Method for determining a minimum distance between an object and an apparatus surface, safety device for a handling apparatus having an apparatus surface, and handling apparatus

A safety device for determining a minimum distance between an object and an apparatus surface of a handling apparatus comprising an apparatus surface, the safety device comprising:

• a first distance sensor unit positioned on or in the apparatus surface;
• and
• an evaluation unit which is communicatively coupled to the distance sensor unit and configured to:
• a) determine a primary distance of the object using the first distance sensor unit, wherein the primary distance is the distance between the object and the first distance sensor unit,
• b) determining a critical point which is at the primary distance from the first distance sensor unit and within a capture range of the first distance sensor unit and comes closest to the apparatus surface in consideration of a 3-dimensional course of the apparatus surface, and
• c) determining the minimum distance between the critical point and the apparatus surface;
• and
• wherein the minimum distance between the critical point and the apparatus surface is smaller than or equal to the primary distance.

A system including a handling apparatus having an apparatus surface and a safety device, the system comprising:

• a first distance sensor unit;
• an evaluation unit which is communicatively coupled to the distance sensor unit and configured to:
• a) determine a primary distance of the object using the first distance sensor unit, wherein the primary distance is the distance between the object and the first distance sensor unit,
• b) determining a critical point which is at the primary distance from the first distance sensor unit and within a capture range of the first distance sensor unit and comes closest to the apparatus surface in consideration of a 3-dimensional course of the apparatus surface, and
• c) determining the minimum distance between the critical point and the apparatus surface;
• and
• wherein at least a first distance sensor unit is positioned in or on the apparatus surface, and wherein the minimum distance between the critical point and the apparatus surface is smaller than or equal to the primary distance.