DE202020107300U1 - security system - Google Patents

Abstract

Security system (1) for locating at least one person (2) or at least one object (8) in a surveillance area (14), with at least one control and evaluation unit (3), with at least one radio location system (4), with at least one location-resolving sensor (7) to determine the position of the person (2) or the object (8),
wherein the radio location system (4) has arranged radio stations (5), at least one radio transponder (6) being arranged on the person (2) or the object (8),
position data of the person (2) or the object (8) can be determined by means of the radio location system (4),
wherein the position data can be transmitted from the radio stations (5) of the radio location system (4) to the control and evaluation unit (3),
and at least the presence data of the person (2) or the object (8) can be determined by means of the position-resolving sensor (7),
characterized ,
that the surveillance area (14) has several sectors (9) and several passage areas (15) between the sectors (9),
at least one spatially resolving sensor (7) is assigned to each passage area (15),
wherein the control and evaluation unit (3) is designed to cyclically compare the position data of the radio location system (4) and the presence data of the location-resolving sensor (7) in each passage area (15) and cyclically form status information for the sector (9).

Description

The present invention relates to a security system according to the preamble of claim 1.

It is current practice in industrial safety technology to control hazards locally at the point of danger by detecting the approach or presence of a person and stopping a machine or movement in a safety-related manner or slowing down the movement.

The state of the art only describes local security concepts.

The object of this invention is to provide a security system with which a higher-level security function for many different hazards can be implemented for an industrial operating environment such as a production hall or a warehouse.

The object is achieved according to claim 1 by a security system for locating at least one person or at least one object in a surveillance area, with at least one control and evaluation unit, with at least one radio location system, with at least one location-resolving sensor for determining the position of the person or the object, wherein the radio location system has radio stations arranged, with at least one radio transponder being arranged on the person or the object, with the position data of the person or the object being able to be determined by means of the radio position determination system, with the position data being able to be transmitted from the radio stations of the radio position system to the control and evaluation unit, and at least the presence data of the person or the object can be determined by means of the spatially resolving sensor, the surveillance area having a plurality of sectors and a plurality of passage areas between the sectors, each passage area having at least one location is associated with a resolution sensor, wherein the control and evaluation unit is designed to cyclically compare the position data of the radio location system and the presence data of the sensor in each passage area and cyclically form status information for the sector.

For example, the comparison is triggered by the presence of a person or an object in the passage area, i.e. triggered by the event of the protective field violation of the spatially resolving sensor. In this case, there is definitely an object or a person at the location of the protective field and for this moment the control and evaluation unit or an RTLS controller or, for example, a safety controller can check whether there is a radio transponder in the passage area. If this is the case, then this radio transponder can be assigned to a respective sector when the radio transponder leaves the transit area in the direction of the sector.

In the simplest case, presence data are binary data as to whether or not a person or an object is present in the passage area.
According to the invention, presence data or position information of persons present that can be used in terms of security technology is not determined at all times and for all positions, but only in the defined passage areas of the monitored area. The presence data or position information that can be used for safety purposes is thus reduced to knowledge about the area or the passage areas in which a person is located. Although the position within a sector is also known through radio location, it is initially not relevant for safety functions due to the lack of a safety check.

The passage areas can also be referred to synonymously as transition areas.

According to the invention, the reliable location of the presence of one or more people in a passage area of the operating environment offers great advantages.

The invention assumes, for example, that the operating environment can be divided into different sectors in such a way that transitions between these sectors are only possible via defined passage areas or zones. This requirement is given, for example, at doors or at entrances to shelf aisles.

In addition to detecting the passage event, the radio location system is used to record which radio transponders are in the passage area or in the immediate spatial vicinity of the corresponding protective field of the location-resolving sensor and, for example, the corresponding radio transponder ID is assigned to the detected event. As a result, the radio transponders detected in the operating environment can be clearly and securely assigned to a specific passage area. The resulting status of the corresponding sector is then 'Person present' or 'Potential danger' in the corresponding sector.

Conversely, a sector receives the status 'free' or 'no threat' if there is no radio transponder and therefore no person in the sector. In this case, for example, machines with operate at maximum operating speed, local security functions are bypassed or, for example, the corresponding sectors are designated as preferred routes for autonomous vehicles.

The secure presence data or presence information is provided by the location-resolving sensor with the help of presence detection in a defined protected area, in this case the passage area. The checking of position information from the radio location is therefore initially not necessary here, but is additionally carried out in the field of view of the location-resolving sensor.

In this sense, the relevant question here is not "Where is a person located?", but "Are there people in the sector?" or alternatively "In which sector is the person located?". The information from the radio location system is required in addition to the reliable presence detection of the spatially resolving sensor because a protective field-based system can very reliably detect passages in the passage areas between sectors, but does not need to be able to remember the passages. This means that the situation in which two people enter a sector at the same time, but then only one person leaves the sector again, does not need to be differentiated with the position-resolving sensor from the situation in which both people leave the sector again. However, this distinction is absolutely necessary for safety-related use.

However, this problem can be solved by using a radio location system and the precise assignment of a detected penetration of a radio transponder or, for example, a unique ID of a radio transponder. Reliable assignment is achieved by comparing the independently obtained diverse presence data from the location-resolving sensor and radio location system when passing through the passage area, so that the information can be derived clearly and reliably as to which persons or which radio transponder is in a sector or passage area. It is therefore no longer necessary to count passages in order to obtain information about the presence of people in a sector. Knowing the unique radio transponder and tracking those radio transponders in the surveillance area is much more reliable.

In addition, a measure of plausibility for further safety-related use can be determined from the correspondence between the position of the radio location and presence in the protection area of the location-resolving sensor.

The statuses of all sectors are determined via the control and evaluation unit, for example a central controller, which receives as input data both the radio transponder positions determined by the radio location system, for example an RTLS system, and the switching information of the protected areas of all stationary location-resolving sensors. The control and evaluation unit can be a safety controller, for example, or alternatively a non-safe controller that uses additional data processing plausibility mechanisms.

1. 1. Positionsinformationen des Funkortungssystems ermitteln.
2. 2. Informationen bzw. Anwesenheitsdaten für Durchtrittsbereiche bzw. Sektorübergänge erfassen, wobei diese Informationen von den stationären ortsauflösenden Sensoren ermittelt und an die Steuer- und Auswerteeinheit gesendet werden.
3. 3. Bei Vorliegen eines Durchtrittsereignisses: Zuordnung zwischen Funktransponder und Anwesenheitsdaten des ortsauflösenden Sensors.
4. 4. Setzen eines Status jedes Sektors über den jeweiligen Gefährdungszustand.
5. 5. Ggf. Einleitung von Maßnahmen zur Risikominderung für die verschiedenen Sektoren.

The control and evaluation unit, which is designed as a central controller, for example, carries out the following steps cyclically and continuously:

1. 1. Obtain position information of radio location system.
2. 2. Record information or presence data for passage areas or sector transitions, with this information being determined by the stationary position-resolving sensors and being sent to the control and evaluation unit.
3. 3. If there is a passage event: assignment between radio transponder and presence data of the location-resolving sensor.
4. 4. Setting a status of each sector about the respective state of danger.
5. 5. If necessary, initiation of risk reduction measures for the various sectors.

The detection cycles of the radio location system and the position-resolving sensor do not need to be synchronous. The control and evaluation unit is designed, for example, to convert the diverse sensor data from the different time frames into a common time frame and to carry out data fusion.

The safety statuses of the sectors are information that can be used in terms of safety and can therefore be used, for example, by the higher-level machine control(s) to initiate risk reduction measures.

• Gemäß einem einfachen Ansatz wird beispielsweise eine Maschine oder Fahrbewegung in einem Sektor gestoppt, sobald der Sektorstatus die Anwesenheit einer Person signalisiert. Diese Art der Risikominderung hat den Vorteil der geringen Komplexität, leidet aber unter den bekannten Produktivitätseinbußen. Dennoch ergeben sich hier Vorteile dadurch, dass die Reichweitenlimitierung lokaler Absicherungssensoren wegfällt. Ein Beispiel ist die Geschwindigkeitsbegrenzung von Schmalgangstaplern. Diese Fahrzeuge sind in ihrer Geschwindigkeit durch die Reichweite der ,mitgeführten‘ Schutzfelder begrenzt. Eine Vergrößerung der Felder ist aus energetischen Gründen und praktischen Applikationsgründen nicht sinnvoll. Wenn aber die Information vorliegt, dass im Schmalgangbereich sicher keine Person anwesend ist, dann kann die Geschwindigkeitslimitierung überwunden werden.

The sector-specific status information can be used in various ways to reduce risk:

• According to a simple approach, a machine or driving movement, for example, is stopped in a sector as soon as the sector status signals the presence of a person. This type of risk reduction has the advantage of low complexity, but suffers from the well-known productivity losses. Nevertheless, there are advantages here because the range limitation of local security sensors is no longer applicable. An example is the speed limit of narrow aisle trucks. The speed of these vehicles is limited by the range of the protective fields "carried along". Enlarging the fields does not make sense for energy reasons and practical application reasons. However, if the information is available that no one is definitely present in the narrow aisle area, then the speed limit can be overcome.

Conversely, the sector status can also be expanded to include information about the presence of moving danger spots, in particular autonomous vehicles. This allows people to be warned when approaching the sector in question or prevented from entering the sector with the help of secure door locks.

Sector status can also be used for a cascaded risk mitigation strategy where when a person enters a sector, the movement of machinery or vehicles is slowed down, thereby reducing the risk to the occupant. This residual risk can then either be acceptable or further reduced by additional local security measures. For example, through safety sensors with a lower safety level.

In addition, the sector status can be used for dynamic route planning of vehicles. A sector with status 'free / no person present' can be designated as a preferred route. Conversely, a sector with people present can be blocked for the passage of autonomous vehicles and the vehicles can be diverted to other routes.

If the information is available for a sector that there are no people there, the function of local safety sensors can be bridged with this information. This improves the availability of the machines and thus their productivity by avoiding unwanted faulty shutdowns.

In an operating environment in which, due to adverse conditions such as dust, optical sensors cannot be used or can only be used to a very limited extent, a safety ring can be moved away from the machine with the help of sector monitoring. In other words, in this case, protection is provided by detecting the access of a person to the vicinity of the dangerous machine at the sector boundary and stopping the machine.

For example, the radio transponders have an identification, with one radio transponder being assigned to at least one person or one mobile object, as a result of which the control and evaluation unit is designed to distinguish between the persons and mobile objects and to identify them in each case.

The position-resolving sensor and the radio stations are preferably arranged in a stationary manner.

According to the invention, each passage area is assigned at least one spatially resolving sensor.

The object, a mobile object, a movable machine or mobile machine can be, for example, a driverless vehicle, driverless vehicle or autonomous vehicle, an autonomously guided vehicle (Autonomous Guided Vehicles, AGV), an automatic mobile robot ( Automated Mobile Robots (AMR), an Industrial Mobile Robots (IMR) or a robot with moveable robotic arms. The mobile machine thus has a drive and can be moved in different directions.

The person can be, for example, an operator or maintenance person. The radio transponder or transponders are arranged, for example, on the person's clothing or equipment. This can be a vest, for example, to which the radio transponder is firmly attached. A radio transponder is arranged, for example, on the shoulders and in the chest or back area. However, the radio transponders can also be arranged in other places on the person. For example, two radio transponders are arranged on the shoulders of a person's vest.

The security system is formed at least by the control and evaluation unit, the radio location system and the location-resolving sensor.

In a further development of the invention, position data of the person or the object can be determined by means of the position-resolving sensor.

The development is based on the fact that a position of the person or the object is determined by two independent subsystems in the through step area is clearly identifiable. On the one hand, the position is determined via the location-resolving sensor, as well as the position, which is determined via the radio location system. The position is thus determined by a redundant, in particular diverse, system.

The invention utilizes the combination of two diverse sensor technologies that mutually validate each other with regard to the detection task.

The first of the two sensor technologies is the radio location system or a radio-based localization system with which the positions of radio transponders can be determined with an accuracy of a few centimetres.

The radio location is based, for example, on a triangulation of at least one radio transponder on the person or the object. This requires at least three radio stations that can detect the radio transponder. The distance between the respective radio stations is known to the radio location system.

It is preferably a real-time location system or the English equivalent RTLS (Real-Time Locating System). The radio transponder or radio transponders are/are arranged on the person or the object. The radio stations receive the radio signals from the radio transponders and can thus determine their position and thus the position of the person or object.

In this case, the position data are transmitted from the radio location system, namely the radio stations, to the control and evaluation unit.

The second system is the location-resolving sensor or a location-resolving environment detection system. No radio transponder is required for localization. This environment detection system or the location-resolving sensor therefore provides information that an object is located at a specific position and determines, for example, its position and dimensions or contour.

The two diverse subsystems, namely the radio location system and the position-resolving sensor, complement each other very well with regard to the functional tasks of position detection and can therefore be combined mutually for validation and thus for safety-related positioning.

• Das Funkortungssystem ermittelt die Position eines Objektes oder einer Person. Diese Informationen werden der Steuer- und Auswerteeinheit übermittelt.

A validation of an object or person position could therefore proceed as follows:

• The radio location system determines the position of an object or a person. This information is transmitted to the control and evaluation unit.

Optionally, the control and evaluation unit transmits a search field, in which the radio location system has located the person or the object, to the location-resolving sensor.

The spatially resolving sensor checks whether there is a person or an object in its detection area or its search field, optionally with its size and possibly other detected validation parameters such as shape, speed, etc. The spatially resolving sensor transmits the recorded data to the control and evaluation unit.

The detected position of the person or the object of the radio location system and the detected position of the person or the object of the location-resolving sensor are compared with one another by the control and evaluation unit.

The control and evaluation unit optionally compares the detected features or the contour of the person or the object of the location-resolving sensor with the detected features or the contour of the person or the object of the radio location system.

The position of the person or object can thus be mutually validated by the two diverse information channels and thus checked for a safety-related application.

The development enables reliable position detection of people or objects in a surveillance area and thus opens up the possibility of tailoring a safety function specifically to a particular situation. There is thus the possibility of meeting a requirement for risk reduction without impairing the productivity of an automation process.

The physical operating principles and their strengths and weaknesses of the diverse sensors are advantageously complementary. Radio location systems, for example, have a natural immunity to extraneous light due to the operating principle. Furthermore, radio location systems are less sensitive to disturbing objects such as dust, chips or fog. In addition, radio location systems make it possible to see through non-metallic walls, so that people or objects can be identified particularly early. This allows a high-quality optimization of processes while constantly guaranteeing occupational safety.

In a development of the invention, the position-resolving sensor is an optoelectronic sensor, an ultrasonic sensor or a radar sensor.

The position data or can be compared with secure or non-secure position data or position information that was detected selectively at specific locations in the operating environment, namely the passage areas, using optical sensors.

The position data from the radar sensors usually have a longer range and can also be used to improve the position accuracy of the person or object.

The ultrasonic sensors usually have a similar accuracy and can additionally be used to improve the positional accuracy of the person or objects.

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

The spatially resolving sensor for at least extensive monitoring of a passage area is a sensor for distance measurement. The distance sensor supplies distance values in at least one two-dimensional area. 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 development of the invention, the position-resolving sensor is designed for at least spatial monitoring of a passage area.

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

The passage areas in particular are then monitored with stationary, secure 3D cameras using the integrated protective field function in such a way that the passage of a person from the outside into the passage area or vice versa from the passage area into an adjacent sector is reliably detected. This detection is spatially resolved insofar as it can use the spatially separated fields in the passage area to distinguish in which or from which sector a passage took place.

An example is the comparison with the position data that was determined in the field of view of an optical sensor, such as a 3D camera. This can be in a crossing area as a passage area, for example. When an object is detected in the field of view, the position relative to the 3D camera is determined and the global position of the object is derived from the known position of the 3D camera. Both statically attached optical sensors and mobile optical sensors, the position and orientation of which are known from other sources, are provided. It is then checked whether there is an object in a list of objects tracked using radio location that matches this position value. If there is sufficient agreement, the position value of the radio location is considered checked. In this case, a diversitary redundant approach confirmed the measurement.

The optical position data usually has better accuracy and can additionally be used to improve the position accuracy of the person or the mobile machine.

The plausibility of a position value is therefore all the greater the better the match between optical position determination and radio location and the clearer the association between optical position determination and radio location is also possible. In the case presented above, the additional difficulty can consist, for example, in the fact that it cannot be determined with certainty whether a first radio location may also belong to a second optical location and vice versa. Such ambiguities are taken into account in the plausibility. This consideration can take place in that the assignment is carried out in a safety-related manner in such a way that there is a minimal deviation between the radio location and the optical position. Alternatively, it can also be carried out by following or 'tracking' previous position values and making the assignment in such a way that the distance to the previous measurement is minimized.

In a development of the invention, the control and evaluation unit is designed to form checked position data in a penetration area if the position data of the radio location system and the position data of the sensor match.

According to the development, position data that can be used in terms of safety is made available. This means that the position data of all people and objects obtained in this way can be used as the basis for a comprehensive, forward-looking and productivity-optimizing protection concept.

The present development thus makes it possible even with error-prone radio location information Check the functions in the operating environment to ensure that they can be used in terms of machine safety. This reveals when location errors occur outside of a specified tolerance range, for example due to radio signals that are too weak. Incorrect location information is corrected as far as possible and made usable for further use. If this is not possible, an error control measure is initiated, for example the position value is marked as incorrect.

The available location information, position information or position data are thus checked for their reliability. Furthermore, a degree of reliability required for further use can be assigned to the position data.

In a development of the invention, the sectors are spaced apart and spatially separated from one another. Either passage areas are then arranged between the sectors or the sectors are arranged spatially separated from one another. For example, aisles form the sectors, with transverse aisles between aisles forming passage areas.

In a further development of the invention, the control and evaluation unit is designed to determine a position of the radio transponders at different points in time and from this to determine a speed, an acceleration, a direction of movement and/or a path (trajectory) of the radio transponders.

For example, a comparison is made with the predictions of a trajectory estimate, taking into account known properties of the mobile user or the object or the person.

Here, too, an expectation of the position measurement or the position data is checked and expected position data is compared with the determined measured value or the determined position data. The movement of people is subject to limits in terms of acceleration and speed. In the case of mobile objects or vehicles, there is also the expectation of the direction of movement. These expectations can make predictions about future positions in the form of motion estimators, such as Kalman filters, and these estimates are then used to check the real measured values or position data for plausibility.

In this way, for example, a route of an object, a mobile machine or a vehicle can be tracked and an action can be triggered, for example, depending on the direction of movement or the speed of movement. For example, the object can be positioned precisely.

In a development of the invention, the radio transponder has at least one time measuring unit, the radio stations also each having at least one time measuring unit, the radio stations being designed to read out and write the times of the time measuring units of the radio transponders and the radio stations being designed to read the times of the time measuring units of the radio transponders to synchronize and the radio stations are designed to compare the times of the time measuring units of the radio transponder with the times of the time measuring units of the radio stations.

As a result, a more precise position determination is possible, which can also be carried out precisely over the long term thanks to the synchronization, particularly in the case of moving objects.

In a further development of the invention, checked position data is formed on the basis of the position data from the radio location system and the position data from the sensor, with the control and evaluation unit being designed to compare the checked position data with reference data and, if there is a match, a change in the safety function by means of the control and evaluation unit the security system sector.

According to the development of the invention, a secure collaboration between the movable machine or actuator and the person can be implemented. Depending on the position, speed, direction of movement and/or the distance from the person, the movable machine or actuator is braked, stopped, deflected and/or accelerated again.

In particular, when the person or the object is in a hazardous area of the movable machine, the movable machine is operated in a safe operating mode.

Errors critical to safety, such as the loss of the radio signal, e.g. B. because there is no radio transponder, because a power supply to the radio transponder has failed or because, for example, the radio transponder is shielded or incorrect localization of the person or object by the location-resolving sensor or incorrect processing of position data by the control and evaluation unit a safety-related shutdown by the primary safety function, namely by the control and evaluation unit, if no valid position data are available from the spatially resolving sensor.

The safety function of the safety system is changed based on position data by means of the control and evaluation unit.

If a predetermined position is identified, which is stored, for example, the control and evaluation unit can switch to another protective measure or safety function. The switchover of the protective measure can include, for example, a switchover of measurement data contours, a switchover of protective fields, a size or shape adjustment of measurement data contours or protective fields and/or a 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. Switching over the protective measure can also be a safety function, such as a force limitation of the drive, to which the switch is made.

In a further development of the invention, the control and evaluation unit is designed to set a changed safety function in the sector based on the checked position data from the control and evaluation unit, with a movement of the object being changed or prevented by the control and evaluation unit depending on the distance from the person to the object. being affected.

For example, a modified safety function is set using the control and evaluation unit, with the control and evaluation unit converting the checked position information into a safe distance from the danger zone and influencing a movement of the object depending on the distance from the person.

According to the development of the invention, secure collaboration between object and person can also be implemented. Depending on the position, speed, direction of movement and/or distance from the person, the object is decelerated, stopped, deflected and/or accelerated again.

In a development of the invention, the radio location system is an ultra-wideband radio location system, with the frequency used being in the range from 3.1 GHz to 10.6 GHz, with the maximum transmission power per radio station being 0.5 mW.

An absolute bandwidth is at least 500 MHz for an ultra-wideband radio location system, 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 is used for location.

The radio location system only emits radio waves with low energy. The system can be used very flexibly and does not show any interference.

A large number, for example more than three, radio stations are preferably arranged, which monitor at least part of the range of movement of the person or the object.

In a further development of the invention, a machine is controlled in its sector depending on the currently available status information for the relevant sector. For example, the operating mode of the machine is changed depending on the status information, for example a dangerous movement of the machine is slowed down or stopped, or accelerated or started.

For example, based on the status information, the control and evaluation unit is used to change a sequence of process steps in an automation sequence of a plant.

• 1 und 2 jeweils ein Sicherheitssystem.

The invention is explained below also with regard to further advantages and features with reference to the attached drawing based on exemplary embodiments. The figures of the drawing show in:

• 1 and 2 one security system.

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

1 shows a security system 1 for locating at least one person 2 or at least one object 8 in a surveillance area 14, with at least one control and evaluation unit 3, with at least one radio location system 4, with at least one location-resolving sensor 7 for determining the position of the person 2 or the object 8 , wherein radio location system 4 has radio stations 5 arranged, with at least one radio transponder 6 being arranged on person 2 or object 8, with position data of person 2 or object 8 being able to be determined by means of radio location system 4, with the position data from radio stations 5 of the Radio location system 4 can be transmitted to the control and evaluation unit 3, and at least the presence data of the person 2 or the object 8 can be determined by means of the location-resolving sensor 7, the monitoring area 14 having a plurality of sectors 9 and a plurality of passage areas 15 between the sectors 9, with each passage area Area 15 is assigned at least one location-resolving sensor 10, with the control and evaluation unit 3 being designed to cyclically compare the position data of the radio location system 4 and the presence data of the location-resolving sensor 7 in each passage area 15 and to cyclically form status information for the sector 9.

This means that position information that can be used from a safety standpoint for persons 2 present is not determined at all times and for all positions, but only in the defined passage areas 15 of the monitored area 14 Person 2 is located. Although the position within a sector 9 is also known from the radio location, it is initially not relevant for safety functions due to the lack of a safety check.

The passage areas 15 can also be referred to synonymously as transition areas.

According to 1 the operating environment can be divided into different sectors 9 in such a way that transitions between these sectors 9 are only possible via defined passage areas 15 or zones. This requirement is given, for example, at doors or at entrances to shelf aisles.

In addition to detecting the passage event, the radio location system 4 is used to record which radio transponders 6 are in the passage area 15 or in the immediate spatial vicinity of the corresponding protective field 13 of the location-resolving sensor 7 at this point in time and, for example, the corresponding radio transponder ID is assigned to the detected event. As a result, the radio transponders 6 detected in the operating environment can be unambiguously and reliably assigned to a specific passage area 15 . The resulting status of the corresponding sector 9 is then 'Person present' or 'Potential danger' in the corresponding sector 9.

Conversely, a sector receives the status 'free' or 'no threat' if there is no radio transponder 6 and therefore no person 2 in sector 9. In this case, for example, machines 11 can operate at maximum operating speed, local safety functions can be bypassed or, for example, the corresponding sectors 9 can be identified as preferred routes for autonomous vehicles.

The secure position information is provided by the location-resolving sensor 7 with the aid of presence detection in a defined protected area, in this case the passage area 15 . The checking of position information from the radio location is therefore initially not necessary here, but is additionally carried out in the visual range of the position-resolving sensor 7 .

The information from the radio location system 4 is required in addition to the reliable presence detection of the spatially resolving sensor 7 because a protective field-based system can very reliably detect passages in the passage areas 15 between sectors 9, but does not need to be able to remember the passages. This means that the case in which two people 2 enter a sector 9 at the same time, but then only one person 2 leaves the sector 9 again, does not need to be differentiated with the position-resolving sensor 7 from the case in which both people 2 enter the sector 9 leave again. However, this distinction is absolutely necessary for safety-related use.

However, this problem can be solved by using a radio location system 4 and the precise assignment of a detected penetration of a radio transponder 6 or, for example, a unique ID of a radio transponder 6 . Reliable assignment is achieved by comparing the independently obtained diverse position information from the location-resolving sensor 7 and the radio location system 4 when passing through the passage area 15, so that the information can be derived clearly and reliably as to which persons 2 or which radio transponder 6 are in a sector 9 or a passage area 15 is located. It is therefore no longer necessary to count passages in order to obtain information about the presence of persons 2 in a sector 9. Knowing the unique radio transponder 6 and tracking this radio transponder 6 in the surveillance area 14 is much more reliable.

In addition, a measure of plausibility for further safety-related use can be determined from the correspondence between the position of the radio location and the position of the protected area 13 of the position-resolving sensor 7 .

The statuses of all sectors 9 are determined via the control and evaluation unit 3, for example a central controller, which receives as input data both the radio transponder positions determined by the radio location system 4, for example an RTLS system, and the switching information of the protection areas 13 of all stationary location-resolving sensors 7 Control and evaluation unit 3 can be, for example, a safety controller or alternatively a non-safe control that uses additional data processing plausibility mechanisms.

1. 1. Positionsinformationen des Funkortungssystems 4 ermitteln.
2. 2. Informationen für Durchtrittsbereiche 15 bzw. Sektorübergänge erfassen, wobei diese Informationen von den stationären ortsauflösenden Sensoren 7 ermittelt und an die Steuer- und Auswerteeinheit 3 gesendet werden.
3. 3. Bei Vorliegen eines Durchtrittsereignisses: Zuordnung zwischen Funktransponder 6 und Positionsinformation des ortsauflösenden Sensors 7.
4. 4. Setzen eines Status jedes Sektors 9 über den jeweiligen Gefährdungszustand.
5. 5. Ggf. Einleitung von Maßnahmen zur Risikominderung für die verschiedenen Sektoren 9.

The control and evaluation unit 3, which is designed as a central controller, for example, carries out the following steps cyclically and continuously:

1. 1. Determine position information of the radio location system 4.
2. 2. Capture information for passage areas 15 or sector transitions, with this information being determined by the stationary position-resolving sensors 7 and sent to the control and evaluation unit 3 .
3. 3. If there is a passage event: assignment between radio transponder 6 and position information of the spatially resolving sensor 7.
4. 4. Setting a status of each sector 9 about the respective state of danger.
5. 5. If necessary, initiation of risk reduction measures for the various sectors 9.

• Gemäß einem einfachen Ansatz wird beispielsweise eine Maschine 11 oder Fahrbewegung eines Objekts 8 in einem Sektor 9 gestoppt, sobald der Sektorstatus die Anwesenheit einer Person 2 signalisiert. Diese Art der Risikominderung hat den Vorteil der geringen Komplexität, leidet aber unter den bekannten Produktivitätseinbußen. Dennoch ergeben sich hier Vorteile dadurch, dass die Reichweitenlimitierung lokaler Absicherungssensoren wegfällt. Ein Beispiel ist die Geschwindigkeitsbegrenzung von Schmalgangstaplern. Diese Fahrzeuge sind in ihrer Geschwindigkeit durch die Reichweite der ‚mitgeführten‘ Schutzfelder begrenzt. Eine Vergrößerung der Schutzfelder ist aus energetischen Gründen und praktischen Applikationsgründen nicht sinnvoll. Wenn aber die Information vorliegt, dass im Schmalgangbereich sicher keine Person 2 anwesend ist, dann kann die Geschwindigkeitslimitierung überwunden werden.

The sector-specific status information can be used in various ways to reduce risk:

• According to a simple approach, for example, a machine 11 or the movement of an object 8 in a sector 9 is stopped as soon as the sector status signals the presence of a person 2 . This type of risk reduction has the advantage of low complexity, but suffers from the well-known productivity losses. Nevertheless, there are advantages here because the range limitation of local security sensors is no longer applicable. An example is the speed limit of narrow aisle trucks. The speed of these vehicles is limited by the range of the “carried” protective fields. Enlarging the protective fields does not make sense for energy reasons and practical application reasons. However, if the information is available that no person 2 is definitely present in the narrow aisle area, then the speed limit can be overcome.

Conversely, the sector status can also be expanded to include information about the presence of moving danger spots, in particular autonomous vehicles. In this way, persons 2 can be warned when approaching the relevant sector 9 or prevented from entering sector 9 with the aid of secure door locking devices.

Sector status can also be used for a cascaded risk mitigation strategy, where when a person 2 enters a sector 9, the movements of the machines 11 or objects 8, e.g. vehicles, are slowed down and the risk to the person 2 present is reduced. This residual risk can then either be acceptable or further reduced by additional local security measures. For example, through safety sensors with a lower safety level.

In addition, the sector status can be used for dynamic route planning of vehicles. A sector 9 with status 'vacant / no person 2 present' can be designated as a preferred route. Conversely, a sector 9 with persons 2 present can be blocked for the passage of autonomous vehicles and the vehicles can be diverted to other routes.

If there is information for a sector 9 that there are no persons 2 there, the function of local security sensors can be bypassed with this information. This improves the availability of the machines 11 and thus their productivity by avoiding unintentional erroneous shutdowns.

For example, the radio transponders 6 have an identification, with one radio transponder 6 being assigned to at least one person 2 or one mobile object 8, whereby the control and evaluation unit 3 is designed to distinguish between the persons 2 and mobile objects 8 and to identify them in each case .

The position-resolving sensor 7 and the radio stations 5 are preferably arranged in a stationary manner.

For example, at least one spatially resolving sensor 7 is assigned to each passage area 15 .

The radio location is based, for example, on a triangulation of at least one radio transponder 6 on the person 2 or the object 8. At least three radio stations 5 that can detect the radio transponder 6 are necessary for this. The distance between the respective radio stations 5 is known to the radio location system 4 .

The position data from the radio location system 4, namely the radio stations 5, are transmitted to the control and evaluation unit 3.

The second system is the spatially resolving sensor 7 or a spatially resolving environment detection system. In this case, no radio transponder 6 needed for localization. This environment detection system or the location-resolving sensor 7 therefore supplies information that an object 8 is located at a specific position and determines, for example, its position and dimensions or contour.

According to 1 the position-resolving sensor 7 is, for example, an optoelectronic sensor 10. However, the position-resolving sensor 7 can also be an ultrasonic sensor or a radar sensor.

The position data or position information can be compared with secure or non-secure position data or position information that was detected selectively at specific locations in the operating environment, namely the passage areas 15 using optoelectronic sensors 10 .

According to 1 the spatially resolving sensor 7 is designed, for example, for at least two-dimensional monitoring of the passage area 15 of the monitoring area 14 .

The spatially resolving sensor 7 for at least extensive monitoring of a passage area 15 is a sensor for distance measurement. The distance sensor supplies distance values in at least two-dimensional space. The sensor outputs 7 measured values with distance information and angle information. For example, the distance is determined using the time-of-flight method or triangulation method or stereoscopy.

For example, the spatially resolving sensor 7 is designed for at least spatial monitoring of a passage area 15 .

According to 1 the, for example, optoelectronic sensor 10 is, for example, a laser scanner, a safety laser scanner, a 3D camera, a stereo camera or a time-of-flight camera.

The passage areas 15 in particular are then monitored with stationary, secure 3D cameras using the integrated protective field function in such a way that the passage of a person 2 from the outside into the passage area 15 or vice versa from the passage area 15 into an adjacent sector 9 is reliably detected. This detection is spatially resolved insofar as it can use the spatially separated fields in the passage area 15 to distinguish in which or from which sector 9 a passage took place or is taking place.

An example is the comparison with the position data that was determined in the field of view of an optoelectronic sensor 10, for example a 3D camera. This can be in a crossing area as a passage area 15, for example. In this case, when an object 8 is detected in the field of view, the position relative to the 3D camera is determined and the global position of the object 8 is derived using the known position of the 3D camera. Both statically mounted optoelectronic sensors 10 and mobile optoelectronic sensors 10, the position and orientation of which is known from other sources, are provided. A check is then carried out to determine whether there is an object 8 in a list of objects 8 tracked by means of radio location that matches this position value. If there is sufficient agreement, the position value of the radio location is considered checked. In this case, a diversitary redundant approach confirmed the measurement.

For example, the control and evaluation unit 3 is designed to form checked position data in a penetration area 15 if the position data of the radio location system and the position data of the sensor 7 match.

Position data that can be used in terms of safety is thus made available. This means that the position data of all people 2 and objects 8 obtained in this way can be used as the basis for a comprehensive, forward-looking and productivity-optimizing security concept.

According to 1 the sectors 9 are, for example, spaced and spatially separated from one another. Either passage areas 15 are then arranged between the sectors 9 or the sectors 9 are arranged spatially separated from one another. For example, aisles form the sectors 9, with transverse aisles forming passage areas 15 between aisles.

According to 2 the control and evaluation unit 3 is designed, for example, to determine a position of the radio transponder 6 at different points in time and to determine a speed, an acceleration, a direction of movement and/or a path (trajectory) of the radio transponder 6 from this.

For example, a comparison is made with the predictions of a trajectory estimate, taking into account known properties of the mobile participant or the object 8 or the person 2.

As a result, for example, a route of an object 8, a mobile machine or a vehicle can be tracked and an action can be carried out, for example, depending on the direction of movement or the speed of movement be solved. For example, the object 8 can be positioned precisely.

For example, on the basis of the position data from the radio location system 4 and the position data from the sensor 7, checked position data is formed, with the control and evaluation unit 3 being designed to compare the checked position data with reference data and, if there is a match, the control and evaluation unit 3 changes the safety function takes place in the sector 9 of the security system 1.

A secure collaboration between object 8 or movable machine or actuator and person 2 can thus be implemented. Depending on the position, speed, direction of movement and/or the distance from the person 2, the object 8, the movable machine or the actuator is decelerated, stopped, deflected and/or accelerated again.

In particular, when the person 2 or the object 8 is in a hazardous area of the movable machine, the movable machine is operated in a safe operating mode.

Based on position data using the control and evaluation unit 3, the safety function of the safety system 1 can be changed.

If a predetermined position is identified, which is stored, for example, the control and evaluation unit 3 can switch to another protective measure or safety function. Switching over the protective measure can include, for example, switching over measurement data contours, switching over protection fields, adjusting the size or shape of measurement data contours or protection fields 13 and/or switching over the properties of a protection field 13 . The properties of a protective field 13 include, for example, the resolution and/or the response time of the protective field 13. Switching over the protective measure can also be a safety function, such as a force limitation of the drive, to which the switch is made.

According to 1 the control and evaluation unit 3 is designed, for example, to set a modified safety function in the sector 9 based on the checked position data from the control and evaluation unit 3, with the object 8 being moved by the control and evaluation unit depending on the distance from the person 2 to the object 8 3 is changed or influenced.

For example, a modified safety function is set using the control and evaluation unit 3, with the control and evaluation unit 3 converting the checked position information into a safe distance from the danger zone and influencing a movement of the object 8 from the person 2 depending on the distance.

According to 2 a secure collaboration between object 8 and person 2 can also be realized. Depending on the position, speed, direction of movement and/or the distance from the person 2, the object 8 is decelerated, stopped, deflected and/or accelerated again.

The radio location system 4 is preferably an ultra-wideband radio location system, the frequency used being in the range from 3.1 GHz to 10.6 GHz, with the maximum transmission power per radio station being 0.5 mW.

A large number, for example more than three, radio stations 5 are preferably arranged, which monitor at least part of the range of movement of the person 2 or the object 8 .

Reference List

1

security system

2

person

3

Control and evaluation unit

4

radio location system

5

radio stations

6

radio transponder

7

spatially resolving sensor

8th

object

9

sector

10

optoelectronic sensor

11

machine

12

3D camera

13

protective field/protective area

14

surveillance area

15

passage area

Claims (14)

Security system (1) for locating at least one person (2) or at least one object (8) in a surveillance area (14), with at least one control and evaluation unit (3), with at least one radio location system (4), with at least one location-resolving sensor (7) for determining the position of the person (2) or the object (8), the radio location system (4) having arranged radio stations (5), at least one radio transponder (6) being arranged on the person (2) or the object (8), with position data of the person (2) or the object (8) can be determined by means of the radio location system (4), with the position data being able to be transmitted from the radio stations (5) of the radio location system (4) to the control and evaluation unit (3), and by means of the location-resolving sensor (7) at least the presence data of the person (2) or the object (8) can be determined, characterized in that the monitored area (14) has a number of sectors (9) and a number of passage areas (15) between the sectors (9), each At least one spatially resolving sensor (7) is assigned to the passage area (15), the control and evaluation unit (3) being designed to transmit the position data of the radio location system (4) and the presence data of the spatially resolving sensor (7) to compare cyclically in each passage area (15) and to cyclically form status information for the sector (9). Security system (1) after claim 1 , characterized in that position data of the person (2) or the object (8) can be determined by means of the position-resolving sensor (7). Security system (1) according to at least one of the preceding claims, characterized in that the position-resolving sensor (7) is an optoelectronic sensor (10), an ultrasonic sensor or a radar sensor. Security system (1) according to at least one of the preceding claims, characterized in that the position-resolving sensor (7) is designed for at least extensive monitoring of a passage area (15). Security system (1) according to at least one of the preceding claims, characterized in that the position-resolving sensor (7) is designed for at least spatial monitoring of a passage area (15). Security system (1) according to at least one of the preceding claims, characterized in that the optoelectronic sensor (10) is a laser scanner, a security laser scanner, a 3D camera, a stereo camera or a time-of-flight camera. Security system (1) according to at least one of the preceding claims, characterized in that the control and evaluation unit (3) is designed, if the position data of the radio location system (4) and the position data of the sensor (7) match in a passage area (15) to form checked position data. Security system (1) according to at least one of the preceding claims, characterized in that the sectors (9) are spaced and spatially separated from one another. Security system (1) according to at least one of the preceding claims, characterized in that the control and evaluation unit (3) is designed to determine a position of the radio transponder (6) at different points in time and from this a speed, an acceleration, a direction of movement and / or to determine a path or trajectory of the radio transponder (6). Security system (1) according to at least one of the preceding claims, characterized in that the radio transponders (6) each have at least one time measurement unit, the radio stations (5) likewise each having at least one time measurement unit, the radio stations (5) being designed to measure the times of the time measurement units of the radio transponders (6) and to write to them and the radio stations (5) are designed to synchronize the times of the time measurement units of the radio transponders (6) and the radio stations (5) are designed to use the times of the time measurement units of the radio transponders (6). to compare the times of the time measuring units of the radio stations (5). Security system (1) according to at least one of the preceding claims, characterized in that checked position data is formed on the basis of the position data of the radio location system (4) and the position data of the sensor (7), the control and evaluation unit (3) being designed to use the checked To compare position data with reference data and, if there is a match, the control and evaluation unit (3) changes the safety function in the passage area (15) of the safety system (1). Security system (1) according to at least one of the preceding claims, characterized in that the control and evaluation unit (3) is designed to set a modified security function in the passage area (15) based on the checked position data of the control and evaluation unit (3), wherein depending on the distance from the person (2) to the object (8), a movement of the object (8) through the Control and evaluation unit (3) is changed or influenced. Security system (1) according to at least one of the preceding claims, characterized in that the radio location system (4) is an ultra-wideband 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) is 0.5 mW maximum. Safety system (1) according to at least one of the preceding claims, characterized in that a machine in its sector is controlled as a function of the currently available status information for the sector.

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