Abstract
A system for determining a position of at least one subject in a monitored zone of an industrial plant and/or for recognizing a hazardous state for the safeguarded control of at least one robot in the monitored zone of the industrial plant, said system comprising the robot, wherein the robot is mobile, wherein the robot preferably comprises an automated guided vehicle or an autonomous mobile robot; at least one sensor, wherein the sensor is attached to the robot and can be moved along with the robot, wherein the sensor is configured to acquire data of the environment of the robot; and a processing apparatus, wherein the processing apparatus comprises a processor with an associated memory, is connected to the robot and to the sensor and is configured to receive the data acquired by the sensor; based on the acquired data, to determine an absolute position of the robot in the monitored zone, to determine a relative position of the at least one subject, in particular a person, wherein the subject can be present in the monitored zone, relative to the robot and/or to determine an absolute position of the subject in the monitored zone; to recognize a hazardous state based at least on the determined relative position of the subject relative to the robot and/or the determined absolute position of the subject; and to set the robot into a safeguarded control mode when the hazardous state is recognized.