Security system and a procedure with a security system

Abstract

Security system (1) for locating at least one object (2), comprising at least one control and evaluation unit (3), comprising at least one radio tracking system (4), wherein the radio tracking system (4) has at least three arranged radio stations (5), wherein at least one mobile device (19) 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 objects (2) can be determined by means of the radio tracking system (4), wherein the position data can be transmitted from the radio station (5) of the radio tracking system (4) to the control and evaluation unit (3), and / or the position data can be transmitted from the radio transponder (6) to the control and evaluation unit (3), wherein the control and evaluation unit (3) is configured to cyclically record the position data of the radio transponder, wherein the objects (2) are persons (9) or mobile objects (7), wherein the radio transponder (6) has an identificationwherein a radio transponder (6) is assigned to at least either a person (9) or a mobile object (7), wherein the control and evaluation unit (3) is configured to distinguish between the persons (9) and mobile objects (7), wherein a spatially extended protective volume (20) is formed around the radio transponder, wherein the control and evaluation unit (3) is configured to process at least one process parameter, wherein the spatially extended protective volume (20) is adjustable depending on the at least one process parameter, characterized in that the size and shape of the protective volume (20) can be configured via a configuration device, wherein a wireless communication link is provided between the configuration device and the mobile device (19) or the radio transponder (6), wherein at least two radio transponders (6) are provided.wherein the radio transponders (6) have different sized protective volumes (20) and the radio transponders (6) are optically distinguishable.

Description

[0001] The present invention relates to a security system according to the preamble of claim 1 and a method according to the preamble of claim 16.

[0002] In industrial safety engineering, it is current practice to control hazards locally at the point of danger by detecting the approach or presence of a person and, in a safety-oriented manner, stopping or slowing down a machine or movement. The current state of the art describes only local safety concepts.

[0003] People should be protected as efficiently as possible from injuries caused by machines such as robots, presses, or autonomous vehicles. The machines should also not damage or destroy each other. Collisions with goods being transported on an autonomous vehicle or with machines should also be avoided.

[0004] One objective of the invention is to achieve an optimization between safety and productivity. A necessary minimum level of safety is predetermined, partly by safety standards, partly by stricter requirements or a higher safety requirement on the part of users. At the same time, the productivity of both people and machines should be maximized.

[0005] A further object of the invention is to provide a safety system that offers more than just local safeguarding. It should enable all persons and mobile objects or vehicles, as well as manufacturing and / or logistics processes, to be controlled based on available position information in such a way that a residual risk for all involved is tolerable and the productivity of a plant or automation processes is optimized.

[0006] The problem is solved according to claim 1 by a security system for locating at least one object, comprising at least one control and evaluation unit, and at least one radio tracking system, wherein the radio tracking system has at least three arranged radio stations, wherein at least one mobile device with at least one radio transponder is arranged on the object, wherein position data of the radio transponder and thus position data of the objects can be determined by means of the radio tracking system, wherein the position data can be transmitted from the radio station of the radio tracking system to the control and evaluation unit and / or the position data can be transmitted from the radio transponder to the control and evaluation unit, wherein the control and evaluation unit is configured to cyclically acquire the position data of the radio transponder, wherein the objects are persons or mobile objects, and wherein the radio transponder has an identification feature.wherein each radio transponder is assigned to at least either a person or a mobile object, wherein the control and evaluation unit is configured to distinguish between persons and mobile objects, wherein a spatially extended protective volume is formed around the radio transponder, wherein the control and evaluation unit is configured to process at least one process parameter, wherein the spatially extended protective volume is adjustable depending on the at least one process parameter.

[0007] The problem is further solved according to claim 16 by a method comprising a security system for locating at least one object, comprising at least one control and evaluation unit, comprising at least one radio tracking system, wherein the radio tracking system has at least three arranged radio stations, wherein at least one mobile device with at least one radio transponder is arranged on the object, wherein position data of the radio transponder and thus position data of the objects are determined by means of the radio tracking system, wherein the position data are transmitted from the radio station of the radio tracking system to the control and evaluation unit and / or the position data are transmitted from the radio transponder to the control and evaluation unit, wherein the control and evaluation unit is configured to cyclically acquire the position data of the radio transponder, wherein the objects are persons or mobile objects, and wherein the radio transponder has an identification feature.wherein each radio transponder is assigned to at least either a person or a mobile object, wherein the control and evaluation unit is configured to distinguish between persons and mobile objects, wherein a spatially extended protective volume is formed around the radio transponder, wherein the control and evaluation unit is configured to process at least one process parameter, wherein the spatially extended protective volume is adjustable depending on the at least one process parameter.

[0008] The terms protection volume and protection area are used synonymously below.

[0009] The objects are protected by the spatially extensive protective volume. If an object gets too close to a hazard, this can be reported to the object, for example visually, and the object can move away from the hazard.

[0010] In the case of people as objects, the person can, for example, approach the hazard on foot to within a permitted minimum distance. As soon as the person approaches the minimum distance, they are warned, for example, visually. At the same time, it can also be provided that the hazard reacts to the person's approach and reduces the level of potential danger.

[0011] In the case of mobile objects, such as autonomous vehicles, the mobile object can, for example, approach the hazard while driving until it reaches a permitted minimum distance. As soon as the mobile object approaches this minimum distance, it is warned, for example, by commands from the control and evaluation unit. Simultaneously, the system can also be designed so that the hazard reacts to the approach of the mobile object and reduces the level of potential danger. Multiple mobile objects can also react to each other, for example, by performing evasive maneuvers and / or braking.

[0012] According to the present invention, at least one process parameter is provided on which the protection volume depends, or on which the protection volume can be changed due to the process parameter.

[0013] The process parameter originates, for example, from a system in which the safety system is operated. Thus, the process parameter could come from a higher-level controller, a programmable logic controller (PLC), or similar controllers.

[0014] For example, the protective volume is increased or decreased depending on the process parameter. This means, for instance, that the size or extent of the protective volume is changed.

[0015] Furthermore, it may also be possible to change the shape of the protective volume depending on the process parameter.

[0016] Furthermore, it may be possible to change or adjust the direction or orientation of the protective volume.

[0017] The process parameter can be at least one digital or analog value generated based on a process variable. The process parameter can, for example, be based on at least one single message, a cyclical message, or a continuously updated message.

[0018] The security system allows for a very proactive and early reduction of risks through strategic risk mitigation, and for avoiding hazards without the productivity losses of known situational risk mitigation strategies.

[0019] It allows for the protection of larger areas, such as many workstations, many robots, or even entire production halls, because it not only detects the local presence or approach of people, but also the position of many people and mobile objects or mobile machines active in an environment or area, which can be detected and continuously tracked.

[0020] This has the advantage that emerging hazards can be detected much earlier, since the control and evaluation unit or the safety system knows the positions of many objects simultaneously and also their cyclical temporal progression. As a result, the safety system can implement risk mitigation measures that are far less invasive in the automation processes and disrupt productivity less.

[0021] The previously common strategy according to the prior art, whereby a machine is switched off or slowed down when a person is present in a danger zone, can also be provided for according to the invention, but with the present invention it is also possible to avoid a shutdown or an immediate slowdown, since more information about the overall situation and the positions of the objects is available.

[0022] The location of the radio transponders is determined by measuring the travel time of radio signals that are cyclically exchanged between the transponders and several fixed radio stations. This triangulation works very well when the signals are transmitted with sufficient signal strength and along a straight or direct propagation path.

[0023] According to a first alternative of the invention, the signals of a radio transponder are received by several fixed radio stations or anchor stations, and the basis for localization is established via a time-of-flight measurement, e.g., Time of Arrival (TOA) or Time Difference of Arrival (TDOA). 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 localization is called RTLS mode (Real-Time Location System mode).

[0024] Alternatively, the position information can also be determined on each radio transponder. In this case, the safety system functions similarly to a GPS navigation system. Each radio transponder receives signals from the radio stations or anchor stations, which are transmitted at fixed intervals. Here, too, the position of the radio transponder can be estimated based on various travel time measurements and knowledge of the radio station or anchor positions. The radio transponder itself calculates its position and can transmit it to the RTLS server as needed using the UWB signal or other wireless data connections.

[0025] Position determination in GPS mode is independent of position determination in RTLS mode in several respects: - For example, the calculation does not take place on a central server, but locally on a radio transponder. - The basis for position calculation is the determined travel times of the signals from the fixed radio stations. In contrast, in RTLS mode, the signals from the radio transponders are used for travel time calculation. The decision as to which subset of the available radio station signals is used for position calculation is made by the radio transponder based on the determined signal quality and relative radio station positions. This ensures that a subset of the available transmitted signals is used. Conversely, in RTLS mode, a subset of the signals received at the various radio stations is used.

[0026] This independence in position determination can now be used to verify the location. If both modes are operated in parallel, i.e., position data is acquired in both RTLS and GPS modes, then a diverse and redundant comparison can be performed for verification purposes. This requires the merging of both position data sets in the control and evaluation unit.

[0027] The security system enables a strategic risk reduction approach which differs from the known situational risk reduction approach at least in that information is used for situation assessment that is obtained from a significantly larger spatial area, for example, ideally the entire plant under consideration.

[0028] Due to the greater range of input information and the associated longer warning time until a hazard manifests, more extensive predictions about the expected development of events can be made, and potential hazards can be identified much earlier compared to known environmental sensors, which are only locally limited.

[0029] Risk reduction measures are planned that enable a de-escalating sequence of actions, which will be more effective due to a longer lead time and which include influencing the behavior of the persons involved.

[0030] The safety system optimizes an entire plant or parts thereof, taking into account the constraint of a tolerable residual risk as a decision criterion.

[0031] The risk reduction method used here preferably uses as input information the position information of all objects, i.e. all persons and mobile objects, usually mobile vehicles, and, for example, associated accuracy information.

[0032] The safety system takes into account information about the operating environment, such as knowledge of accessible areas, for example travel routes and the positions of the machines' danger points.

[0033] The mobile object, or movable machine, can be, for example, a driverless vehicle, an autonomous vehicle, an autonomously guided vehicle (AGV), an autonomous mobile robot (AMR), an industrial mobile robot (IMR), or a robot with movable arms. The mobile machine thus has a drive mechanism and can move in different directions.

[0034] The person in question could be, for example, an operator or maintenance worker. The radio transponders are attached to the person's clothing or equipment. This could be, for instance, a vest to which the radio transponders are securely fastened. The radio transponders might be located on the shoulders, chest, or back. However, the radio transponders could also be positioned in other locations on the person. For example, two radio transponders might be attached to the shoulders of a person's vest.

[0035] In a further development of the invention, the process parameter is at least a time and / or at least a date.

[0036] This makes the process parameter time-dependent. Therefore, the protection volume can be adjusted according to time. For example, the protection volume can be changed regularly at certain times or on certain days.

[0037] For example, time-dependent conditions in a factory hall can be taken into account. This means the safety system doesn't have to assume a worst-case scenario that might only occur at a specific time; instead, the level of protection can be specifically adjusted to a particular time.

[0038] Furthermore, time-dependent changes to the protective volume or safety distances may be provided, for example, for night shifts, as a generally higher level of safety may be desired then, since people are less focused than during a day shift.

[0039] For example, larger protective volumes may be provided at certain times, such as daily between 8 and 10 a.m. or 5 and 7 p.m., because at these times there are particularly many people in a hall, for example during the 'rush hour' due to shift changes or because finished goods are being loaded or unloaded.

[0040] For example, the protection volumes or zones can also be changed depending on the day of the week. On regular workdays, such as Monday to Friday, the usual protection volumes can be provided. However, much larger protection zones can be set on Saturdays and Sundays, as cleaning or maintenance personnel, for example, are present in areas near the hazards and these individuals need to be warned earlier.

[0041] In a further development of the invention, the process parameter is at least a location specification.

[0042] For example, the protection volume is adjusted when a person or worker is inside a machine, such as to perform maintenance. In this way, depending on the detected location, an automatic setup mode of the system can be implemented, specifically for service technicians, cleaning, or maintenance work by the person.

[0043] For example, the operator can inform the safety system whether an entire system should be shut down or only the part that requires safety-related shutdown. Furthermore, it may be sufficient to put all parts or only a part of the system into setup mode. However, there are defined times during which the operator can initiate setup mode. Outside of these defined service or cleaning times, the machine or system is completely stopped, or another, potentially more extensive, safety measure is implemented than during service times.

[0044] In a further development of the invention, the process parameter is at least a control signal of a machine.

[0045] For example, a machine signals a higher or lower hazard potential as a process parameter and outputs this as a control signal, which is read by the control and evaluation unit. Based on the control signal or the calculated process parameter, the protective volume can then be set.

[0046] In a further development of the invention, the process parameter is at least one sensor signal.

[0047] For example, at least one process parameter is generated based on sensor signals, and a potential hazard is determined. The control and evaluation unit reads the sensor signal, and the protective volume is set based on the generated process parameter.

[0048] This allows the protection volumes or safety distances stored in the safety system to be automatically adjusted based on measurements from additional sensors. These sensors can be, for example, optical sensors, ultrasonic sensors, radar sensors, or similar devices. They can also be acceleration or velocity sensors. However, they can also be, for example, barometric pressure sensors, which can be used to determine altitude. Radio transponders can also be used as sensors.

[0049] In a further development of the invention, the process parameter is at least a speed signal.

[0050] For example, the speed of the mobile object is determined and communicated to the control and evaluation unit via a speed signal. Based on this speed signal, the protected volume or area is then adjusted. The mobile object could also be a vehicle operated by a person, such as a pallet truck. The control and evaluation unit can also store values ​​for the minimum and maximum possible speeds of a mobile object.

[0051] In a further development of the invention, the process parameter is at least a temperature value.

[0052] The temperature value is read by the control and evaluation unit, and the protection volume is set accordingly.

[0053] For example, temperature profiles, such as those caused by solar radiation during the day in summer, are recorded, and the protective volumes are increased accordingly. This is because higher temperatures can lead to longer braking distances for mobile objects, potentially increasing the risk. Similarly, in winter, extreme cold, which can cause frozen surfaces, could result in longer braking distances for mobile objects or vehicles, also increasing the risk and thus necessitating larger protective volumes.

[0054] In a further development of the invention, the process parameter is at least a light signal. Based on the light signal, the protective volume can be adjusted.

[0055] For example, glare from the sun can generate a light signal. Based on this glare and the resulting light signal, the protective volume can then be increased to reduce the risk of danger.

[0056] In a further development of the invention, the process parameter is at least one characteristic of a person. For example, a person's safety-related qualification is a characteristic of that person. Experience in safety-related matters can also be a characteristic of a person. Based on the characteristics of the person, the protective volume can then be adjusted.

[0057] For example, the skill level of a person present can be taken into account in the security system or in the control and evaluation unit. For instance, if visitor groups are always allowed in a factory hall on certain days in addition to technically qualified personnel, the security volumes are increased to adequately protect even inexperienced individuals.

[0058] In a further development of the invention, the process parameter is at least a specification of the number of people. Based on a detected or known number of people, the protective volume or area is then set.

[0059] For example, this allows the protective volume to be adjusted depending on the number of people in a factory hall or a specific area. For instance, a higher number of people may be present during a shift change. Similarly, a high utilization rate in a production facility with manual workstations can also result in a higher number of people, which might necessitate larger protective volumes.

[0060] For example, during rush hour, such as shift changes, people may be less attentive. At this time, larger safety distances or larger protective volumes may be needed around mobile objects or autonomous vehicles.

[0061] In a further development of the invention, the process parameter is at least one service signal. Based on the service signal, the protection volumes can then be adjusted.

[0062] For example, service or cleaning times can be scheduled, during which safety is increased or ensured through organizational measures. This applies, for instance, when there are no workpieces on a machine. Based on the service signal, the safety zones can then be reduced.

[0063] Planned service intervals, e.g., machine maintenance during a shutdown in the summer holidays, can be taken into account in this way.

[0064] For example, cleaning tasks between shift changes, which are already scheduled, can be directly entered into the safety system or the control and evaluation unit. This increases productivity, for instance, when it takes a long time to run a machine until it is empty.

[0065] In a further development of the invention, a type of warning message can be set depending on the process parameter.

[0066] The type of warning, i.e., whether the person should be informed of possible dangers acoustically and / or visually and / or haptically, for example via a vibration alarm, is thus set depending on the process parameter.

[0067] In a further development of the invention, at least one control signal for the machine can be generated depending on the process parameter, whereby a dangerous movement of the machine can be influenced by means of the control signal.

[0068] For example, the machine can be slowed down or stopped depending on the control signal. However, the control signal can also initiate a safe speed for the machine.

[0069] For example, a speed, particularly a maximum approach speed, that a person still perceives as safe—that is, that seems appropriate, sensible, and acceptable for their current activity—can be set via the control signal. This makes the person feel safer, as the perceived risk level is individually adjusted.

[0070] In a further development of the invention, at least one control signal for the mobile object can be generated depending on the process parameter.

[0071] Based on the control signal, the movement of the mobile object is influenced, for example.

[0072] For example, depending on the control signal, mobile objects can be slowed down or stopped. However, the control signal can also initiate an evasive maneuver by the mobile object.

[0073] For example, a speed, particularly a maximum approach speed, that a person still perceives as safe—that is, that seems appropriate, sensible, and acceptable for their current activity—can be set via the control signal. This makes the person feel safer, as the perceived risk level is individually adjusted.

[0074] In a further development of the invention, at least one display signal can be generated on a display unit for the person, depending on the process parameter.

[0075] The display can be integrated directly into the mobile device, meaning it is spatially linked to the radio transponder, or it can be designed as an independent display unit. Depending on the process parameters, information, particularly warnings, can be displayed on the unit.

[0076] In a further development of the invention, the size and shape of the protective volume can be configured via a configuration device, wherein a wireless communication connection is provided between the configuration device and the mobile device or the radio transponder.

[0077] This allows the size and shape of the protective volume to be individually adjusted. Naturally, all necessary safety standards must be observed. The configuration device can be a PC, a portable device, a tablet, a smartphone, or similar.

[0078] The wireless communication connection can be a Near-field Communication, or NFC for short.

[0079] However, the wireless communication connection can also be a radio connection according to the Bluetooth standard or the Bluetooth Low Energy standard, or BLE for short.

[0080] Bluetooth Low Energy, Bluetooth LE (abbreviated BLE), formerly Bluetooth Smart, is a wireless technology that allows devices to connect within a range of approximately 10 meters. Compared to Bluetooth, BLE has significantly lower power consumption and lower costs while offering a similar communication range.

[0081] In a further development of the invention, the shape of the protective volume is rectangular, cuboid, cylindrical, spherical, egg-shaped or cross-shaped.

[0082] Rectangular, cuboid, or cylindrical protective volumes have the advantage that they can be used to efficiently enclose mobile objects, such as autonomous vehicles, since these objects themselves are usually rectangular or cuboid in shape. The protective volume extends beyond the outer contour of the mobile object, for example, at regular intervals. However, objects such as people can also be enclosed using rectangular or cuboid protective volumes.

[0083] Spherical, egg-shaped, or cylindrical protective volumes have the advantage that they can be used to efficiently enclose objects, such as people, since people are elongated. The protective volume extends beyond the person's outer contour, for example, at regular intervals. The spherical or egg-shaped design also easily encloses the person's arms and legs. However, objects such as mobile items can also be enclosed using rectangular or cuboid protective volumes.

[0084] Cross-shaped protective volumes also have the advantage that they can be used to efficiently enclose objects, such as people, since a person with outstretched arms can be positioned close to a cross shape. The protective volume extends beyond the person's outer contour, for example, at regular intervals. The cross shape also easily encloses the person's arms and legs. However, objects, such as mobile items, can also be enclosed with cross-shaped protective volumes.

[0085] In a further development of the invention, at least two radio transponders are provided, wherein the radio transponders have different sized protective volumes.

[0086] This allows for multiple radio transponders, from which a user only needs to select the appropriate one.

[0087] This eliminates the need for time-consuming reprogramming and safety-related acceptance testing of protected areas by a trained safety engineer.

[0088] Turnkey solutions from the manufacturer can be sold to customers who have too little or no in-house expertise in safety technology to independently adjust the protection zones or safety distances in their respective factory hall.

[0089] The person, for example a worker or service technician on site or a safety engineer, can simply choose the protected area and thus the safety distance that suits the current activity.

[0090] A larger protected area allows the person performing critical tasks to easily increase safety.

[0091] In a further development of the invention, the mobile device with the radio transponder has at least one accelerometer, and the size of the protective volume is adjustable depending on the sensor data from the accelerometer. The accelerometer data is evaluated, for example, directly on the mobile device with the radio transponder or by the control and evaluation unit.

[0092] For example, this allows the radio transponder to be configured or adjusted simply by shaking it. This way, the size and / or shape of the protective volume can be adjusted. Such a configuration can also be time-limited, so that the original protective volume is automatically reactivated after a certain period.

[0093] Furthermore, it is also possible to influence a hazardous area on a machine by accelerating the mobile device or radio transponder. For example, the movement of the radio transponder can be used to slow down or stop a dangerous machine movement. A machine can also be put into setup mode by moving the radio transponder.

[0094] The person can inform the radio tracking system what kind of protection zone they require. A temporarily larger protection zone can easily increase safety for critical tasks. The advantage of this is that the person can decide for themselves and doesn't have to rely entirely on the radio tracking system.

[0095] The person on site or a safety engineer can easily reprogram the protective volumes or the associated safety distances to suit the current / next activity.

[0096] The mobile device with the radio transponder can also have gyroscopes and / or rotation rate sensors that can be evaluated by the control and evaluation unit.

[0097] To ensure a minimum level of security, the protective area cannot be completely deactivated or reduced to a radius of zero via gesture control. However, it is always possible to increase the protective area.

[0098] In a further development of the invention, the radio transponders are visually distinguishable. For example, different radio transponders with different preset protection levels have different colors, different markings, and / or different symbols. This allows a person selecting the radio transponders for themselves, for another person, or for use on a mobile object to determine which radio transponder has which protection level(s).

[0099] For example, red radio transponders have large protection volumes, yellow radio transponders have medium protection volumes, and blue or green radio transponders have smaller or standard-sized protection volumes. This color coding makes the radio transponders intuitively distinguishable.

[0100] For example, the shape of the protective volume is recognizable in the symbol on the radio transponder, so that the appropriate transponder and thus the appropriate protective volume can be selected based on the symbol.

[0101] In a further development of the invention, the size of the protective volume of the radio transponder depends on the position data of the same radio transponder.

[0102] For example, the protected area depends on the height of the radio transponder. For instance, height above ground is determined directly via radio positioning. Alternatively, the height can be verified using an air pressure sensor integrated into the radio transponder, thus improving the accuracy of the height reading.

[0103] The control and evaluation unit compares, for example, a person's measured position or height with a floor plan of the factory floor. Based on available 3D data of the floor plan, the control and evaluation unit can determine the person's height. The same applies to an object, or a mobile object, such as an autonomous vehicle, moving through a factory floor, especially a multi-story one.

[0104] For example, the protection zone can be increased or decreased if the person is outside a predetermined work area. This could be the case, for instance, if the person wearing the radio transponder is standing on a ladder or pallet truck, or in another case, working on the ground or even lying flat on the ground.

[0105] For example, if a person is at a certain height above the ground, they do not need to be protected from movable objects on the ground. Instead, the ladder or pallet truck is protected against collisions with movable objects. Stationary machines, such as presses or similar equipment located on the ground, do not need to be restricted in their productive operation, as the person is outside their reach.

[0106] Thus, for example, the protection zones can be changed depending on a detected height.

[0107] The protected areas are therefore not static, but dynamically changing. This can increase safety and / or productivity.

[0108] The individual, for example a service technician on site or a safety engineer, is assigned a larger or smaller protected area for work outside their normal scope of duties. This ensures safety and productivity even for such activities.

[0109] In a further development of the invention, the size of the protective volume of the radio transponder depends on the position data of another neighboring radio transponder.

[0110] For example, the protected area is changed if two radio transponders fall within a certain minimum distance for a specific period of time. This could occur, for example, if a person approaches a mobile object or if two mobile objects are moving towards each other.

[0111] The control and evaluation unit can, for example, control a route calculation for mobile vehicles, whereby, for example, independently driven individual routes are combined into convoy routes to provide space for people.

[0112] In a further development of the invention, the size and / or shape of the protective volume is changed for a limited time and, after the time has elapsed, the previously activated size and / or shape is restored.

[0113] In a further development of the invention, the safety system comprises at least one stationary machine with a danger point of the machine, wherein the position of the stationary danger point of the control and evaluation unit is known, and wherein the machine can be influenced depending on the position data of the radio transponder.

[0114] For example, the protected area can be changed if a person approaches a machine or works on a machine.

[0115] One option is a special radio transponder that automatically stops the entire machine the service technician is working on, regardless of its size. This includes even the end of the machine that, while not strictly necessary for safety reasons, would be counterproductive, as the other part of the machine would be unable to complete processing the partially completed workpieces, leading to part loss. This could be the case, for example, with gluing processes, due to hygiene requirements, or because the machine lacks sufficient buffer storage. The control and evaluation unit will initially define which parts of the machine are included and which potentially hazardous parts will be slowed down or stopped. Alternatively, the technician can reconfigure this directly on-site.

[0116] In a further development of the invention, the mobile device has a visual display unit and / or an acoustic signaling unit and / or a haptic signaling unit or is at least wirelessly connected to such a unit.

[0117] The mobile device with the radio transponder can display information such as the size of the set protection area and other properties, like the duration of the protection zone. In the simplest case, the radio transponder has indicator LEDs that change color when the protection zone is modified.

[0118] For example, the data on the protected area can also be displayed graphically on an external display of a machine control or a mobile device such as a smartphone, which receives the data from the radio transponder via the control and evaluation unit.

[0119] Furthermore, the size of the protected area can be announced audibly. Warnings and instructions can also be issued to the person via the acoustic alarm unit.

[0120] Furthermore, haptic feedback via the haptic notification unit can also be provided, so that the person, for example, learns of a configuration change or a changed setting via a vibration alarm.

[0121] Instead of gestures, the radio transponder can also be used to switch between protected areas by blowing on it or simply by holding it in the hand. For example, temperature sensors, humidity sensors, and / or air pressure sensors are integrated into the mobile device containing the radio transponder for this purpose.

[0122] In a further development of the invention, the control and evaluation unit is designed to determine a position of the radio transponders at different times and to determine from this a speed, an acceleration, a direction of movement and / or at least a path or a trajectory of the radio transponders.

[0123] According to a further development of the invention, the speeds and directions of movement of all persons and mobile objects are preferably taken into account.

[0124] The position information is used to calculate probable movement patterns or trajectories of all objects, i.e., people or mobile objects.

[0125] For each person and mobile object, a set of movement patterns is determined using positional information and assigned a probability measure. This probability measure is estimated based on factors such as path length and / or direction of movement. For example, short, direct paths are more likely than long, non-direct paths. Furthermore, the probability measure can be estimated based on a known history of the objects' routes. For instance, paths frequently used in the past are more likely than new routes. Finally, the probability measure can be estimated based on known disturbances. A potentially disturbed route is more likely to be avoided than an undisturbed one.

[0126] From a set of possible trajectories and their associated probabilities, the most probable path, route or trajectory is selected for each person and each mobile object or vehicle.

[0127] For each trajectory selected by N persons, a time-dependent risk indicator is assigned to each of M hazard points. This indicator takes into account the distance, or time-dependent distance, to hazard points and, if applicable, to details of the automation processes. In the simplest case, the hazard can be determined binary using an approach threshold to a hazard point. The risk indicator thus indicates the degree of risk to a person from a hazard point at time t.

[0128] These time-dependent risk indicators for each person can be summarized in the form of an N x M matrix, and a norm / metric can be derived from this that represents a time-dependent hazard value for the overall system or for the safety system. In the simplest case, this can be a time-dependent maximum of the hazard or the sum of all matrix entries. This numerical description of the overall system now allows the use of known optimization algorithms.

[0129] In a further development of the invention, the safety system includes a map or a map model, and navigation of the movable machine takes place in the map or the map model.

[0130] The map model can also contain information about disruptive factors such as road closures or traffic jams.

[0131] A comparison with accessible routes in a floor plan can also be used for verification. During the configuration of the tracking system, the area where mobile machinery and people can actually be located is marked, particularly pedestrian or vehicular paths. A location reading outside these areas will therefore indicate a systematic measurement error. The plausibility level is reduced by the identified inconsistency.

[0132] These configured ranges can also be used to improve positional accuracy by correcting the position information so that it lies within an accessible range. This correction can optionally be performed using past positioning data and trajectory estimates, for example, with the help of a Kalman filter. A correction will reduce the plausibility of the positional information because it introduces an additional uncertainty factor.

[0133] Here too, additional information can be made available by considering previous values. The correction of inconsistent position values ​​can therefore be made in the direction of the last valid measurement or according to a trajectory estimate.

[0134] Furthermore, it is possible to compare radio location data obtained using independent or different subsets of the available radio stations or anchor points.

[0135] The method takes advantage of the fact that not all radio stations or anchor points are usually needed to determine the position, thus allowing for plausibility checks based on the measurement data itself. This is achieved by having two different subgroups of stationary radio stations perform the same positioning task. As with comparing independent measurements from different radio transponders, a cross-comparison is performed to check for expected agreement.

[0136] In a further development of the invention, the mobile device has at least two radio transponders, wherein the two radio transponders are arranged at a distance from each other and the control and evaluation unit is designed to cyclically compare the position data of the radio transponders and to generate cyclically checked position data of the objects.

[0137] The security system provides positional data that can be used for safety purposes. This means that the positional data obtained for all persons and hazards can be used as the basis for a comprehensive, proactive, and productivity-optimizing security concept.

[0138] Position tracking is achieved using radio location technology. The objects are equipped with radio transponders, which regularly send a location signal to stationary radio stations. This signal is then used in the control and evaluation unit or a central control system to generate a position or real-time position of the respective object.

[0139] This means that the position information of many or all mobile objects or mobile participants in an industrial work environment is available in real time.

[0140] Since at least two radio transponders are attached to each object, errors in the location information can be avoided, as the location information from at least two independent radio transponders is always available. This makes the location tracking and the generated position signal usable for functional safety. It is therefore possible to detect and prevent erroneous location readings and improve the quality of the location information.

[0141] Based on multiple or numerous verified position data points or information, the control and evaluation unit can assess the security situation. This area-oriented or spatially oriented security approach thus offers the possibility of further risk mitigation measures.

[0142] This training course enables participants to verify the safety-related usability of error-prone radio tracking information in operational environments, particularly in the context of machine safety. It identifies tracking errors that fall outside predefined tolerance ranges, such as those caused by weak radio signals. Faulty tracking information is then corrected whenever possible and made usable for further use. If this is not feasible, a corrective action is taken, such as marking the position value as erroneous.

[0143] This process verifies the reliability of the available location information, position information, or position data. Furthermore, a reliability rating required for further use can be assigned to the position data.

[0144] The previously common strategy according to the state of the art, whereby a machine is switched off or slowed down when a person is present in a danger zone, may still be provided for in the further training, however it is also possible to avoid a shutdown or an immediate slowdown, since more information about the overall situation and positions of the objects is available.

[0145] The location of the radio transponders is determined by measuring the travel time of radio signals that are cyclically exchanged between the transponders and several fixed radio stations. This triangulation works very well when the signals are transmitted with sufficient signal strength and along a straight or direct propagation path. Since this is not always the case, a cross-comparison is now performed between the position information obtained in this way from the radio transponders.

[0146] For safety reasons, redundant positioning using at least two radio transponders can be implemented. Since radio transponders are small and relatively inexpensive, this fault control measure is easy to implement and very effective in terms of fault management.

[0147] Basically, the position of both radio transponders of an object is continuously determined and compared. By comparing the positions of the radio transponders, and especially by comparing them with a known expectation—namely, the distance between the radio transponders within a defined area—a number of critical error scenarios can be controlled. A fault that causes a radio transponder to stop providing position information is detected and resolved. A fault that results in poor radio transponder signals with a large systematic error is detected and resolved. A fault that prevents radio transponder synchronization is detected and resolved.

[0148] For the purpose of further training, the positions of at least two radio transponders in a spaced arrangement are determined using radio tracking and compared with the expected position of a known spaced arrangement.

[0149] In a further development of the invention, sequence steps and / or process steps of the machine or system are read in by the control and evaluation unit.

[0150] This allows the control and evaluation unit to know future planned sequence steps and / or process steps and to use them for a proactive reaction and thus for a proactive influence on the machine and / or the mobile objects.

[0151] The sequence steps and / or process steps are, for example, in the form of programs or scripts that can be read by the control and evaluation unit. These programs could, for example, be programs from a programmable logic controller (PLC).

[0152] For example, the protected area can be adjusted based on sequence steps or process steps of a process control system. If a mobile object or person has picked up a transport item, the mobile object receives a larger protected area if the transport item extends beyond the mobile object, such as an autonomous vehicle. Information about the pickup can be transmitted to the control and evaluation unit via NFC, an inductive proximity sensor, or a barcode on the transport item. The advantage is that the transport item itself does not require its own radio transponder with a larger protected area to be transported, and the mobile object or autonomous vehicle does not always need a maximum protected area simply because it sometimes transports a large workpiece or transport item.

[0153] In a further development of the invention, at least one order plan for the system and target coordinates of the mobile vehicles are read in by the control and evaluation unit.

[0154] This means that the control and evaluation unit is aware of future planned sequence steps and / or process steps based on order planning and the target coordinates of the mobile objects or mobile vehicles, and can use this information for a proactive reaction and thus for a proactive influence on the machine and / or the mobile objects.

[0155] In a further development of the invention, the security system has a database, wherein the database contains data on the probability of the objects being located and the temporal and / or spatial frequency distribution of the objects.

[0156] According to the further development of the invention, statistical information derived from the observation of past processes can be generated and evaluated.

[0157] For example, the control and evaluation unit is aware of the frequently and less frequently traveled routes of mobile objects, which allows for a better and more reliable assessment of potential hazards to people. Knowing the probability of people being present allows for a better and more reliable assessment of potential hazards to people, since, for example, mobile objects or vehicles can travel at higher speeds in areas with a low probability of people being present than in areas where people are highly likely to be.

[0158] In a further development of the invention, a productivity measure of the plant, the machine and / or the objects is recorded by means of the control and evaluation unit.

[0159] In addition to the risk indicators already mentioned, a productivity measure is defined as an optimization parameter. In the simplest case, this is an accumulated downtime of production processes or a process throughput time. However, it is also possible to use throughput rates for travel distances, energy and / or resource consumption.

[0160] Given the constraint that the risk metric for each individual must always remain below a threshold representing a tolerable risk, the productivity measure is optimized by varying trajectories or paths, or other process parameters. This can be achieved, for example, using variational approaches or by simply testing the available trajectories and process parameters. The primary optimization parameter is productivity.

[0161] Additionally, the risk metric itself can be incorporated into optimization to reduce the overall risk. This is particularly relevant when there are multiple alternative trajectories that result in comparable productivity, such as when a mobile object has two options to reach a destination. For example, one route brings the mobile object close to a single person, while the second alternative route brings the mobile object close to several people. In this case, the overall risk is lower on the first route than on the second route, which involves more people potentially at risk.

[0162] Crucially, the trajectories of individual participants are not without reciprocal effects, meaning they can influence the risk metric of other individuals. Therefore, optimization should ideally be performed within the overall system.

[0163] In a further development of the invention, warning messages are issued to persons by means of at least one display unit.

[0164] An improved system state is achieved through instructions or guidance via the display unit.

[0165] For example, a display unit can dynamically show whether or not people are allowed to be in a given area. Furthermore, the display unit can show recommended routes for people or warn them about routes they should not use.

[0166] In a further development of the invention, the control and evaluation unit is designed to control and thus influence the machine and / or the mobile vehicle.

[0167] The optimal system state is achieved through the control of machines and process flows.

[0168] The effectiveness of the various interventions and their impact on productivity differ and are used to prioritize measures. For example, it must be anticipated that a warning to a person or an instruction to take an alternative route will be ignored. In cases of imminent danger, the much more reliable machine controls are used, such as slowing down the machine or initiating an emergency stop.

[0169] At any given time, the monitoring of the safety system's development over time is used to assess whether the system is being optimized and whether the constraints under which a risk is tolerable are being met. This assessment serves as feedback for selecting control measures.

[0170] The following options are provided, for example, for influencing the situation. - an emergency stop of a machine or mobile object or vehicle, - a slowing down of a machine or mobile object or vehicle, - a change in the path planning of a person or a mobile object or vehicle - Changing the sequence of individual process steps in an automation sequence - Warnings to a person - Instructions to a person, e.g., directions to an alternative route

[0171] In a further development of the invention, plausibility values ​​are formed based on the detected signal strengths of the radio signals of the radio transponders and from the comparison of the position data of the radio transponders.

[0172] The training provides positional data that can be used for safety purposes. This means that the positional data obtained for all persons and hazards can be used as the basis for a comprehensive, proactive, and productivity-optimizing safety concept.

[0173] Position tracking is achieved using radio location technology. The objects are equipped with radio transponders, which regularly send a location signal to stationary radio stations. This signal is then used in the control and evaluation unit or a central control system to generate a position or real-time position of the respective object.

[0174] According to the training, the position information of many or all mobile objects or mobile participants in an industrial work environment is therefore available in real time.

[0175] In a further development of the invention, the distances between the radio transponders of the control and evaluation unit are known and stored in a memory of the control and evaluation unit.

[0176] This makes it possible to learn and save different objects with individual distances between the radio transponders, so that the security system can identify saved objects and distinguish them from unsaved objects.

[0177] In a further development of the invention, at least three radio transponders are arranged, wherein the control and evaluation unit is designed to generate orientation data of the object from the position data of the radio transponders.

[0178] For example, two radio transponders are attached to the shoulders of a person's vest. Another transponder is attached to the person's helmet.

[0179] This results in a system with an overdetermined design, which is advantageous from a safety perspective. Even if one radio transponder fails or its radio signals cannot be detected, there are still two radio transponders that can be evaluated redundantly. This creates a highly available safety system.

[0180] In a further development of the invention, the radio transponders each have at least one time measurement unit, wherein the radio stations also each have at least one time measurement unit, wherein the radio stations are configured to read and write the times of the time measurement units of the radio transponders, and the radio stations are configured to synchronize the times of the time measurement units of the radio transponders, and the radio stations are configured to compare the times of the time measurement units of the radio transponders with the times of the time measurement units of the radio stations.

[0181] This allows for more precise position determination, which can also be carried out with lasting precision through synchronization, especially for moving objects.

[0182] In a further development of the invention, the security system includes optical sensors, radar sensors, RFID sensors and / or ultrasonic sensors for locating and detecting the objects.

[0183] The position data can be compared with secure or non-secure position data or position information that was captured at specific locations in the operating environment using optical sensors, radar sensors, RFID sensors and / or ultrasonic sensors.

[0184] One example is the comparison with position data acquired within the field of view of an optical sensor, such as a 3D camera. This could occur, for instance, at an intersection. When an object is detected within the field of view, its position relative to the 3D camera is determined, and the object's global position is derived using the known position of the 3D camera. This process utilizes both statically mounted optical sensors and mobile optical sensors whose position and orientation are known from other sources. Subsequently, a check is performed to see if a list of objects tracked via radio tracking contains an object that matches this position value. If there is sufficient agreement, the radio tracking position value is considered verified. In this case, a diverse redundant approach has confirmed the measurement.

[0185] Optical position data typically has better accuracy and can also be used to improve the positional accuracy of the person or mobile machine.

[0186] The plausibility of a position value is therefore greater the better the agreement between optical positioning and radio tracking, and the more unambiguous the assignment between the optical positioning and radio tracking can be. In the case described above, the additional difficulty might lie, for example, in the fact that it cannot be reliably determined whether an initial radio tracking reading might also belong to a subsequent optical tracking reading, and vice versa. Such ambiguities are taken into account in the plausibility assessment. This can be achieved by performing the assignment in a way that minimizes the deviation between the radio tracking and the optical position. Alternatively, it can be achieved by tracking previous position values ​​and performing the assignment in such a way as to minimize the difference to the previous measurement.

[0187] In a further development of the invention, the radio tracking system is an ultra-wideband radio tracking system, wherein the frequency used is in the range of 3.1 GHz to 10.6 GHz, and the transmission energy per radio station is a maximum of 0.5 mW.

[0188] For an ultra-wideband radio location system, the absolute bandwidth is at least 500 MHz or the relative bandwidth is at least 20% of the central frequency.

[0189] The range of such a radio tracking system is, for example, 0 to 50 m. The short duration of the radio pulses is used for tracking purposes.

[0190] The radio tracking system therefore only transmits low-energy radio waves. The system is very flexible and does not exhibit interference.

[0191] Preferably, a number of radio stations, for example more than three, are arranged, which monitor at least part of the movement area of ​​the person or object.

[0192] In a further development of the invention, the safety function of the safety system is changed based on the tested position data by means of the control and evaluation unit.

[0193] Based on position data from the control and evaluation unit, the safety function of the safety system is changed.

[0194] When a predetermined position is detected, which may be stored, the control and evaluation unit can switch to a different protective measure or safety function. Switching the protective measure can include, for example, changing measurement data contours, changing protection zones, adjusting the size or shape of measurement data contours or protection zones, and / or changing the properties of a protection zone. These properties include, for example, the resolution and / or the response time of the protection zone. Switching the protective measure can also involve a safety function, such as force limitation of the drive.

[0195] In a further development of the invention, position data checked by the control and evaluation unit are checked for consistency with stored position data of a safety point.

[0196] At certain monitoring points that provide both optically determined and radio-tracked position information, an optional radio-tracking verification can be performed to check whether a detected object has actually been tracked. Such confirmation can uncover safety-critical errors such as a missing or malfunctioning tag and fulfill the requirements for cyclical testing as defined in ISO 13849-1.

[0197] Comparison with independent position data can also be performed at known interaction points. For example, when a switch is activated or when passing through a monitored door. At this moment, the operator's position is known very precisely and can be used to validate the position data or position information. A similar approach is possible with autonomous vehicles. When docking at a charging station or arriving at transfer stations, the position is known very precisely and can be used to verify radio tracking and for safety-related fault management.

[0198] Furthermore, it is possible to compare radio location data obtained using independent or different subsets of the available radio stations or anchor points.

[0199] The method takes advantage of the fact that not all radio stations or anchor points are usually needed to determine the position, thus allowing for plausibility checks based on the measurement data itself. This is achieved by having two different subgroups of stationary radio stations perform the same positioning task. As with comparing independent measurements from different radio transponders, a cross-comparison is performed to check for expected agreement.

[0200] The invention is further explained below with regard to its advantages and features, using exemplary embodiments and the accompanying drawing. The figures in the drawing show: Fig. 1 to Fig. 5 each a security system for locating at least one object;

[0201] In the following figures, identical parts are labelled with identical reference symbols.

[0202] Fig. Figure 1 shows a security system 1 for locating at least one object 2, with at least one control and evaluation unit 3, with at least one radio tracking system 4, wherein the radio tracking system 4 has at least three arranged radio stations 5, wherein at least one mobile device 19 with at least one radio transponder 6 is arranged on the object 2, wherein position data of the radio transponder 6 and thus position data of the objects 2 can be determined by means of the radio tracking system 4, wherein the position data can be transmitted from the radio station 5 of the radio tracking system 4 to the control and evaluation unit 3, and / or the position data can be transmitted from the radio transponder 6 to the control and evaluation unit 3, wherein the control and evaluation unit 3 is configured to cyclically acquire the position data of the radio transponder 6, wherein the objects 2 are persons 9 or mobile objects 7, wherein the radio transponder 6 has an identification.wherein a radio transponder 6 is assigned to at least either a person 9 or a mobile object 7, wherein the control and evaluation unit 3 is configured to distinguish between the persons 9 and mobile objects 7, wherein a spatially extended protective volume 20 is formed around the radio transponder 6, wherein the control and evaluation unit 3 is configured to process at least one process parameter, wherein the spatially extended protective volume 20 is adjustable depending on the at least one process parameter.

[0203] The terms protection volume 20 and protection area 20 are used synonymously below.

[0204] Objects 2 are protected by the spatially extended protective volume 20. If object 2 gets too close to a hazard, this can be reported to object 2, for example visually, and the object can move away from the hazard.

[0205] In the case of Person 9 as Object 2, Person 9 can, for example, approach the hazard on foot to within a permitted minimum distance. As soon as Person 9 approaches the minimum distance, they will receive a visual warning, for example. Simultaneously, it may also be possible for the hazard to react to Person 9's approach and reduce the level of potential danger.

[0206] In the case of mobile objects 7 or mobile vehicles 8, such as autonomous vehicles, the mobile object 7 can, for example, approach the hazard while driving to within a permitted minimum distance. As soon as the mobile object 7 approaches the minimum distance, it is warned, for example, by commands from the control and evaluation unit 3. Simultaneously, it can also be provided that the hazard reacts to the approach of the mobile object 7 and reduces the level of potential danger. Multiple mobile objects can also react to each other, for example, by performing evasive maneuvers and / or braking maneuvers.

[0207] According to Fig. 1. At least one process parameter is provided on which the protection volume depends, or on which the protection volume can be changed due to the process parameter.

[0208] The process parameter originates, for example, from a system in which safety system 1 is operated. Thus, the process parameter could come from a higher-level controller, a programmable logic controller (PLC), or similar controllers.

[0209] For example, the protective volume 20 is increased or decreased depending on the process parameter. In this way, the size or extent of the protective volume 20 is changed.

[0210] Furthermore, it may also be possible to change the shape of the protective volume 20 depending on the process parameter.

[0211] Furthermore, it may be possible to change or adjust the direction or orientation of the protective volume 20.

[0212] The process parameter can be at least one digital or analog value generated based on a process variable. The process parameter can, for example, be based on at least one single message, a cyclical message, or a continuously updated message.

[0213] The safety system 1 allows for a very proactive and early reduction of risks through strategic risk reduction, and for avoiding hazards without the productivity losses of known situational risk reduction strategies.

[0214] It is possible to secure larger areas, for example many workstations, many robots or even entire production halls, since not only is the local presence or approach of persons 9 detected, but the position of many persons 9 and mobile objects 7 or mobile machines active in an environment or area can be detected and continuously tracked.

[0215] The location of the radio transponders 6 is determined by measuring the travel time of radio signals that are cyclically exchanged between the radio transponders 6 and several fixed radio stations 5. This triangulation works very well when the signals are transmitted with sufficient signal strength and along a straight or direct propagation path.

[0216] The mobile object 7, a movable machine, can be, for example, a driverless vehicle, an autonomous vehicle, an autonomously guided vehicle, an autonomously mobile robot, an industrial mobile robot, or a robot with movable robot arms. The mobile object 7 thus has a drive mechanism and can be moved in various directions.

[0217] Person 9 could be, for example, an operator or maintenance person. The radio transponders 6 are attached to Person 9's clothing or equipment. This could be, for example, a vest to which the radio transponders 6 are firmly fixed. The radio transponders 6 are located, for example, on the shoulders and in the chest or back area. However, the radio transponders 6 can also be located in other areas of the person. For example, two radio transponders 6 are attached to the shoulders of Person 9's vest.

[0218] Fig. Figure 2 shows two areas A and B, which are connected to each other via a passage and are connected to each other by means of boundaries 11 or walls 11.

[0219] According to Fig. 2. This allows for the protection of larger areas A and B, such as many workstations, many robots, or entire production halls, because it is not only the local presence or approach of persons 9 that is detected, but also the position of many persons 9 and mobile objects 7 active in an environment or area A, B that can be detected and continuously tracked. For this purpose, for example, a large number of radio stations 5 are provided.

[0220] According to Fig. 2. The process parameter is at least a time and / or at least a date. The process parameter is stored, for example, in a memory 10 of the control and evaluation unit 3.

[0221] This makes the process parameter time-dependent. Therefore, the protection volume 20 can be adjusted based on time. For example, the protection volume 20 can be changed regularly at certain times or on certain days.

[0222] For example, time-dependent conditions in a factory hall can be taken into account. This means that safety system 1 does not have to assume a worst-case scenario that might only occur at a short time, but rather the protection volume 20 can be specifically adjusted to a particular time.

[0223] Furthermore, time-dependent changes to the protection volume 20 or safety distances may be provided, for example for night shifts, since a somewhat higher level of safety may generally be desired, as the persons 9 are less focused than in a day shift.

[0224] For example, larger protective volumes 20 may be provided at certain times, for example daily between 8 and 10 a.m. or 5 and 7 p.m., because at these times there are particularly many people 9 in a hall, e.g. during the 'rush hour' due to shift changes or because finished goods are being loaded or unloaded.

[0225] For example, the protection volumes 20 or protection zones 20 can also be changed depending on the day of the week. On regular working days, such as Monday to Friday, the usual protection volumes 20 can be provided. However, on Saturdays and Sundays, much larger protection zones 20 can be set, as cleaning or maintenance personnel, for example, are present in areas near the hazards and these individuals need to be warned earlier.

[0226] According to Fig. 2. The process parameter is at least a location specification. For example, the protection volume 20 is adjusted if person 9 or a worker is inside a machine 14, for example, to carry out maintenance work. In this way, depending on the detected location, an automatic setup mode of the system can be implemented, specifically for service technicians, cleaning, or maintenance work by person 9.

[0227] For example, Person 9 can inform Safety System 1 whether the entire system should be shut down or only the part that requires shutdown for safety reasons. Furthermore, it may be sufficient to put all parts or only a part of the system into setup mode. However, there are defined times during which Person 9 can initiate setup mode. Outside of these defined service or cleaning times, machine 14 or the entire system is completely stopped, or another, potentially more extensive, safety measure is implemented than during service times.

[0228] According to Fig. 2. The process parameter is at least one control signal from a machine 14. For example, a machine 14 signals a higher or lower hazard potential as a process parameter and outputs this on a control signal, which is read by the control and evaluation unit 3. Based on the control signal or the generated process parameter, the protective volume 20 can then be set.

[0229] According to Fig. 5. The process parameter is at least one sensor signal. For example, at least one process parameter is generated based on sensor signals, and a hazard potential is determined. The control and evaluation unit 3 reads the sensor signal, and the protection volume 20 is set based on the generated process parameter.

[0230] This means that the protection volumes 20 or safety distances stored in safety system 1 are automatically changed based on the measured values ​​from additional sensors. These sensors can be, for example, optical sensors 13, ultrasonic sensors, radar sensors, or similar devices. They can also be acceleration or velocity sensors. However, they can also be, for example, air pressure sensors, which can be used to determine an altitude value. The sensors can also be radio transponders 6.

[0231] According to Fig. 5. The process parameter is at least a speed signal. For example, the speed of the mobile object 7 is determined and communicated to the control and evaluation unit 3 via a speed signal. Based on the speed signal, the protection volume 20 or the protection area 20 is then adjusted. The mobile object 7 can also be a vehicle, such as a pallet truck, operated by a person 9. The control and evaluation unit 3 can also store values ​​for a minimum and a maximum possible speed of a mobile object 7.

[0232] According to Fig. 3. The process parameter is at least a temperature value. The temperature value is read by the control and evaluation unit 3, and the protection volume is set accordingly.

[0233] For example, a temperature profile, e.g., due to solar radiation during the day in summer, is recorded, and the protective volume 20 is then increased accordingly, since a higher temperature is present and thus, for example, longer braking distances of mobile objects 7 may occur, which can lead to a higher hazard. Similarly, in extreme cold in winter, which can lead to frozen surfaces, longer braking distances for mobile objects 7 or vehicles may occur, which can also lead to a higher hazard, and therefore larger protective volumes 20 may be provided.

[0234] According to Fig. 3. The process parameter is at least a light signal. Based on the light signal, the protection volume 20 can be adjusted.

[0235] For example, glare from the sun can generate the light signal. Due to the glare and the resulting light signal, the protective volume 20 can then be increased to reduce the risk of hazard.

[0236] According to Fig. 4. The process parameter is at least one characteristic of person 9. For example, a person 9's safety-related qualification is a characteristic of person 9. Experience in safety-related matters can also be a characteristic of person 9. Based on the characteristics of person 9, the level of protection can then be adjusted.

[0237] For example, the skill level of a person present (9) can be taken into account in the security system (1) or in the control and evaluation unit (3). For instance, if on certain days, in addition to the technically qualified personnel (9), visitor groups are always permitted in a factory hall, the protection volumes (20) are increased, for example, to adequately protect even inexperienced persons.

[0238] According to Fig. 4. The process parameter is at least one indication of the number of people. Based on a recorded or known number of people, the protection volume 20 or the protection area 20 is set accordingly.

[0239] For example, the protection volume 20 is set depending on a specific number of people in a factory hall or a specific area A, B. For instance, a higher number of people may be present during a shift change. Similarly, a high utilization rate in a production facility with manual workstations can also result in a higher number of people, which might necessitate larger protection volumes 20.

[0240] For example, during a rush hour, such as shift changes, people may be less attentive. During this time, larger safety distances or larger protective volumes may be needed around mobile objects or autonomous vehicles.

[0241] According to Fig. 4. The process parameter is at least a service signal. Based on the service signal, the protection volumes 20 can then be adjusted.

[0242] For example, service or cleaning times can be scheduled, during which safety is increased or ensured through organizational measures. For instance, if there are no workpieces on machine 14 anyway, the safety zones 20 can then be reduced based on the service signal.

[0243] Planned service intervals, e.g., machine maintenance during a shutdown, for example during summer holidays, can be taken into account in this way.

[0244] For example, cleaning tasks between shift changes, which are already scheduled, can be directly entered into the safety system or the control and evaluation unit 3. This increases productivity, for example, if it takes a long time to run machine 14 empty.

[0245] According to Fig. 3 is a type of warning message that can be set depending on the process parameter. The type of warning, i.e., whether person 9 should be informed of potential hazards acoustically and / or visually and / or haptically, for example via a vibration alarm, is thus set depending on the process parameter.

[0246] According to Fig. 3 Depending on the process parameter, at least one control signal for the machine 14 can be generated, whereby a dangerous movement of the machine 14 can be influenced by means of the control signal.

[0247] For example, depending on the control signal, machine 14 can be slowed down or stopped. However, the control signal can also initiate a safe speed for machine 14.

[0248] For example, a speed, particularly a maximum approach speed, that a person (9) still perceives as safe—that is, one that appears appropriate, sensible, and acceptable for their current activity—can be set via the control signal. This makes the person (9) feel safer, as the potential hazard is individually adjusted.

[0249] According to Fig. Depending on the process parameter 3, at least one control signal can be generated for the mobile object 7. Based on this control signal, the movement of the mobile object 7 is, for example, influenced.

[0250] For example, depending on the control signal, the mobile objects 7 can be slowed down or stopped. However, the control signal can also initiate an evasive maneuver by the mobile object 7.

[0251] For example, a speed, particularly a maximum approach speed, that a person (9) still perceives as safe—that is, one that appears appropriate, sensible, and acceptable for their current activity—can be set via the control signal. This makes the person (9) feel safer, as the potential hazard is individually adjusted.

[0252] According to Fig. Depending on the process parameter, at least one display signal can be generated on a display unit 18 for person 9.

[0253] The display unit 18 can be located directly in the mobile device 19, i.e., spatially assigned to the radio transponder 6, or it can be designed independently as a separate display unit 18. Depending on the process parameter, information, in particular warning messages, can be displayed on the display unit 18. Reference symbol list 1 Security system 2 objects 3 Control and evaluation unit 4 Radio tracking system 5 radio stations 6 radio transponders 7 mobile objects 8 mobile vehicles 9 person 10 storage 11 Wall / Boundary 13 optical sensors 14 Machine 18 Display unit 19 mobile devices 20 Protection volume / protection area Area Area B

Claims

[1] Security system (1) for locating at least one object (2), with at least one control and evaluation unit (3), with at least one radio tracking system (4), wherein the radio tracking system (4) comprises at least three arranged radio stations (5), wherein at least one mobile device (19) 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 objects (2) can be determined by means of the radio tracking system (4), wherein the position data can be transmitted from the radio station (5) of the radio tracking system (4) to the control and evaluation unit (3), and / or the position data from the radio transponder (6) can be transmitted to the control and evaluation unit (3), characterized by , that the control and evaluation unit (3) is designed to cyclically record the position data of the radio transponder, where the objects (2) are persons (9) or mobile objects (7), wherein the radio transponder (6) has an identification, wherein each radio transponder (6) is assigned to at least either a person (9) or a mobile object (7), wherein the control and evaluation unit (3) is designed to distinguish between the persons (9) and mobile objects (7), wherein a spatially extended protective volume (20) is formed around the radio transponder, wherein the control and evaluation unit (3) is designed to process at least one process parameter, wherein the spatially extended protection volume (20) is adjustable depending on at least one process parameter. [2] Security system (1) according to claim 1, characterized by that the process parameter is at least a time and / or at least a date. [3] Security system (1) according to at least one of the preceding claims, characterized bythat the process parameter is at least a location specification. [4] Security system (1) according to at least one of the preceding claims, characterized by , that the process parameter is at least a control signal of a machine (14). [5] Security system (1) according to at least one of the preceding claims, characterized by that the process parameter is at least one sensor signal. [6] Security system (1) according to at least one of the preceding claims, characterized by that the process parameter is at least a velocity signal. [7] Security system (1) according to at least one of the preceding claims, characterized by that the process parameter is at least one temperature value. [8] Security system (1) according to at least one of the preceding claims, characterized by that the process parameter is at least a light signal. [9] Security system (1) according to at least one of the preceding claims, characterized by that the process parameter is at least one property of a person. [10] Security system (1) according to at least one of the preceding claims, characterized by that the process parameter is at least a specification of the number of people. [11] Security system (1) according to at least one of the preceding claims, characterized by that the process parameter is at least a service signal. [12] Security system (1) according to at least one of the preceding claims, characterized by , that a type of warning message can be set depending on the process parameter. [13] Security system (1) according to at least one of the preceding claims, characterized by, that depending on the process parameter at least one control signal for the machine (14) can be generated, whereby a hazardous movement of the machine (14) can be influenced by means of the control signal. [14] Security system (1) according to at least one of the preceding claims, characterized by , that depending on the process parameter at least one control signal for the mobile object (7) can be generated. [15] Security system (1) according to at least one of the preceding claims, characterized by , that depending on the process parameter at least one display signal can be generated on a display unit (18) for the person (9). [16] Method with a safety system (1) for locating at least an object (2), with at least one control and evaluation unit (3), with at least one radio tracking system (4), wherein the radio tracking system (4) comprises at least three arranged radio stations (5), wherein at least one mobile device 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 objects (2) are determined by means of the radio tracking system (4), wherein the position data are transmitted from the radio station (5) of the radio tracking system (4) to the control and evaluation unit (3), and / or the position data from the radio transponder (6) are transmitted to the control and evaluation unit (3), characterized by , that the control and evaluation unit (3) is designed to cyclically record the position data of the radio transponder, where the objects (2) are persons (9) or mobile objects (7), wherein the radio transponder (6) has an identification, wherein each radio transponder (6) is assigned to at least either a person (9) or a mobile object (7), wherein the control and evaluation unit (3) is designed to distinguish between the persons (9) and mobile objects (7), wherein a spatially extended protective volume (20) is formed around the radio transponder (6), wherein the control and evaluation unit (3) is designed to process at least one process parameter, wherein the spatially extended protection volume (2) is set depending on at least one process parameter.

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