DE102019212872A1 - Method for activating a safety mode of at least one machine - Google Patents

Abstract

A method for activating a safety mode of at least one machine (100), the following steps being carried out: - Detection of an environment of the machine (100) by a recognition component (110) in order to identify an identification component (30) of at least one shoe (10) to detect, and thereby to determine an approach of a wearer (2) of the shoe (10), - activation of the safety mode when the identification component (30) is recognized, the safety mode for operation of the machine (100) when the shoe wearer approaches (2) is executed.

Description

The present invention relates to a method for activating a safety mode of at least one machine. The invention also relates to a system for activating a safety mode of at least one machine.

When using machines and especially robots, safety requirements for people in the vicinity of the machines must be taken into account. Usually, the machines can be fenced in so that an appropriate safety area is maintained. However, it is also known from the prior art that safety areas around the machine are removed as part of a human-machine collaboration. When a person enters the immediate vicinity of the machine, a safety mode of the machine is therefore used in order to nevertheless enable safe operation. For example, the speed can be adjusted, e.g. the movements of the machine can be reduced. A complete stop of the machine can also be provided.

However, it is often technically complex to ensure safe operation when the person enters and, for example, to enable presence detection. It may also be necessary for the person to have to carry additional objects for the presence detection. These items are z. B. recognized by the machine. However, the associated additional effort is sometimes not sufficiently accepted and is perceived as annoying. Ergonomics can also be restricted by such additional items, or there is a risk that the additional items will be forgotten.

From the DE 10 2014 212 535 A1 , DE 20 2015 002 701 U1 and DE 3321790 A1 generic methods and systems are known.

It is an object of the present invention to at least partially remedy the disadvantages described above. In particular, it is an object of the present invention to provide an improved way of ensuring the safety of machines.

The above object is achieved by a method with the features of claim 1 and by a system with the features of claim 5. Further features and details of the invention emerge from the respective subclaims, the description and the drawings. Features and details that are described in connection with the method according to the invention naturally also apply in connection with the system according to the invention, and vice versa, so that, with regard to the disclosure, reference is or can always be made to the individual aspects of the invention.

• - Erfassen einer Umgebung der Maschine durch eine Erkennungskomponente, welche insbesondere an der Maschine angeordnet ist, um eine Kennzeichen-Komponente wenigstens eines Schuhs zu erkennen, und hierdurch eine Annäherung eines Trägers des Schuhs (Schuhträgers) zu ermitteln,
• - Aktivieren des Sicherheitsbetriebs bei Erkennen der Kennzeichen-Komponente.

The object is achieved in particular by a method for activating a safety mode of at least one machine, in particular a robot such as an industrial robot. It is provided that the following steps are carried out, preferably one after the other in the order specified or in any order:

• - Detection of the surroundings of the machine by a detection component, which is arranged in particular on the machine in order to detect a characteristic component of at least one shoe, and thereby to determine an approach of a wearer of the shoe (shoe wearer),
• - Activation of the safety mode when the identification component is recognized.

In other words, the identification of the shoe is used by an identification component in order to determine the approach of the shoe wearer. The approach can lead to the fact that the shoe wearer is in the immediate vicinity, in particular in the collaboration space d. H. Radius of action, of the machine. The determination of the approach therefore also includes, if necessary, the determination of the position of the shoe wearer in this immediate vicinity.

Furthermore, the safety mode can be implemented for operation of the machine when the shoe wearer approaches (and in particular also when they are in the collaboration room).

The method according to the invention can have the advantage that the approaching of the shoe wearer is reliably recognized as a dangerous situation, and it is possible to react to this by activating the safety mode. In this way, for example, fencing of the machine can be dispensed with, since the danger to the person due to the approach is countered by recognizing the identification component. By using the identification component in or on the shoe, the technical and practical effort and convenience for using this safety function can also be improved.

The machine can be designed as a stationary or mobile machine, in particular as a robot, which z. B. is used in manufacturing or in an assembly line in the automotive industry and thus performs handling and / or manufacturing tasks. In a narrower sense it can the machine is therefore an industrial robot. The machine can perform movements, e.g. B. move a manipulator, and thereby exert forces. The movements and / or forces in standard operation can endanger people who are within the machine's range of action. This area is also known as the collaboration room or security area. In order to prevent the hazard, a fence is conventionally used around the machine. According to the invention, the safety mode can alternatively or additionally be used for this purpose. The safety operation can, for. B. adapt the operation of the machine in such a way that endangering people within the radius of action is avoided. For this purpose, for example, the maximum permitted forces and / or speeds of movement and / or types of movement or the like are reduced and / or adapted to such an extent that the hazard is excluded or reduced.

The shoe can be designed as a work shoe and / or safety shoe. The shoe can have at least one protective function, such as at least one passive protective element. The passive protective element can be provided to passively protect the shoe wearer at least from mechanical and / or electrical loads. The passive protective element is particularly preferably designed without a power supply. The passive protective element is thus advantageously provided to protect the shoe wearer as a result of a material property or a geometric property. The protective element is z. B. designed as a protective cap made of metal or plastic to protect the toes. The upper material can comprise leather and the shoe sole can comprise rubber, polyurethane or thermoplastic elastomers. In contrast to work shoes, the safety shoe can necessarily have a toe cap. If the shoe is designed only as a work shoe, it can only have a protective component, but not a protective cap. The safety shoe can meet safety standards according to DIN EN ISO 20 345.

In addition, it is advantageous if the acquisition of the environment detects an access (i.e. entry) of the shoe wearer into a predefined collaboration space of the machine, with alternatively or additionally the safety operation for the operation of the machine being carried out when approaching Speed adjustment, specifically z. B. a speed limit or an acceleration, and / or a stop of the machine (in safety mode) is provided, and can be initiated accordingly when the safety mode is activated. In this way, safe operation of the machine directly adjacent to the shoe wearer can be guaranteed. The speed limitation and / or the stopping of the machine is understood in particular to mean that corresponding limit values are used in the control of at least one tool of the machine such as a manipulator. It can, for. B. in safety mode, a limit value for the maximum speed of a movement of the tool or a limit value for the maximum force exerted by the tool can be used. The speed and / or the force can then be set up to a maximum of this limit value. In standard operation, on the other hand, these limit values can be lifted because no one is in the collaboration room.

Preferably, within the scope of the invention, it can be provided that the operation of the machine in safety mode is adapted for coexistence and / or interaction and / or cooperation and / or collaboration with the shoe wearer. This has the advantage that a human-machine collaboration (or at least coexistence) can be made possible. This is described in more detail below using the example of a robot without a protective fence. The machine can be designed as such a robot, which is operated in the work space of the shoe wearer, that is to say of a person. Usually the robot can be housed behind a protective fence. If, on the other hand, a human and a fence-free robot work next to one another in a common environment (referred to as a collaboration space in the context of this invention), this can be understood as a coexistence of human and robot. An interaction between humans and robots can occur with a synchronized workflow between robots and humans. Cooperation between humans and robots, on the other hand, can take place if both of them pursue their tasks at the same time in a defined workspace, but may not be working on the same object at the same time. A collaboration can exist when humans and robots work together on the same component at the same time. Here, for example, the human being can hand the robot and vice versa components. According to the invention, the machine can be suitable for at least one of these variants (coexistence, cooperation, interaction, collaboration) of human-machine collaboration.

In addition, it can be advantageous within the scope of the invention that a signal, such as an optical signal (light signal, in particular invisible light) or acoustic or electromagnetic signal, is emitted by the identification component or the identification component, preferably an ultrasound, for the detection - Or an electromagnetic or an infrared signal (z. B. infrared light, preferably by at least one light emitting diode) to z. B. the transmission of the signal of the identification component or a reflection of the signal (emitted by the identification component) from the identification component by the identification component, and in particular to activate the safety mode on the basis of the detection. For this purpose, for example, the transmission can take place in the manner of an illumination of the collaboration space by the optical signal. This has the advantage that the entry of the shoe wearer into the collaboration room can be reliably recognized by the detection in order to activate the safety mode upon detection.

It may further be possible within the scope of the method according to the invention that the detection component detects a removal of the shoe wearer, in particular a departure from the collaboration space. This is e.g. B. the case when the recognition component no longer recognizes the identification component on the basis of the detection of the environment. As soon as this is recognized, the safety mode can be deactivated, and z. B. standard operation can be activated again.

• - wenigstens einen Schuh, insbesondere einen Sicherheitsschuh oder Arbeitsschuh, mit einer Kennzeichen-Komponente, welche für eine Erkennung durch eine Erkennungskomponente spezifisch ausgebildet ist, z. B. speziell dafür ausgebildet ist,
• - die Erkennungskomponente für eine Erfassung einer Umgebung der wenigstens einen Maschine, um die Kennzeichen-Komponente zu erkennen, und hierdurch eine Annäherung eines Trägers des Schuhs (Schuhträgers) zu ermitteln,
• - eine Aktivierungskomponente für ein Aktivieren des Sicherheitsbetriebs bei Erkennen der Kennzeichen-Komponente.

The invention also relates to a system for activating a safety mode of at least one machine, comprising:

• - At least one shoe, in particular a safety shoe or work shoe, with an identification component which is specifically designed for recognition by a recognition component, e.g. B. is specially trained to
• the detection component for detecting the surroundings of the at least one machine in order to detect the identification component and thereby to determine an approach of a wearer of the shoe (shoe wearer),
• - An activation component for activating the safety mode when the identification component is recognized.

It can be provided here that the safety mode for operating the machine is carried out when the shoe wearer approaches (and thus also when the shoe wearer approaches, for example when they are in the collaboration room). The system according to the invention thus brings the same advantages as have been described in detail with reference to a method according to the invention. In addition, the system can be suitable for operating the method according to the invention.

The identification component can e.g. B. be specifically designed for the recognition by the recognition component that the identifier component is specially manufactured and / or adapted for the recognition, and is thus designed to be complementary to the recognition component.

It can furthermore be possible within the scope of the system according to the invention, and thus also with regard to the method according to the invention, for the identification component and / or the activation component to be part of the machine. The machine can also be part of the system according to the invention. Likewise, the shoe of the system according to the invention can be placed under protection in an isolated manner.

Advantageously, it can be provided within the scope of the invention that the identifier component is designed as a passive identifier of the shoe, preferably as a passive transponder, in particular passive NFC or RFID transponder, or as an optical identifier, preferably as a reflector to be detected by the detection component, the detection component preferably having an optical sensor for this purpose. If the license plate is designed as a passive transponder (ie passive interface), communication through the license plate can take place using technologies such as NFC (Near Field Communication) or RFID (radio-frequency identification) without the need for an energy source such as a battery for the license plate must be provided. For this purpose, for example, a current in the license plate is reduced by the recognition component. The alternative design as an optical identifier offers the possibility of enabling recognition by a simple optical adjustment of the shoe. For this purpose, for example, a film or the like can be applied to the shoe.

According to an advantageous development of the invention, it can be provided that the identification component is designed as an active electronic component of the shoe, preferably as an active communication interface, preferably as an active NFC or RFID or Bluetooth or WLAN interface, in order to pass through the identification component to be recorded in the form of one or more counter interfaces. In the case of the active electronic component, it can be provided that an energy store such as an accumulator is provided in the shoe. This enables communication with greater signal strength and / or reliability to be carried out. The counter interfaces can have the same communication technology as the communication interface of the shoe, and thus be suitable for communication. The distance and / or position of the license plate component can be determined on the basis of the communication (e.g. by evaluating the signal strength or the signal propagation time).

In addition, it is possible for the identification component to be designed as an active and / or acoustic identification of the shoe, preferably as an ultrasound source to be transmitted through the Detection component to be recorded acoustically. In this way, ultrasound can also be used as a medium for recording. For example, the sound, preferably ultrasound, can be output via a loudspeaker for this purpose.

Furthermore, it can be provided within the scope of the invention that the identification component is integrated into the shoe, preferably into a shoe bottom. The identification component can thus be inextricably linked to the shoe, so that reliable identification is ensured. Comfort and safety can also be further increased, since no additional object has to be attached or carried by the shoe carrier.

Furthermore, it is conceivable that the identification component is integrated into a shoe cover for the shoe. A flexible extension of an existing shoe is thus possible. The shoe cover can be designed as an optional accessory for the shoe and can be detachably attached to the shoe.

It can be advantageous if, within the scope of the invention, the machine is designed as a fence-free or mobile robot, and / or as a human-machine-collaboration-capable robot, or as an automated guided vehicle system (AGV). This can significantly increase productivity and flexibility when using the robot.

• - Ein Hinweis- und Leitsystem, um z. B. akustische oder visuelle Hinweise für eine Nutzung der Maschine zu geben, bspw. bei der Ermittlung der Annäherung und/oder für eine Zuordnung von Aufgaben,
• - Eine Zugangskontrolle, z. B. eine Gewährung des Zugangs anhand der Kennzeichen-Komponente als Authentifikationskennzeichen,
• - Eine Zahlungsmöglichkeit, z. B. anhand der Kennzeichen-Komponente,
• - Eine Identifizierung, z. B. als bestimmte Person oder anonym als „Mensch“ oder gemäß einer bestimmten Kategorie,
• - Eine Lokalisation des Schuhs, z. B. mittels einer GPS-Schnittstelle oder einer Kommunikationsschnittstelle als Elektronikkomponente des Schuhs,
• - Ein Vibrieren zur Ausgabe eines (Gefahren-) Hinweises, z. B. bei der Ermittlung der Annäherung und/oder bei einem Erkennen des Betreten eines Kollaborationsraums,
• - Ein Stoppen der Maschine bei Erkennen des Betreten eines Kollaborationsraums der Maschine, z. B. durch einen Vibrationsmotor des Schuhs,
• - Ein Schrittzähler zur Erfassung von Schritten des Schuhträgers,
• - Eine Distanz- und Geschwindigkeitsmessung beim Schuhträger,
• - Eine Ganganalyse beim Schuhträger,
• - Eine Gewichtsmessung beim Schuhträger,
• - Eine Eingabefunktion, z. B. zur Konfiguration oder Bedienung der Funktionen, z. B. mittels Tasten oder Gesten, welche durch den Schuh (also den Fuß) durchgeführt werden,
• - Eine Steuerung der Maschine, z. B. durch Tasten oder Gesten, welche durch den Schuh (also den Fuß) durchgeführt werden, z. B. als virtuelles Gaspedal (Fußkipp-Geste) zur Einstellung der Geschwindigkeit der Maschine,
• - Eine Programmierung der Maschine, z. B. indem die Geste gemäß einem virtuellen Gaspedal als Eingabe genutzt wird,
• - Eine Kommunikation mit einer Datenbank oder dergleichen, insbesondere durch eine Kommunikationsschnittstelle des Schuhs, um z. B. Waren zu erfassen, eine Protokollierung eine Lade- oder Entladevorgangs durchzuführen, insbesondere durch eine Datenübertragung anhand einer Eingabe wie durch einen Barcode-Scanner oder durch eine Kommunikationsschnittstelle wie RFID oder NFC (bspw. können Güter mit beiden Händen be- oder entladen und der Vorgang durch Tippen/Zeigen mit dem Schuh protokolliert werden),
• - Eine Meldung einer Gefahrsituation, z. B. durch eine Kommunikationsschnittstelle des Schuhs, vorzugsweise bei Detektion einer Eingabe wie einer Geste am Schuh und/oder anhand einer Sensorik des Schuhs,
• - Ein Aktivieren eines Notrufs, z. B. durch eine Kommunikationsschnittstelle des Schuhs, vorzugsweise bei Detektion einer Eingabe wie einer Geste am Schuh und/oder anhand einer Sensorik des Schuhs,
• - Eine Interaktion mit der Maschine,
• - Eine Energierückgewinnung durch Bewegung des Schuhs oder Energieaufnahme durch Induktion zum Aufladen eines Energiespeichers des Schuhs,
• - Eine Ausgabe zur Beleuchtung, z. B. als Notruf- oder Hinweissignal oder Anzeige einer Gruppenkennung oder Konfiguration.

Furthermore, a shoe of a system according to the invention or a shoe according to the invention can have at least one of the following functions:

• - An information and guidance system, in order to z. B. to give acoustic or visual indications for the use of the machine, e.g. when determining the approach and / or for assigning tasks,
• - An access control, e.g. B. a granting of access based on the identifier component as an authentication identifier,
• - A payment option, e.g. B. on the basis of the license plate component,
• - An identification, e.g. B. as a certain person or anonymously as "human" or according to a certain category,
• - A localization of the shoe, e.g. B. by means of a GPS interface or a communication interface as an electronic component of the shoe,
• - A vibration to output a (hazard) notice, e.g. B. when determining the approach and / or when recognizing the entry of a collaboration room,
• - A stopping of the machine upon detection of entering a collaboration area of the machine, e.g. B. by a vibration motor of the shoe,
• - A pedometer to record the steps taken by the shoe wearer,
• - A distance and speed measurement at the shoe wearer,
• - A gait analysis at the shoe wearer,
• - A weight measurement at the shoe wearer,
• - An input function, e.g. B. to configure or operate the functions, e.g. B. by means of buttons or gestures that are performed by the shoe (i.e. the foot),
• - A control of the machine, e.g. B. by buttons or gestures which are carried out by the shoe (i.e. the foot), e.g. B. as a virtual accelerator pedal (foot tilt gesture) to adjust the speed of the machine,
• - A programming of the machine, e.g. B. by using the gesture according to a virtual accelerator pedal as input,
• - A communication with a database or the like, in particular through a communication interface of the shoe in order to e.g. B. to record goods, to carry out a logging of a loading or unloading process, in particular by data transmission based on an input such as a barcode scanner or a communication interface such as RFID or NFC (e.g. goods can be loaded or unloaded with both hands and the Process can be logged by tapping / pointing with the shoe),
• - A notification of a dangerous situation, e.g. B. through a communication interface of the shoe, preferably upon detection of an input such as a gesture on the shoe and / or based on a sensor system of the shoe,
• - Activating an emergency call, e.g. B. through a communication interface of the shoe, preferably upon detection of an input such as a gesture on the shoe and / or based on a sensor system of the shoe,
• - an interaction with the machine,
• - Energy recovery through movement of the shoe or energy absorption Induction for charging an energy store in the shoe,
• - An output for lighting, e.g. B. as an emergency or notification signal or display of a group identifier or configuration.

• 1 eine perspektivische Ansicht von Teilen eines Schuhs eines erfindungsgemäßen Systems,
• 2 eine Ansicht einer Unterseite des Schuhs,
• 3 eine weitere perspektivische Ansicht von Teilen eines Schuhs,
• 4 eine Darstellung eines erfindungsgemäßen Systems,
• 5 eine Darstellung zur Visualisierung eines erfindungsgemäßen Verfahrens.

Further advantages, features and details of the invention emerge from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can be essential to the invention individually or in any combination. They each show schematically:

• 1 a perspective view of parts of a shoe of a system according to the invention,
• 2 a view of an underside of the shoe,
• 3rd a further perspective view of parts of a shoe,
• 4th a representation of a system according to the invention,
• 5 a representation for the visualization of a method according to the invention.

In the following figures, the same reference numerals are used for the same technical features from different exemplary embodiments.

A shoe 10 of a system according to the invention 1 is exemplary in the 1 to 3rd shown the system 1 with further details in 4th is shown. The shoe 10 can especially be used as a safety shoe 10 be designed to z. B. by a shoe carrier 2 to be used to work in a human-machine collaboration.

According to 4th can be a license plate component 30th of the shoe 10 be provided, which for recognition by a recognition component 110 is specifically trained. In addition, the recognition component 110 for detecting the surroundings of at least one machine 100 Part of the system 1 be. The recognition component 110 can be used to do this, the license plate component 30th to recognize, and thereby an approach of the wearer 2 of the shoe 10 to determine.

Furthermore, an activation component 120 for activating a safety mode when the identification component is recognized 30th be used. In this case, the safety operation can operate the machine 100 when the shoe wearer approaches 2 be executed, so the operation on this approach and presence of the shoe wearer 2 to adjust.

The activation component 120 and the recognition component 110 can be part of the machine 100 , but alternatively also the machine 100 be provided to z. B. for several machines 100 to be used.

The license plate component 30th can be used as a passive characteristic of the shoe 10 be designed, preferably as a passive transponder, in particular passive NFC or RFID transponder, or as an optical identifier, preferably as a reflector, in order to pass through the identification component 110 to be detected, preferably the recognition component 110 this has an optical sensor. Alternatively or additionally, the identification component 30th as an active electronic component of the shoe 10 be designed, preferably as an active communication interface, preferably as an active NFC or RFID or Bluetooth or WLAN interface, in order to be carried out by the detection component 110 to be recorded in the form of a counter interface. The license plate component 30th can optionally also use a light-emitting diode as the active electronic component 31 have to z. B. to emit infrared light.

It is possible that the license plate component 30th in the shoe 10 is integrated, preferably in one of the 1 to 3rd shown shoe bottom 20th . The license plate component 30th into an in 3rd shoe covers shown 90 for the shoe 10 be integrated, and thus retrofittable for the shoe 10 be executed. The shoe covers 90 with the help of holders 91 on the shoe 10 attached.

The machine is preferred 100 designed as a fence-free robot, in particular as a human-machine-collaboration-capable robot.

The shoe 10 can have an integrated sensor system, which can be used actively or passively. The sensor system can be configured depending on the application.

An example is in 1 a sensor board 51 in the bottom of the shoe 20th shown, which the electronic components of the sensor system can have. According to one possible embodiment of the sensor system, at least one pressure sensor can be used 52 be provided. In addition, it is possible that at least one light-emitting diode 31 or a barcode scanner 65 or a loudspeaker 34 on the shoe 10 is provided. To operate and / or configure the sensors and possibly other functions of the shoe 10 can at least one control element 40 on the shoe 10 to be available. Other electronic components are in 2 shown. So it is possible to have at least one vibration motor 60 on the shoe 10 is provided, for example. To the shoe carrier 2 give feedback, especially when entering a collaboration room 200 and / or when recognized by the recognition component 110 . There is also an inductive charging interface 72 provided to an energy store 71 , especially accumulator 71 , the shoe 10 to charge. This energy store 71 can be used to supply power to the electronic components. A control electronics 70 of the shoe 10 can provide additional functions, e.g. B. Communication interfaces to the recognition component 110 . An antenna can also be used for this purpose 33 on the shoe 10 be available.

According to 3rd is an alternative arrangement of the electronic components not in the shoe 10 but on a shoe cover 90 shown. This allows a conventional shoe 10 the functionality of a "smart" safety shoe can be retrofitted 10 receive.

In 5 is a method according to the invention for activating a safety mode of at least one machine 100 visualized schematically. According to a first process step 301 a detection of the surroundings of the machine takes place 100 by a recognition component 110 to add a license plate component 30th at least one shoe 10 to recognize, and thereby an approach of a carrier 2 of the shoe 10 to determine. Furthermore, according to a second method step 302 an activation of the safety mode when the identification component is recognized 30th , the safety mode for an operation of the machine 100 when the shoe wearer approaches 2 is executed. In this case, the shoe wearer can gain access by detecting the surroundings 2 in a predefined collaboration space 200 the machine 100 be recognized. The collaboration space 200 is exemplary in 4th shown. Furthermore, the safety operation for the operation of the machine 100 on the approach it can be provided that a speed limit and / or a stop of the machine 100 is used here. Specifically, the operation of the machine can be in safety mode 100 for a coexistence and / or interaction and / or cooperation and / or collaboration with the shoe wearer 2 be adjusted.

The above explanation of the embodiments describes the present invention exclusively in the context of examples. Of course, individual features of the embodiments can be freely combined with one another, provided that they are technically sensible, without leaving the scope of the present invention.

List of reference symbols

1

system

2

Porters, shoe carriers

10

Shoe, safety shoe

20th

Shoe bottom

30th

License plate component

31

led

32

interface

33

antenna

34

speaker

40

Control element

51

Sensor board

52

Pressure sensor

60

Vibration motor

65

Barcode scanner

70

Control electronics

71

Energy storage, accumulator

72

Inductive charging interface

90

Shoe covers

91

Holder of the overcoat

100

Machine, robot

110

Detection component

120

Activation component

200

Collaboration space

301

first procedural step

302

second procedural step

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 102014212535 A1 [0004]
• DE 202015002701 U1 [0004]
• DE 3321790 A1 [0004]

Claims (11)

Method for activating a safety mode of at least one machine (100), the following steps being carried out: - Detecting the surroundings of the machine (100) by a detection component (110) in order to detect a characteristic component (30) of at least one shoe (10) and thereby to determine an approach of a wearer (2) of the shoe (10), - Activation of the safety mode when the identification component (30) is recognized, the safety mode being designed for operation of the machine (100) when the shoe wearer (2) approaches. Procedure according to Claim 1 , characterized in that the detection of the surroundings recognizes the access of the shoe wearer (2) to a predefined collaboration space (200) of the machine (100), the safety operation for the operation of the machine (100) being carried out when approaching, that a speed adjustment and / or a stop of the machine (100) is provided. Procedure according to Claim 1 or 2 , characterized in that, in safety mode, the operation of the machine (100) is adapted for coexistence and / or interaction and / or cooperation and / or collaboration with the shoe wearer (2). Method according to one of the preceding claims, characterized in that a signal from the identification component (30) or from the recognition component (110) is sent out for the detection, preferably an ultrasound or an electromagnetic or an infrared signal to prevent the emission or to detect reflection of the signal from the identification component (30) by the detection component (110) and to activate the safety mode on the basis of the detection. System (1) for activating a safety mode of at least one machine (100), comprising: - At least one shoe (10), in particular a safety shoe (10), with an identification component (30) which is specifically designed for recognition by a recognition component (110), - the detection component (110) for detecting the surroundings of the at least one machine (100) in order to detect the identification component (30) and thereby to determine an approach of a wearer (2) of the shoe (10), - An activation component (120) for activating the safety mode when the identification component (30) is recognized, the safety mode being designed to operate the machine (100) when the shoe wearer (2) approaches. System according to one of the preceding claims, characterized in that the identifier component (30) is designed as a passive identifier of the shoe (10), preferably as a passive transponder, in particular passive NFC or RFID transponder, or as an optical identifier , preferably as a reflector in order to be optically detected by the recognition component (110). System according to one of the preceding claims, characterized in that the identification component (30) is designed as an active electronic component of the shoe (10), preferably as an active communication interface, preferably as an active NFC or RFID or Bluetooth or WLAN Interface to be detected by the recognition component (110) in the form of a counter-interface. System according to one of the preceding claims, characterized in that the identification component (30) is designed as an active identification of the shoe (10), preferably as an ultrasound source, in order to be acoustically detected by the identification component (110). System according to one of the preceding claims, characterized in that the identification component (30) is integrated in the shoe (10), preferably in a shoe bottom (20). System according to one of the preceding claims, characterized in that the identification component (30) is integrated into a shoe cover (90) for the shoe (10). System according to one of the preceding claims, characterized in that the machine (100) is designed as a fence-free or mobile robot, in particular as a human-machine-collaboration-capable robot, or as a driverless transport system (AGV).

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