Apparatus and method for monitoring a spatial area, in particular for safeguarding a hazardous area of an automatically operated installation

• US 8,224,032 B2
• Filed: 05/13/2008
• Issued: 07/17/2012
• Est. Priority Date: 11/14/2005
• Status: Active Grant

• Current Assignee: PILZ GmbH & Company KG
• Original Assignee: PILZ GmbH & Company KG
• Inventors: Fuchs, Oliver, Wendler, Martin, Doettling, Dietmar
• Primary Examiner(s): Wu, Jingge
• Assistant Examiner(s): GORADIA, SHEFALI DINESH
• Application Number:
  US12/119,769
• Publication Number:
  US 20080273758A1
• Time in Patent Office: 1,526 Days
• Field of Search: 382/106, 382/141, 356/3, 348/82
• US Class Current: 382/106
• CPC Class Codes: F16P 3/142 using image capturing devices
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01V 8/20 using multiple transmitters or receivers

Abstract

An apparatus for monitoring a spatial area, in particular for safeguarding a hazardous area of an automatically operated installation, comprises an illumination device which at least temporarily emits light signals into the spatial area. A first image recording unit records a first image of the spatial area. The first image recording unit comprises an image sensor having a plurality of pixels. An evaluation unit determines a distance value for at least one spatial area point, which is located in the spatial area and is imaged on at least one pixel, by means of a propagation type measurement. The propagation type measurement suffers from a limited unambiguity range. Therefore, a test device is designed to check the distance value by means of a reference distance value determined from a second image of said spatial area.

Claims

1. An apparatus for safeguarding a hazardous area of an automatically operated installation, the apparatus comprising:

an image recording unit having a first camera designed to record a first image and having a second camera designed to record at least one second image of the hazardous area, the first and second cameras each comprising an image sensor having a plurality of pixels for imaging a plurality of area points located in the hazardous area,

an illumination device designed to emit light signals into the hazardous area in order to illuminate the plurality of area points,

an evaluation unit designed to determine a first distance value for at least one area point by means of a propagation time measurement using the light signals and using the first image from the first camera, the propagation time measurement having a limited unambiguity range,

a control unit configured to initiate a safety function depending on the distance value determined, the safety function being configured to safeguard the installation, and

a test device designed to detect an incorrectly determined distance value resulting from the limited unambiguity range, the test device being designed to check the distance value by means of the second image including said at least one area point from the second camera.

2. The apparatus of claim 1, wherein the test device is designed to generate a fault signal if an incorrectly determined distance value is detected.

3. The apparatus of claim 1, with the test device further being designed to correct an incorrectly determined distance value by means of the second image in order to produce and transmit a corrected distance value to the control unit.

4. The apparatus of claim 1, further comprising a modulation device designed to modulate the light signals with a first modulation frequency and with at least one second modulation frequency which is different from the first modulation frequency.

5. The apparatus of claim 1, wherein the evaluation unit is designed to determine a second distance value for the at least one area point by means of a propagation time measurement using the light signals and the second image, the test device being configured to compare the first and second distance values in order to detect any incorrect distance value.

6. The apparatus of claim 1, further comprising a beam splitter for splitting light signals reflected from the spatial area point between the first and the second camera.

7. The apparatus of claim 1, wherein the first camera comprises a first optical filter having a first wavelength pass band, the second camera comprises a second filter having a second wavelength pass band different from the first wavelength pass band, and the illumination device is designed to emit light signals which substantially correspond either to the first or to second wavelength pass band, so that the first and second cameras receive substantially different light signals from the area points.

8. The apparatus of claim 1, wherein the first and the second camera are arranged parallel to one another and spaced apart by a defined base width in order to produce a stereoscopic image of the hazardous area from the first and second images, the test device using the stereoscopic image for checking the distance value.

9. The apparatus of claim 1, wherein the test device uses a triangulation approach for checking the distance value, said triangulation approach exploiting optically relevant geometries of the first and second camera.

10. A method for safeguarding a hazardous area of an automatically operated installation, comprising the steps of:

emitting light signals into the hazardous area by means of an illumination device in order to illuminate a plurality of area points located in the hazardous area,

recording at least one first and one second image of the hazardous area by means of an image recording unit comprising a first camera for recording the first image and comprising a second camera for recording the second image, the first and second cameras each comprising an image sensor having a plurality of pixels for imaging the plurality of area points,

determining a first distance value for at least one area point by means of a propagation time measurement using the light signals and the first image from the first camera, the propagation time measurement having a limited unambiguity range,

checking the distance value by means of the second image including said at least one area point from the second camera in order to detect any incorrectly determined distance value resulting from the limited unambiguity range, and

initiating a safety function depending on the distance value for safeguarding the installation.

11. The method of claim 10, wherein the safety function is initiated, when an incorrect distance value resulting from the limited unambiguity range is detected.

12. The method of claim 10, wherein a corrected distance value is determined by means of the second image, said corrected distance value being used for deciding if the safety function has to be initiated.

13. The method of claim 10, wherein the first image is recorded on emission of light signals having a first modulation frequency, and the second image is recorded on emission of light signals having a second modulation frequency, said first and second modulation frequencies resulting in different first and second unambiguity ranges.

14. The method of claim 10, wherein a second distance value for the at least one area point is determined by means of a propagation time measurement using the light signals and the second image, and the first and second distance values are compared in order to detect any incorrectly determined distance value.

15. The method of claim 10, wherein a stereoscopic image of the hazardous area is produced from the first and second images, and wherein distance information from the stereoscopic image is used in order to check the distance value determined using the propagation time measurement.

16. An apparatus for monitoring a spatial area, comprising an illumination device which at least temporarily emits first light signals into the spatial area, comprising an image recording unit having a first camera and a second camera for recording a first image and at least one second image of the spatial area, said first and second camera each comprising an image sensor having a plurality of pixels for imaging a plurality of spatial area points, comprising an evaluation unit designed to determine a first distance value for at least one of the spatial area points using a first propagation time measurement in conjunction with the first image and the first light signals, comprising a control unit which initiates a safety function depending on the first distance value, and comprising a test device designed to check the first distance value by means of a reference distance value determined for the at least one spatial area point, said reference distance value being determined by means of the second image from the second camera.

17. The apparatus of claim 16, wherein the first and the second camera are arranged parallel to one another and spaced apart by a defined base width in order to produce a stereoscopic image of the spatial area from the first and second images, the test device using a reference distance value determined from the stereoscopic image.

18. The apparatus of claim 16, further comprising a modulation device designed to produce the first light signals with a first modulation frequency and to produce second light signals having a second modulation frequency which is different from the first modulation frequency, the evaluation unit being further designed to determine the reference distance value by means of a second propagation time measurement using the second light signals and the second image.