• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for the automated control of at least one machine component (1) in a system (2). The machine component (1) is connected to and controlled by an automation component (7) via a secure bus connection (6). The system (2) has a safety area (4) monitored by means of at least one safety sensor (3), wherein a deviation of the measuring pattern (M) measured by the safety sensor (3) from a definition area (D) creates a dangerous situation for protective objects (5 ), in particular persons and / or material values. The machine component (1) performs a protective action when a dangerous situation occurs. The measurement patterns (M) measured by the safety sensor (3) are transmitted via the secure bus connection (6) to the automation component (7). The automation component (7) defines the domain of definition (D) using parameter data of the automated controller, determines the existence of a dangerous situation and controls the machine component (1) to execute the protective action.
    公开号:AT517784A1
    申请号:T50835/2015
    申请日:2015-10-01
    公开日:2017-04-15
    发明作者:Kaufleitner Franz；Veselic Miodrag；Burgstaller Walter
    申请人:Bernecker + Rainer Industrie-Elektronik Ges M B H；
    IPC主号:
    专利说明:

    Method for the automated control of a machine component
    The invention relates to a method for the automated control of at least one machine component in a system with an automation component, wherein the machine component is connected via a secure bus connection with an automation component, wherein the system has a monitored by at least one safety sensor security area and wherein the machine component a Performs protective action when a detected by the safety sensor hazardous situation for protective objects, in particular persons and / or material values, occurs.
    Furthermore, the invention relates to an automation component for controlling at least one machine component in a plant.
    Sensors for monitoring safety areas are used in safety applications to detect objects in the areas. Such sensors can operate with optical methods (eg, light curtain, photoelectric sensor, camera, laser scanner, etc.) with acoustic methods (eg, sound detectors), inductive methods, heat-sensitive methods, or others.
    These sensors produce a variety of information that an object in the protective field provides, e.g. interrupted beams when monitoring by a light grid, time-of-light values in a light barrier, image in a camera, and the like. In safety-related applications, which aim at preserving the integrity of humans, in the state of the art currently only sensors are used which have their own evaluation unit and which displays the measurement result as a single bit (ie as a truth value: dangerous situation, yes / No) to a higher-level safety controller which then optionally initiates the further safety measures.
    Due to this strong coupling between the evaluation of the information and the acquisition of this information, only the reduced information "dangerous situation exists" or "no dangerous situation" remains for the higher-level safety control.
    A "dangerous situation" is given in particular when a protected object, ie in particular a person or a body part of a person, is located in the security area, but also other objects which represent a material value worth protecting. Such objects worthy of protection are generally referred to below as protection object. However, a hazardous situation can also be caused by a malfunction, for example if parts of the machine component or other equipment objects are not in their correct position. In this case, all objects that are involved in the work flow of the machine component, ie in addition to the parts of the machine component, can be viewed as plant objects
    Machine component itself, for example, also processed by the machine component products.
    Safety sensors, for example in the form of a light grid, must therefore be capable of distinguishing equipment objects, which are in their intended position or movement, from protective objects whose presence in the safety area requires a protective action. However, in order for system objects to be able to pass through the safety sensors, it is necessary to hide individual sensors or individual beams of the light grid for a defined period of time when passing through these system objects. A method in which the light curtain is bypassed under certain conditions for a certain period of time is called muting. A method in which individual rays of the light grid are hidden (as not the entire light grid is bridged) is called blanking. In the case of a light grid sensor, the sensor is currently supplied with the corresponding information, and the evaluation unit of the sensor decides whether a protected object is located in the safety area. This information - usually a single bit - is then transmitted to a higher-level safety controller which then initiates the further safety measures. EP 1443343A2 discloses an optical sensor for securing a surveillance area. The sensor has an evaluation unit that generates switching signals as a function of the respective sensor measurement, which in each case deactivate specific implements. In the monitoring area, protective fields can be defined which are assigned to safety switching outputs. The assignment of the protective fields to the safety switching outputs can be defined before commissioning the optical sensor. An application-specific combination of the data of the individual beams with other process data such as operating state of the machine, speed information of a movement, position information of machine parts is not readily possible, but always requires a complex programming of the sensor to define the assignments.
    The data measured by the sensor must always be "compressed" in the prior art before being transmitted via a bus connection to an automation device. This compression takes place on the basis of an object recognition in the sensor itself.
    In order to increase the complexity of the security strategy, it would be possible in the prior art to provide the sensor with further signal units in order to enable the evaluation unit in the sensor to receive such signals and to take them into account in the evaluation. However, this in turn has the disadvantage that the sensor may need to be equipped with a large number of different signal units and thus the
    Complexity of the sensor increases very fast. In addition, the sensor must be offered in many different versions on the market in order to meet the different requirements cost-effectively. Also, one is limited in the application of a sensor to the available signal unit and can not apply a new combination, the manufacturer of the sensor has not yet taken into account. Any increase in the complexity of the assignments manageable by the sensor thus requires an increase in the efficiency of the evaluation unit and leads to an increase in the overall costs.
    If necessary, in order to be able to use the information of the signal unit also in the remaining automation system without the sensor, the signal units would, if appropriate, have to be wired twice.
    The present invention has for its object to provide a method with which it is possible to implement even complex security strategies with relatively simple sensors. In addition, the method should enable a flexible definition of the respective security strategy, without the user being restricted to the strategies taken into account by the sensor manufacturer.
    These and other objects of the invention are achieved by a method of the type mentioned above, in which a measurement pattern measured by the safety sensor is transmitted via the secure bus connection to the automation component, wherein the automation component determines the presence of a hazardous situation based on the measurement pattern and the machine component for Execution of the protective action activates. This allows implementation of security strategies independent of the evaluation unit of the security sensor. Changing the security strategy does not require reprogramming of the sensor functionality. Rather, the security sensor can get by completely without evaluation and thus be reduced to a minimum effort.
    In contrast to a "condensed" sensor information, which is based on an object detection in the sensor, the measurement pattern contains uncompressed measurement data, which contain only the information measured by the sensor and were not linked to other data or parameters. In this context, data that corresponds to the measurement data of the sensor before it has been subjected to an object evaluation must be regarded as "uncompacted". For example, the measurement pattern can substantially completely represent the pixel information of a safety sensor, for example a light grid. Data whose information content has been reduced can also be regarded as uncompressed, for example if brightness values measured at the pixel level by the sensor are reduced to a binary statement (for example: light curtain interrupted / free).
    In the context of the subject invention, the term "security strategy" refers to the respective compilation of rules and contexts that are provided for the purpose of identifying dangerous situations and performing corresponding protective actions in the system.
    In a preferred embodiment of the invention, the protective action may include deactivating at least parts of the machine component, assuming a guard position, active response, such as stopping at least parts of the machine component, changing a speed of at least parts of the machine component, evasive movement, triggering a protection device, such as an air bag or extinguishing device, triggering an alarm, or combinations thereof. The advantage here is that the assessment of whether a protected object is in the protection area, not only can be made dependent on the result of the sensor, but that all parameters of the automation solution for this evaluation can be considered in the automation component.
    The evaluation as to whether a protected object is located in the protected area allows an automated recognition of a dangerous situation, whereby the recognition of foreign objects or person in the security area, the detection of positioning errors of parts of the machine component and / or the recognition of positioning errors of plant objects is defined as dangerous situation can be. The dangerous situations and the manner of the coordinated protective actions (which form part of the security strategy), according to the invention can be easily adapted without having to make changes to the sensor itself.
    Advantageously, the security sensor can have at least one light grid arrangement. For example, light barriers for a finger guard with a beam spacing of about 14 mm, for a hand guard with a beam spacing of about 30 mm, for a body protection with a beam spacing of about 100 to about 300 mm and for access protection with a beam spacing of about 400 to about 500 mm can be used. These embodiments are conventionally available commercially.
    In order to achieve a higher grating resolution (ie a smaller distance between two juxtaposed grating beams) with an existing light grating or with a light grating with a standard beam spacing, advantageously at least two light grating arrangements can be arranged parallel to each other with regard to their grating plane and offset with respect to the longitudinal extent of their light sensors be.
    In a further advantageous embodiment, at least one light grid arrangement can be arranged obliquely to a direction of movement of a plant object. A plant object with a defined shape, which passes through the light grid arrangement at a known speed, thereby generates a specific time sequence of the measurement pattern which must be taken into account by the automation component in order to avoid a faulty protective action. Due to the inclination, it can be ensured that the plant object first enters the light grid at a precisely defined position. According to the invention, therefore, the interruption of the sensor at this entry point can define the entry time and be used as a triggering event for a blanking or Mu-tingvorgang.
    In an advantageous embodiment of the invention, the automation component can determine the hazardous situation on the basis of the measurement pattern and using parameter data and / or process data of the control of the machine component or the system. Thus, the security strategy can also be based on parameter data and / or process data of the plant, which allows extended possibilities for the implementation of an advantageous security strategy. The security sensor also needs no interfaces for receiving data. The tasks set, including the implementation of complex security strategies, can thus be carried out according to the method according to the invention with security sensors which have only an interface for outgoing data communication.
    In an advantageous embodiment according to the invention, the parameter data may for example be selected from an operating mode, geometric dimensions of machine parts or the presence of optional machine parts. The process data may, for example, be selected from a position, a velocity and / or an acceleration of components of the machine component, and / or a position, a velocity and / or an acceleration of drive means for a plant object. This allows the implementation of very complex and optimally adapted security strategies.
    The automation component can advantageously define a definition area, wherein a deviation of the measurement pattern measured by the safety sensor and transmitted to the automation component or of a subarea of this measurement pattern indicates a hazardous situation of the definition area. According to the invention, the automation component for determining the definition range can take into account a current or past measurement pattern of the safety sensor. The sensor can thus be used at the same time for the detection of plant objects, as well as for the actual safety functionality. A provision of an additional sensor, which detects, for example, a plant object before it enters a light grid, can thereby be dispensed with.
    Advantageously, a specific change of the current or past measurement pattern triggers a defined temporal change of the definition area. As a result, complex rules for blanking or muting can be implemented. The changing definition range allows the plant object to pass through the light grid (defined).
    In an advantageous manner, the transmission of the measuring pattern from the at least one safety sensor to the automation component via the secure bus connection can take place in a time-synchronized manner. As a result, the measured values of the various safety sensors on the bus can be correctly assigned. "Time-synchronized" in connection with the subject application text means that the one or more safety sensors are retrieved from a bus master of the secure bus connection, and thus "simultaneously", ie within a cycle or time slot, are transmitted to the automation component. The time of the measurement on which the measurement pattern is based is particularly critical if the measurement pattern is compared with other process data of the system and / or parameter data of the controller. A cycle typically has a defined length of about 200 ps to about 1 to 2 ms in conventional secure bus systems.
    Alternatively or additionally, the measurement data transmitted from the security sensor to the automation component can each be provided with a time stamp. This also allows the automation component an exact temporal assignment of measurement patterns. The respective preferred solution depends on the respective specifications of the bus system.
    The automation component according to the invention for controlling at least one machine component in a system advantageously has an interface via a secure bus connection to at least one security sensor, wherein the security sensor monitors a security area and wherein the security sensor measures a measured pattern via the secure bus connection to the automation component transmitted, wherein the automation component evaluates the measurement pattern to determine the presence of a hazardous situation for protected objects, in particular people and / or physical values, and controls the machine component in the presence of a dangerous situation to perform a protective action. Such an automation component allows an advantageous implementation of the above-described inventive method. For this purpose, the automation component may preferably have means which are designed to carry out individual, several or all steps of the method defined above.
    Advantageously, the automation component can determine the hazardous situation based on the measurement pattern and using parameter data and / or process data of the control of the machine component or the system.
    In a preferred embodiment, the automation component can connect the measurement pattern obtained from the at least one safety sensor on the basis of time information with the parameter data and / or the process data.
    Preferably, the automation component can determine the time information of the measurement pattern on the basis of a time-synchronous transmission over the secure bus connection and / or on the basis of a time stamp.
    The subject invention will be explained in more detail below with reference to Figures 1 to 2, which show by way of example, schematically and not limiting advantageous embodiments of the invention. It shows
    Fig. 1 is a schematic representation of a system in which the inventive method can be carried out and
    2 to 5 show the schematic sequence of a blanking or muting process according to an embodiment of the method according to the invention.
    In Fig. 1, the essential elements of a system 2 are shown, in which a machine component 1 is arranged. The machine component 1 can be, for example, any working machine or, as shown diagrammatically in FIG. 1, a robot, the moving parts of the machine component 1 defining a safety area 4 in which the moving parts of the machine component 1 pose a potential danger to the safety of a protective object 5, wherein the protected object 5 may be an operator, individual limbs or body parts of this operator, another facility object which may be located in the security area 4, an object representing a material value worth protecting, or in certain applications also an animal or a plant can.
    The security area 4 is monitored by a security sensor 3, wherein the security sensor 3 can be embodied, for example, as an optical sensor, such as a light grid, light barrier, laser scanner, camera, etc., as an acoustic sensor, as an inductive sensor or as a heat sensor. The sensor can also be designed as a combination of several of these Sen sorarten, either the entire security area 4, or only certain areas thereof, such as the inputs or outputs, can be monitored by the safety sensor 3.
    Optionally, the plant may include a plurality of similar or different machine components 1, each of which may define common or distinct, separate or overlapping security areas 4. As is clear to the person skilled in the art, a plurality of security areas 4 can also be present in one installation, and a security area can also be monitored by a plurality of security sensors 3.
    The control of the machine component 1 takes place via an automation component 7, which transmits control commands to the machine component 1 via a bus connection 6 and receives feedback signals from the latter via the bus connection 6.
    The bus connection preferably operates in accordance with a secure bus protocol, such as openSAFETY, ProfiSafe, CIPsafety, etc. This offers the possibility of exchanging safety-related data with high performance, high bandwidth and nevertheless in accordance with the applicable safety standards between the safety-related system components.
    In general, all bus systems can be used as a secure bus connection 6, which meet, for example, the requirements according to IEC 61784-3 or IEC 61508 with regard to the transmission reliability.
    The safety sensor 3 has, in addition to the known sensors for monitoring the safety area 4, a communication interface 10, via which the measurement pattern M recorded by the safety sensor 3 is transmitted via the bus connection 6 to the automation component 7. Optionally, communication interface 10 may also include functionality for receiving control data for the sensor, but this is not a requirement of the method of the invention. A one-way communication interface 10 that is only suitable for sending data over the bus connection 6 may therefore be sufficient.
    The "measurement pattern" M is the entirety of all measured values recorded by the safety sensor at a specific time, wherein in the case of binary values (ie light beam interrupted / uninterrupted), the measurement pattern can be specified as a binary number that directly maps the measurement pattern M. For example, the measurement pattern M of a light grid with eight light grid beams can be specified in the form of an 8-bit binary number. Depending on the type of sensor, however, the measurement pattern M can also contain other measured values, such as continuously variable values (for example, the temperature, the (sound) pressure, the induction, the acceleration, etc.).
    In contrast to the safety sensors of the prior art, the safety sensor 3 does not require an evaluation unit which evaluates the measurement pattern M and generates from it a single 1-bit measured value which is meaningful for the presence of a dangerous situation. This also eliminates the often considerable expense for the application-specific programming of the evaluation of the safety sensors. Also, no interface is required over which the security sensor 3 receives information from the automation component 7, such as for controlling muting or blanking operations. The method according to the invention can thus be carried out with an extremely simple safety sensor 3.
    The safety sensor 3 usually transmits the measurement pattern M to the automation component 7 with a specific timing which can be matched to the other components of the installation 2, that is to say the bus connection 6, the automation component 7 or the machine component 1, to the automation component 7 about all relevant parameter data required for the control of the machine component 1 and, if necessary, for the coordination with other machine elements present in the plant 2. The automation component 7 is therefore able to evaluate the measurement pattern M received from the safety sensor 3 (or a plurality of safety sensors 3) and to combine it with the respective machine state of the machine component 1. Thus, independently complex security strategies can be implemented, and they can be freely adapted without replacing the security sensor 3. Furthermore, it is possible to combine the data of the safety sensor with other data of the safe process in a safe control. It is thus possible to program application-specific scenarios which are not limited to the possibilities rigidly predefined in the sensor.
    An exemplary use of the method according to the invention will now be explained with reference to FIGS. 2 to 5, these figures illustrating the use of a light grid arrangement 9 for securing an area above a conveyor belt 11 which transports system objects 8 through the light grid arrangement 9 at a speed v. The light grid arrangement 9 can serve, for example, to turn off the conveyor belt 11 when a foreign object gets into the area of the light grid arrangement 9 (for instance when an operator reaches into it), or if one of the plant objects 8 is not arranged in a defined position on the conveyor belt 11, or when the conveyor belt 11 transports a "wrong" object.
    2 shows a light grid arrangement 9 with eight light sensors 12, so that the light grid arrangement 9 has eight light grid beams arranged parallel to one another, wherein the plant object 8 (for example a workpiece to be processed) arranged on the conveyor belt 11 is in a position shortly before entering the light grid located. The light grid arrangement 9 can for example define and monitor an input or an output into or out of a safety area.
    In FIG. 2, the arrangement of a second light grid arrangement 9 ', which is essentially identical to the first light grid arrangement 9 but is arranged in parallel (with reference to the light grid planes) next to the first light grid arrangement 9, is indicated by dashed lines. The light sensors 12 'of the second light grid arrangement 9' are offset relative to the light sensors 12 of the first light grid arrangement 9 with respect to the longitudinal extent of the light grid arrangement 9, 9 'such that the vertical distance between two light sensors 12 of the first light grid arrangement 9 respectively by the additional light sensors 12' second light grid assembly 9 'is effectively halved. This is illustrated in Fig. 2 by the dotted lines. Thus, the measurement resolution can be doubled (or the lattice spacing of the light grid halved). For the sake of clarity, the description will be continued without considering such a second light grid arrangement.
    The measuring pattern M of the light grid arrangement 9 can be represented as an 8-bit binary number, wherein each bit corresponds to a light sensor 12 and wherein in the case shown each interrupted light beam beam 1 is assigned. Since none of the light grating beams is interrupted in the position shown in FIG. 2, a measurement pattern M = 00000000 results. The measurement pattern is transmitted to the automation component 7 via the bus connection 6 at a specific timing from the light grid arrangement 9 (which corresponds to the safety sensor 3 in relation to FIG. 1).
    The measurement pattern M is compared in FIG. 2 with a definition range D, which can likewise be represented as a binary number or as a group of binary numbers. The definition area is determined and managed by the automation component 7. In Fig. 2, the domain of definition D consists of the set {00000000, 00001000}. The automation component 7 compares whether the current measurement pattern M falls within the definition range D or matches it. If this is not the case, the automation component detects the presence of a dangerous situation and triggers an emergency stop of the conveyor belt 11 (the conveyor belt 11 essentially corresponds to the machine component 1 in FIG. 1). Optionally, instead of the emergency stop, another suitable protective action may be carried out, such as a slowing down of the speed v and / or the triggering of an alarm, etc.
    The second binary number of the above-mentioned definition area D enables a light curtain beam of the light grid array 9 (the fourth light curtain beam viewed from below) to be interrupted without triggering a protective action. As shown in FIG. 3, this corresponds to the situation when a plant object 8 conveyed by the conveyor belt 11 enters the light grid which is inclined relative to the direction of movement of the installation object 8. Although the interruption of this light beam does not initiate a protective action, it is however registered by the automation component 7 (which is not shown again in FIGS. 3 to 5 for the sake of clarity) as an event which marks the entry of a system object 8.
    On the one hand, the automation component 7 has all the parameter data of the automated control and, on the other hand, also knows other process data (eg sensor and feedback data) of the controlled machine component 1. In the very simple example of FIGS. 2 to 5, the automation component 7 is the respective speed v (the yes controlled by the automation component 7) known, so that the automation component 7 can easily determine which light grating beams are interrupted in the next periods of a correctly arranged on the conveyor belt 11 plant object 8. The plant object 8 should now be transported through the light grid without a protective action being triggered. If the automation component 7 recognizes the change in the measurement pattern M from 00000000 to 00001000 (FIG. 2 in FIG. 3), it triggers a time sequence of changes of the definition range D which is exactly matched to the plant object 8 and its velocity v exactly the light sensors 12 of the light grid assembly 9 are "hidden" by appropriate setting of the bits of the definition area D whose light grating beams are currently being interrupted by the plant object 8. This is exemplified in FIG. 4.
    If the system object 8 was transported through the light grid (FIG. 5), the automation component 7 resets the definition area D back to the initial state until another system object 8 'enters the light barrier and the next blanking or shuttering. Muting process is triggered.
    If the automation component 7 in addition to the speed v of the conveyor belt 11 also has data on the exact position of the plant objects 8, 8 'on the conveyor belt 11, the light grid outside the blanking or muting processes can also be completely "closed" (ie definition range D = 00000000).
    In addition to the speed v and the position data, numerous other parameter and / or process data from the automation component 7 can also be used, depending on the application, in order to implement security strategies of any complexity. For example, position, velocity, and / or acceleration data may be used in various axial directions, for example, to monitor spatial movements of machine components, such as robots or transport cranes, and other objects through complex, spatially-defined safety areas.
    The inventive method is particularly suitable for all areas in which automation systems are used and where safety precautions must be taken to protect people and objects. In particular, the inventive method for protecting the physical integrity of people in industrial plants, which are controlled by an automation system.
    Bezuaszeichen:
    Machine component (1)
    Annex (2)
    Safety sensors (3)
    Security area (4)
    Protective object (5)
    Bus connection (6)
    Automation component (7)
    Plant object (8)
    Light grid arrangement (9, 9 ')
    Communication interface (10) conveyor belt 11 light sensor 12, 12 '
    权利要求:
    Claims (18)
    [1]
    claims
    1. A method for the automated control of at least one machine component (1) in a plant (2) with an automation component (7), wherein the machine component (1) via a secure bus connection (6) with an automation component (7) is connected, wherein the system (2) has a safety area (4) monitored by means of at least one safety sensor (3) and wherein the machine component (1) carries out a protective action if a dangerous situation for protective objects (5), in particular persons and persons, detected by the safety sensor (3) / or material values, occurs, characterized in that a measuring pattern (M) measured by the safety sensor (3) is transmitted via the secure bus connection (6) to the automation component (7), the automation component (7) detecting the presence of a dangerous situation Determined basis of the measurement pattern (M) and controls the machine component (1) to perform the protective action.
    [2]
    2. The method according to claim 1, characterized in that the protective action is a deactivation of at least parts of the machine component (1), the assumption of a protective position, an active reaction, such as the stopping of at least parts of the machine component (1), a change of a Speed of at least parts of the machine component (1), an evasive movement, the triggering of a protective device, such as an airbag or an extinguishing device, the triggering of an alarm, or combinations thereof.
    [3]
    3. The method according to any one of claims 1 or 2, characterized in that as a dangerous situation, the detection of foreign objects or person in the security area (4), the detection of positioning errors of parts of the machine component (1) and / or the detection of positioning errors of plant objects (8) is defined.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that the safety sensor (3) has at least one light grid arrangement (9).
    [5]
    5. The method according to claim 4, characterized in that at least two light grating arrangements (9, 9 ') with respect to their lattice plane parallel to each other and with respect to the longitudinal extent of their light sensors offset from each other.
    [6]
    6. The method according to any one of claims 4 or 5, characterized in that at least one light grid arrangement (9) is arranged obliquely to a direction of movement of a plant object (8).
    [7]
    7. The method according to any one of claims 1 to 6, characterized in that the automation component (7) the hazard situation on the basis of the measurement pattern (M) and using parameter data and / or process data of the control of the machine component (1) or the system ( 2).
    [8]
    8. The method according to claim 7, characterized in that the process data are selected from a position, a speed and / or an acceleration of components of the machine component (1), and / or a position, a speed and / or an acceleration of drive means for a plant object (8).
    [9]
    9. The method according to claim 7 or 8, characterized in that the parameter data are selected from an operating mode, geometric dimensions of machine parts and / or the presence of optional machine parts.
    [10]
    10. The method according to any one of claims 1 to 9, characterized in that the automation component (7) defines a definition area (D), wherein a deviation of the safety sensor (3) measured and transmitted to the automation component (7) measuring pattern (M) or a portion of this measurement pattern (M) of the definition area (D) indicating a hazardous situation.
    [11]
    11. The method according to claim 10, characterized in that the automation component (7) for the determination of the definition area (D) takes into account a current or past measurement pattern (M) of the safety sensor (3).
    [12]
    12. The method according to claim 11, characterized in that a specific change of the current or past measurement pattern (M) triggers a defined temporal change of the definition area (D).
    [13]
    13. The method according to any one of claims 1 to 12, characterized in that the transmission of the measuring pattern (M) from the at least one safety sensor (3) to the automation component (7) via the secure bus connection (6) is time-synchronized.
    [14]
    14. The method according to any one of claims 1 to 13, characterized in that the from the security sensor (3) to the automation component (7) transmitted data are each provided with a time stamp.
    [15]
    15. Automation component (7) for controlling at least one machine component (1) in a system (2), characterized in that the automation component (7) has an interface via a secure bus connection (6) to at least one safety sensor (3) in which the security sensor (3) monitors a security area (4) and wherein the security sensor (3) transmits a measured measurement pattern (M) to the automation component (7) via the secure bus connection (6), the automation component (7) transmitting the measurement pattern (7). M) in order to determine the existence of a dangerous situation for protective objects (5), in particular persons and / or material values, and to control the machine component (1) in the event of a dangerous situation to carry out a protective action.
    [16]
    16. The automation component (7) according to claim 15, characterized in that the dangerous situation is determined on the basis of the measuring pattern (M) and using parameter data and / or process data of the control of the machine component (1) or the system (2).
    [17]
    17. The automation component (7) according to claim 16, characterized in that the automation component (7) sets the measurement pattern (M) obtained from the at least one safety sensor (3) on the basis of time information with the parameter data and / or the process data.
    [18]
    18. The automation component (7) according to claim 17, characterized in that the time information of the measuring pattern (M) is determined on the basis of a time-synchronous transmission via the secure bus connection (6) and / or on the basis of a time stamp.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2989369B1|2019-07-17|Apparatus and method for safeguarding an automatically operating machine
    EP2825812B1|2018-09-05|Method and device for securing a hazardous working area of an automated machine
    EP3011225B1|2019-03-20|Device and method for securing a machine that operates in an automated manner
    EP1635107B1|2007-02-14|Method and apparatus for the control ofa machine safety function
    EP1353196B1|2004-10-27|Object detection and light curtain
    EP2023160B1|2009-10-07|3D room surveillance with configuration mode for determining the protection fields
    EP2053538B1|2014-02-26|Securing a surveillance area and visual support for automatic processing
    EP2985636B1|2018-07-25|Method for aligning a sensor device
    DE19938639A1|2001-02-22|Device for protecting a danger zone, in particular the danger zone of an automated machine
    EP0179252A2|1986-04-30|Method and apparatus for protecting people in the operating range of a movable part of a traversing or swiveling machine, particularly of an industrial robot
    DE102015220495A1|2017-04-27|Protective field adaptation of a manipulator system
    DE102013000851B4|2015-07-23|Method for operating a plant and plant, in particular a production plant
    EP3150898B1|2021-09-01|Method for automated control of a machine component
    DE102016005854A1|2016-12-01|Device and method for monitoring a protected area
    EP1903356A1|2008-03-26|Light curtain
    DE202017100522U1|2018-05-03|monitoring device
    EP2811318B1|2015-07-22|Optoelectronic sensor
    EP3575666A1|2019-12-04|Device for protecting a hazardous area of a system
    DE102017119149A1|2018-03-22|Method for contactless detection of relatively moving objects and sensor device
    DE102017101905A1|2018-08-02|monitoring device
    EP3067511A1|2016-09-14|Vertical drilling device with secure working area
    DE102009031226B4|2016-06-30|Safety Light Curtain
    DE202017001537U1|2018-06-26|Safety device for a vehicle, in particular for a driverless vehicle
    DE102017004030B4|2022-01-27|Method and device for securing a work space
    EP3869240A1|2021-08-25|Sensor assembly and method for operating a sensor assembly
    同族专利:
    公开号 | 公开日
    AT517784B1|2021-01-15|
    EP3150898B1|2021-09-01|
    EP3150898A1|2017-04-05|
    US20170097626A1|2017-04-06|
    CA2943863A1|2017-04-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE10000287A1|2000-01-07|2001-07-19|Leuze Lumiflex Gmbh & Co|Coverage monitoring device for work tool has evaluation unit which controls operation of work tool within coverage depending on detection of security-critical object within protection zone of coverage|
    EP1835310A2|2006-03-18|2007-09-19|Leuze lumiflex GmbH + Co. KG|Light grid|DE102017108531A1|2017-04-21|2018-10-25|Sick Ag|security system|US5280622A|1992-07-17|1994-01-18|Mitsubishi Semiconductor America, Inc.|Combined light beam and ultrasonic transducer safety sensing system|
    DE4422497C2|1994-06-28|1996-06-05|Leuze Electronic Gmbh & Co|Device and method for optoelectronic detection of objects|
    US6166371A|1999-04-30|2000-12-26|Beckman Coulter, Inc.|Diffuse reflective light curtain system|
    US6839660B2|2002-04-22|2005-01-04|Csi Technology, Inc.|On-line rotating equipment monitoring device|
    DE10224031B3|2002-05-31|2004-01-29|Leuze Lumiflex Gmbh + Co. Kg|Device for monitoring a detection area on a work equipment|
    DE10304054B4|2003-02-01|2005-03-03|Leuze Lumiflex Gmbh + Co. Kg|Optical sensor|
    DE10329881A1|2003-07-02|2005-01-20|Sick Ag|light Curtain|
    DE102005030829C5|2005-07-01|2016-05-19|Sick Ag|Method for operating a light grid and light grid|
    DE102007024210A1|2007-05-15|2008-11-27|Pilz Gmbh & Co. Kg|Optoelectronic sensor to protect a hazardous area|
    EP2315088B1|2009-10-23|2013-03-13|Sick Ag|Safety control|
    US20170011258A1|2010-06-07|2017-01-12|Affectiva, Inc.|Image analysis in support of robotic manipulation|
    DE102013106514B3|2013-06-21|2014-10-30|Pilz Gmbh & Co. Kg|Device and method for securing an automated machine|
    JP6397226B2|2014-06-05|2018-09-26|キヤノン株式会社|Apparatus, apparatus control method, and program|EP3455153B1|2016-07-04|2020-05-27|Siemens Aktiengesellschaft|Method and system for avoiding collisions by cranes|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50835/2015A|AT517784B1|2015-10-01|2015-10-01|Process for the automated control of a machine component|ATA50835/2015A| AT517784B1|2015-10-01|2015-10-01|Process for the automated control of a machine component|
    EP16191356.1A| EP3150898B1|2015-10-01|2016-09-29|Method for automated control of a machine component|
    CA2943863A| CA2943863A1|2015-10-01|2016-09-30|Method for automated control of a machine component|
    US15/281,633| US20170097626A1|2015-10-01|2016-09-30|Method for automated control of a machine component|
    [返回顶部]