System, in particular a manufacturing system

Abstract

A system, in particular a manufacturing system, the system including machines, especially stationary and mobile machines, and at least one vehicle and a control, the vehicle having at least one sensor for ascertaining the relative position of a person, in particular a sensor for ascertaining the distance between the vehicle and the person, and for ascertaining the angle between the driving direction of the vehicle and the connecting line between the person and the vehicle, the vehicle having a position acquisition means for sensing the position of the vehicle, in particular a GPS system or a triangulation system for ascertaining the position of the vehicle, the control including a means for ascertaining the safety zone around the person and the machines situated therein, a data transmission channel being provided between the control and the machines.

Claims

1. A system, comprising: a plurality of machines; a data transmission channel in communication with the machines; a sensor; and a controller adapted to ascertain a position of a movable object relative to the machines based on signals generated by the sensor, to ascertain a safety zone area around the movable object based on the ascertained relative position of the movable object and positions of the machines, to ascertain a safety zone area around the movable object and the machines situated therein based on the ascertained relative position of the movable objected and the positions of the machines, and to place the machines located in the safety zone area into a safety-directed state.

2. The system according to claim 1, wherein at least one of the machines is arranged as a stationary machine.

3. The system according to claim 1, wherein the controller is adapted to ascertain the safety zone area around the movable object based on the ascertained relative position of the movable object and a predetermined position of the stationary machine.

4. The system according to claim 1, wherein at least one of the machines is arranged as a movable machine.

5. The system according to claim 4, wherein the controller is adapted to ascertain a position of the movable machine based on the signals generated by the sensor, and the controller is adapted to ascertain the safety zone area around the movable object based on the ascertained relative position of the movable object and the ascertained position of the movable machine.

6. The system according to claim 1, wherein at least one of the machines is arranged as a stationary machine and at least one of the machines is arranged as a movable machine.

7. The system according to claim 6, wherein the controller is adapted to ascertain a position of the movable machine based on the signals generated by the sensor, and the controller is adapted to ascertain the safety zone area around the movable object based on the ascertained relative position of the movable object, the ascertained position of the movable machine, and a predetermined position of the stationary machine.

8. The system according to claim 1, wherein the sensor is arranged as a stationary sensor.

9. The system according to claim 1, wherein the movable object includes a person.

10. The system according to claim 1, further comprising a movable vehicle.

11. The system according to claim 10, wherein the vehicle includes the sensor.

12. The system according to claim 10, wherein the controller is adapted to sense a position of the vehicle and to ascertain the safety zone area around the movable object based on the sensed position of the vehicle.

13. The system according to claim 10, wherein the vehicle includes a position acquisition device adapted to sense a position of the vehicle.

14. The system according to claim 13, wherein the position acquisition device includes a GPS system and/or a triangulation system.

15. The system according to claim 10, wherein the vehicle is adapted to maintain a constant distance to the movable object and/or to maintain at least a minimum distance value to the movable object.

16. The system according to claim 10, wherein the vehicle includes a daylight camera, an infrared camera, and/or a microphone adapted to ascertain a relative position between the vehicle and the movable object.

17. The system according to claim 10, wherein the vehicle includes a brake device, the vehicle adapted to reduce a vehicle speed so that a brake travel of the vehicle is shorter than a distance to the movable object.

18. The system according to claim 1, further comprising a plurality of movable vehicles.

19. The system according to claim 1, wherein the controller is adapted to ascertain a distance between the movable object and the machines and to ascertain an angle between a moving direction of the movable object and a connecting line between the movable object and the machines.

20. The system according to claim 1, wherein the safety-directed state includes a reduced-speed state and/or a stopped state.

21. A system, comprising: a plurality of machines; a data transmission channel in communication with the machines; a sensor; and at least one controller adapted to ascertain a position of a movable object relative to the machines based on signals generated by the sensor, to ascertain a safety zone area around the movable object based on the ascertained relative position of the movable object and positions of the machines, to ascertain a safety zone area around the movable object and the machines situated therein based on the ascertained relative position of the movable objected and the positions of the machines, and to place the machines located in the safety zone area into a safety-directed state.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 schematically shows a manufacturing system according to the related art;

(2) FIG. 2 shows a manufacturing system according to the present invention, including a rail-bound vehicle 4.

(3) FIG. 3 shows another manufacturing system according to the present invention, which includes a vehicle 6 which is maneuverable on a maneuvering surface.

DETAILED DESCRIPTION

(4) As illustrated in FIG. 1, it is known to place machines (M1, M2, M3, M4, M5) inside a cage, in particular a gitter box, in an effort to provide safety for person 1.

(5) Among such machines are not only machine tools but robots as well.

(6) When a door of cage 3, especially the gitter box, is opened, the corresponding machine situated inside cage 3 is switched off or put into another safe state. For example, the lowering of the speeds of machine axles or robot axles is known as a safe state.

(7) In contrast to the related art, the system according to the present invention as illustrated in FIG. 2 or 3 dispenses with cages 3.

(8) As a result, a person 1 is able to move freely through the system, approach the machines (M1, M2, M3, M4, M5) at will, and touch them, in particular.

(9) To make it safe, the corresponding machine located within a safety zone around person 1 is switched off or put into another safe state. The lowering of the speeds of machine axles or robot axles, for example, is also known as a safe state.

(10) Sensors, especially a daylight camera, infrared camera, microphone and/or a microphone array, are used for detecting person 1. Person 1 is detected by analyzing the signals generated by the sensors, in particular by an image recognition system.

(11) Since the position of the sensors is known, the position of person 1 is ascertainable as well. Thus, the position is forwarded via a data transmission channel, so that the particular machines that drop below a minimum distance can then be put into the safe state.

(12) In a first exemplary embodiment, the sensors are stationary and situated on the ceiling of the manufacturing plant or on a T-beam of the building, for instance, so that a large sensitive region of the sensors is able to be obtained.

(13) In one further exemplary embodiment, the sensors are situated on a rail-bound vehicle 4, which is movable along a rail 2, as illustrated in FIG. 2.

(14) In one further exemplary embodiment, the sensors are situated on a vehicle 6, which is movable along a maneuvering surface, as illustrated in FIG. 3.

(15) When non-stationary sensors are used, i.e., sensors situated on vehicle 6 or rail vehicle 4 according to FIG. 2 or 3, the vehicle (4, 6) is able to be brought as close to person 1 as possible while maintaining a minimum distance. This makes it possible to achieve very low interference susceptibility and/or error rates.

(16) Because access to the machines (M1, M2, M3, M4, M5) is unrestricted, even unmanned transport systems, i.e., FTS, and/or AGV, i.e., an automated guided vehicle, can be moved toward the individual machine (M1, M2, M3, M4, M5) from every direction. The paths are consequently less restricted than in the related art according to FIG. 1.

(17) More effective logistical sequences within the manufacturing system can therefore be set up.

(18) Objects are brought to each of the machines (M1, M2, M3, M4, M5) and objects are fetched again after processing by the individual machine (M1, M2, M3, M4, M5).

(19) The vehicle (4, 6) is equipped with a control, which is connected to the sensors and/or their associated evaluation means. In addition, the control is developed as a bus node, as are the machines (M1, M2, M3, M4, M5) by way of their controls. An evaluation means also includes an image evaluation unit for detecting a person 1 or other movable objects.

(20) Since the control of the vehicle has stored a list of the positions of the machines (M1, M2, M3, M4, M5) of the manufacturing system in its memory, the machines (M1, M2, M3, M4, M5) located in the safety zone are ascertained by the control, whereupon they receive, via the data transmission channel implemented as a data bus, a corresponding command which puts them into the safety-directed state.

(21) As an alternative, only the position of person 1 is ascertained, and the controls of the machines (M1, M2, M3, M4, M5) then determine on their own whether they are located within the safety zone and must therefore be brought into the safety-directed state.

(22) If person 1 continues to move, the vehicle (4, 6) follows person 1, so that the detection of the person remains essentially constant even if the movement continues. The detected position of the person is updated in a recurring manner, so that machines (M1, M2, M3, M4, M5) situated in the updated safety zone are transferred into the safety-directed state, and the machines (M1, M2, M3, M4, M5) located outside the safety zone are released to assume their predefined working states.

(23) The vehicle (4, 6) has a position detection system, which is realizable either with the aid of markings situated in the manufacturing system, or by a GPS system. Transmitters, whose position is known to the control of the vehicle (4, 6), are preferably disposed in the manufacturing system. The vehicle then ascertains its position with the aid of the signals received from the transmitters, using the phase relation of the transmitters, in particular. After the position of the vehicle (4, 6) has been determined, the control of the vehicle (4, 6) ascertains the position of person 1. This position of the person is either transmitted to the machines (M1, M2, M3, M4, M5) by way of the data transmission channel, or a safety zone around the position of person 1 is first determined and the command to assume the safety-directed state is then transmitted to the machines (M1, M2, M3, M4, M5) that are located inside this safety zone via the data transmission channel.

(24) A reduction of all speeds of the machine axles is provided as the individual safety-directed state of one of the machines (M1, M2, M3, M4, M5). Moreover, each machine (M1, M2, M3, M4, M5) additionally has at least one sensor, which further reduces the speed of a machine axle that may pose a risk to person 1 after person 1 or parts thereof has/have been detected. In the case of machines (M1, M2, M3, M4, M5) that are not stationary, such as further AGVs or FTSs, the speed is reduced when the safety zone is entered, and if a sensor of the non-stationary machine (M1, M2, M3, M4, M5) detects person 1, a further reduction of the speed takes place. The speed is reduced to a value at which the brake travel is shorter than the minimum distance from person 1.

(25) The data transmission via the data transmission channel may be carried out either directly from the vehicle to the machines (M1, M2, M3, M4, M5) or indirectly by way of a central control. This central control then specifies the speeds of the machines (M1, M2, M3, M4, M5) or the vehicles that are not stationary.

(26) In one development according to FIG. 2, i.e., which includes a rail-guided vehicle 4, rail 2 is preferably situated above the path provided for person 1.

(27) In other words, the clearance between the vehicle (4, 6) and person 1 preferably is kept essentially constant.

(28) In addition, the vehicle (4, 6) is equipped with a microphone array, i.e., a multitude of microphones, especially at least three microphones. An analysis of the received signals thus makes it possible to ascertain noise sources and their distance. Additionally, a loudspeaker, which is actuated as a function of the received signals, is situated on top of the vehicle (4, 6). The signal generated by the loudspeaker is ascertained in such a way that at the position of the ears of person 1, the superimpositioning of the noise that is emitted by the noise sources and reaches the ears of person 1 and the noise generated by the loudspeaker has the smallest amplitude possible. This makes it possible to achieve a suppression of noise sources for the person, especially of determinable noise sources, for which spectral subtraction is preferably used.

(29) In one further exemplary embodiment according to the invention, the control is stationary, and the vehicle transmits only the ascertained positional data of the person. The stationary control then determines the safety zone and transmits the commands for the transition to the safety-directed state to the corresponding machines (M1, M2, M3, M4, M5).

LIST OF REFERENCE CHARACTERS

(30) 1 person 2 rail 3 cage, in particular a gitter box 4 rail vehicle 6 vehicle M1 machine M2 machine M3 machine M4 machine M5 machine