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.

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.