Sensor arrangement and method for safeguarding a monitored zone

Patent metadata

Field	Value
Publication number	US-12290939-B2
Application number	US-202217879555-A
Country	US
Kind code	B2
Filing date	Aug 2, 2022
Priority date	Aug 3, 2021
Publication date	May 6, 2025
Grant date	May 6, 2025

Abstract

The invention relates to a sensor arrangement and to a method for safeguarding a monitored zone at a machine. The sensor arrangement comprises a camera continuously generating 3D images, a control and evaluation unit for the position detection of objects in the monitored zone and, in the case of a hazardous position, initiating a safety-directed response of the machine, with a buffer memory unit being provided for storing last recorded images and with a 3D reference map being prepared from the stored images when the safety-directed response was initiated, a voxel identification unit being provided for flagging those voxels in the current 3D image whose coordinates differ by a specified distance from those of the corresponding voxels of the reference map, a movement recognition unit being provided in which the voxels thus identified are examined as to whether they display position changes that are above a fixed threshold in the course of a fixed number of further current images, and independently thereof, a restart signal for the machine being able to be output at an output.

First claim

The invention claimed is:

1. A sensor arrangement for safeguarding a monitored zone at a machine that defines a hazard site, the sensor arrangement comprising
at least one camera configured to continuously generate 3D images for the detection of objects in the monitored zone;
a control and evaluation unit configured to determine the presence or position of detected objects in the monitored zone and to initiate a safety-directed response of the machine in the case of a hazardous position;
a buffer memory unit configured to store the generated 3D images therein;
the control and evaluation unit is configured to prepare a 3D reference map from the stored 3D images when the safety-directed response has been initiated;
a voxel identification unit configured to flag voxels in a current 3D image, from among the 3D images generated continuously after the safety-directed response has been initiated, whose coordinates differ by a specified distance from coordinates of corresponding voxels of the 3D reference map; and
a movement recognition unit in which the flagged voxels are examined to determine whether they display a position change in the 3D images generated continuously after the safety-directed response has been initiated that is above a fixed threshold value; and
wherein the control and evaluation unit is configured to output a restart signal for the machine in response to the movement recognition unit determining that the position change is equal to or below the fixed threshold value.

2. The sensor arrangement in accordance with claim 1 , wherein the fixed threshold value is 10 mm.

3. The sensor arrangement in accordance with claim 1 , wherein the control and evaluation unit is configured to output a person recognition signal when the position change is determined to be greater than the fixed threshold value.

4. The sensor arrangement in accordance with claim 1 ,
wherein absolute values of position changes of an identified voxel from image to image are summed in the movement recognition unit, wherein the fixed threshold value is a fixedly stored voxel threshold value, and wherein a movement recognition signal is output or the restart signal is suppressed if the sum of the absolute values of the position changes is above the fixedly stored voxel threshold value.

5. The sensor arrangement in accordance with claim 1 ,
wherein absolute values of position changes of identified voxels from image to image are summed in the movement recognition unit, wherein the fixed threshold value is a fixedly stored sum threshold value, and wherein a movement recognition signal is output or the restart signal is suppressed if the sum of the absolute values of the position changes is above the fixedly stored sum threshold value.

6. The sensor arrangement in accordance with claim 1 , wherein the 3D camera is configured to detect an additional optical feature that serves as an additional criterion for flagging the voxels in the voxel identification unit.

7. The sensor arrangement in accordance with claim 1 , wherein the buffer memory unit, the voxel identification unit, and the movement recognition unit are parts of the control and evaluation unit.

8. The sensor arrangement in accordance with claim 1 , that has a safety control in which at least a part of the control and evaluation unit is implemented.

9. The sensor arrangement in accordance with claim 1 , further comprising an additional sensor that detects movements of objects in the monitored zone.

10. The sensor arrangement in accordance with claim 9 , wherein the additional sensor is a radar sensor.

11. The sensor arrangement in accordance with claim 1 , wherein the 3D camera is configured as failsafe according to safety standards.

12. The sensor arrangement in accordance with claim 1 , wherein the control and evaluation unit is configured as failsafe.

13. The sensor arrangement in accordance with claim 1 , wherein N images are stored in the buffer memory unit and the variable N is equal to 10 or more.

14. The sensor arrangement in accordance with claim 1 , wherein the continuous detection of 3D images takes place in a fixed time pattern.

15. A method of safeguarding a monitored zone at a machine, the method comprising the steps of
continuously generating 3D images with at least one camera for the detection of objects in the monitored zone;
determining a position of the detected objects; and
in the case of a hazardous position, initiating a safety-directed response of the machine;
storing the generated 3D images in a buffer memory unit;
preparing a 3D reference map from the stored 3D images when the safety-directed response has been initiated;
flagging voxels in a current 3D image, from among the 3D images generated continuously after the safety-directed response has been initiated, whose coordinates differ by a specified distance from coordinates of corresponding voxels of the 3D reference map in a voxel identification unit;
examining the flagged voxels in a movement recognition unit to determine whether they display a position change in the 3D images generated continuously after the safety-directed response has been initiated that is above a fixed threshold value; and
outputting a restart signal for the machine at an output when the determined position change is are not above the fixed threshold.

Assignees

• Sick Ag

Inventors

• Hammes Markus
• Löffler Nicolas

Classifications

• H04N7/183

  for receiving images from a single remote source · CPC title

• H04N5/77

  between a recording apparatus and a television camera · CPC title

• G06T2207/30232

  Surveillance · CPC title

• G06T2207/30196

  Human being; Person · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title