DE202021104622U1 - security system - Google Patents

Abstract

Security system (1) for locating at least one mobile object (2), with at least one control and evaluation unit (3), with at least one first radio location system (4), the first radio location system (4) having at least three radio stations (5) arranged ,wherein a mobile device (7) with at least one radio transponder (6) is arranged on the object (2),wherein position data of the radio transponder and thus position data of the object (2) can be determined by means of the first radio location system (4),wherein the position data from the radio stations (5) of the first radio location system (4) can be transmitted to the control and evaluation unit (3), the control and evaluation unit (3) being designed to cyclically record the position data of the radio transponder (6), the mobile device (7) has at least one acceleration sensor (8) for detecting a movement of the object (2), and by means of the acceleration sensor (8) cyclically movement data on the Ob project (2) can be determined, with the movement data on the object (2) being able to be transmitted from the mobile device (7) to the control and evaluation unit (3), the control and evaluation unit (3) being designed to use the position data of the evaluate and compare the first radio location system (4) and the movement data of the acceleration sensor (8), and form checked position data if they match.

Description

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

This is about securing the automation process in factories and logistics areas. There is a stable trend towards progressive automation and networking of production and logistics processes. The background is the major optimization efforts with regard to productivity. Safety technology is also taken into account in this context. In addition to the primary protection task, it should also cause as few restrictions as possible on productive processes and, in the best case, even promote productivity by providing sensor information. Situation-related security strategies are therefore required, in which interventions in the productive processes are avoided as far as possible and, if they are unavoidable, should remain with the least possible impact on the productive processes. In concrete terms, the safety mechanisms should only be activated when people are in the vicinity of danger points and only when a hazard is conceivable and obvious. In addition, graduated safeguarding steps are to be used, in which forward-looking measures are first introduced in order to avoid the collision of people and machines as far as possible, e.g. B. by a warning to a person in the operating environment that a vehicle is approaching and the information or request that the person takes a different route or waits briefly. Only in further escalation levels should the machines and productive processes be influenced, for example by slowing down or an emergency stop of a dangerous movement.

At present, small-scale protection concepts for hazardous areas with local, mostly optical safety sensors dominate. Here, each danger point is isolated and secured with a locally installed safety sensor. Such sensors are, for example, safety light curtains or safety laser scanners.

In addition, the emergence of secure localization systems is becoming apparent, which enable higher-level security by determining the position of people, objects and mobile machines. In this case, superordinate means that the security-relevant information and the security decision derived from it are not generated locally at the danger point, but that in this case a central RTLS server, which is generally not located close to the danger point or points, takes over this task and can also make this information available to a higher-level ERP system or process control system. In order to implement risk reduction, the central RTLS server must be able to send safety-relevant signals to the hazard points/local machines and thus be able to influence the hazard situation.

the DE 10 2013 225 600 B4 discloses a vehicle system for determining the position of a wireless device. The vehicle system includes a wireless device and at least three nodes including a main base station and at least two slave base stations. The vehicle system detects the position of the wireless device relative to a vehicle. The vehicle system determines the current position of the wireless device based on a previously determined initial position when communication between the wireless device and the nodes has been at least partially lost. The vehicle system determines the current position using a dead reckoning technique or adaptive predictability estimation. Dead reckoning is a process of calculating a current position using a previously determined position and advancing that position based on estimated speeds over elapsed time and a course.

An object of the invention is to provide a radio location system which can be used in safety applications in accordance with functional safety.

The object is achieved according to claim 1 by a security system for locating at least one mobile object, with at least one control and evaluation unit, with at least one first radio location system, the first radio location system having at least three radio stations arranged, with a mobile device on the object at least one radio transponder is arranged, with position data of the radio transponder and thus position data of the object being able to be determined by means of the first radio location system, with the position data being able to be transmitted from the radio stations of the first radio location system to the control and evaluation unit, with the control and evaluation unit being designed which to record position data of the radio transponder cyclically, the mobile device having at least one acceleration sensor for detecting a movement of the object, and movement data on the object can be determined cyclically by means of the acceleration sensor, w obei the movement data on the object can be transmitted from the mobile device to the control and evaluation unit, the control and evaluation unit from is formed to evaluate and compare the position data of the first radio location system and the movement data of the acceleration sensor, and to form checked position data if they match.

The radio stations are used for radio-based communication and runtime measurement with the mobile radio transponders and for forwarding communication and runtime measurement values to the control and evaluation unit or the RTLS server.

The control and evaluation unit or a central RTLS server receives the measured signal propagation times and uses them to determine the position values of the radio transponders present.

The radio transponders are located by measuring the runtime of radio signals that are exchanged cyclically between the radio transponders and several fixed radio stations. This triangulation works very well when the signals are transmitted with sufficient signal strength and on straight or direct propagation paths.

The signals of a radio transponder are received by several fixed radio stations or anchor stations and a runtime measurement z. B. 'Time of arrival' (TOA) or e.g. B. 'Time Difference of Arrival' (TDOA) created the basis for the positioning. The calculation or estimation of the position of a radio transponder then takes place on the control and evaluation unit, for example a central RTLS server (Real Time Location System server), which is connected to all radio stations or anchor stations via a wireless or wired data connection .

This mode of location is called RTLS mode (Real Time Location System mode).

According to the invention, the safety system with the radio location system is supplemented by at least one acceleration sensor. The acceleration sensor or an accelerometer is, for example, triaxial, i. H. it measures the accelerations in all three spatial directions. The acceleration sensor is preferably a microsystems technology component (MEMS component).

Furthermore, the mobile device can also optionally contain or have MEMS gyroscope sensors in order to determine at least one spatial direction of the mobile device. Optionally, a gyroscope sensor is preferably arranged, which can detect and output three different spatial directions.

The acceleration sensor or the accelerometer is used to estimate the movement of the mobile device and thus of the radio transponder or the object. The result of this movement estimation is used, for example, as a diagnostic signal for determining the position, in that the dynamics of the position signal or the position data are evaluated and compared with the movement data of the acceleration sensor by the control and evaluation unit.

By adding a physically diverse diagnostic signal from the motion sensor, the overall system or the security system, which has at least the radio location system and the acceleration sensors with the accelerometer-based motion estimation, is suitable for security-critical applications, particularly in personal protection.

The mobile device uses the radio transponder to transmit the movement data or the accelerometer signals via the radio channel directly via the radio stations to the control and evaluation unit or to a real-time locating system (RTLS system). The determined position data are also transferred from the radio location system to the control and evaluation unit and compared there with the movement data.

The evaluation in the control and evaluation unit is a safe evaluation that meets the functional safety requirements for the required safety level. The control and evaluation unit forms, for example, at least a single-channel system with testing according to ISO 13849 or optionally a two-channel system. For example, the control and evaluation unit has diagnostic mechanisms such as are required by the relevant safety standards.

The movement data is used to determine an instantaneous speed vector of the mobile device or radio transponder.

For this purpose, motion estimation algorithms are used, for example, in order to obtain the best possible result. It can e.g. B. Kalman filters or, in the simplest case, linear filters, for example FIR filters or IIR filters, can be used.

The Kalman filter is a mathematical method for iteratively estimating parameters to describe system states, here for iteratively estimating motion data.

The Kalman filter is used to estimate system variables that cannot be measured directly, in this case movement data, while the errors in the measurements are optimally reduced. In the case of dynamic variables, a mathematical model can be added to the filter as a constraint in order to take into account dynamic relationships between the system variables, here movement data. For example, equations of motion can help to precisely estimate changing positions and speeds of the object together.

The special feature that distinguishes the Kalman filter from simple filters such as the moving average and makes it significantly more efficient is the description of the estimated value using multidimensional normal distributions. These not only represent probability distributions of possible errors around each estimate, but also correlations between estimate errors of different variables. With this information, the previous estimates of the movement of the object are optimally combined with the new measurements in each time step, so that remaining errors in the filter state are minimized as quickly as possible. The current filter status of estimated values, error estimates and correlations forms a kind of memory for all of the information previously obtained from past measured values of the movement of the object. After each new measurement, the Kalman filter improves the previous estimates and updates the associated error estimates and correlations.

In the dynamic system present here, in which, in addition to the actual values, e.g. If, for example, speeds or accelerations are also estimated, the Kalman filter also estimates correlations between the errors in these variables and uses this knowledge in combination with the known dynamic relationships for optimal error suppression.

The characteristic of FIR filters is that they produce an impulse response of finite length. This will e.g. achieved by the fact that they contain no information memory and as a result only use a limited amount of data at their input for the calculation of the filter result. As a result, regardless of the filter parameters, FIR filters cannot become unstable and thus cannot be excited to oscillate on their own.

FIR filters are mostly non-recursive filters, i.e. they do not have any feedback or loops in their structure. But there are also some special FIR filter structures with feedback. Certain transfer functions of FIR filters can also be implemented with discrete recursive filter structures. The FIR filter is preferably implemented as a digital filter.

A filter with an infinite impulse response (English infinite impulse response filter, IIR filter or IIR system) is a specific type of filter in signal processing. It designates a linear, shift-invariant filter, also called an LSI system (Linear Shift-Invariant). Depending on the specific selection of the filter parameters, this type of filter can deliver an infinitely long impulse response, in contrast to filters with a finite impulse response.

Alternatively, instead of the speed vector, a smoothed acceleration vector (mean value, median, linearly filtered, etc.) or a change in path can be output. The velocity vector is preferably provided, for example.

The movement of the mobile device or the radio transponder is monitored, for example, in a defined time window in which the speed vector is determined. In terms of time, the time window slides over the movement data and calculates the speed vector in this area. The data can be equally weighted, or older data can be weighted less over time.

The result determined in this way is transmitted to the control and evaluation unit via the radio stations, for example with a time stamp.
At least one relative position can be determined via the motion estimation of the motion sensors. For example, an absolute position can be determined when there is a starting position. For example, at least one time section of the trajectory or the path movement of the object can be monitored, ie the reliable evaluation of the control and evaluation unit at the end of the chain compares the instantaneous speed vectors. For this purpose, for example, the time stamp of the radio location and the time stamp of the movement data of the movement sensor are used in order to bring the position data of the radio location system and the movement data in a common coordinate system or a common reference system into congruence and to be able to compare them.

For example, a speed vector is determined from the position values of the radio location system. The observation time window is also adjusted to the speed vector of the radio location system, both in terms of its position in time and its width, to the movement estimate of the acceleration sensor. Also filter characteristics and weighting of the time sequences (e.g. an exponential moving average) are matched to one another by the control and evaluation unit. This means that the results of both systems can be compared and evaluated.

If the movement vectors or speed vectors from the acceleration sensor and the radio location system deviate from each other by a defined value, for example, the control and evaluation unit detects an error condition, for example, and outputs the error and/or outputs a signal to indicate that the position data is not can be checked or issues a warning signal or fault signal.

According to the invention, the safety level of the safety system with the radio location system and the acceleration sensor is increased in the area of functional safety, for example in the area of personal protection.

According to the invention, there is a physically redundant and diverse safety system with the radio location system and the acceleration sensor.

Acceleration sensors or accelerometers as microsystems technology components (MEMS) are mature, reliable and cost-effective components that make it possible to generate highly available movement data.
The object can be, for example, a vehicle, an autonomous vehicle, a machine, a robot, a part of a plant or machine, or, for example, a person.

In a development of the invention, the mobile device has a second control and evaluation unit, the second control and evaluation unit being designed to evaluate the acceleration sensor and to transmit preprocessed movement data to the first control and evaluation unit.

The acceleration sensor data or movement data can be sent unprocessed as raw data from the acceleration sensor from the mobile device to the radio station via the radio transponder. However, the movement data can also be pre-processed in the mobile device in the second control and evaluation unit. The pre-processing in the mobile device is advantageous, since this provides precise and sufficiently fast temporal sampling in accordance with the sampling theorem of the movement data.

The data amount of the motion data can be reduced by outputting the data at a rate lower than e.g. B. is the sampling of the acceleration sensor in the mobile device, which is also an advantage of the pre-processing in the mobile device, since the integration of the acceleration to the speed corresponds to low-pass filtering and thus to a bandwidth limitation.

In a further development of the invention, at least one second radio location system is arranged in the security system, with the second radio location system having at least three radio stations arranged, with position data of the radio transponder and thus position data of the object being able to be determined by means of the second radio location system, with the position data being transmitted from the radio station of the second radio location system to the Control and evaluation unit can be transmitted, the control and evaluation unit being designed to cyclically record the position data of the radio transponder, the movement data on the object being able to be transmitted from the mobile device to the control and evaluation unit, the control and evaluation unit being designed is to evaluate and compare the position data of the second radio location system and the movement data of the acceleration sensor in order to form verified position data in the event of a match.

The security system thus combines two radio location systems. This achieves a higher safety level for functional safety.

Furthermore, greater reliability is achieved since, for example, the failure of a radio location system, e.g. B. due to loss of the radio signal by the second radio location system, can be compensated at least temporarily.

Furthermore, greater accuracy can be achieved by combining the radio location signals from the first and second radio location systems, for example by averaging, a median filter or similar measures.

The trajectory or trajectory of the object is determined separately in the two radio location systems. If the results differ and the result of a radio location system based on the movement data of the acceleration sensor appears plausible, the results of the radio location system that appears implausible are rejected by the control and evaluation unit, which also carries out the aforementioned evaluation.

If the trajectories of both radio location systems do not match what is determined by the acceleration sensor, then the control and evaluation unit of the safety system will evaluate this as a localization error of the acceleration sensor.

In a development of the invention, a first checking unit is provided, with the first checking unit being connected to the control and evaluation unit, with the control and evaluation unit being checked by the first checking unit.

The first checking unit or a secure RTLS watchdog controller monitors the control and evaluation unit, with the first checking unit checking the position data determined for plausibility, for example.

The first checking unit and the control and evaluation unit thus form at least a single-channel system with testing in accordance with ISO 13849 or optionally a two-channel system. The first checking unit provides the necessary diagnostic mechanisms, as required by the relevant safety standards, for example.

The first checking unit or an RTLS watchdog controller serves to monitor and diagnose the security system and the control and evaluation unit and carries out security functions of the security system. The first checking unit uses the control and evaluation unit as a communication relay, for example. Specifically, the first checking unit monitors, for example, the correct communication between the radio transponders, the radio stations and the control and evaluation unit, checks the time behavior of all components and carries out consistency checks on the data determined. If necessary, the first checking unit also uses a function block for this purpose, which is executed in the control and evaluation unit or the RTLS server.

The first checking unit or the RTLS watchdog controller uses position data or checked position data of the RTLS system and, for example, information provided in advance by configuration about danger spots, details of the operating environment, etc., in order to assess the local hazards. In the simplest case, this is done by determining the distances between objects, people and hazardous areas and taking risk-reducing measures if the safety limit is not reached. A risk reduction is based, for example, on the fact that the checking unit sends a safe switch-off or switching signal, which is passed on to a connected machine, for example, or, in the case of a radio transponder, to a person, a warning signal or instructions for action are passed on to the person.

In a development of the invention, the radio transponders each have a second checking unit.

The second checking unit and the radio transponder form at least a single-channel system with testing according to ISO 13849 or optionally a two-channel system. The second checking unit provides the necessary diagnostic mechanisms, as required by the relevant safety standards, for example.

In a development of the invention, the radio transponders have an identification, with each radio transponder being assigned to an object, as a result of which the control and evaluation unit is designed to distinguish between the objects.

For example, first objects are mobile objects and second objects are mobile objects, the radio transponders having an identification, one radio transponder being assigned to a mobile object, whereby the control and evaluation unit is designed to distinguish between the mobile objects, the control and evaluation unit is designed to assign each mobile object a risk index, at least depending on the position of a mobile object to at least one other mobile object.

The mobile object or 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 automatically mobile robot (Automated Mobile robots, AMR), an industrial mobile robot (IMR) or a robot with movable robot arms. The mobile machine thus has a drive and can be moved in different directions.

Furthermore, for example, first objects are people and second objects are mobile objects, with the radio transponders having an identification, with one radio transponder being assigned to at least one person and one radio transponder being assigned to at least one mobile object, as a result of which the control and evaluation unit is designed to identify the people and mobile Distinguish objects, wherein the control and evaluation unit is designed, each person a risk index assign, at least depending on the position of the person to at least one mobile object.

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

In addition to the UWB location system mentioned, another radio technology could also be used for location.

The connection of the location and communication function in the UWB system could also be divided into two separate systems. For example, it is planned that the UWB system will only take over the positioning and an additional WLAN network will be used for data transmission.

• 1 bis 6 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 until 6 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 mobile object 2, with at least one control and evaluation unit 3, with at least one first radio location system 4, with the first radio location system 4 having at least three radio stations 5 arranged, with a mobile device 7 on the object 2 is arranged with at least one radio transponder 6, with the position data of the radio transponder 6 and thus position data of the object 2 being able to be determined by means of the first radio location system 4, with the position data being able to be transmitted from the radio stations 5 of the first radio location system 4 to the control and evaluation unit 3, with the Control and evaluation unit 3 is designed to cyclically detect the position data of the radio transponder 6, with the mobile device 7 having at least one acceleration sensor 8 for detecting a movement of the object 2, and using the acceleration sensor 8 cyclically movement data on the object 2 can be determined si nd, wherein the movement data on the object 2 can be transmitted from the mobile device 7 to the control and evaluation unit 3, the control and evaluation unit 3 being designed to evaluate and compare the position data of the first radio location system 4 and the movement data of the acceleration sensor 8 , and to form verified position data upon a match.

The radio stations 5 are used for radio-based communication and runtime measurement with the mobile radio transponders 6 and for forwarding communication and runtime measurement values to the control and evaluation unit 3 or an RTLS server 13.

The control and evaluation unit 3 or a central RTLS server 13 receives the measured signal propagation times and uses them to determine the position values of the radio transponders 6 present.

At least one acceleration sensor 8 is added to the safety system with the radio location system 4 . The acceleration sensor 8 or the accelerometer is, for example, triaxial, i. H. it measures the accelerations in all three spatial directions.

Furthermore, the mobile device 7 can also optionally contain or have MEMS gyroscope sensors in order to determine at least one spatial direction of the mobile device. Optionally, a gyroscope sensor is preferably arranged, which can detect and output three different spatial directions.

The acceleration sensor 8 or the accelerometer is used to estimate the movement of the mobile device 7 and thus of the radio transponder 6 or the object 2 . The result of this movement estimation is used, for example, as a diagnostic signal for determining the position, in that the dynamics of the position signal or the position data are evaluated and compared by the control and evaluation unit 3 with the movement data of the acceleration sensor 8 .

The mobile device 7 uses the radio transponder 6 to transmit the movement data or the accelerometer signals via the radio channel directly via the radio stations 5 to the control and evaluation unit 3 or to a real-time locating system 13 (RTLS system). The determined position data are also transferred from the radio location system 4 to the control and evaluation unit 3 and compared there with the movement data.

The movement data are used to determine an instantaneous speed vector of the mobile device 7 or of the radio transponder 6 .

For this purpose, motion estimation algorithms are used, for example, in order to obtain the best possible result. It can e.g. B. Kalman filters or, in the simplest case, linear filters, for example FIR filters or IIR filters, can be used.

Alternatively, instead of the speed vector, a smoothed acceleration vector (mean value, median, linearly filtered, etc.) or a change in path can be output. The velocity vector is preferably provided, for example.

The movement of the mobile device 7 or the radio transponder 6 is monitored, for example, in a defined time window in which the speed vector is determined. In terms of time, the time window "slides" over the movement data and calculates the speed vector in this area.

The result determined in this way is transmitted to the control and evaluation unit 3 via the radio stations 5, for example with a time stamp.

At least one relative position can be determined via the movement estimation of the acceleration sensors 8 . For example, at least one time section of the trajectory or the path movement of the object 2 can be monitored, i. H. the safe evaluation of the control and evaluation unit 3 at the end of the chain compares the instantaneous speed vectors. For this purpose, for example, the time stamp of the radio location and the time stamp of the movement data of the acceleration sensor 8 are used in order to bring the position data of the radio location system 4 and the movement data in a common coordinate system or a common reference system into congruence and to be able to compare them.

For example, a speed vector is determined from the position values of the radio location system 4 . In addition to the speed vector of the radio location system 4, the observation time window is also adjusted to the motion estimation of the acceleration sensor 8, both in terms of its position in time and its width. Filter characteristics and weighting of the time sequences (e.g. an exponential moving average) are also matched to one another by the control and evaluation unit 3 . This means that the results of both systems can be compared and evaluated.

If the movement vectors or speed vectors of the acceleration sensor 8 and the radio transponder 4 deviate from each other by a defined value, for example, the control and evaluation unit 3 detects an error status, for example, and outputs the error and/or outputs a signal to indicate that the position data cannot be verified or gives a warning signal or error signal.

The object may vary according to 2 for example a vehicle 14, an autonomous vehicle, a machine, a robot, a part of a plant or machine or, for example, a person 15. For example, the mobile device 7 according to 3 a second control and evaluation unit 9, the second control and evaluation unit 9 being designed to evaluate the acceleration sensor 8 and to transmit pre-processed movement data to the first control and evaluation unit 3.
For example, according to 4 At least one second radio location system 10 is arranged in security system 1, with the second radio location system 10 having at least three radio stations 5 arranged, with the second radio location system 10 being able to determine position data of the radio transponder 6 and thus position data of the object 2, with the position data from the radio station 5 of the second Radio location system 10 can be transmitted to the control and evaluation unit 3, with the control and evaluation unit 3 being designed to cyclically record the position data of the radio transponder 6, with the movement data on the object 2 being sent from the mobile device 7 to the control and evaluation unit 3 can be transmitted, the control and evaluation unit 3 being designed to evaluate and compare the position data of the second radio location system 10 and the movement data of the acceleration sensor 8, and to form checked position data if they match.

The security system 1 thus combines two radio location systems. This achieves a higher safety level for functional safety.

Next, a higher reliability is achieved because z. B. the failure of a radio location system 4, z. B. due to loss of radio signal the second radio location system 10, at least temporarily, can be compensated.

Furthermore, greater accuracy can be achieved by combining the radio location signals from the first radio location system 4 and the second radio location system 10, for example by averaging, a median filter or similar measures.

The trajectory or path curve of the object 2 is determined separately in the two radio location systems 4, 10. If the results differ and the result of a radio location system based on the movement data of the acceleration sensor 8 appears plausible, then the results of the radio location system that appears implausible are rejected by the control and evaluation unit 3, which also carries out the aforementioned evaluation.

For example, according to 5 a first checking unit 11 is provided, the first checking unit 11 being connected to the control and evaluation unit 3 , the control and evaluation unit 3 being checked by the first checking unit 11 .

The first checking unit 11 or a secure RTLS watchdog controller monitors the control and evaluation unit 3, the first checking unit 11 for example checking the determined position data for plausibility.

The first checking unit 11 and the control and evaluation unit 3 thus form at least a single-channel system with testing in accordance with ISO 13849 or optionally a two-channel system. The first checking unit 11 provides the necessary diagnostic mechanisms, as required by the relevant safety standards, for example.

For example, the radio transponder 6 according to 6 a second checking unit 12 each. The second checking unit 12 and the radio transponder 6 form at least a single-channel system with testing according to ISO 13849 or optionally a two-channel system. The second checking unit 12 provides the necessary diagnostic mechanisms, as required by the relevant safety standards, for example.

For example, the radio transponders 6 have an identification, with each radio transponder 6 being assigned to an object 2 , as a result of which the control and evaluation unit 3 is designed to distinguish between the objects 2 .

For example, first objects 2 are mobile objects and second objects are 2 mobile objects, the radio transponders 6 having an identification, with one radio transponder 2 being assigned to a mobile object, whereby the control and evaluation unit 3 is designed to distinguish the mobile objects, where the control and evaluation unit 3 is designed to assign a risk index to each mobile object, at least depending on the position of a mobile object in relation to at least one other mobile object.

The mobile object or 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 automatically mobile robot (Automated Mobile robots, AMR), an industrial mobile robot (IMR) or a robot with movable robot arms. The mobile machine thus has a drive and can be moved in different directions.

Furthermore, for example, first objects 2 are people and second objects 2 are mobile objects, with the radio transponders 6 having an identification, with one radio transponder 6 being assigned to at least one person and one radio transponder 6 being assigned to at least one mobile object, as a result of which the control and evaluation unit 3 is formed is to differentiate between people and mobile objects, with the control and evaluation unit 3 being designed to assign a risk index to each person, at least depending on the position of the person in relation to at least one mobile object.

For example, 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, with the transmission power per radio station being a maximum of 0.5 mW.

reference list

1

security system

2

mobile object

3

Control and evaluation unit

4

radio location system

5

radio stations

6

radio transponder

7

mobile device

8th

accelerometer

9

second control and evaluation unit

10

second radio location system

11

first review unit

12

second verification unit

13

RTLS server

14

vehicle

15

person

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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 102013225600 B4 [0005]

Claims (8)

Security system (1) for locating at least one mobile object (2), with at least one control and evaluation unit (3), with at least one first radio location system (4), wherein the first radio location system (4) has at least three arranged radio stations (5), a mobile device (7) with at least one radio transponder (6) being arranged on the object (2), position data of the radio transponder and thus position data of the object (2) can be determined by means of the first radio location system (4), wherein the position data can be transmitted from the radio stations (5) of the first radio location system (4) to the control and evaluation unit (3), wherein the control and evaluation unit (3) is designed to cyclically acquire the position data of the radio transponder (6), wherein the mobile device (7) has at least one acceleration sensor (8) for detecting a movement of the object (2), and movement data on the object (2) can be determined cyclically by means of the acceleration sensor (8), wherein the movement data on the object (2) can be transmitted from the mobile device (7) to the control and evaluation unit (3), wherein the control and evaluation unit (3) is designed to evaluate and compare the position data of the first radio location system (4) and the movement data of the acceleration sensor (8), and form verified position data upon a match. Security system (1) after claim 1 , characterized in that the mobile device has a second control and evaluation unit (9), the second control and evaluation unit (9) being designed to evaluate the acceleration sensor (8) and to send pre-processed movement data to the first control and evaluation unit (3 ) transferred to. Security system (1) according to at least one of the preceding claims, characterized in that at least one second radio location system (10) is arranged, the second radio location system (10) having at least three radio stations (5) arranged, with position data being transmitted by means of the second radio location system (10). of the radio transponder (6) and thus position data of the object (2) can be determined, wherein the position data can be transmitted from the radio station (5) of the second radio location system (10) to the control and evaluation unit (3), the control and evaluation unit ( 3) is designed to cyclically record the position data of the radio transponder (6), the movement data on the object being able to be transmitted from the mobile device (7) to the control and evaluation unit (3), the control and evaluation unit (3) is designed to evaluate and compare the position data of the second radio location system (10) and the movement data of the acceleration sensor (8). , and to form verified position data upon a match. Safety system (1) according to at least one of the preceding claims, characterized in that a first checking unit (11) is provided, the first checking unit (11) being connected to the control and evaluation unit (3), the control and evaluation unit ( 3) is checked by the first checking unit (11). Security system (1) according to at least one of the preceding claims, characterized in that the radio transponders (6) each have a second checking unit (12). Security system (1) according to at least one of the preceding claims, characterized in that the radio transponders (6) have an identification, with each radio transponder (6) being assigned to one object (2), whereby the control and evaluation unit (3) is formed is to distinguish the objects (2). 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. 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.

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