Actuating device, safety system and procedure

Abstract

Actuating device (10) for a safety controller (52) for bringing a system (58) into a safe state in response to actuation of an actuating element (12) of the actuating device (10), wherein the actuating device (10) comprises the actuating element (12) and an actuation detection device (14) for detecting actuation of the actuating element (12), wherein the actuating element (12) extends in a longitudinal direction (30), characterized in that the actuating device (10) further comprises an actuation location determination device (16) for determining an actuation location of the detected actuation along the longitudinal direction (30), wherein the actuation location determination device (16) comprises a signal generation unit (22) for generating a signal on the actuating element (12) along the longitudinal direction (30), and a signal detection unit (24) for detecting the generated signal during actuation.and comprises a processing unit (26), wherein the processing unit (26) is configured to determine a signal characteristic of the detected signal and to determine the actuation location based on the determined signal characteristic, wherein the signal is a vibration and the signal generation unit is configured to mechanically excite the actuating element (12) to vibrate.

Description

[0001] The present invention relates to an actuating device for a safety controller for bringing a system into a safe state in response to the actuation of an actuating element of the actuating device, wherein the actuating device comprises the actuating element and an actuation detection device for detecting an actuation of the actuating element, the actuating element extending in a longitudinal direction. The present invention further relates to a safety system for securing a system. The present invention also relates to a method for securing a system.

[0002] A plant can generally comprise one or more apparatus, devices, and / or machines. In particular, a plant is a planned and systematic assembly of one or more apparatus, devices, and / or machines. The apparatus, devices, and / or machines can be spatially related and functionally, control-wise, or safety-wise interconnected.

[0003] To safeguard such a system, it is known to use a safety system with a safety controller. A safety controller can be a control device. The safety controller can be configured to bring the system into a safe state under certain conditions (such as in the event of an emergency). For example, the safety controller can be configured to shut down functional processes of the system, in particular a part of the system or the entire system, in the event of an emergency. In this case, a safety system with a safety controller can also be referred to as an emergency stop system.

[0004] Various methods are known in the prior art for signaling to the safety controller that the system should be brought into a safe state. One known method is to use sensors that monitor the state of at least part of the system or access to a part of the system. In the event of a hazard, the sensor transmits relevant sensor data to the safety controller, enabling the controller to recognize the hazard. For example, sensors can be used to detect foreign objects in a machine, allowing the safety controller to shut down the machine upon detection. Another known method is to use actuators that, when manually actuated, signal to the safety controller that the system should be brought into a safe state.Manual operation can occur, for example, in an emergency. In response to the manual actuation of the device, the safety controller can then bring at least part of the system into a safe state, in particular by shutting it down. Such devices can therefore also be referred to as emergency stop switches.

[0005] Such an actuating device has an actuating element that can be operated manually, i.e., by a person. The actuating element can also be referred to as a release element or trigger, since its activation initiates the transition of the system to a safe state, in particular an emergency stop. Activation can, for example, involve touching or moving the actuating element.

[0006] To detect or record the actuation of the actuator, actuators can have an actuation detection device. This device can preferably detect a movement, for example a pushing or pulling, of the actuator in a specific direction.

[0007] Such actuating devices can be implemented, for example, as pushbuttons or pull-rope switches. Pushbuttons have a button as their actuating element. Pull-rope switches have a cable as their actuating element. A cable is, in particular, an actuating element that extends over a length in a longitudinal direction. It is known, for example, to use pull-rope switches with cables of 50 m, 100 m, or more in installations. An example of such a pull-rope switch is the "PSENrope" pull-rope switch from Pilz GmbH & Co. KG. A pull-rope switch has the advantage over a pushbutton that actuation can occur not at a single position, namely the position of the pushbutton, but at any position along the cable in the longitudinal direction. Therefore, in an emergency, a pull-rope switch is generally easier, and especially faster, for a user to reach than a pushbutton.Actuating elements such as cable pull switches, which extend in a longitudinal direction, thus allow actuation at any actuation point on the actuating element in the longitudinal direction.

[0008] After the system has been brought to a safe state by the safety controller following the activation of an actuator, and in particular after it has been shut down, a diagnostic check is required and performed on safety systems. This is especially true for safety systems, particularly complex emergency stop systems with safety devices, where and which safety component (especially which actuator or sensor) was triggered. With conventional emergency stop devices, this is achieved via an auxiliary contact that forwards the diagnostic information to a higher-level system. For devices connected to bus systems, this is accomplished using diagnostic data. The goal of the diagnostic check is to locate the trigger. A diagnostic check is particularly helpful for systems that cover large, inaccessible areas.

[0009] Existing actuation devices, such as cable pull switches, which have an actuating element (such as a cable pull) extending in a longitudinal direction, do not allow for precise determination of the actuation location. When the actuating device is activated, the only diagnostic information available is that the actuating device has been actuated or triggered, and possibly its location within the system. The diagnostic process therefore encompasses the entire area of ​​the system in which the actuating device is located, particularly the area where the actuating element (e.g., the cable pull) is located or over which the actuating element extends within the system.

[0010] DE 20 2017 102 823 U1, DE 10 2018 004 854 A1, US 2017 / 0 140 890 A1 and DE 30 16 411 A1 each show different examples of rope pull switches from the prior art.

[0011] Against this background, it is an object of the present invention to provide an improved actuating device, an improved safety system, and an improved method for securing a system. In particular, it is an object of the present invention to enable faster and better diagnostics after actuation of an actuating element of an actuating device.

[0012] According to a first aspect of the present invention, an actuating device according to claim 1 is provided.

[0013] According to a second aspect, a safety system according to claim 8 is provided.

[0014] According to a third aspect, a method according to claim 12 is provided.

[0015] As explained earlier, actuating elements, such as cable pull switches, which extend in a longitudinal direction, allow actuation at any point along the actuating element in that direction. Such actuating elements are not limited to cables. In principle, any body that extends a certain length in a longitudinal direction and allows actuation at any point along that direction is suitable as an actuating element. For example, bodies such as rods or bars can also be used as such actuating elements.

[0016] The underlying idea of ​​the invention is to determine the point of actuation on the actuating element in the longitudinal direction when the actuating element is manually operated. For this purpose, the actuating device additionally includes an actuation point determination device. This device is configured to determine the point of actuation of the detected actuation in the longitudinal direction. The point of actuation is the location where the user touches or grasps the actuating element for manual actuation. The point of actuation can also be referred to as the trigger point or trigger location.

[0017] The actuation location determination device includes a signal generation unit, a signal detection unit, and a processing unit for determining the actuation location.

[0018] The processing unit may be connected to or include non-volatile data storage in which a computer program is stored. For example, the processing unit may be a general-purpose computer, such as a commercially available personal computer running Windows®, Linux, or MacOS, and the computer program from memory may contain program code designed and trained to implement specific functions and operations of the processing unit. Alternatively, the processing unit may be a logic circuit, such as a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a microcontroller, or any other suitable programmable electrical circuit.Any suitable programming language or hardware description language, such as C, VHDL, and the like, can be used to implement the functions and operations of the processing unit.

[0019] The actuator has a first longitudinal end and a second longitudinal end. The first and second longitudinal ends are arranged on opposite sides of the actuator along its length. The actuator detection device can be located at the first longitudinal end of the actuator. The actuator location determination device can be located at the first and / or the second longitudinal end of the actuator. In other words, the actuator location determination device components can be located together at one of the two longitudinal ends. Alternatively, the components can be distributed between both longitudinal ends. For example, the signal generation unit can be located at one of the two longitudinal ends (e.g., the second longitudinal end), and the remaining actuator location determination device components, in particular the signal detection unit, can be located at the other longitudinal end (e.g., the first longitudinal end).

[0020] The signal generation unit is configured to generate a mechanical signal on the actuator in the longitudinal direction. In other words, the signal generation unit can transmit the signal along the actuator. The signal generation unit can therefore also be referred to as the signal transmitter. The signal can be a vibration, in particular a (standing) wave, propagating along the longitudinal direction of the actuator. The signal can also be composed of several vibrations. "Generation" can be understood to mean, in particular, that the actuator is subjected to a vibration in the longitudinal direction or that the actuator is excited to vibrate.

[0021] The signal can be generated continuously by the signal generation unit, in particular periodically or at specific time intervals, or at specific times. For example, the signal can be generated continuously.

[0022] Alternatively, the signal can also be generated directly in response to a detected actuation, i.e., when the actuation detection device has registered an actuation. This is advantageous because, in this case, a diagnosis (determination of the actuation location) only occurs when an actuation has been mechanically detected. This prevents unintentional triggering of the diagnosis.

[0023] The signal acquisition unit is designed to capture the generated signal during actuation. For this purpose, the signal acquisition unit may, for example, include a sensor that can detect, i.e., measure or receive, the signal. The signal acquisition unit can therefore also be referred to as the signal receiver. Specifically, the signal acquisition unit captures the signal directly in response to the detection of an actuation by the actuation detection device, i.e., when the actuation detection device has detected an actuation and the signal has been generated by the signal generation unit.

[0024] When a person touches or grasps the actuating element during manual operation, the signal or oscillation changes. In particular, touching the actuating element can change the frequency(ies) and / or amplitude(s) of the signal's oscillation(s). Specifically, this oscillation(s) can be detuned by touching it during operation. This is comparable to detuning a guitar string when the user plucks the string (i.e., sets it into vibration) and touches or grasps the string at a point on the fretboard, especially by pressing against the fretboard. Generally speaking, actuation thus changes the signal's behavior, i.e., a signal characteristic, such as the frequency(ies) and / or amplitude(s) of the signal's oscillation(s). This change can be described as a signal modification.How the signal, or rather its signal characteristics, changes depends on the point of actuation on the actuating element along its length. The signal characteristics thus vary with the point of actuation. In particular, the signal characteristics, especially the frequency and / or amplitude of an oscillation, vary depending on the point of actuation along its length. In other words, the signal characteristics are point-of-actuation specific. This is comparable to a guitar string being tuned differently when it is fretted at different points (frets) on the fretboard.

[0025] The present invention utilizes this technical relationship between signal characteristics and the point of actuation. Because the signal acquisition unit captures the signal during actuation, the signal as modified by the actuation is detected. The captured signal is then processed by the processing unit to determine the point of actuation. The processing unit first determines a signal characteristic of the captured signal. Based on this determined signal characteristic, the processing unit then determines the point of actuation. This is possible because the signal characteristic is specific to the point of actuation. In other words, a corresponding signal characteristic can be assigned to each point of actuation. By knowing this assignment, the point of actuation can be deduced based on the determined signal characteristic during actuation.

[0026] The invention is thus characterized by providing means by which the actuation point on the actuating element can be determined along its longitudinal direction. Knowing the actuation point then allows for better localization of the trigger. This enables faster and more accurate diagnosis of the trigger and the cause of the actuation. In particular, the diagnosis can be limited to the part of the system in which the determined actuation point is located. In this way, downtime can be reduced and a short restart of the system achieved. This maintains high productivity and increases efficiency.

[0027] Such safety systems (for example, rope-guided emergency stop systems like PSENrope) are sometimes distributed over longer distances (50 meters, 100 meters, or more) within facilities. Locating the precise trigger point can be crucial when personnel are in a dangerous situation. A quick and accurate pinpointing of the trigger makes it easier to determine access to the hazard, escape routes, and rescue paths. Short walking and rescue routes can be achieved through targeted diagnostics.

[0028] The mechanical signal can be a transverse or longitudinal vibration or wave. To generate the mechanical signal, the signal generation unit can include a mechanical excitation system that mechanically excites the actuator to vibrate. For example, the signal generation unit can include a piezoelectric element that excites the actuator to vibrate. Alternatively, the signal generation unit can also include a drive unit (for example, a rotor or a linear motor) that deflects the actuator, for example, the longitudinal end at which the signal generation unit is located, to generate the vibration, i.e., moves it longitudinally or transversely. The signal acquisition unit can include a sensor to detect the mechanical signal, i.e., the vibration of the actuator.The sensor can be, for example, a sensor, particularly a motion sensor, that detects the position or change in position of the actuating element and converts this into an electrical quantity, i.e., sensor data. The sensor data represents the detected mechanical signal. The sensor can be, in particular, a piezoelectric vibration sensor, an optical sensor, or a mechanical sensor.

[0029] The task posed at the beginning is thus fully solved.

[0030] In a first embodiment of the present invention, the actuation detection device is configured to detect a movement of the actuating element in the longitudinal direction as an actuation of the actuating element.

[0031] In other words, the actuating element is activated by pulling or pushing it in the longitudinal direction. Particularly with cable-operated switches, the actuation consists of pulling the cable. The actuation detection device can include a switching element to which the actuating element is coupled. The coupling is such that the switching element can be activated when the actuating element moves in the longitudinal direction. In other words, a movement of the actuating element in the longitudinal direction triggers the switching element. Specifically, the coupling can be designed such that the switching element is only activated when moved with a specific force, i.e., when the actuating element is pulled or pushed in the longitudinal direction with a specific force that exceeds a predetermined threshold.

[0032] In particular, it can also be provided that an electrical signal and a mechanical signal are applied to the actuating element. For this purpose, the actuation location determination device can, for example, have two signal generation units: one for applying the mechanical signal and another for applying the electrical signal. Correspondingly, the actuation location determination device can then also have two signal acquisition units: one for acquiring the mechanical signal and another for acquiring the electrical signal. The processing unit is then configured to determine both the signal characteristics of the mechanical signal and the signal characteristics of the electrical signal and then determine the actuation location based on the signal characteristics of both signals. In this way, the actuation location can be determined more reliably and accurately.

[0033] In a further embodiment of the present invention, the processing unit is configured to determine a frequency characteristic and / or an amplitude characteristic of the detected signal as a signal characteristic.

[0034] To determine the amplitude and / or frequency characteristics, the acquired signal can be analyzed, for example, in spatial space and / or in the frequency domain. The signal is typically acquired in spatial space by the signal acquisition unit. The processing unit can transform the acquired signal into the frequency domain, for example, using a Fourier transform, in particular a Fast Fourier Transform (FFT). Specifically, the signal characteristics can exhibit a frequency spectrum of the signal.

[0035] In a further embodiment of the present invention, the processing unit is configured to determine a deviation of the specific signal characteristic from a predetermined signal characteristic and to determine the actuation point based on the specific deviation.

[0036] The predetermined signal characteristic is defined in advance. The predetermined signal characteristic is a signal characteristic without any actuation of the actuator. Thus, the predetermined signal characteristic specifies the signal characteristic that the signal detection unit captures when the actuator is not actuated, i.e., when the actuator is not touched by any person. The specified deviation is then the difference between the specified and predetermined signal characteristics. In other words, the deviation is a difference between a signal characteristic when the actuator is activated at a specific location and a signal characteristic when it is not activated.

[0037] In a further embodiment of the present invention, a predetermined signal characteristic is assigned to each location along the longitudinal direction of the actuating element, and the processing unit is configured to determine the actuating location based on a comparison of the determined signal characteristic with the predetermined signal characteristics.

[0038] In particular, a signal characteristic can be determined in advance for each location of the actuator along its longitudinal direction. To do this, the actuator can be actuated at the corresponding location, and then the signal characteristic for that location can be determined. Specifically, the signal generation unit, the signal acquisition unit, and the processing unit can be used to determine these signal characteristics. In other words, this performs a calibration. Specifically, a signal characteristic can be determined in this way for each location of the actuator along its longitudinal direction when actuated at that location. Specifically, a signal characteristic can be predefined for each location of the actuator along its longitudinal direction. The predetermined signal characteristics can then be stored, for example.For this purpose, the actuation location determination device or the processing unit may, for example, have a storage unit in which the predetermined signal characteristics can be stored.

[0039] In particular, each location can also be assigned a predetermined deviation from a signal characteristic without actuation, wherein the processing unit is configured to determine the actuation location based on a comparison of the determined deviation with the predetermined deviations.

[0040] In a further embodiment of the present invention, the actuating device further comprises a transmitting device which is configured to send information regarding the detected actuation and the specific actuation location to the safety controller.

[0041] In this way, if an actuation is detected, the actuator can transmit the detected actuation, along with the corresponding, specified location, to the safety controller. The safety controller can have a receiver configured to receive information about the detected actuation and the specific location from the actuator. The transmitter can be connected to the receiver via a signal link. The signal link can be either wired or wireless. In the case of a wireless connection, a radio link can be used to send and receive the information.

[0042] In a further embodiment of the present invention, the safety control is configured to switch off at least part of the system when an actuation of the actuating element is detected, in particular the part of the system in which the actuation point is located is switched off.

[0043] Actuating the actuator thus triggers an emergency shutdown of at least part of the system in response to the actuation. In particular, information about the location of a detected actuation can be used to shut down only a specific part of the system. This can improve productivity and efficiency, as, for example, in an emergency, only the directly affected parts of the system can be shut down.

[0044] In a further embodiment of the present invention, the safety system further comprises an output device for outputting the location of the actuation of the detected actuation of the actuating element.

[0045] The output of the location of a detected action allows for the improvement of maintenance and safety processes within the system. In particular, knowing the location of the action enables faster and more accurate identification of the cause (e.g., a system malfunction, a personal injury, etc.). The location of the action can be output visually and / or audibly. For visual output, the output device can, for example, include a display, particularly a screen, on which the location of the action can be shown. For audible output, the output device can, for example, include a loudspeaker. In particular, evaluating the location information (i.e., the location of the action) also allows for rapid output, for example, via indicator lights, to show the fastest and / or shortest escape route.

[0046] In a further embodiment of the present invention, the method further comprises the following step: - Output of the location of the recorded activity by means of an output device.

[0047] As previously explained, providing the location of the recorded action allows for the improvement of maintenance and safety processes for the system. In particular, knowing the location of the action enables faster and more accurate identification of the cause (e.g., a system malfunction, a personal injury, etc.) of the action.

[0048] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present invention.

[0049] Embodiments of the invention are illustrated in the drawing and explained in more detail in the following description. The drawing shows: Fig. 1 a schematic view of a first embodiment of an actuating device; Fig. 2 an exemplary view of an actuating element of the actuating device Fig. 1; Fig. 3 an exemplary view of an arrangement of the actuating device Fig. 1; Fig. 4 a schematic view of a second embodiment of an actuating device; Fig. 5 a schematic view of an embodiment of a safety system for securing a plant; Fig. 6 a schematic view of an embodiment of a method for securing a plant; Fig. 7 A schematic view of the procedural steps for determining a place of activity in the procedure of Fig. 6; Fig. 8 an exemplary view of an arrangement of an actuating device in a plant; Fig. 9 an exemplary view of a manual operation of an actuating device; Fig. 10 an exemplary view of a signal without actuation of an actuating device; and Fig. 11 An exemplary view of a signal with actuation of an actuating device.

[0050] Fig. Figure 1 shows a first embodiment of an actuating device 10. The actuating device 10 has an actuating element 12, an actuation detection device 14 and an actuation location determination device 16.

[0051] In Fig. Figure 2 shows an exemplary embodiment of the actuating element 12 of the actuating device 10. The actuating element 12 extends along a longitudinal direction 30. The actuating element 12 has a first longitudinal end 32 and a second longitudinal end 34. The first longitudinal end 32 and the second longitudinal end 34 are arranged on opposite sides of the actuating element 12 in the longitudinal direction 30.

[0052] The actuation detection device 14 is configured to detect an actuation of the actuating element 12. The actuation detection device 14 can, for example, detect a movement (e.g., a pulling or a pushing / pushing) of the actuating element 12 in the longitudinal direction 30 as an actuation of the actuating element 12.

[0053] The actuation location determination device 16 is configured to determine the actuation location of the detected actuation along a longitudinal direction 30. For this purpose, the actuation location determination device 16 comprises a signal generation unit 22, a signal acquisition unit 24, and a processing unit 26.

[0054] The signal generation unit 22 is configured to generate a signal on the actuating element along the longitudinal direction 30. The signal can be an electrical or mechanical signal. The signal generation unit 22 can generate the signal continuously or at a specific time, particularly when the actuation detection device has detected an actuation (i.e., in response to a detected actuation).

[0055] The signal acquisition unit 24 is designed to acquire the generated signal during actuation. In particular, the signal acquisition unit 24 can acquire the generated signal when the actuation detection device has detected an actuation (i.e., in response to a detected actuation) and the signal generation unit 22 has generated the signal.

[0056] The processing unit 26 is configured to determine a signal characteristic of the detected signal and to determine the operating point based on this determined signal characteristic. The signal characteristic to be determined can be, for example, a frequency characteristic and / or an amplitude characteristic, in particular a frequency spectrum, of the detected signal.

[0057] Each location along the longitudinal direction 30 of the actuating element 12 can be assigned a predetermined signal characteristic. The processing unit 26 can then determine the actuating location based on a comparison of the determined signal characteristic with the predetermined signal characteristics.

[0058] Alternatively, the processing unit 26 can determine a deviation of the specific signal characteristic from a predetermined signal characteristic and then determine the actuation location based on the specific deviation. For this purpose, each location along the longitudinal direction 30 of the actuating element 12 can be assigned a predetermined deviation from the predetermined signal characteristic, so that the actuation location can then be determined based on a comparison of the specific deviation with the predetermined deviations.

[0059] The actuation location determination device 16 can further comprise a storage unit 28. The storage unit 28 can, for example, store the predetermined signal characteristics or the predetermined deviations.

[0060] The actuating element 12 is, in particular, a cable or a rod. For example, the actuating element 12 can have a core and a sheath. The core is preferably cylindrical. The sheath surrounds the core. Both the sheath and the core extend longitudinally. The sheath and the core can be made of two different materials. The materials can be selected such that the generated signal has a desired signal characteristic and changes this characteristic as desired when actuated.

[0061] The actuating device 10 can also include a transmitting device 18. The transmitting device 18 is configured to send information regarding the detected actuation and the specific actuation location to a safety controller. The safety controller can, for example, be part of a safety system for a plant, wherein the safety controller, in response to an actuation of an actuating element 12 of the actuating device 10, can bring at least part of the plant into a safe state.

[0062] The actuating device 10 may further comprise a housing 20. The actuation detection device 14 may be arranged in or on the housing 20. The actuation location determination device 16 may be arranged at least partially in or on the housing 20. The transmitting device 18 may also be arranged in the housing 20.

[0063] In Fig. Figure 3 shows an exemplary arrangement of the actuating device 10. The housing 20 is arranged at the first longitudinal end 32 of the actuating element 12. The actuating device 10 can additionally have a counter element 36. The counter element 36 is arranged at the second longitudinal end 34. The counter element 36 serves as a counter bearing to which the second longitudinal end 34 is attached.

[0064] The actuation detection device 14 can be arranged in or on the housing 20. In this case, the actuation detection device 14 is also arranged at the first longitudinal end 32 of the actuating element 12. In particular, the actuation detection device 14 can be configured to detect a movement of the first longitudinal end 32 as the actuation. For example, the first longitudinal end 32 of the actuating element 12 can be coupled to a switching element of the actuation detection device 14, which is switched upon movement in the longitudinal direction 30.

[0065] The actuation location determination device 16 can be arranged in or on the housing 20 and / or in or on the counter element 36. In particular, the entire actuation location determination device 16 can be arranged in or on the housing 20 and thus at the first longitudinal end 32. Alternatively, the entire actuation location determination device 16 can be arranged in or on the counter element 36 and thus at the second longitudinal end 34. In a further alternative, a first part of the actuation location determination device 16 (for example, the signal detection unit 24, the processing unit 26, and the storage unit 28) can be arranged in or on the housing 20 and thus at the first longitudinal end 32, while a second part (for example, the signal generation unit 22) is arranged in or on the counter element 36 and thus at the second longitudinal end 34.

[0066] In principle, an existing actuating device which has an actuating element and an actuating detection device, but no actuating location determination device, could be retrofitted with an actuating location determination device (in particular a module that contains an actuating location determination device) to form the actuating device 10 described.

[0067] Fig. Figure 4 shows a second embodiment of an actuating device 10'. The actuating device 10' of the second embodiment has essentially the same structure as the actuating device 10 of the first embodiment. Identical elements are marked with the same reference numerals and are not explained in detail.

[0068] The actuating device 10' of the second embodiment differs from the actuating device 10 of the first embodiment in that the actuating device 10' of the second embodiment has a plurality of actuating elements 12.1 to 12.n. In particular, the actuating device 10' has a number n of actuating elements. The number n of actuating elements can be two, three, or more. The actuating elements 12.1 to 12.n are, in particular, cables. The actuating elements 12.1 to 12.n can be arranged such that one longitudinal end of each actuating element is located on the housing 20. The housing 20 thus serves as a star point with each actuating element extending in different directions.

[0069] The actuation detection device 14 is configured to detect the actuation of each of the actuating elements 12.1 to 12.n. The actuation location determination device 16 is configured to determine the actuation location for the corresponding actuating element upon detection of actuation. For this purpose, the actuation location determination device 16 can have, for each of the actuating elements 12.1 to 12.n, a signal generation unit 22 for generating a signal on the corresponding actuating element and a signal detection unit 24 for detecting the generated signal on the corresponding actuating element during actuation. The signal generation units and the signal detection units can be arranged together in the housing 20. Alternatively, they can also be arranged spatially separately from one another.The processing unit 26 of the actuation location determination device 16 is then configured to determine the actuation location of the corresponding actuating element based on each detected signal from the signal acquisition units. Alternatively, the actuation location determination device 16 can also have a processing unit for each of the actuating elements 12.1 to 12.n for determining the corresponding actuation location.

[0070] Fig. Figure 5 shows an embodiment of a safety system 50 for securing a plant 58. The safety system 50 can be part of the plant 58. The safety system 50 comprises an actuating device 10 and a safety controller 52. The actuating device 10 can, for example, be designed according to the actuating device 10 according to the first embodiment or the actuating device 10' according to the second embodiment.

[0071] The safety controller 52 is configured to bring the system 58 into a safe state in response to the actuation of an actuating element 12 of the actuating device 10. In particular, the safety controller 52 can shut down at least part of the system 58 when actuation of the actuating element is detected. For example, the safety controller 52 can shut down the part of the system 58 in which the specific location of the detected actuation is situated.

[0072] The safety controller 52 can include a receiver 56. The receiver 56 is configured to receive information regarding the detected actuation and the specific actuation location from the actuating device 10, in particular from the transmitter 18. The transmitter 18 can be connected to the receiver 56 via a signal connection. The signal connection can be either wired or wireless.

[0073] The safety system 50 can further include an output device 54. The output device 54 is configured to output the location of the detected actuation of the actuating element 12. The output can be, for example, optical via a display device or acoustic via a loudspeaker.

[0074] The safety system 50 can also have a plurality of actuating devices 10. The actuating devices 10 can be arranged in different parts of the system 58. Each of these actuating devices 10 can, in the event of an actuation, signal to the safety controller 52 that an actuation has been detected and where the detected actuation is located. The safety controller 52 can, for example, bring the entire system or at least the respective parts of the system 58 in which the respective actuating device 10 is arranged into a safe state, in particular by switching it off.

[0075] The described safety system 50 with the described actuating device 10 can be used for safeguarding in various systems 58. In particular, the described safety system 50 can be used in systems with workplaces that extend over a certain area of ​​the system to ensure the longest possible reach of the release element. These include sorting lines, logistics and storage facilities, waste disposal plants, as well as the mining sector. Various application examples for systems 58 are described below, in which the described safety system 50, and especially the described actuating device 10, can be used advantageously.

[0076] A first application example for system 58 is mining, specifically a mine. Mining operations often involve long conveyor routes and working environments that are sometimes obscured by pollution and lighting conditions. In particular, conveyor routes may be divided into segments spanning horizontal and vertical areas.

[0077] A second application example for system 58 is logistics, particularly warehouse logistics, where conveyor belts and conveyor lines are used. This can involve changing transport directions and varying goods sizes. Manual workstations may be provided along some of the conveyor belts. In particular, branched arrangements of the transport lines are possible.

[0078] A second application example for system 58 is the waste management industry, particularly sorting facilities. Waste management companies have long transport routes that can sometimes handle heavy loads. Manual workstations are provided along the conveyor lines for the purpose of waste separation.

[0079] In all three application examples, cable-guided safety systems extending over long distances are currently used. The described safety system 50 with the described actuating device 10 makes it possible to cover the same area (as with previous cable-guided safety systems), but additionally allows the precise location of actuation (trigger point) to be determined when the actuating device 10 is activated (triggered), which is not possible with previous cable-guided safety systems.

[0080] Fig. Figure 6 shows an embodiment of a method 70 for securing a plant, for example the plant 58. The method 70 can be carried out, for example, by means of the safety system 50.

[0081] In a first step 72 of the procedure 70, an actuation of the actuating element 12 is detected by means of the actuation detection device 14, wherein the actuating element 12 extends in the longitudinal direction 30.

[0082] In a further step 74 of the procedure 70, an actuation point of the detected actuation in the longitudinal direction 30 is determined by means of the actuation point determination device 16.

[0083] In a further step 76 of the procedure 70, the system 58 is brought into a safe state by means of the safety control 52 in response to an actuation of the actuating element 12.

[0084] In a further, optional step 78 of the procedure 70, the location of the actuation of the recorded actuation is output by means of the output device 54.

[0085] In Fig. The 7 procedure steps are specified by means of which the place of action can be determined in step 74 of procedure 70.

[0086] In a first step 90, the signal generation unit 22 of the actuation location determination device 16 generates a signal on the actuation element 12 along the longitudinal direction 30.

[0087] In a further step 92, the signal acquisition unit 24 of the actuation location determination device 16 records the generated signal during actuation.

[0088] In a further step 94, the processing unit 26 of the actuation location determination device 16 determines a signal characteristic of the detected signal.

[0089] In a further, optional step 96, the processing unit 26 determines a deviation of the specified signal characteristic from a predetermined signal characteristic.

[0090] In a further step 98, the processing unit 26 determines the actuation location based on the specified signal characteristic. In particular, the processing unit 26 can determine the actuation location based on the specified deviation.

[0091] Fig. Figure 8 shows an exemplary arrangement of the actuating device 10 in a section (part) of a system 58. In this example, the system 58 has a conveyor section. The actuating element 12 is a cable pull in this example. The actuating element 12 extends along the conveyor section in the longitudinal direction 30. The longitudinal direction 30 essentially corresponds to the conveying direction of the conveyor section. The housing 20 is arranged at the first longitudinal end of the actuating element 12. The counter element 36 is arranged at the second longitudinal end of the actuating element 12. The actuation position detection device 16 can be arranged in or on the housing 20 and / or in or on the counter element 36.

[0092] In addition to the actuating element 12, the actuating device 10 may have another actuating element, such as a button, which is arranged on the housing and can also be actuated.

[0093] The following refers to the Fig. Figure 9-11 explains how the actuation point on the actuation element 12 in the longitudinal direction 30 can be determined by means of a signal generated on the actuating element 12.

[0094] In Fig. Figure 9 shows an example of manual actuation of the actuating element 12 of the actuating device 10. For this purpose, a person grasps the actuating element 12 at an actuation point 110 and moves (in particular pulls or pushes) the actuating element 12. In doing so, the first longitudinal end 32 of the actuating element 12 (on which the housing 20 with the actuation detection device 14 is arranged) is moved in the longitudinal direction. During actuation, the actuating element 12 is thus touched, in particular grasped, by the person at the actuation point.

[0095] As already explained, a signal is generated on the actuating element 12 along the longitudinal direction 30 by means of the signal generation unit 22. The signal is, for example, a vibration. In particular, the signal can also consist of several vibrations, from which the signal is then composed.

[0096] The signal can be generated, for example, by means of the signal generation unit 22 and sent along the actuating element. The actuating element 12 can also be at least part of a mechanical or electrical system with a specific resonance behavior, whereby the signal generation unit 22 can excite this system to resonance, i.e., set it into vibration. The signal then corresponds to the excited vibration or vibrations.

[0097] When the actuating element 12 is activated, it is grasped or touched by a person. This changes the signal behavior, in particular the signal characteristics of the generated signal.

[0098] For example, during actuation, the resonance behavior of the excited system, particularly the resonance behavior of the actuating element, can change. Specifically, the frequencies and / or amplitudes of the oscillation(s) of the generated (excited) signal can change. In other words, the frequency characteristic or the amplitude characteristic (especially the frequency spectrum) of the generated signal can change.

[0099] Furthermore, activation can also lead to additional resonances, which can excite further vibrations. Here too, activation changes the frequency characteristics and / or the amplitude characteristics (especially the frequency spectrum) of the generated signal.

[0100] Furthermore, the actuation can also lead to signal attenuation, thereby influencing the amplitude(s) of the signal's oscillation(s). This particularly affects the amplitude characteristic of the generated signal.

[0101] Fig. Figure 10 shows an exemplary view of a signal without actuation of the actuating device 10, i.e., without actuation of the actuating element 12. In this example, the signal is a sine signal, i.e., a sine oscillation.

[0102] Fig. Figure 11 shows an exemplary view of a signal with actuation of an actuating device, i.e., with actuation of the actuating element 12. The signal consists of a superposition of several oscillations. In particular, the sine signal from Fig. 10 superimposed with higher frequency vibrations resulting from the actuation.

[0103] The Fig. 10 and Fig. Figure 11 thus shows an example in which the signal behavior, in particular a signal characteristic, changes by actuating the actuating element 12.

[0104] To generate a mechanical signal, the signal generation unit 22 can include a mechanical excitation system that mechanically excites the actuating element 12 to vibrate or sends a shock wave along the actuating element 12. For example, the signal generation unit 22 can include a piezoelectric element or a drive unit for this purpose. The mechanical signal can consist of a single vibration or be composed of several vibrations. Actuating the actuating element 12 mechanically influences the signal. This actuation changes the signal behavior, in particular its signal characteristics. The generated signal can then be detected during actuation by means of the signal acquisition unit 24. For this purpose, the signal acquisition unit 24 can, for example, include a corresponding sensor. As a result of the actuation, the detected signal has a signal characteristic that depends on the point of actuation.

[0105] To generate the electrical signal, the signal generation unit 22 can include an electrical excitation system that generates the electrical oscillation. For example, the signal generation unit 22 can include an electric generator, an oscillator circuit, an open resonant circuit, or a closed resonant circuit. Actuating the actuating element 12 electrically influences the signal. This actuation changes the signal behavior, in particular its signal characteristics. The generated signal can then be detected during actuation by means of the signal detection unit 24. For this purpose, the signal detection unit 24 can, for example, include a corresponding sensor. As a result of the actuation, the detected signal has a signal characteristic that depends on the point of actuation.

[0106] When an electrical signal is generated on the actuating element 12, it is possible to identify the point where a person touches the actuating element 12 and establishes a connection to the ground. Technically, by applying a signal, the change can be measured, as the cable can be assumed to act as a kind of antenna with a defined frequency / resonance. When subjected to a "transmission frequency," the signal's behavior changes if a body alters the "antenna's" behavior. The point where the connection to the ground was established can then be determined through measurement. This allows conclusions to be drawn about the cable length and thus the location of the trigger point, i.e., the point of actuation.

[0107] The signal generation unit 22 and the signal acquisition unit 24 can both be arranged at either the first longitudinal end 32 or the second longitudinal end 34. Alternatively, the signal generation unit 22 can be arranged at one of the two longitudinal ends, while the signal acquisition unit 24 is arranged at the other longitudinal end.

[0108] To prevent an unintentional triggering of the diagnosis, it may be possible, for example, to only evaluate the diagnosis after a mechanical triggering of the actuating element 12 as an emergency stop has also occurred.

[0109] The measurement system can also have a corresponding response threshold or sensitivity to filter out external interference. External interference can include contamination, accidental contact with work clothing, rainwater, or environmental influences (rain, snow, etc.).

Claims

[1] Actuating device (10) for a safety control (52) for bringing a system (58) into a safe state in response to an actuation of an actuating element (12) of the actuating device (10), wherein the actuating device (10) comprises the actuating element (12) and an actuation detection device (14) for detecting an actuation of the actuating element (12), wherein the actuating element (12) extends in a longitudinal direction (30), characterized by, that the actuating device (10) further comprises an actuation location determination device (16) for determining an actuation location of the detected actuation along the longitudinal direction (30), wherein the actuation location determination device (16) comprises a signal generation unit (22) for generating a signal on the actuating element (12) along the longitudinal direction (30), a signal detection unit (24) for detecting the generated signal during actuation, and a processing unit (26), wherein the processing unit (26) is configured to determine a signal characteristic of the detected signal and to determine the actuation location based on the determined signal characteristic, wherein the signal is a vibration and the signal generation unit is configured to mechanically excite the actuating element (12) to vibrate. [2] Actuating device (10) according to claim 1, wherein the actuation detection device (14) is configured to detect a movement of the actuating element (12) in the longitudinal direction as actuation of the actuating element (12). [3] Actuating device (10) according to claim 1 or 2, wherein the processing unit (26) is configured to determine a frequency characteristic and / or an amplitude characteristic of the detected signal as a signal characteristic. [4] Actuating device (10) according to one of claims 1 to 3, wherein the processing unit (26) is configured to determine a deviation of the specified signal characteristic from a predetermined signal characteristic and to determine the actuation location based on the specified deviation. [5] Actuating device (10) according to one of claims 1 to 4, wherein each location along the longitudinal direction (30) of the actuating element (12) is assigned a predetermined signal characteristic, and wherein the processing unit (26) is configured to determine the actuating location based on a comparison of the determined signal characteristic with the predetermined signal characteristics. [6] Actuating device (10) according to one of claims 1 to 5, wherein the actuating device (10) further comprises a transmitting device (18) which is configured to send information regarding the detected actuation and the specific actuation location to the safety controller (52). [7] Actuating device (10) according to any one of claims 1 to 6, wherein the actuating element is a rope or a cable pull. [8] Safety system (50) for securing a plant (58), wherein the safety system (50) comprises an actuating device (10) according to any one of claims 1 to 7; and a safety control (52) for bringing the plant (58) into a safe state in response to actuation of the actuating element (12) of the actuating device (10). [9] Safety system (50) according to claim 8, wherein the safety control (52) is configured to switch off at least part of the system (58) when an actuation of the actuating element (12) is detected. [10] Safety system (50) according to claim 9, wherein the safety control (52) is configured to switch off at least the part of the system (58) in which the point of operation is located. [11] Security system (50) according to one of claims 8 to 10, wherein the security system (50) further comprises an output device (54) for outputting the location of the detected actuation of the actuating element (12). [12] Method (70) for securing a plant (58), comprising the following steps: - Detection (72) of an actuation of an actuating element (12) by means of an actuation detection device (14), wherein the actuating element (12) extends in a longitudinal direction (30); - Determining (74) an actuation location of the detected actuation in the longitudinal direction (30) by means of an actuation location determination device (16), wherein a signal generation unit (22) of the actuation location determination device (16) generates a signal on the actuation element (12) along the longitudinal direction, wherein a signal detection unit (24) of the actuation location determination device (16) detects the generated signal during actuation, wherein a processing unit (26) of the actuation location determination device (16) determines a signal characteristic of the detected signal and determines the actuation location based on the determined signal characteristic; and - Transferring (76) the system (58) into a safe state by means of a safety control (52) in response to an actuation of the actuating element (12), wherein the signal is a vibration and the signal generation unit mechanically excites the actuating element (12) to vibrate. [13] The method of claim 12, wherein the method further comprises the following step: - Output (78) of the location of the recorded activity by means of an output device (54).

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