Method and device for safeguarding a hazardous area

• US 7,729,511 B2
• Filed: 03/23/2005
• Issued: 06/01/2010
• Est. Priority Date: 09/24/2002
• Status: Expired due to Fees

• Current Assignee: PILZ GmbH & Company KG
• Original Assignee: Daimler AG (Mercedes-Benz Group AG), PILZ GmbH & Company KG
• Inventors: Wöhler, Christian, Progscha, Werner, Döttling, Dietmar, Wendler, Martin, Krüger, Lars
• Primary Examiner(s): Mariam; Daniel G
• Assistant Examiner(s): Woldemariam; Aklilu k
• Application Number:
  US11/088,041
• Publication Number:
  US 20050207618A1
• Time in Patent Office: 1,896 Days
• Field of Search: 382/103, 348/155, 348/508
• US Class Current: 382/103
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: F16P 3/142 using image capturing devices
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30108 Industrial image inspection
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 7/001 using an image reference approach

Abstract

In order to safeguard a hazardous area, in particular the hazardous area of an automatically operating machine, images of the hazardous area are recorded with at least a first and a second image recording unit that are arranged offset from one another. The images of the scene are subjected to three-dimensional scene analyses using different three-dimensional scene analysis methods, and the hazardous area is safeguarded when at least one of the scene analysis methods detects a foreign object.

Claims

1. A method for safeguarding a defined hazardous area of an automatically operating machine against intrusion of foreign objects, comprising the steps of:

providing a first, a second and a third image recording units which are arranged offset from one another,

simultaneously recording a first image of the hazardous area by means of the first image recording unit, a second image of the hazardous area by means of the second image recording unit, and a third image of the hazardous area by means of the third image recording unit,

forming two different image pairs by combining the first and the second image and by combining the second and the third image,

carrying out a first and a second scene analysis on each of the two image pairs in order to detect the foreign objects in the hazardous area,

wherein the first and second scene analyses are carried out using at least two algorithmically different methods, and

wherein the machine is brought into a safe state when at least one of the scene analysis methods detects the foreign object.

2. The method of claim 1, wherein each of the scene analysis methods is carried out on each image pair.

3. The method of claim 1, wherein one of the scene analysis methods comprises a correlation-based scene analysis, and another one comprises a contour-based scene analysis.

4. The method of claim 1, further comprising the step of providing a reference image of the hazardous area, the reference image being free from the foreign objects to be detected, wherein at least one of the scene analysis methods processes only such image regions in the first, second and third images that differ significantly from the reference image.

5. The method of claim 1, further comprising the step of evaluating a number of temporally successive groups of the first, second and third images in order to determine a movement parameter of the foreign object detected.

6. The method of claim 1, wherein an exposure time for each image recording unit is set as a function of the image recorded by it.

7. The method of claim 1, wherein a three-dimensional representation of the scene is established by minimizing a target function to be determined from all the images simultaneously.

11. The method of claim 1, wherein each of the first image, second image and third image encompass the entire defined hazardous area.

12. The method of claim 11, wherein each of the first, second and third image recording units is arranged above the defined hazardous area so that the images of the defined hazardous area are viewed from above.

8. A device for safeguarding a defined hazardous area of an automatically operating machine, having a first, second and a third image recording units for recording a first, a second and a third image of the hazardous area, the image recording units being arranged offset from one another an evaluation unit adapted for detecting foreign objects in the hazardous area on the basis of the first, the second and the third images, and a switch that is responsive to the evaluation unit in order to safeguard the machine upon detection of the foreign object in the hazardous area, wherein the evaluation unit is designed for combining said images to form two different image pairs and carrying out two algorithmically different scene analysis methods on each of said image pairs, and wherein the switch is activated when at least one of the scene analysis methods detects the foreign object.

9. The device of claim 8, wherein at least two of the image recording units are arranged in a common housing.

10. The device of claim 8, wherein the evaluation unit is designed for establishing a three-dimensional representation of the scene by minimizing a target function to be determined from all images simultaneously.

13. The device of claim 8, wherein each of the first image, second image and third image encompass the entire defined hazardous area.

14. The device of claim 13, wherein each of the first, second and third image recording units is arranged above the defined hazardous area so that the images of the defined hazardous area are viewed from above.