公开(公告)号：US20240326250A1

公开(公告)日：2024-10-03

申请号：US18602748

申请日：2024-03-12

Applicant: SICK AG

Inventor： Christoph HOFMANN ,  Peter POKRANDT

IPC: B25J9/16 ,  B25J5/00 ,  B25J19/02

CPC classification number: B25J9/1676 ,  B25J5/007 ,  B25J19/023

Abstract: A system for monitoring a hazard zone of a robot having at least one sensor having at least one spatial monitored zone for monitoring the hazard zone, and a control and evaluation unit, and a robot controller for controlling the movements of at least one hazardous part of the robot, wherein the robot controller and the control and evaluation unit are electronically connected to one another by means of at least one interface, wherein the sensor is configured to cyclically transmit 3D data of the monitored zone to the control and evaluation unit, wherein the sensor and the control and evaluation unit are further configured to generate at least one spatial protected zone in the monitored zone, wherein the control and evaluation unit is configured to localize persons in the monitored zone of the sensor with reference to the 3D data and to determine their distance from the hazardous part of the robot, wherein the control and evaluation unit is configured to arrange the spatial protected zone such that the spatial protected zone completely surrounds and includes the hazardous part of the robot and a surface of the protected zone forms an outer safety boundary, wherein the location of the safety boundary is fixable in dependence on a distance, on a direction of movement and/or a movement speed of the person with respect to the hazardous part of the robot, and wherein the robot controller is configured to freely move the hazardous part of the robot within the protected zone.

公开(公告)号：US20240261987A1

公开(公告)日：2024-08-08

申请号：US18434424

申请日：2024-02-06

Applicant: SICK AG

Inventor： Jens GEBAUER ,  Christoph HOFMANN

IPC: B25J19/06 ,  B25J19/02

CPC classification number: B25J19/066 ,  B25J19/02

Abstract: A method of safeguarding a machine is provided in which objects are recognized in a work zone of the machine in which a contactless distance sensor that is moved along measures an actual measured value for a distance with at least one distance measurement beam, a first virtual distance measurement beam that simulates the distance measurement beam is formed, and the actual measured value is compared with its first virtual measured value. In this respect, at least one further virtual distance measurement beam having an offset from the first virtual distance measurement beam is formed and a further virtual measured value is calculated with it and a comparison is made whether the actual measured value is compatible with the virtual measured values.

公开(公告)号：US20210227372A1

公开(公告)日：2021-07-22

申请号：US17148929

申请日：2021-01-14

Applicant: SICK AG

Inventor： Markus HAMMES ,  Christoph HOFMANN

IPC: H04W4/90 ,  H04W4/029 ,  H04W4/02 ,  H04W4/38

Abstract: A safety system for localizing a person or object has a control and evaluation unit, at least one radio location system, and at least one spatially resolving sensor for the position determination of the person or object. The radio location system has arranged radio stations, wherein at least one radio transponder is arranged at the person or object. Position data and classification data of the person or object can be determined by means of the radio location system. The position data and the classification data can be transmitted from the radio station to the control and evaluation unit and position data and contour data of the person or object can be determined by means of the spatially resolving sensor. The control and evaluation unit is configured to compare the position data of the radio location system and the position data of the spatially resolving sensor.

公开(公告)号：US20180143319A1

公开(公告)日：2018-05-24

申请号：US15815982

申请日：2017-11-17

Applicant: SICK AG

Inventor： Christoph HOFMANN ,  Joachim KRÄMER ,  Jörg SIGMUND

IPC: G01S17/02 ,  G01V8/10

CPC classification number: G01S17/026 ,  G01S7/4816 ,  G01S7/4868 ,  G01S7/4918 ,  G01S7/497 ,  G01S17/08 ,  G01V8/10 ,  G01V8/12

Abstract: An optoelectronic sensor (10) is provided for detecting object information from a monitored zone (12) having a light receiver (24); a reception optics (22) associated with the light receiver (24) for generating a light spot on the light receiver (24); and an evaluation unit (26) for generating the object information from a received signal of the light receiver (24). In this respect, a manipulation unit (30) is provided to vary the reception optics (22), the light receiver (24) and/or elements of the reception optics (22) such that the portion of the light spot that is incident on the light receiver (24) varies.

公开(公告)号：US20250073932A1

公开(公告)日：2025-03-06

申请号：US18817940

申请日：2024-08-28

Applicant: SICK AG

Inventor： Christoph HOFMANN ,  Peter POKRANDT

IPC: B25J19/06 ,  B25J9/16

Abstract: A method for a contactless safeguarding at a cooperation zone of a machine is provided wherein an access zone for a worker is arranged at a first side of the cooperation zone and a working zone of the machine is arranged at a second side, wherein a plurality of protected fields configured in the environment of the cooperation zone are monitored for protected field intrusions by at least one optoelectronic sensor and at least two of the protected fields 38) are arranged in a first sequence starting from the first side such that a worker sequentially intrudes into these protected fields when approaching the cooperation zone, and wherein the protected field intrusions are evaluated to safeguard the machine in the case of an unpermitted combination of protected field intrusions. In this respect, at least two of the protected fields are arranged in a second sequence starting from the second side such that the machine sequentially intrudes in these protected fields when approaching the cooperation zone.

公开(公告)号：US20240310530A1

公开(公告)日：2024-09-19

申请号：US18603450

申请日：2024-03-13

Applicant: SICK AG

Inventor： Markus HAMMES ,  Christoph HOFMANN

IPC: G01S17/894 ,  F16P3/14 ,  G01S7/48 ,  G01S17/58

CPC classification number: G01S17/894 ,  F16P3/144 ,  G01S7/4802 ,  G01S17/58

Abstract: A method of a contactless safeguarding of a machine is provided in which a plurality of protected fields configured in the environment of the machine are monitored for protected field intrusions by at least one optoelectronic sensor and, on a protected field intrusion, a safe output signal is generated at a safe output associated with the protected field. The protected fields are configured such that a vehicle approaching the machine results in a different sequence of protected field intrusions than a person approaching the machine and the sequence of protected field intrusions is evaluated to distinguish the vehicle and the person from one another. Three-dimensional protected fields are monitored that have at least two layers, having a lower layer and an upper layer arranged thereabove; and in that the configuration of the protected fields in the lower layer differs from the configuration of the protected fields in the upper layer.

公开(公告)号：US20240192698A1

公开(公告)日：2024-06-13

申请号：US18537732

申请日：2023-12-12

Applicant: SICK AG

Inventor： Christoph HOFMANN ,  Alfred AROCKIARAJ

IPC: G05D1/244 ,  G06F16/955 ,  G06K7/14 ,  G06K19/06

CPC classification number: G05D1/2446 ,  G06F16/9554 ,  G06K7/1417 ,  G06K19/06037 ,  G05D2111/10

Abstract: A method of self-localization in a navigation environment is provided in which a respective optical marker is attached to a plurality of positions, wherein a marker is detected and read by an optical code reader and the position of the marker is determined from the code content. In this respect, the markers are attached in groups of at least three respective markers; a value range of the code content of the markers is smaller than the number of positions having an optical marker; and the code content of the at least three markers of a group together uniquely describe the position of the group.

公开(公告)号：US20240189987A1

公开(公告)日：2024-06-13

申请号：US18535120

申请日：2023-12-11

Applicant: SICK AG

Inventor： Jens GEBAUER ,  Christoph HOFMANN

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1605 ,  B25J9/1697 ,  B25J19/023

Abstract: A method of validating a pose of a robot and/or of sensor data of a sensor moved along with the robot is provided, wherein a robot controller determines the real pose of the robot and the sensor measures real sensor data, In this respect, a robot simulation determines a simulated pose of the robot by a simulated movement of the robot and a sensor simulation determines simulated sensor data of the sensor by a simulated sensor measurement and the validation takes place by at least one comparison of the real pose and the simulated pose of the robot, of real sensor data and simulated sensor data, and/or of simulated sensor data among one another.

公开(公告)号：US20240078697A1

公开(公告)日：2024-03-07

申请号：US18241494

申请日：2023-09-01

Applicant: SICK AG

Inventor： Christoph HOFMANN ,  Alfred AROCKIARAJ

IPC: G06T7/73 ,  G06T7/80 ,  H04N13/239 ,  H04N13/246

CPC classification number: G06T7/73 ,  G06T7/85 ,  H04N13/239 ,  H04N13/246 ,  G01S17/894 ,  G06T2200/04 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/30204

Abstract: A camera device for localizing an optical marker is provided that has at least one image sensor and a control and evaluation unit. A first camera channel for recording first image data having the optical marker is formed from the image sensor and the control and evaluation unit. The control and evaluation unit is configured to locate the optical marker in the first image data and to determine a first pose of the optical marker relative to the camera device. A second camera channel for recording second image data having the optical marker is formed from the image sensor and the control and evaluation unit. The control and evaluation unit is configured to locate the optical marker in the second image data, to determine a second pose of the optical marker relative to the camera device, and to compare the first pose and the second pose with one another.

公开(公告)号：US20220244995A1

公开(公告)日：2022-08-04

申请号：US17564342

申请日：2021-12-29

Applicant: SICK AG

Inventor： Christoph HOFMANN ,  Thomas NEUMANN ,  Sanketh RAMACHANDRA

IPC: G06F9/50 ,  G06F11/34

Abstract: A safety device is provided for monitoring at least one machine that has at least one sensor for generating sensor data on the machine and a processing unit for the sensor data that is connected at least indirectly to the sensor and to the machine and that is configured as a runtime environment having at least one computing node and to allow at least one logic unit to run on the computing node, wherein at least one logic unit comprises a safety functional unit for a safety relevant evaluation of the sensor data to output in the case of a safety relevant event a safety signal to the machine for triggering a safety response, In this respect, the processing unit is furthermore configured to generate and resolve logic units and/or to assign them to a computing node.