Patent Document ID: 20090222134
Application ID: 12362733
Patent Status: 0

Claim One:
1. A method for collision-free interaction between a machine having a machine element moveable through a plurality of movement phases in accordance with a dynamic behavior and an object in the vicinity of the mobile machine element, the machine having a drive for driving the mobile machine element and at least one object sensor for detecting the object, the method comprising the steps of providing an image acquisition system for recording image data of the machine element, providing a database containing reference image data relating to the plurality of movement phases, moving the machine element through the movement phases, providing a stopping time defining a time period required to bring the moving machine element to rest, recording instantaneous image data of the machine element by means of the image acquisition system, correlating the instantaneous image data and the reference image data in order to determine a current position of the moving machine element and in order to estimate a future position of the machine element, wherein the future position is a maximum reachable position within the stopping time, establishing a safety region around the machine element as a function of the estimated future position, detecting any entry of the object into the safety region by means of the at least one object sensor, and controlling the drive in order to modify the dynamic behavior of the machine element whenever an object entry into the safety region is detected.