Modeling machine, arrangement and method for determining a person's risk

Abstract

The invention relates to a modeling machine, an arrangement, and a method for detecting a danger to a person in a current working area of ​​a manipulator during a volume change of an object by means of the manipulator, comprising the steps of selecting a first, in particular memory-stored, field data set from a plurality of field data sets based on a first current position of the manipulator, wherein the first field data set is in particular assigned a first predefined object contour, determining a current second object contour at the first position based on second sensor data from a second measurement by means of a sensor arranged indirectly and / or directly on the manipulator, detecting that the second object contour deviates from the first object contour and, in response thereto, outputting a signal which represents the danger to the person in the current working area of ​​the manipulator.

Description

The invention relates to a modelling machine, an arrangement and a method for determining a risk to a person.Modeling machines for producing small- and large-volume models are known in the prior art. Models are used in particular in the design process for products, in order to obtain, for example, an overall optical impression of the future volume body and, if appropriate, to adapt the shaping manually. In other words, the model is created within the scope of a design process by means of a modeling machine and under the manual action of a designer.In particular, a moldable substance, such as clay, can be used to produce the model. For production-technology production of the model, the modelling machine can be equipped in particular by means of an automatic milling cutter, also called a CNC-controlled, automatically moved milling arm, which transmits digital CAD data of the model to a mold block. In addition to the automated production of the model by production technology, manual manipulations on the mold block can be carried out by a designer, such as, for example, the manual application or removal of clay.A model can represent a motor vehicle, for example. The model may represent the represented subject matter on a scale of, for example, 1:1 or 1:4 or 1:16.Simultaneous fully automatic work of the modelling machine and the designer on the mould block poses risks to the designer who can be violated by the automatically acting machine.Safety technologies are known which exclude access by a person to the hazardous area of the machine, such as safety fence. Safety technologies are also known which detect access by a person to a protected area and, upon detection, output corresponding control commands to the machine, for example safety fence with door contact switch or laser barrier. In particular on large models, there may be a large distance between a working area of an automated handling tool (milling cutter) of the modeling machine and a working area of a human, for example designer. Further prior art is described in EN ISO 13857.No modeling machines are known in the prior art which ensure functionally safe operation of the modeling machine during a simultaneous presence of a human being, for example, for manual processing of the mold block.The object of the invention is to improve the prior art.The object is achieved by a method for ascertaining a risk to a person in a current working area of a manipulator during a volume change of an object by means of the manipulator, comprising the steps:selecting a first field data set, which is stored in particular in terms of storage technology, from a plurality of field data sets on the basis of a first current position of the manipulator, wherein the first field data set is assigned in particular a first predefined object contour,determining a current second object contour at the first position on the basis of second sensor data of a second measurement by means of a sensor arranged indirectly and / or directly on the manipulator,determining that the second object contour deviates from the first object contour and in response theretooutputting a signal which represents the risk of the person in the current working area of the manipulator.By observing the object contour in the current working area of the manipulator and detecting a change in contour, the stopping and / or entering of a person into the working area of the manipulator and / or the projecting of a body part of a person into the working area of the manipulator is advantageously detected. The observation method is based on an activation of a field data set which is associated with the current first position of the manipulator. As a result, functionally safe switching outputs are advantageously switched when an object and / or a person is unexpectedly located in the protection area of the manipulator which is assigned to the current first position. In addition, the detection is reacted to by means of the signal which can be used for an acoustic warning and / or a machine control.Advantageously, by selecting the first field data set, which is stored in particular using storage technology and is assigned to the first position of the manipulator and has the first predefined object contour, a dynamic changeover to the current field data set with the currently valid object contour is realized as a function of a current position of the manipulator. The field data sets are in particular released in advance by an operator and thus their validity verified. Thus, further advantageously, fully automatically valid configuration data of the safety system, which are enabled by an operator in particular in advance, are defined by programming technology and thus functional safety is implemented.An essential idea of the invention is that a risk to a person is determined by means of automatic contour detection during a manipulation of an object on the basis of predefined protective zones.The following conceptual terms will be explained:A "risk" is understood in particular to mean a risk of a collision or impact of the manipulator or of an element connected to the manipulator with a person.A "person" is understood in particular to mean a worker, also referred to as worker, operator and / or human, who is located in the work area of the manipulator. The person can manually manipulate the object. The manual manipulation can be, for example, a manual application and / or removal of forming material, for example clay. The manual manipulation can be carried out for protecting the person parallel to the work of the manipulator as long as a protection area of the manipulator with respect to its current work area is not affected. The safety of the person is to be ensured functionally reliably by machine.A "current working area" is understood in particular to mean the working area of a manipulator in which it is active on the object. The current working area thus surrounds the manipulator in a horizontal and / or vertical orientation. The current working area is present at the first position. The first position can be defined in particular by means of measurement data, in particular of a displacement measurement sensor of the manipulator and / or of the guide devices.A "manipulator" is understood in particular to mean a tool which is controlled in an automated manner. The manipulator can be configured to remove molding material. The manipulator can have rotating blades, for example. Additionally or alternatively, the manipulator can have a cutting tool. The manipulator can be configured in particular for changing the volume of the object.A "volume change" is understood in particular to mean a removal of the material of which the object is made. Furthermore, the addition of material to the object can also be understood as a change in volume.An "object" is understood in particular to mean a model. The model has in particular a molding material. The molding material can be clay, for example. The object represents an at least digitally designed object. The object can be, for example, a model of a motor vehicle. The object may represent the object on a scale. The scale may be, for example, 1:1, 1:2, 1:4, 1:16, etc.At each of a plurality of predefined positions of the manipulator, a respective first object contour is determined before the second time and is stored in particular as a first field data set using storage technology. For risk assessment, by selecting the valid field data set, in particular exactly the first object contour of the plurality of predefined first object contours is provided in each case, which is assigned to the current position of the manipulator. Accordingly, a "first predefined object contour" is understood to mean, in particular, exactly the predefined contour of the object which is assigned to the first predefined position of the manipulator, as the current position of the manipulator.The first object contours are determined in particular on the basis of first sensor data of a first measurement along the object. In this case, the sensor is guided in particular along the object for generating the first sensor data, so that it at least temporarily assumes all predefined positions. Alternatively, the first measurement can be made from a fixed point of the sensor.The sensor can be guided along the object by a guide device. The guide device can be a guide rail. The guide device on which the scanner is arranged corresponds in one embodiment to a holding device of the manipulator.The number of the plurality of predefined positions may be derived from a model size. Additionally or alternatively, position ranges can be defined which are assigned to a respective position. In this way, the size of the number can advantageously be limited.The first object contours of the field data records assigned to the respective predefined positions can have a degree of overlap, in particular, with a first object contour of a respective adjacent field data record. A width of the respective first object contour can be definable, in particular definable by an operator.The first object contour can be assigned an offset which corresponds in particular to a tolerance range on a surface of the object. By means of the offset, incorrect measurements due to stored chips and / or sensor noise can advantageously be reduced.The totality of the first object contours yields an "original object contour" of the object, also called raw contour. In other words, an overall contour of the object is composed of the first object contours, which can be arranged superimposed.Each of the plurality of respective first object contours is assigned a first danger area and / or a second danger area in one embodiment. The assignment can be effected in a program-based and / or manual manner and additionally or alternatively, in particular to ensure functional safety, can be enabled by an operator, in particular an authorized person. The respective field data set thus advantageously comprises in particular the respective first object contour and the respective first and second danger areas and is assigned to a plurality of positions, also called position areas.The second hazardous area can surround the working area of the manipulator in particular centrally and have a pre-definable second width. The second width may be definable by an operator.The first hazardous area can be spaced apart from the manipulator and in particular adjoin the second hazardous area. In a two-dimensional embodiment, the second hazardous area is thus arranged in two parts, to the right and to the left of the first hazardous area.In a three-dimensional embodiment, the first hazardous area can have a substantially hollow cylindrical shape and can thus surround the second hazardous area. Additionally or alternatively, the first hazardous area can have a cuboidal shape.A first width of the first hazardous area, of the respective part of a two-part first hazardous area and / or of a wall thickness of a hollow cylindrical first hazardous area can be definable, in particular definable by an operator. The width definition is in particular adjustable by software.The definition of a first hazardous area and / or a second hazardous area advantageously opens up the possibility of differentiating a hazard, since the hazard is already detected in a first hazardous area that is farther away from the manipulator and can be reacted to this, in particular by reducing the machine speed (manipulator), and a machine stop is initiated in particular only when the hazard is detected in a second hazardous area that is narrower than the manipulator.In this way, despite a detection of a deviation of the second object contour from the first object contour and thus a potential risk to a person, the work order of the manipulator can be continued and the person who may be at risk can be warned and / or motivated to prevent a further approach to the manipulator or leave the working area of the manipulator. In the case described above, a travel speed of the manipulator is reduced in particular. Advantageously, the travel speed is reduced until no longer any contour deviation can be detected in the monitored region. Since a restart of the plant may be necessary in the event of a direct engine stop and / or unintentional material losses may occur, a two- or multistage reduction of the acting forces and torques adapted to the situation is advantageous.Additionally or alternatively, the output signal can be configured such that an acoustic and / or optical warning is output by means of an actuator, which advantageously alerts the person who may be at risk to the detected hazardous situation and / or stimulates the hazardous situation to be resolved.A "second object contour" is understood to mean a contour of the object at a predefined position at a second point in time. The second object contour is determined in particular on the basis of second sensor data of a second measurement at a predefined position along the object. The second sensor data are determined in particular by means of the sensor with which the first sensor data were generated. The sensor can be fixed at a position for generating the second sensor data and / or can be guided along the object in particular by means of a guide device. The current position of the manipulator in the guide device can be detected by means of displacement sensors and used to form an overall model. The second object contour is assigned in particular to a plurality of positions, also called position range. By means of an assignment of a plurality of positions to the second object contour, a number of the stored second object contours can advantageously be reduced.A "deviation" of the second object contour from the first object contour is understood to mean a change of the contour in a partial region, in particular at a predefined position along the object, or the complete contour. In particular, the current working range of the manipulator is reserved as a sub-region of the original object contour as a second object contour.The determination of the deviation corresponds in particular to the determination of the risk of a person, since the current second object contour does not correspond to the expected first object contour at the first position.In response to the determined risk, a signal is output which represents the determination of the risk of the person in the current working area of the manipulator.In one embodiment, it can additionally or alternatively be ensured, in particular by programming, whether the deviation of the second object contour from the first object contour corresponds to a volume change produced by means of the manipulator. If the deviation of the second object contour from the first object contour is greater than a volume change produced by means of the manipulator, a risk for persons is confirmed in this way. In this case, the method could further comprise the steps of: establishing that the deviation of the second object contour from the first object contour corresponds to the volume change produced by means of the manipulator, and, in response thereto, overwriting the stored first object contour with the parameters of the second object contour. In this way, it is ensured that the observation of the contour relates in each case to the contour produced by means of the manipulator. Thus, an optimized precision of the evaluation of a contour deviation can be advantageously achieved.In one embodiment, the sensor is in particular a distance sensor. A distance sensor advantageously supplies data of respective distances to predefined spatial directions. From these data, a surface contour can be calculated in particular with computer assistance. The distance sensor can be an optical sensor. An optical sensor can advantageously be configured to measure a distance to a signal interruption, e.g. an object, on the basis of the flight time duration of a signal (ToF). The optical sensor is preferably a 2D laser sensor, a 3D laser sensor and / or a laser scanner and / or an ultrasonic sensor. Additionally or alternatively, the optical sensor may be a camera. The camera preferably outputs infrared laser pulses and detects a light reflected from an object. A second and / or third sensor and / or further sensors can also be arranged. The further sensors can likewise be distance sensors, in particular optical sensors. The further sensors can be arranged in particular in such a way that they record different line contours of the observed object and these are advantageously arranged in such a way that, for example, both a lower region of the object and an upper region and / or a front region of the object and a rear region and / or a left region of the object and / or a right region of the object are detected. The sensor or sensors may be fixed and / or pivotable in one or more directions. A pivotable mounting of a line sensor has the particular advantage that a spatial contour can be determined from a line measurement by pivoting the sensor and a corresponding manipulation of the measured values.In an embodiment with a 2D laser sensor, a particular challenge is the secure monitoring of a three-dimensional space. Surprisingly, it has been found that the monitoring can be realized by means of two 2D sensors which are aligned and arranged in a predefined embodiment described below.The first 2D laser sensor is arranged essentially above the object. The angle to the vertical is in particular β=0..30°. A distance from the object is to be selected as large as possible depending on the milling cutter and is in particular at least 20 cm.The second 2D laser sensor is arranged substantially vertically below the first 2D laser sensor, in particular at a height of 10 to 20 cm above the ground. In this way, an under-creep is advantageously excluded. An angle of the second 2D laser sensor to the horizontal is advantageously 0° and the second 2D laser sensor can be slightly inclined to the Y axis, in particular by 0.15°.Due to the above-described arrangement of the exactly two 2D laser sensors per manipulator, it is advantageously possible to reliably monitor the area in the vicinity of the hazard zone (milling head).In one embodiment, the method further comprises the step of ascertaining that the deviation of the second object contour from the first object contour is present in a first hazardous area of the current working area of the manipulator, and of outputting a control signal to a control device of the manipulator, which control signal represents a speed reduction of a working speed of the manipulator. In this way, it is advantageously established that the risk is present in a first risk area compared to a second risk area or further risk areas or further sub-areas of the overall working area of the manipulator. In this way, a computational complexity is particularly advantageously reduced. The output of the signal advantageously causes a change in the machine control of the manipulator, so that the risk is advantageously averted in this way.After the hazardous situation has been resolved, in other words the second object contour again corresponds to the first object contour, the manipulator preferably executes the set program fully automatically again.The control device of the manipulator can be configured to cause a movement of the manipulator in the X-direction, Y-direction and / or Z-direction or to switch the manipulator on or off and / or to move the manipulator in an X-, Y- and / or Z-direction in particular rotationally. Such a central control device advantageously has a low susceptibility to errors and a high positioning accuracy of the manipulator, which also advantageously realizes a precise definition of the working area and thus of the hazardous area and a safe positioning of the manipulator in the case of a safety-relevant machine top. In response to the control signal, the control device can in particular cause an engine stop and / or continued travel of the engine at reduced speed.Storage can be effected in particular on a storage element. The memory can be, in particular, a primary memory. A primary memory stores, in particular, data and instructions which are processed shortly after the storage of, in particular, a main processor. The primary memory can be, in particular, a cache, working memory, RAM, DRAM, SRAM, ROM, EEPROM, virtual memory, etc. The use of a primary memory advantageously realizes a fast access possibility and secure storage of the determined first object contour.In a further embodiment, the optical sensor is arranged directly and / or indirectly on the manipulator. In one embodiment, the current position of the sensor corresponds to that of the manipulator or can be determined from it.By means of a direct arrangement of the sensor on the manipulator, a guidance of the sensor with the manipulator and thus always a detection of the working range of the manipulator is advantageously achieved in terms of hardware.For an indirect arrangement, the optical sensor can be arranged on the manipulator by means of a connecting element. By means of the connecting element, a measurement range of the sensor can advantageously have an unrestricted view of the object, in particular one which is not restricted by the manipulator. Additionally or alternatively, the optical sensor can be arranged on a guide device of the manipulator. The guide device can be movable relative to the object. The optical sensor can be movable together with the manipulator relative to the object. Due to a common mobility of the manipulator and of the sensor with respect to the object, a position of the sensor with respect to the manipulator is advantageously predefined and corresponding conversion matrices of the sensor data for determining the object contour are thereby less complex or the initialization effort is lower. Alternatively, the optical sensor can be arranged on a frame structure, for example, and can be movable independently of the manipulator, or the manipulator can be movable independently of the optical sensor. In the case of a relative mobility of the sensor with respect to the manipulator, it is advantageously possible to reserve a plurality of subareas of the object, independently of the working area of the manipulator. In the latter case, the field of view of the optical sensor comprises all positions of the manipulator in the overall operating range of the machine.The manipulator can be, in particular, a milling cutter. The milling cutter can be, in particular, an end mill, radius milling cutter, finger milling cutter and / or a ball end mill. The milling cutters mentioned above advantageously realize a depth of insertion of the milling cutter into the object in the axial direction. The use of a milling cutter for modelling an object is advantageous in particular in the case of free-form surfaces and the realization of convex and / or concave contours.The object may be a model of a means of transportation in one embodiment. The means of transport can be, in particular, an automobile. In other words, the object can be, in particular, an automobile model. The object can in particular have a formable modelling mass. The moldable modelling composition can in particular comprise wax. The modelling composition may additionally or alternatively comprise oils, fillers, such as, for example, sulfur, and / or pigments. The moldable modelling compound can be, in particular, clay. Clay can advantageously be machined in an automated manner using tools. In addition, the clay molded body can advantageously be supplemented with clay mass in partial regions. Finally, clay is also advantageously easily processable manually. For a curative design process for developing a shaped body, the processing properties, which reduce the material in particular, as well as the forming properties, which increase the material in particular, are of particular importance.In a further aspect, the object is achieved by an arrangement having an evaluation unit, a first guide device, a first manipulator, a first optical sensor and having a control device, wherein the arrangement is set up in such a way that a method described above is realized. Substantially the same advantages and definitions apply to the second aspect as already explained above, for which reason reference is made to the above explanations in order to avoid repetitions.The control device can be connected to the first guide device and configured to position the first manipulator relative to the model by means of the first guide device and in this way to process the model and to slow down and / or stop a movement of the manipulator as a function of the second signal. In this way, an independent relative movement of the manipulator with respect to the object is advantageously realized. The use of a single control device for controlling the movement of the manipulator relevant to the processing of the model and for safety-relevant deceleration of the movement of the manipulator advantageously leads to a reduction in the complexity of the control task and / or programming and thus to an increase in the resiliency of the safety function.In a third aspect, the object is achieved by a modelling machine having a first arrangement according to the second aspect and / or a second arrangement according to the second aspect, wherein the modelling machine is configured in such a way that a method described above is realized. In other words, the second arrangement has a second manipulator arranged on a second guide device, a second optical sensor which is connected to the first evaluation unit of the first arrangement in a sensor-data-exchanging manner via the data input and acquires sensor data of measurements along the object from a second perspective, and a second control device which is connected to the second manipulator and to the data output of the evaluation unit in a sensor-data-exchanging manner. Furthermore, substantially the same advantages and definitions as already explained above also apply to the third aspect, for which reason reference is made to the above explanations in order to avoid repetitions.The invention is explained in more detail below with reference to exemplary embodiments. They show FIG. 1 shows a schematic illustration of a front view of a modelling machine with two milling heads, FIG. 2 shows a schematic illustration of a plan view of a modelling machine having two milling heads, and FIG. 3 is a flow chart of a method according to the invention.A motor vehicle model 101 consisting of clay is produced from a raw shaped body by means of a first milling head 103 and a second milling head 109 of a modelling machine 100. The modeling machine 100 includes metal and a base structure 117. Alternatively, the modeling machine 100 may include only the first milling head 103 or a plurality of other milling heads.The first milling head 103 is arranged by means of a first milling cutter holder 119 on a first Y-Z stand 107 of the modelling machine 100. The second milling head 109 is arranged on the second Y-Z stand 111 of the modelling machine 100 by means of a second milling cutter holder 120. The first milling cutter holder 119 has a guide device for the first milling head 103 and can rotate the latter about a Z axis and / or a Y axis and / or X axis by means of at least one electric motor. In addition, the first milling cutter holder 119 is configured to move the first milling head 103 in a Y direction by means of a spindle and spindle motor. The second milling cutter holder 120 has its own guide device for the second milling head 109 and can rotate the latter about a Z axis and / or a Y axis and / or X axis by means of at least one electric motor. In addition, the second milling cutter holder 120 is configured to move the second milling head 109 in a Y direction by means of a spindle and spindle motor.The first Y-Z stand 107 moves the first milling cutter holder 119 by means of a respective first guide rail, in particular in an X direction, and by means of a respective second guide rail in a Z direction. The second Y-Z stand 111 moves the second milling cutter holder 120 by means of a respective first guide rail, in particular in an X direction, and by means of a respective second guide rail in a Z direction. The first Y-Z stand 107 and the second Y-Z stand 111 in particular comprise metal and are indirectly connected to one another, in particular via the basic structure 117 of the modelling machine 100.A first laser scanner 105 ais arranged on an upper holder 113 aof the first Y-Z stand 107, and a second laser scanner 105 bis arranged on a lower holder 113 bof the first Y-Z stand 107. A third laser scanner 105 cis arranged on an upper holder 115 aof the second Y-Z stand 111, and a fourth laser scanner 105 dis arranged on a lower holder 115 bof the second Y-Z stand 111. Additionally, exclusively or alternatively, a further laser scanner can be arranged directly and indirectly on the first milling cutter holder 119 of the first milling head 103 or on the second milling cutter holder 120 of the second milling head 109. Alternatively, the number of laser scanners can be reduced or extended as desired.The first milling head 103 is connected to a data input of a first control unit 131 in a control signal-receiving manner and the second milling head 109 is connected to a data input of a second control unit 135 in a control signal-receiving manner. The first control unit 131 and the second control unit 135 can also be a single control unit which implements the control tasks of both control units.By means of the first laser scanner 105 aand the second laser scanner 105 b, 64 predefined field sets are created, which each have a specific object contour for a predefined but mutually different X position along the motor vehicle model 101. Each of the predefined field sets is assigned a first protection area 121 aof the first milling head 103 and a second protection area 121 bof the first milling head 103, which protection area are released by the operator 190 and stored in terms of storage.By means of the third laser scanner 105 cand the fourth laser scanner 105 d, 64 further predefined field sets are created, which each have a specific object contour for a predefined but mutually different X position along the motor vehicle model 101. Each of the further predefined field sets is assigned a first protection area 123 aof the second milling head 109 and a second protection area 123 bof the second milling head 109, which are released by the operator 190 and stored in terms of storage.The working area of the first milling head 103 is surrounded by the first protection area 121 aof the first milling head 103 and the second protection area 121 bof the first milling head 103. The working region of the second milling head 109 is surrounded by the first protection region 123 aof the second milling head 109 and the second protection region 123 bof the second milling head 109. The respective second protection areas 121 band 123 bdirectly surround the respective milling head. In other words, the respective second guard areas 121 band 123 binclude the respective milling head. The first protection areas 121 aand 123 a, facing away from the respective milling head, bear against the respective second protection areas 121 band 123 b. Alternatively, the first protection areas 121 aand 123 aincrease on the respective second protection areas 121 band 123 b.The respective first protection regions 121 aand 123 aextend in the Y direction between the respective portal 107, 111 and the motor vehicle model 101. The respective first protection areas are spread out two-dimensionally in the X / Y direction to the left and right of the respective milling head 103, 109 and each have a distance from the model of 5 cm to 50 cm as an offset thereto. The respective width of the surface which extends in the X direction is 5 cm to 50 cm. In an alternative embodiment, the range can also be selected to be larger. In an alternative three-dimensional embodiment of the first protection area 121 aand 123 a, the height of the surface can be in particular + / - 50 cm with respect to a respective height of the respective milling head 103, 109.The respective second protection regions 121 band 123 bextend in the Y direction between the respective portal 107, 111 and the motor vehicle model 101. The respective second protection area 121 band 123 bis spread out two-dimensionally in the X / Y direction and has the respective milling head 103, 109 in the center. The respective width of the surface which extends in the X direction is 5 cm to 50 cm. In an alternative three-dimensional embodiment of the second protection area 121 band 123 b, the height of the surface can be in particular + / - 50 cm with respect to a respective height of the respective milling head 103, 109.Alternatively, the first protection areas 121 aand 123 aand / or the second protection areas 121 band 123 bare configured as respective hollow cylinders using a 3D laser scanner, wherein the respective milling head 103, 109 is present at a respective center point of the hollow cylinder.The field sets are determined and the protected areas are assigned before the start of milling a motor vehicle model 101 from a rough shaped body or a further milling on an already machined rough shaped body by means of the first milling head 103 and / or the second milling head 109.The respective specific object contour is determined on the basis of the respective sensor data and / or fused sensor data of the respective sensors.At a second point in time, the first milling head 103 is located at a first position for which the specific field set for defining the valid object contour and the valid first protection area 121 aof the first milling head 103 and the second protection area 121 bof the first milling head 103 is provided and a current object contour is determined by means of the first laser scanner 105 aand the second laser scanner 105 band transmitted to the first control unit 131 via the data input thereof.The first control device 131 is configured to compare the object contour determined at the first position at the second point in time with the object contour of the motor vehicle model 101 determined at the first point in time at the first position and thus to determine a deviation of the object contour of the motor vehicle model 101 from an object contour determined at the first point in time at the same position. The first control unit 131 can be further configured to determine that the deviation is not produced by milling the first milling head 103.At a third point in time, the second milling head 109 is located at a second position for which the specific field set for defining the valid object contour and the valid first protection area 123 aof the second milling head 109 and the second protection area 123 bof the second milling head 109 is provided, and a current object contour is determined by means of the third laser scanner 105 cand the fourth laser scanner 105 dand transmitted to the second control unit 135 via the data input thereof.The second control device 135 is configured to compare the object contour determined at the second position at the third point in time with the object contour of the motor vehicle model 101 determined at the second position at the first point in time and thus to determine a deviation of the object contour of the motor vehicle model 101 from an object contour determined at the first point in time at the same position. The second control unit 135 can be further configured to determine that the deviation is not produced by milling the second milling head 109. The third time may correspond to the second time.The first control unit 131 is connected via a data output in a sensor data-exchanging manner to a first regulating device 133 which is configured to control the first milling head 103. The first control device 133 is connected in a control-data-transmitting manner to the first milling head 103 and to the first milling cutter holder 119, which holds the first milling head 103, and controls both a movement of the first milling head 103 in a spatial direction by means of the control of the milling cutter holder 119 and a rotation of the milling head of the first milling head 103. The second control device 135 is connected via a data output in a sensor data-exchanging manner to a second regulating device 137, which is configured to control the second milling head 109. The second control device 137 is connected in a control-data-transmitting manner to the second milling head 109 and to the second milling cutter holder 120, which holds the second milling head 109, and controls both a movement of the second milling head 109 in a spatial direction by means of the control of the second milling cutter holder 120 and a rotation of the milling head of the second milling head 109.During the milling of the motor vehicle model 101 by means of the first milling head 103 and by means of the second milling head 109, the first laser scanner 105 aand the second laser scanner 105 band the third laser scanner 105 cand the fourth laser scanner 105 dacquire first sensor data at time intervals of 0.01 to 1 second and transmit these respectively to the respectively assigned first control unit 131 or to the second control unit 135. The respective time intervals are not synchronized with one another. Alternatively, the respective time intervals are synchronized and start simultaneously. Alternatively, the synchronized time intervals start at different points in time. In a further alternative, the time intervals of the data recording times of the sensors which reserve the second milling head 109 are different from the time intervals of the data recording times of the sensors which reserve the first milling head 103.The first control unit 131 and / or the second control unit 135 are provided with the respective first object contours for the current position of the respective milling head 103, 109 on the basis of respective field data sets, wherein the respectively valid field data set is selected 1000 by program technology on the basis of the current first position from a plurality of field data sets. In addition, the first control device 131 and / or the second control device 135 determines a respective current object contour 2000 on the basis of the second sensor data respectively transmitted to them.By comparing the respective second object contours with the respective first object contours, a deviation of at least one of the second object contours from the respective first object contour is established 3000. In the case of determining a deviation of the current object contour in a first protected zone 121 aof the first milling head 103 from the first object contour, a first control signal is sent from the first control unit 131 to a first control device 133 of the first milling head 103, or in the case of determining rejection of the current object contour in a work area in a first protected zone 123 aof the second milling head 109 by means of the second control unit 135, a second control signal is output 4000 from the second control unit 135 to a second control device 135 of the second milling head 109. The first controller 133 decelerates the first milling head 103 in response to the first control signal and / or the second controller 137 decelerates the second milling head 109 in response to the second control signal.In the case of determining a deviation of the current object contour in a second protected zone 121 bof the first milling head 103 from the first object contour, a third control signal is sent from the first control unit 131 to a first control device 133 of the first milling head 103, or in the case of determining rejection of the current object contour in a working zone in a second protected zone 123 bof the second milling head 109 by means of the second control unit 135, a fourth control signal is output 4000 from the second control unit 135 to a second control device 135 of the second milling head 109. The first controller 133 stops the first milling head 103 in response to the third control signal and / or the second controller 137 stops the second milling head 109 in response to the fourth control signal.Thus, on the basis of the ascertainment of the deviation of the respective current object contour in the working region, in particular in the respective protection area of the first milling head 103 and / or second milling head 109 from the respective first object contour, it is concluded that a worker 190 is located in the respective working region of a milling head and is correspondingly endangered. Additionally or alternatively, an action to protect the worker may be initiated with advantage.In a first case, the first control unit 131 uses the first sensor data to determine that the contour deviation lies in a first protection area 121 aof the first milling head 103. In the first case described, the first control signal determined in this way represents the request for a deceleration of the first milling head 103. In response to such a first control signal, the first controller 133 decelerates a speed of the first milling head 103. The same applies analogously to the second control unit 135.In a second case, the first control device 131 establishes an object deviation in a second protected area 121 bof the first milling head 103. In the second case described, the first control signal represents the request for an engine stop. In response to such a signal, the first control unit 133 stops the first milling head 103. The same applies analogously to the second control device 131 and the second milling head 109. Advantageously, by means of the slowing down or stopping of the respective milling head 103, 109, the hazardous situation for the worker 190 is mitigated and thus eliminated.List of reference characters100 Modelling machine 101 motor vehicle model 103 first milling head 105 afirst laser scanner 105 bsecond laser scanner 105 cthird laser scanner 105 d fourth laser scanner 107 first X-Z gantry 109 second milling head 111 second X-Z gantry 113 auppressor on the first X-Z gantry 113 bdownpressor on the first X-Z gantry 115 auppressor on the second X-Z gantry 115 bdownpressor on the second X-Z gantry 117 basic structure 119 first milling cutter holder 120 second milling cutter holder 121 afirst protection area of the first milling head 121 bsecond protection area of the first milling head 123 afirst protection area of the second milling head 125 bsecond protection area of the second milling head 131 first control device 133 first control unit 135 second control device 137 second control unit 190 worker 1000 selecting a first field data record 2000 Ascertain current object contour 3000 Ascertainment of a deviation, 4000 Output of a signal

Claims

Method for determining a risk to a person (190) in a current working area (121a, 121b) of a manipulator (103) during a change in volume of an object (101) by means of the manipulator (103), comprising the steps: - selecting (1000) a first field data set, in particular stored in terms of storage, from a plurality of field data sets on the basis of a first current position of the manipulator (103), wherein a first predefined object contour is associated in particular with the first field data set, - determining (2000) a current second object contour at the first position on the basis of second sensor data of a second measurement by means of a sensor (105a) arranged indirectly and / or directly on the manipulator (103), - determining (3000) that the second object contour deviates from the first object contour and, in response thereto, - outputting a signal (4000), which represents the risk to the person ( 190) in the current working area ( 121 a, 121 b) of the manipulator ( 103).Method according to the preceding claim, further comprising the steps of: - determining a plurality of first object contours at predefined positions of the manipulator (103) along the object (101) on the basis of first sensor data by means of the sensor (105a), - program-related associating of the plurality of first object contours with a plurality of field datasets, wherein a field dataset is associated with a respective position range comprising a plurality of predefined positions of the manipulator (103), - storing the plurality of field datasets in memory.Method according to one of the preceding claims, wherein the first field data set is assigned, in addition to the first predefined object contour, a first hazardous area (121a) and a second hazardous area, wherein the second hazardous area comprises the manipulator (103) substantially centrally and has a pre-definable first width, and wherein the first hazardous area (121a) bears, in particular on both sides, against the second hazardous area and has a pre-definable second width.Method according to the preceding claim, further comprising the steps of: • establishing that the established deviation of the second object contour with respect to the first object contour is present in the first hazardous area (121a) of the manipulator (103), and • outputting a control signal to a control device (133) of the manipulator (103), which control signal represents a speed reduction of a working speed of the manipulator (103).Method according to one of the preceding claims, wherein the sensor (105a) is a distance sensor, in particular an optical sensor, preferably a 2D laser sensor, a 3D laser sensor and / or a laser scanner, a radar and / or an ultrasonic sensor.Method according to one of the preceding claims, wherein the optical sensor (105a) is arranged directly or indirectly on the (103).Method according to one of the preceding claims, wherein the manipulator (105a) comprises a milling cutter.Method according to one of the preceding claims, wherein the object (101) is a model of a means of transportation, in particular an automobile model, and wherein the object (101) has a formable modelling mass.Arrangement for modelling an object (101) having an evaluation unit (131), a first guide device (119), a first manipulator (103), a first optical sensor (105a) and having a control device (133), wherein the arrangement is set up in such a way that a method according to one of Claims 1 - 8 is realized.Modelling machine (100) having a first arrangement according to Claim 9 and / or a second arrangement according to Claim 9, wherein the modelling machine (101) is configured in such a way that a method according to one of Claims 1-8 is realized.

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