Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
  • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
  • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
  • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
  • F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
  • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
  • B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/06—Safety devices
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
  • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
  • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
  • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact

Definitions

• the present invention is encompassed in the industrial sector where machinery is used that automatically develops its activity over a work area - usually a table or workbench - and is controlled semi-automatically by an operator.
• CNC computerized numerical control device
• the industrial activity is carried out on a table or workbench, in which the operator must intervene throughout his work day to perform the following activities:
• machines of this type are:
• Laminating machines such as sheet and steel (plasma, oxygen or laser cutting), ore plates, such as marble and granite (water and sand blasting) and paper or cardboard (guillotine cutting), among other.
• SSA active safety systems
• SSA artificial vision systems
• SVA artificial vision systems
• SVAs for existing security purposes are those designed for anti-intrusion and anti-theft protection, mainly used in museums and banks. He The object of these systems is not the protection of the person, but of the object.
• the invention relates to a system whose object is the active and immediate detection and prevention of occupational hazards in industrial machinery according to claim 1. Preferred embodiments of the system are defined in the dependent claims.
• the invention relates to a system of active and immediate detection and prevention of occupational hazards in industrial machinery that has an associated first work zone, fixed in time, and includes at least one protection subcircuit.
• the system includes:
• At least one image capture device located with respect to said industrial machinery so as to capture a complete image of said first work zone plus a safety environment surrounding said first work zone, producing a single color image and at a pre-established resolution of said first work zone plus its security environment;
• At least one switch controlled by electrical circuit preferably a relay or electromechanical device connected to said at least one protection sub-circuit of the industrial machinery;
• At least one processing unit that includes communication with said at least one image capture device and with said at least one switch controlled by electrical circuit.
• the processing unit It also includes:
• control module configured to cyclically perform an analysis of said single image produced in each time interval preset by the at least one image capture device, said analysis depending on whether the industrial machinery is in an available or unavailable state, or if it is in motion, where said analysis includes:
• system configured to perform a division of said first work zone and its security environment, together, as follows:
• a third danger zone variable in time, which at each moment comprises a part of the first work zone and its safety environment, located around the industrial machinery and said second action zone and with pre-established dimensions ;
• a fourth warning zone also variable in time, defined at all times as a region of the safety environment and the first work zone that is not a second zone of action or a third danger zone;
• system also being configured to:
• the industrial machinery is not available and it has been determined that there is movement and / or that there is one or more objects that does not coincide with a group of objects preset as known objects in said third danger zone and / or in said second zone of action, the industrial machinery is kept in an unavailable state and at least one risk indicator is activated;
• At least one risk indicator if at least one risk indicator is activated, produce a series of signals that includes at least one signal for said at least one switch controlled by an electrical circuit to act on the at least one protection subcircuit for the machine to switch to status not available if it was in available state, or remains in that unavailable state, if it already was.
• This risk or danger indicator is activated whenever movement and / or human presence and / or unknown objects are detected in the third danger zone in the event that the industrial machinery is available, and in the event that the machinery industrial is not working, this risk or danger indicator is also activated if movement is detected, and / or human presence and / or of unknown objects in the second zone of action. That is to say, the risk detection and prevention system of the invention determines, by means of adequate real-time image processing, at least the level of risk of the first work area and the environment - that is, of the visualized field -, the state of industrial machinery and the existence of obstacles, animals or people in that visualized field.
• the system also, if there is movement and / or it is determined that there are unknown objects - one or more objects that do not match a group of objects preset as known objects - in the fourth warning zone, regardless of the state in which the machinery is located industrial, industrial machinery is maintained in the state it was in and a warning indicator is activated.
• This warning indicator is preferably activated, provided that movement and / or human presence and / or unknown objects are detected in the third warning zone.
• a first phase of initial loading of data into memory and initialization of variables is preferably carried out.
• Said first phase of initial loading includes recovering from memory a reference image of the first work area and its security environment.
• the system may include:
• each image capture device located with respect to said industrial machinery so that each image capture device captures a partial image of the first work area plus its safety environment, fully encompassing the first work area plus its environment security between said two or more image capture devices;
• the system also includes:
• an image module to digitally process each partial image of the first work zone plus its security environment captured by each image capture device and produce a single color image and at a pre-established resolution of said first work zone plus its environment of security.
• Said color-based recognition preferably comprises comparing both the average color hue of the object or objects present on the first work zone comprised within the third danger zone and the fourth warning zone, and in case the industrial machinery does not is working, too in said second action zone, such as the variation of said color levels with respect to reference characteristics of material to be handled by the machinery stored in memory.
• the system can also comprise one or more sound and / or visual reporting devices, whose purpose is to notify a user of the industrial machinery of the anomaly / s detected by the system and of the risks existing in the visualized field in that instant.
• These reporting devices are preferably placed in an audible and / or visible area for said user.
• the control module preferably generates output signals that arrive at said at least one switch controlled by an electrical circuit and, preferably, also at said optional sound and / or visual information device (s).
• Said at least one switch controlled by electrical circuit which in its preferred embodiment will be a normally closed relay, acts in accordance with the control signals it receives from the control module, over at least one protection subcircuit of the machinery control panel , so that if the machinery is in an unavailable state, the at least one switch controlled by an electrical circuit remains open preventing an accident at work and, if the industrial machinery is available, it is closed, thus allowing the operation of the machinery.
• Said security environment preferably has dimensions that depend on the dimensions of said industrial machinery, its first work area and its accessibility. These dimensions preferably depend on what is established in the European directive 2006/42 / CE: "Safety for Industrial Machinery, ANSI / RIA R15.06:" Industrial Robots and Robot Systems -
• Safety Requirements ", ISO 10218 standards:” Robots and Robotic Devices - Safety Requirements for Industrial Robots "and ISO 13855:” Safety o ⁇ machinery - Positioning of safeguards with respect to the approach speeds of parts of the human body ".
• the risk detection and prevention system functions as an active security system (SSA), offering the following benefits:
• the order of immediate stop of the machinery is given to at least one, switch controlled by electrical circuit, to prevent an accident from occurring and, optionally, notify the user by means of a visual and / or audible information device of the anomaly detected by the system.
• the system recognizes that the machinery has completed the task and indicates at least one controlled switch. by electrical circuit that ceases the availability of the machinery, avoiding its reactivation until the necessary conditions for it are verified and, in addition, it is not activated untimely.
• Figure 1 shows a top plan view of the real test scenario performed with the system of the invention on an industrial machine.
• Figure 2 shows a diagram of the main elements that form the system of the invention.
• FIG. 3 schematically shows the control and detection processing carried out by the control module of the system of the invention.
• Figure 4 shows a flow chart of the operation of the system in phase 0.
• Figure 5 shows a flow chart of the operation of the system in the pre-control phase 1 .1.
• Figure 6 shows a flow chart of the operation of the system in phase 1 .2 of reactivation control.
• Figure 7 shows a flow chart of the operation of the system in phase 2 of motion control.
• Figure 8 shows the reference image of the disturbance-free security environment, REF
• Figure 9 shows an example of the images corresponding to obtaining differences masks, with objects existing both on the work table and in the security environment.
• Figure 10 shows a series of binary masks of the work scenario.
• Figure 1 1 shows schematically a complete view of the work scenario in the case of an industrial machine, of dimensions larger than the machine of Figures 1, 8, 9 and 10, clearly showing the different areas considered in the risk assessment.
• the industrial scenario of the test whose plan drawing is schematically illustrated in Figure 1, has dimensions of 685 x 650 x 300 cm (length x width x height).
• a gantry construction cutting machine 10 with a design focused on oxygen cutting or combined plasma / oxygen cutting; a plasma cutting suction table 20 equipped with smoke outlet, of dimensions 1 10 x 90 x 80 cm (length x width x depth);
• This gantry construction cutting machine 10 marketed by Praxair has the following characteristics:
• a high performance plasma cutting equipment 1 1 is included (the one present in the test scenario is a Hypertherm Powermax 1000 equipment), a CNC 12 computerized numerical control device with touch screen .
• the risk detection and prevention system of the invention is based on an SVA artificial vision system, and comprises:
• the camera 50 used in this test is a linear color camera, model DFK 41 BU02.H, and has a Sony CCD sensor with 1/2 "progressive scan, resolution 1280 x 960 pixels, maximum capture speed 15 images / s and that has both external trigger input and output input.
• the main risks are concentrated due to the characteristics of the chosen test scenario, in the work area and in its immediate surroundings, as this region is mainly concentrated, the risks considered by the invention.
• a computer 60 that includes a control module 62 responsible for the immediate detection of occupational hazards or risks from a real-time processing of that single image that will be explained in detail later.
• this computer 60 is unique and has the control module 62 implemented within a single microcontroller.
• This computer 60 is also connected through one of its communications ports to an electromechanical relay 80, normally closed.
• This electromechanical relay 80 is in turn connected to a protection subcircuit of the machine 10 (control panel).
• the computer 60 acts immediately on the electromechanical relay 80, preventing the operation of the machine 10.
• the computer 60 when any occupational hazard or risk is detected, the computer 60 also acts on audiovisual panels 90, 91, which constitute both sound and / or visual hazard reporting devices. or occupational hazards in the visualized field.
• the camera is placed perpendicular to the worktable at a distance D and focused on it.
• the minimum required safety distance is 50 cm (measured from the limits of the worktable) , and taking into account the characteristics of the camera, that distance D is 2.15 m (the worktable has a height of 0.8 m).
• the computer 60 also includes an image module 61 responsible for the digital treatment of the images acquired by the camera 50, for which it has a controller for USB cameras. After this digital treatment, a unique image of the worktable 20 plus its security environment 21 is produced. That is, in this embodiment the computer 60 is in charge of processing the images captured by the different cameras 50 in real time to produce that unique image in color and with a preset resolution. In this way, it is possible to observe in detail the events that occur at the work table and its security environment.
• the computer 60 also has storage devices 63 (internal or external to it), where image, video and data (such as alarms and other incidents occurred during the operation of the machinery) are stored, organized and referenced in tables of databases.
• Figure 1 1 shows a complete view of the work scenario in the case of a second industrial machine 10 ', of dimensions larger than machine 10.
• the different areas considered in the evaluation are shown more clearly. of risk:
• This displayed field, security environment set 21 and table 20 or first work area is divided as follows:
• Action zone 22 which is the region of the environment in which the machine is developing its activity.
• Danger zone 23 which has a width according to the safety distance indicated in the European directive 2006/42 / CE, ANSI / RIA R15.06 and ISO 10218 and ISO 13855.
• Warning zone 24 which is that or those regions of the whole safety environment + work table that are not a danger zone, neither a machine nor an action zone, and in which, therefore, the operator can be without the occurrence of a accident at work, but it is necessary to signal it.
• the digital image obtained from the calibrated camera 50 (or cameras) reaches the 60 computer through a high-speed wired bus.
• the image module 61 preprocesses said digital image (by means of a digital image mosaic technique (mosaicking) in case there is more than one camera), and at its output it provides a single image, in color and with sufficient resolution, of the complete field of vision visualized by the camera 50 covering, at least, the minimum safety distances required by the safety regulations in current industrial machinery.
• a digital image mosaic technique mosaicking
• This single combined image where both the security environment 21 and the worktable 20 are fully visualized, is processed by the control module 62, according to control and detection processing indicated below, and whose objective is both time acting real on the electromechanical relay 80, which is connected to the protection subcircuit that acts against occupational hazards or risks associated with the machine, such as the real-time update of the information provided by the audiovisual panels 90, 91.
• phase 1 which in turn is subdivided into phase 1 .1 (400) and phase 1 .2 (500), and phase 2 (600).
• Phase 0 Initial loading of data from memory.
• This phase 0 of starting variables is shown in detail in Figure 4. This phase 0 is carried out only once at the time of starting, before the uninterrupted operation of the system.
• thresholds (302) of minimum difference that must exist between the current image or frame (frame) and the immediately previous one in time, and between the current image and the reference image are also loaded, to consider that there is something unknown , due to its characteristics, in the new image with respect to the previous ones.
• These thresholds are called, respectively, THANT and THREF.
• a reference image (303) of the work environment (including the worktable 20 and the security environment 21) is also loaded, REF
• N reference image of the field of vision observed by means of the calibrated camera, free of disturbances (obstacles, human presence and / or presence of material on the workbench table) and with the machine stopped at its resting point.
• the location masks of the security environment 21 and of the table 20 or workbench obtained as a result of the binarization process applied on the reference image, REF
• the cyclic decision-making procedure is carried out based on the analysis of the captured image and the data previously loaded from memory in phase 0. Its operation, which varies in its execution according to the state of availability of the industrial machine (as is shown in Figure 3), is divided into three different phases:
• Phase 1 .1 Prior control ( Figure 5);
• Phase 1 .2 Reactivation control ( Figure 6); Y,
• step 201 it is first checked if the machine is available (step 201). If it is not, the verification of whether the machine is present in any area of the safety environment of the worktable is carried out; if it is not, it means that the machine is at its origin and proceeds with the pre-control phase 1 .1; and if it is detected that there is a machine present in some area of the safety environment outside its resting point, it means that there has been a stop of the machine during its industrial activity - due to the fact that a risk has been detected - and proceed with phase 1 .2 of reactivation control. If the machine is available, proceed with phase 2 of moving control.
• Phase 1 .1 Prior control (Fia. 5)
• the new image or frame is filtered, preferably by means of a medium filter, and the binary masks of differences between the previous image and the new image are obtained, and between the latter and the reference REF, N , depending on the chosen thresholds, THANT and THREF.
• difference masks are VIDFRAMEANT and VIDFRAMEREF, respectively.
• the next step is to determine, through a color-based recognition, if the object or any of the objects present (if there are several), are unknown objects (406).
• This color-based recognition consists in comparing both the average hue of the object or objects present on the table, and the variation of said color levels with respect to the reference characteristics of the material to be handled by the industrial machinery, stored in the system memory .
• the next step is to determine if the material is correctly located or calibrated with respect to the reference of the industrial machine (41 1). If it was not calibrated, the parameters necessary for its calibration are determined (412).
• the next step it consists of checking if there are dangers in the security environment (413). If there are, the relevant indicator for the corresponding warning is activated by the optional visual and / or audible information panel, in addition to the indicators or flags of suitable material on the table and of unknown objects in the security environment, which is why which machine will continue unavailable and, therefore, the relay Electromechanical remains open.
• the closing order to allow the machine to operate is provided to the electromechanical relay and the machine availability indicator or flag (415) is activated, ending the cycle for the current image or frame.
• Phase 1 .2 Reactivation control (Fig. 6)
• This phase contemplates the case in which the machine is immobile outside its resting point (it is present in some area of the safety environment) and, in addition, in unavailable state.
• This situation implies that during the industrial activity that was being carried out previously, a work hazard or risk has been detected that has caused the immediate action of the electromechanical relay, causing the immediate shutdown of the industrial machine and, consequently, this has happened to be unavailable
• REF PRE v The reference image or frame, REF PRE v, that was stored in memory is loaded before starting the industrial activity that has been interrupted by the detection of hazards (step 414, Fig. 5).
• the difference masks (501) of the current image are obtained with respect to the previous one and with respect to that of previous reference to industrial activity (REF PRE v), VIDFRAMEANT and VIDFRAMEREF, from these images and thresholds
• THREF 10% higher than that used during the previous check. This increase is made to avoid that the shadows produced by the machine during its movement through the visualized field give rise to an erroneous detection of objects both on the work table and in the safety environment.
• the closing order is transmitted to the relay (activation of the indicator or flag of machine availability), thus allowing the reactivation of the machine, a situation that can be shown to the operator through audiovisual panels 90, 91.
• Phase 2 Control in motion (Fia. 7)
• the system availability indicator or flag If in one cycle the system availability indicator or flag is active, it indicates that the machine is prepared to perform the associated industrial activity, so that the machine is already carrying out this action or is about to start it .
• the safety study in this phase of operation focuses on controlling the presence of people or objects in the security environment that can cause an accident.
• the machine presence indicator or flag in the image is updated or previous plot; that is, this indicator or flag is assigned the value that the machine presence indicator or flag has in the safety environment in motion.
• a fourth warning zone ZA and a third danger zone ZP are established.
• the fourth warning zone ZA is a region of the area displayed by the camera (or set of cameras) in which the operator may be during the operation of the industrial machine. This area is located in the area opposite to where the machine begins to advance and at a sufficient distance so that, when the machine advances to that region, it does not cause any accidents at work.
• the third danger zone ZP is between the fourth warning zone ZA and the machine advance zone.
• the difference masks are determined based on the THANT and THREF thresholds, in this case THREF is 10% higher than the one used during the previous control to prevent the shadows produced by the machine during operation causing a Wrong object detection. From the analysis of these masks (601), it is determined if there is a machine in motion (602) by the safety environment and its limits of progress in the field of vision observed, considering in the determination of these limits both the area where it travels as the area of action required during its industrial activity.
• the next step is to verify if there are hazards in the third danger zone ZP (603), a from the VIDFRAMEREF mask.
• the next step is to check if there is anything strange in the fourth warning zone ZA, with the exception that if there are any objects or people in the area warning, you must be alert to the possibility of advancing them to the third danger zone, but will not stop the machine, because there is no danger.
• the electromechanical relay 80 is immediately ordered to stop the machine, materialized with its opening, in order to avoid an accident at work that could have serious consequences for the human being; likewise, the machine availability indicator or flag is deactivated and, in the next iteration, the process of prior control or reactivation of the industrial activity is returned (phase 1 .1 or 1 .2).
• the safety environment (602n) since it is available, it should be considered that this situation may be due to the system coming from rest and, therefore, the machine is about to begin its activity, or that it has already completed the task and, consequently, has returned to its starting point or rest; being therefore necessary to know what situation occurs.
• the status of the machine presence indicator or flag is checked in the previous image (604). If it is active (604s), it indicates that the machine is not moving through the security environment because the task assigned to it has already been completed and, consequently, the machine availability and update indicators or flags are deactivated of the reference image or frame (605), thus passing to the process of prior control or reactivation of industrial activity in the next cycle.
• this flag is deactivated (604n), it is waiting for the machine to appear in the first work area to carry out the task entrusted to it.
• the first thing that is done is to check if there are dangers in the third danger zone ZP (607), delimited by the area closest to the machine advance limit to a sufficient distance from the machine advance limit, in accordance with its speed and in accordance with the European directive 2006/42 / CE and with the standards ANSI / RIA R15.06, ISO 10218 e
• the order of action is given to the electromechanical relay, a device that opens causing the immediate stop of the machine, thus ceasing its availability (606), to avoid that, due to the speed of This progress can be achieved, causing the entrapment of the person or object existing in that region, also providing optional audiovisual information through the status of said indicator or flag, before moving on to the next image analysis process before of machine activation.
• the electromechanical relay (electrical switch) will open or remain open, keeping or putting the machine in an unavailable state, in the following situations:
• the electromechanical relay will close and the machine will start availability when the relevant conditions for its activation are verified, that is, the machine is stopped, the material that exists on the table is correct, and there are no unknown objects or movement in the safety environment.
• Audiovisual panels 90, 91 serving as sound and / or visual reporting devices are formed by a series of sound elements (e.g., alarm sirens of different sonic frequency and / or timing), and / or luminous (by For example, traffic lights or signs, green, red and amber) in order to inform the operator of the industrial machine of at least the following circumstances, accompanied as an example with the visual signaling characteristic of a traffic light panel:
• sound elements e.g., alarm sirens of different sonic frequency and / or timing
• / or luminous by For example, traffic lights or signs, green, red and amber
• Security level of the displayed field Safe (green) - Warning (amber) -
• Availability status of the machine which also indicates the state in which the electromechanical relay is located: open, if the machine is not available or, closed, if available (field displayed safe and ready for the industrial machine to carry out your activity safely): Available (green) / Not available (red).
• Industrial machine running presence of machine moving through the field displayed), outside its starting or resting position: Machine in motion (green) / Machine at rest (red).
• Figure 8 shows the reference image of the safety environment 21 (indicated by dashed line) of disturbance-free work, REF, N , for the chosen test scenario; the original image a) is shown on the left and its corresponding filtered version b) on the right. It shows a part of a tube 31 of the fume extractor 30 and the worktable 20 of the plasma cutting system.
• Figure 9 shows different images of a sequence in the visualized field, with objects existing both on the worktable and in the security environment:
• the upper left image a) corresponds to the image or frame of the previous filtered moment. It shows an iron 98 located on the table job.
• the upper right image b) corresponds to the current filtered image or frame. It shows an object 99 in the security environment 21 (right part of the image).
• the left central image c) corresponds to the image or frame of difference between the current image b) and the previous one a).
• the right central image d) corresponds to the difference mask VIDFRAMEANT, obtained from image c) and the THANT threshold.
• the lower left image e) corresponds to the image or frame of difference between the current image b) and the reference image.
• the lower right image f) corresponds to the difference mask VIDFRAMEREF, obtained from image e) and the THREF threshold.
• the binary mask for determining the existence of objects on the worktable.
• the system of the invention allows to eliminate four occupational hazards completely: entrapment, collision with moving objects or collision, contact burns and cuts with protruding edges or projection of material on the ground. This is because, with the system described here, there is an immediate detection of occupational risk after its appearance, also acting immediately on the machinery and, thus, preventing the occupational risk from materializing and, of course, that the accident occurs.
• the increase in the level of safety of industrial machinery, after the implementation of the system of the invention is due to the fact that, without its existence, the machinery only has emergency stop interlocking devices as a mandatory protection measure (basic safety level ), which only act when the operator activates it, but that autonomously would not prevent the loss of the system's safety function due to the existence of a fault in the machine's work area and much less to the existence of an obstacle , mobile or not, present in its security environment.
• basic safety level mandatory protection measure

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Citations (4)

• 2011
  • 2011-12-23 ES ES201132098A patent/ES2421285B8/es active Active
• 2012
  • 2012-12-20 WO PCT/ES2012/070891 patent/WO2013093163A1/es active Application Filing

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