US 11,841,459 B2
Method of monitoring a protected zone
Christoph Hansen, Waldkirch (DE); and Lars Schubert, Waldkirch (DE)
Assigned to SICK AG, Waldkirch/Breisgau (DE)
Filed by SICK AG, Waldkirch/Breisgau (DE)
Filed on Jan. 23, 2020, as Appl. No. 16/750,653.
Claims priority of application No. 102019101737.8 (DE), filed on Jan. 24, 2019.
Prior Publication US 2020/0241538 A1, Jul. 30, 2020
Int. Cl. G01S 7/48 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G06F 18/214 (2023.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC G01S 7/4802 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G06F 18/214 (2023.01); G06V 20/56 (2022.01); G05D 2201/0213 (2013.01); G06V 20/58 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method of monitoring a real-world protected zone of a real-world vehicle,
wherein the protected zone is at least regionally bounded by a boundary contour;
wherein the method comprises the following steps:
positioning the vehicle at a teaching zone comprising the boundary contour;
teaching a reference contour by means of measuring the boundary contour by a real-world environmental sensor arranged at the vehicle and storing the reference contour;
monitoring the protected zone on the basis of the reference contour and on measured values detected by the environmental sensor,
and wherein the monitoring of the protected zone comprises:
reading in the measured values detected by the environmental sensor;
comparing the measured values with the taught reference contour; and
transferring the vehicle into a safe state, by restricting movement of the vehicle, if the measured values are disposed outside a tolerance band arranged around the taught reference contour.