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Abstract

A method of and a device for safeguarding a vehicle or machinery movable in space, such as a robot, a stacker, an operatorless transporting vehicle or the like against collision, in which by the use of distance sensors, especially ultrasonic sensors with echo time measurement, the distance from an obstacle is measured and a reaction signal is initiated when a preset threshold value is not reached, said method and device being characterized by a time-synchronous actuation of the distance sensors in a compound circuit which in case of a dangerous approach of the vehicle to an obstacle triggers a reaction signal which is either a speed reduction signal or a stop signal. Moreover, the measuring signal can be utilized as a command signal for actively influencing the vehicle movement, e.g. for driving around the obstacle or the like.

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First Claim