# US 2024/0198529 A1 · System having a sensor and a method for monitoring a plurality of protected zones

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- Number: US 2024/0198529 A1
- Document ID: US20240198529A1
- Status: Published application
- Kind: A1
- Application number: 18/514,237
- Filed: 2023-11-20
- Published: 2024-06-20
- Earliest claimed: 2022-12-14
- Assignees: Sick AG
- Applicants: Sick AG
- Inventors: Michael WEBER
- Web page: https://patentgrep.com/patent/US20240198529A1

## CPC

- B25J 9/1676: {Avoiding collision or forbidden zones}
- F16P 3/144: {using light grids}
- G05B 2219/39001: Robot, manipulator control
- G05B 2219/40339: Avoid collision
- G05B 2219/50193: Safety in general
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- F16P: SAFETY DEVICES IN GENERAL; {SAFETY DEVICES FOR PRESSES}
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A method and a system have at least one sensor for monitoring a plurality of protected zones for infringement by at least one object. A controller controls a plant to be safeguarded having a mechanically movable part, having the sensor for the at least planar monitoring of the protected zones by a control and evaluation unit for evaluating. The received signals of the sensor determine which of the protected zones has been infringed by the object and which protected zone the object has left. The controller generates and outputs a switch signal that is a release signal for the release of the plant operation. The mechanically movable part is either in a first working zone or in a second working zone, with the first working zone and the second working zone each being associated with a first protected zone and a second protected zone, respectively.

## Claims

### Claim 1

A system having at least one sensor for monitoring a plurality of protected zones for infringement by at least one object and having a controller for controlling a plant to be safeguarded having a mechanically movable part,
having the sensor for the at least planar monitoring of the protected zones,
having a control and evaluation unit for evaluating the received signals of the sensor to determine which of the protected zones has been infringed by the object, called a protected zone infringement in the following, and
which protected zone the object has left, called a protected zone release in the following,
having the controller to generate and output a switch signal that is a release signal for the release of the plant operation,
with the controller being configured to output the release signal when the controller recognizes a predefined order of incidents, with the incidents comprising protected zone infringements and protected zone releases of the protected zones and with each incident being either a protected zone infringement or a protected zone release,
with the mechanically movable part having a first working zone and a second working zone,
with the mechanically movable part being either in the first working zone or in the second working zone,
with a first protected zone and a second protected zone being associated with the first working zone,
with the first protected zone being adjacent to the first working zone and the second protected zone being adjacent to the first protected zone,
with the first protected zone only being reachable via the second protected zone,
with a third protected zone and a fourth protected zone being associated with the second working zone,
with the third protected zone being adjacent to the second working zone and the fourth protected zone being adjacent to the third protected zone,
with the third protected zone only being reachable via the fourth protected zone,
with the controller being configured to start the mechanically movable part when an object has left the first protected zone and has then left the second protected zone, whereby a protected zone release is present in the first protected zone and subsequently in the second protected zone, or
an object has left the third protected zone and has then left the fourth protected zone, whereby a protected zone release is present in the third protected zone and subsequently in the fourth protected zone,
with, if the mechanically movable part is active in the first working zone, on protected zone infringements in the fourth protected zone being configured to switch the mechanically movable part into a non-hazardous working mode,
and, on protected zone infringements in the second protected zone, the controller being configured to stop the mechanically movable part,
with, if the mechanically movable part is active in the second working zone, on protected zone infringements in the second protected zone, the controller being configured to switch the mechanically movable part into a non-hazardous working mode,
and, on protected zone infringements in the fourth protected zone, the controller being configured to stop the mechanically movable part.

### Claim 2 (depends on 1)

The system in accordance with claim 1, wherein the mechanically movable part is a mechanically movable part for loading pallets(9), with a respective pallet being present in the first working zone and/or in the second working zone.

### Claim 3 (depends on 1)

The system in accordance with claim 1, wherein the controller is configured to generate the stop signal when a protected zone has been infringed and the predefined order was not followed.

### Claim 4 (depends on 1)

The system accordance with claim 1, wherein the controller has a timer so that the controller can monitor whether incidents following one another take place within specific time windows.

### Claim 5 (depends on 1)

The system in accordance with claim 1, wherein the sensor is a laser scanner.

### Claim 6 (depends on 1)

The system in accordance with claim 1, wherein the sensor is a 3D camera for the three-dimensional detection of the protected zones.

### Claim 7 (depends on 1)

The system in accordance with claim 1, wherein the sensor is a radar sensor.

### Claim 8

A method having at least one sensor for monitoring a plurality of protected zones for infringement by at least one object and having a controller for controlling a plant to be safeguarded having a mechanically movable part,
having the sensor for the at least planar monitoring of the protected zones,
having a control and evaluation unit for evaluating the received signals of the sensor to determine which of the protected zones has been infringed by the object, called a protected zone infringement in the following, and
which protected zone the object has left, called a protected zone release in the following,
having the controller to generate and output a switch signal that is a release signal for the release of the plant operation,
with the controller being configured to output the release signal when the controller recognizes a predefined order of incidents, with the incidents comprising protected zone infringements and protected zone releases of the protected zones and with each incident being either a protected zone infringement or a protected zone release,
with the mechanically movable part having a first working zone and a second working zone,
with the mechanically movable part being either in the first working zone or in the second working zone,
with a first protected zone and a second protected zone being associated with the first working zone,
with the first protected zone being adjacent to the first working zone and the second protected zone being adjacent to the first protected zone,
with the first protected zone only being reachable via the second protected zone,
with a third protected zone and a fourth protected zone being associated with the second working zone,
with the third protected zone being adjacent to the second working zone and the fourth protected zone being adjacent to the third protected zone,
with the third protected zone only being reachable via the fourth protected zone,
with the mechanically movable part being started when an object has left the first protected zone and has then left the second protected zone,
whereby a protected zone release is present in the first protected zone and subsequently in the second protected zone, or
an object has left the third protected zone and has then left the fourth protected zone, whereby a protected zone release is present in the third protected zone and subsequently in the fourth protected zone,
with, if the mechanically movable part is active in the first working zone, on protected zone infringements in the fourth protected zone being switched into a non-hazardous working mode by the controller,
and, on protected zone infringements in the second protected zone, the mechanically movable part being stopped by the controller,
with, if the mechanically movable part is active in the second working zone, on protected zone infringements in the second protected zone being switched into a non-hazardous working mode by the controller,
1. and, on protected zone infringements in the fourth protected zone, the mechanically movable part being stopped by the controller.