# US 7,743,865 B2 · Method for identifying an object within a protective zone with a protective device for a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 7,743,865 B2 - Document ID: US7743865B2 - Status: Granted - Kind: B2 - Application number: 11/599,608 - Filed: 2006-11-15 - Published: 2007-05-17 - Granted: 2010-06-29 - Earliest claimed: 2005-11-15 - Assignees: Leuze Lumiflex GmbH & Co. KG - Inventors: Rolf Brunner; Stefan Mohr - Web page: https://patentgrep.com/patent/US7743865B2 ## CPC - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - G01S 17/10: using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) - G01S 17/36: with phase comparison between the received signal and the contemporaneously transmitted signal - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 17/931: of land vehicles - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Objects within an area of coverage are located at predetermined points in time with an optical sensor. Based on detected locations of the objects, a driving direction and/or a speed of the vehicle is determined as a function of measuring variables measured with the optical sensor. Based on the determined direction and/or speed, (a) a protective zone is selected among a plurality of protective zones previously stored in the optical sensor, or (b) a validity of a preset protective zone or a preset vehicle parameter value stored in the optical sensor is checked. ## Claims ### Claim 1 A method for identifying an object within a protective zone with a protective device for a vehicle, wherein the protective device comprises an optical sensor installed on the vehicle and wherein an area of coverage monitored by the optical sensor includes a protective zone, within which object detection is realized, the method comprising: (a) locating objects within the area of coverage at predetermined points in time with the optical sensor; (b) based on detected locations of the objects, determining at least one of a driving direction or a speed of the vehicle; (c) based on the determined driving direction and/or speed: selecting a protective zone with the optical sensor among a plurality of protective zones previously stored in the optical sensor, wherein the protective zone forms a section within the area of coverage monitored by the optical sensor, or checking, with the optical sensor, at least one of a validity of a preset protective zone or a preset vehicle parameter value read into the optical sensor by a vehicle control unit; (d) monitoring the protective zone with the optical sensor for detection of an object; (e) generating a switching signal in the optical sensor if: an object is detected in the protective zone, or at least one of the preset protective zone or the preset vehicle parameter value read in by the vehicle control unit is identified as non-valid by the optical sensor in the checking step; (f) evaluating the switching signal via a redundant evaluation unit associated with the optical sensor, wherein the redundant evaluation unit satisfies safety requirement standards for the protection of persons; (g) forwarding the switching signal from the optical sensor to the vehicle control unit, wherein the switching signal comprises a shutdown command; (h) receiving the shutdown command by the vehicle control unit; and (i) stopping the vehicle with the vehicle control unit. ### Claim 2 (depends on 1) The method according to claim 1, further including: prior to performing steps (a) through (c), storing into the optical sensor predetermined driving directions and speeds of the vehicle, the protective zones and input variables associated therewith. ### Claim 3 (depends on 2) The method according to claim 2, further including: presetting maximum speed and stoppages of the vehicle as the vehicle parameters values in the optical sensor. ### Claim 4 (depends on 1) The method according to claim 1, further including: assigning at least one warning zone for the protective zone; monitoring the warning zone with the optical sensor; detecting an object in the monitored warning zone; and generating an alarm signal upon detection of the object in the monitored warning zone. ### Claim 5 (depends on 4) The method according to claim 4, wherein the protective zone includes an area directly in front of the vehicle and the warning zone adjoins the protective zone and extends outward for longer distance than the distance the protective zone extends from the vehicle. ### Claim 6 (depends on 4) The method according to claim 4, further including one of: in said selecting step, selecting a previously stored warning zone assigned to the protective zone in the optical sensor, or providing the protective zone and an associated warning zone to the optical sensor. ### Claim 7 (depends on 1) The method according to claim 1, wherein the step of locating objects includes locating stationary objects with the optical sensor and further including: determining at least one of the driving direction and speed based on the determined locations of the stationary objects. ### Claim 8 (depends on 7) The method according to claim 7, wherein the stationary objects include markings. ### Claim 9 (depends on 7) The method according to claim 7, wherein the step of locating objects further includes: distinguishing between stationary objects and moving objects. ### Claim 10 (depends on 1) The method according to one of the claim 1, wherein the locating step includes using a camera as the optical sensor. ### Claim 11 (depends on 10) The method according to claim 10, wherein the locating step includes using a lighting unit that is assigned to the camera. ### Claim 12 (depends on 11) The method according to claim 11, wherein the locating step includes emitting light rays with a transmitter, assigned to the camera and deflecting the rays emitted by the transmitter with a deflector. ### Claim 13 (depends on 1) The method according to claim 1, wherein the locating step includes using a scanning distance sensor as the optical sensor. ### Claim 14 (depends on 13) The method according to claim 13, wherein the scanning distance sensor comprises: a transmitter for emitting light rays; a receiver for receiving light rays; a deflecting unit for deflecting the transmitted light rays, the deflected transmitted light rays periodically sweeping across the area of coverage. ### Claim 15 (depends on 14) The method according to claim 14, wherein the area of coverage is located in a single plane. ### Claim 16 (depends on 1) The method according to claim 1, further including: controlling the vehicle with the vehicle control unit. ### Claim 17 (depends on 1) The method according to claim 1, wherein the vehicle includes a driverless transport system.