle or autonomous vehicle 13th . The vehicle 13th has a drive and can be moved or drive in different directions.

The security system 1 is at least controlled by the safety controller 3 , the radio location system 4th and the sensor 7th educated.

The position data from the radio location system 4th are sent to the safety controller 3 of the vehicle 13th transmitted. This allows in the safety controller 3 the position data of the radio location system 4th and the position data of the sensor 7th are compared and, if they match, checked position data are formed. The checked position data can then be sent by the safety controller 3 are further processed.

According to 2 instructs the safety controller 3 Inputs, a processing unit and outputs. The sensor is at the inputs 7th connected. The outputs are with functional units such as the drive, the brakes and / or the steering of the movable machine or the vehicle 13th connected. The safety controller 3 can be a modular safety controller that can be programmed using software.

According to 3 can be a safety controller 3 for example only have binary inputs. The signals, in particular position signals, of the connected sensor 7th transmitted in binary. From a zone / localization unit 15th the position data is converted into binary data. Also the signals, in particular position signals of the radio location system 4th are transmitted in binary.

The sensor 7th can also according to 2 directly to a navigation system 14th connected to the navigation system 14th with the safety controller 3 connected is. Thereby the sensor data of the sensor 7th from the navigation system 14th processes and generated position data to the safety controller 3 transfer.

However, the safety controller 3 also have inputs or interfaces, whereby data, for example data bytes or data with more complex data structures, can be read in.

At the outputs of the safety controller 3 In particular, it can be a question of redundant safety outputs. These are, for example, semiconductor-controlled switching outputs, for example to drive the vehicle 13th to switch off safely.

According to 1 is a position of the vehicle 13th clearly identifiable by two independent features. These features are the position over the sensor 7th is determined, as well as the position, which is determined by the radio location system 4th is determined. The position is thus determined by a redundant, in particular diverse system.

The radio location is based on a triangulation of at least one radio transponder 6th on the vehicle 13th . There are at least three radio stations for this 5 necessary the radio transponder 6th can capture. This is the radio location system 4th the distance between the two radio stations 5 known.

The sensor 7th is designed, for example, to detect reflectors that are attached to certain positions, so that the position of the vehicle when at least one reflector is detected 13th through the one on the safety controller 3 connected sensor 7th can be determined.

According to 1 is the radio location system 4th an ultra-wideband radio location system, the frequency used being in the range from 3.1 GHz to 10.6 GHz, the transmission energy being a maximum of 0.5 mW. The range of such a radio location system 4th is 0 to 50 m.

On the vehicle 13th only needs a single radio transponder 6th be arranged by at least two stationary radio stations 5 is detected, the distance between the radio stations 5 is known.

According to 1 are three radio stations 5 arranged which at least part of the range of motion of the vehicle 13th monitor. According to 1 are for example two radio transponders 6th on the vehicle 13th arranged.

According to 1 is the sensor 7th as an optoelectronic sensor 7th , in particular designed as a distance sensor for at least two-dimensional monitoring of a monitoring area. The distance sensor supplies distance values in at least two-dimensional space. The sensor outputs measured values with distance information and angle information. For example, the distance is determined using the time-of-flight method.

According to 1 takes place on the basis of the checked position data by means of the safety control 3 a change in the safety function of the safety controller or safety system.

If both subsystems, i.e. the optoelectronic sensor 7th and the radio location system 4th provide a coherent and mutually assignable position, then a predetermined position, which is stored, for example, can be recognized and the safety controller 3 can switch to another protective measure or safety function. Switching over the protective measure can include, for example, switching measurement data contours, adapting the size or shape of measurement data contours and / or switching the properties of a measurement data contour. The properties of a measurement data contour include, for example, the resolution and / or the response time of the measurement data contour. A switchover of the protective measure can also be a safety function, such as a force limitation of the drive, to which a switchover is made.

According to 1 are by means of the safety controller 3 the checked position data with stored position data of a safety point 9 Checked for compliance and if they agree, the safety function of the safety system is changed 1 .

The security point 9 (Safe Point of Interest, SPol) is a simplified variant of safe positioning that is limited to the detection of special positions in an industrial application where the safety system is required 1 or a protective device or a safety function of the vehicle 13th adapt to ensure both personal protection and machine availability. For example, the safety point is the start of a conveyor line or a conveyor belt. At the security point 9 can be a radio transponder 6th be arranged.

According to 1 is the security point 9 clearly identifiable by two independent features. These features are the position determined by the radio location system 4th is determined, as well as the position, which is determined by the laser scanner 10 is detected. This becomes the safety point 9 identified by a redundant, especially diverse system.

According to 1 can instead of the laser scanner 10 A 3D camera, a stereo camera or a time-of-flight camera can also be arranged as a distance sensor.

The laser scanner monitors for position detection 10 a two-dimensional measurement data contour. According to 1 is the laser scanner 10 on the vehicle 13th arranged. The laser scanner 10 is on the front of the vehicle 13th arranged to capture information from the environment. There can also be several laser scanners 10 , especially at the corners of the vehicle 13th be arranged.

This allows the vehicle 13th record its own position based on recognized contours or recognized position of the environment. For example, an orientation is based on a known starting point or starting point of the vehicle and is then continuously updated on the basis of detected environmental positions.

The safety controller 3 is also on the vehicle in this case 13th arranged and with the optoelectronic sensor 7th connected.

Optionally, the security system 1 according to 2 at least one second sensor 11 that is able to measure a movement, a change in position and / or a speed. The other sensor 11 is on the vehicle 13th arranged. The other sensor 11 forms next to the optoelectronic sensor 7th and the radio location system 4th a diagnostic channel to check the plausibility of the position or to test or check the position data determined.

Optionally, the security system according to 2 at least one encoder 12th which detects a rotational position of a wheel, the encoder 12th with the safety controller 3 connected is. The encoder 12th is on the vehicle 13th arranged. The encoder 12th forms next to the optoelectronic sensor 7th and the radio location system 4th a diagnostic channel to check the plausibility of the position or to test or check the position data determined. The encoder itself does not determine a position, but is used for safety-related diagnostics as to whether the two positioning systems are still working properly.

According to 4th is the sensor 7th arranged stationary and the position data are from the sensor 7th or an optoelectronic sensor to the vehicle 13th transmitted.

As a result, the vehicle needs 13th do not have any sensors or active components for position determination. In particular, there are several stationary optoelectronic sensors 7th spaced along trajectories of the vehicle 13th arranged to a position of the vehicle 13th ascertain.

The transmission of the position data to the vehicle 13th preferably takes place via radio. However, optical data transmission can also be provided.

In an embodiment not shown, the security system has a map or a map model, with security points being entered in the map or the map model.

The current position and / or location of the movable machine is continuously processed in the safety controller on the basis of the captured surrounding contours and the map or the map model is updated. The map has a coordinate system. This type of position determination is known as the Simultaneous Localization and Mapping (SLAM for short) method. At least one position and an associated orientation in the map are known, or an original position and original orientation are known in the map. Recognized positions and / or contours are continuously entered into the map, whereby the map is expanded or changes to objects and / or routes, for example, are entered into the map.

List of reference symbols

1

security system

2

movable machine

3

Safety control

4th

Radio location system

5

Radio stations

6th

Radio transponder

7th

Sensor or optoelectronic sensor

8th

Distance sensor

9

Security point

10

Laser scanner

11

second sensor

12th

Encoder

13th

vehicle

14th

navigation system

15th

Zone / localization unit

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 4340756 A1 [0055]

Claims (14)

Safety system (1) for locating a movable machine (2), with a safety controller (3), with at least one radio location system (4), with at least one sensor (7) for determining position, characterized in that the radio location system (4) has stationary radio stations (5), with at least one radio transponder (6) being arranged on the movable machine, or with the radio location system having stationary radio transponders, with at least three radio stations being arranged on the movable machine, with position data of the movable machine by means of the radio location system (4) (2) can be determined, wherein the position data can be transmitted from the radio station (5) or the radio transponder (6) of the radio location system (4) to the safety controller (3), and position data of the movable machine (2) can be determined by means of the sensor (7) are, the safety controller (3) is designed, the position data of the radio location system ( 4) and to compare the position data of the sensor (7) and, if they match, to form checked position data. Security system (1) according to Claim 1 , characterized in that the radio location system (4) is an ultra-broadband radio location system, the frequency used being in the range from 3.1 GHz to 10.6 GHz, the transmission energy per radio station (5) being a maximum of 0.5 mW. Safety system (1) according to at least one of the preceding claims, characterized in that the sensor (7) is an optoelectronic sensor, an ultrasonic sensor or a radar sensor. Security system (1) according to at least one of the preceding claims, characterized in that the sensor is designed for at least two-dimensional monitoring of a monitoring area. Security system (1) according to at least one of the preceding claims, characterized in that the sensor is designed for at least spatial monitoring of a monitoring area Safety system (1) according to at least one of the preceding claims, characterized in that the safety function of the safety system (1) is changed on the basis of the checked position data by means of the safety controller (3). Safety system (1) according to at least one of the preceding claims, characterized in that position data checked by means of the safety controller (3) are checked for correspondence with stored position data of a safety point (9) and, if they match, the safety function of the safety system (1) is changed. Safety system (1) according to at least one of the preceding claims, characterized in that the optoelectronic sensor (7) is a distance sensor (8), a laser scanner (10), a safety laser scanner, a 3D camera, a stereo camera or a time-of-flight camera. Safety system (1) according to at least one of the preceding claims, characterized in that the sensor (7) is arranged on the movable machine. Safety system (1) according to at least one of the preceding claims, characterized in that the safety system (1) has at least one second sensor (11) which is able to measure a movement, a change in position and / or a speed. Safety system (1) according to at least one of the preceding claims, characterized in that the safety system (1) has at least one encoder (12) which detects a rotational position of a rotating axis or a wheel, the encoder (12) with the safety controller (3 ) connected is. Safety system (1) according to at least one of the preceding claims, characterized in that the sensor (7) is arranged in a stationary manner and the position data can be transmitted from the sensor (7) to the movable machine. Security system (1) according to at least one of the preceding claims, characterized in that the security system (1) has a map or a map model, the at least one security point (9) being entered in the map or the map model and a navigation of the movable machine takes place in the card or the card model. Safety system (1) according to at least one of the preceding claims, characterized in that a first zone / localization unit is arranged between the sensor and the safety controller, the first zone / localization unit in position signals of the sensor converts binary data and / or a second zone / localization unit is arranged between the radio transponder or radio station and the safety controller, the second zone / localization unit converting position signals from the radio transponder or radio station into binary data.

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