WO2007020666A1 - Vision sensor for security systems and its operating method - Google Patents
Vision sensor for security systems and its operating method Download PDFInfo
- Publication number
- WO2007020666A1 WO2007020666A1 PCT/IT2005/000495 IT2005000495W WO2007020666A1 WO 2007020666 A1 WO2007020666 A1 WO 2007020666A1 IT 2005000495 W IT2005000495 W IT 2005000495W WO 2007020666 A1 WO2007020666 A1 WO 2007020666A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- predetermined area
- image
- vision sensor
- shape
- geometrical reference
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
Definitions
- the processing unit 6 based on the comparison of the images, is able to establish the presence/absence of objects or persons inside the area or risk zone ' 2, and generates an information signal that encodes the condition of intrusion/non intrusion.
- projection device 8 When in use, projection device 8 generates the image to project the geometrical chessboard shape 9 which defines the reference pattern onto the corresponding surface of the risk zone 2 being monitored. This projection may take place continuously and independently from controls sent to other devices included in vision sensor 4, or it may be activated/deactivated depending on a control signal generated by processing unit 6.
- the vision sensor 4 makes it extremely simple to "generate" the reference pattern on the surface of the zone being monitored, regardless of the degree of complexity of the geometrical structure that defines said pattern.
Abstract
Vision sensor (4) suitable for detecting the absence/presence of objects or persons inside at least one predetermined area (2) which has on its surface a geometrical reference shape (9); the vision sensor (4) comprises an image acquisition device (5) which is able to acquire, moment by moment, the image of the predetermined area (2); a processing unit (6) suitable for processing the image acquired from the predetermined area (2) in order to verify the absence/presence of objects or persons inside said area; and a projection device (8) which is suitable for generating an image which comprises the geometric reference shape (9) towards the predetermined area (2) so as to determine the projection of the geometric reference shape (9) on the surface of said predetermined area (2).
Description
VISION SENSOR FOR SECURITY SYSTEMS AND ITS OPERATING METHOD
TECHNICAL FIELD The present invention relates to a vision sensor for security systems and its method of operation.
BACKGROUND ART
As is known, in industry there is an increasingly relevant need to increase the level of security of production spaces which contain systems or machines that may be potentially dangerous when an object or a person enters into an area or risk zone which is immediately adjacent to said system or machine .
For this purpose, security systems have been provided which monitor the area at risk in order to signal an alarm situation and/or to deactivate or control as appropriate the machine or system when a condition of intrusion of an object or a person inside the area at risk is detected.
Some of the aforementioned security systems are equipped with a vision sensor including a telecamera, which is able to acquire, moment by moment, the image of the area at risk being monitored, and a processing unit, which has the function of processing the image acquired by the video camera so as to signal the presence/absence of objects or persons inside the area at risk to a controller; if an intrusion is signalled, said controller, in turn, "secures" or controls as necessary the system or machine that is "at risk", so as to terminate the condition of danger.
In order to guarantee a better definition of the image acquired, and therefore achieve greater effectiveness and sensitivity in the processing unit as it detects and signals
the condition of intrusion, the risk zone which corresponds to the area being protected is currently equipped with a predetermined graphic image which is typically referred to as a "reference pattern".
This graphic image is created by painting or tracing out in coloured paint the geometrical shape corresponding to the reference pattern on the surface of the risk zone that needs to be monitored.
Although it is effective, the reference pattern corresponding to the aforementioned graphic image has the disadvantage of having particularly high production and maintenance costs, as in the long term the geometric shape is likely to deteriorate, mainly due to the accumulation of dirt on the surface of the risk zone being monitored. It is clear that such deterioration leads to a gradual reduction in the definition of the geometrical shape as it appears in the images acquired by the telecamera, resulting in the lower effectiveness and sensitivity of the security system.
The aforesaid reference pattern also has the disadvantage of being difficult or even impossible to trace out and attach to the surface of the zone being monitored in certain working environments.
DISCLOSURE OF INVENTION
The purpose of the present invention is therefore to provide a vision sensor for security systems that overcomes the aforementioned disadvantages.
According to the present invention, there is provided a vision sensor for security systems as Claimed in claim 1 and, preferably, in any one of the following Claims depending directly or indirectly on Claim 1.
According to the present invention, there is also provided a security system as Claimed in Claim 7.
According to the present invention, there is also provided an operation method for the vision sensor, as Claimed in Claim 8 and, preferably, in any one of the subsequent Claims that depend directly or indirectly on Claim 8.
BRIEF DESCRIPTION OF THE DRAWINGS The present invention shall now be described with reference to the annexed drawings, which illustrate a non-limitative example of realization, in which: figure 1 shows schematically a security system realized according to the specifications of the present invention; - figure 2 shows a variation of the security system shown in figure 1.
BEST MODE FOR CARRYING OUT THE INVENTION
With reference to figure 1, number 1 indicates as a whole a security system suitable for monitoring a risk zone 2, to signal a condition of alarm, and/or to opportunely monitor a machine or a system 3 when the system detects a condition of intrusion of an object or a person inside said risk zone 2.
The security system 1 essentially comprises a vision sensor 4, which in turn comprises an acquisition device 5 suitable for acquiring moment by moment the image of the risk zone 2, and a processing unit 6, which is able to receive in input the images acquired from the acquisition device 5, and is suitable for processing said images in order to signal the condition of intrusion when it detects the presence of an object or a person inside the risk zone 2.
The image acquisition device 5 can comprise preferably, but not necessarily, a camera, or a video or telecamera, or any other type of similar image acquisition apparatus, which can
be commanded to acquire images of the risk zone 2 to appropriately encode them into an electric signal, while the processing unit 6 can be made up of a microprocessor suitable for processing the electric signal that contains the image acquired to check whether or not the latter fulfils a certain relation of similarity to a reference image; the reference image of the risk zone 2 is memorized during a learning phase, while said zone is in a condition of non intrusion, in other words without any objects or persons inside it.
The processing unit 6, based on the comparison of the images, is able to establish the presence/absence of objects or persons inside the area or risk zone ' 2, and generates an information signal that encodes the condition of intrusion/non intrusion.
The processing unit 6 is suitable for providing the information signal to a circuit or controller 7 of a known type which, should there be a condition of intrusion, "secures" the machine or system 3. The securing of the machine or system 3 by the circuit or controller 7 may for example involve the generation of an acoustic and/or visual signal indicating a state of alarm, and/or the immediate deactivation of the machine or system 3, and/or the check of certain parameters of operation (such as the reduction of the speed of the implemented process) of the machine or system 3, the variation of which leads to a decrease of the degree of danger of the machine or system.
Unlike the vision sensors that are comprised in the known type of security systems, the vision sensor 4 comprises a projection device 8, which is able to project a predetermined image onto the surface of the risk zone 2, so as to show on said surface a reference pattern defined by a certain geometrical shape 9.
In particular, the projection device 8 comprises a projector or any other type of similar image projection apparatus, which is able to generate a predetermined bright image, and project it onto the surface of the risk zone 2. The image projected by the projection device 8 onto the surface of the risk zone 2 may have any kind of geometrical shape and may be characterised by a series of wavelengths included in the spectrum of visible rays, so as to render the projected geometrical shape 9 visible to the human eye. It is clear that the projector may also operate in the spectrum of electromagnetic radiations that are not visible, such as infrared, for example.
The reference pattern, i.e. the projected geometrical shape 9, may have a regular spatial geometric structure comprising several sub-sections that are adjacent to each other and shaped according to a certain geometrical form. In the example shown in figure 1 in particular, the reference pattern, i.e. the projected geometrical figure 9, has an overall geometrical configuration with the form of a chessboard, which has a number of adjacent areas, essentially of a square shape and of a predetermined size, which alternate with different colours, preferably, but not necessarily, black and white.
In addition to the above description, it is necessary to specify that the regular chessboard pattern with black and white squares is extremely useful during the phase of processing the image as this kind of graphic image can be easily encoded, from a computational point of view, into an elementary binary numerical format.
The projection device 8 may be able to vary the reference pattern that it projects, so that it can be adapted to the size and shape of the risk zone 2 being monitored. In particular, the processing unit 6 may comprise a memory (not illustrated) containing several reference patterns with
different geometrical shapes and structure, which can be projected by projection device 8 according to the geometric configuration of the risk zone 2 being protected. For example, the processing unit 6 may have the option of allowing an operator to select, through a control keyboard (not illustrated) comprised in the vision sensor 4, a certain reference pattern, and it may transmit the chosen pattern to the projection device 8 which will then project it on the surface of the risk zone 2.
According to a variation illustrated in figure 2, the projection device 8 of the security system 1 is able to prpject a number^ of reference patterns, i.e. predetermined geometrical shapes 9a, onto respective risk zones 2a that need protection, which are distinguished from each other so as to allow the vision sensor 4 to signal a condition of intrusion of an object or person in each of the risk zones 2a being monitored.
When in use, projection device 8 generates the image to project the geometrical chessboard shape 9 which defines the reference pattern onto the corresponding surface of the risk zone 2 being monitored. This projection may take place continuously and independently from controls sent to other devices included in vision sensor 4, or it may be activated/deactivated depending on a control signal generated by processing unit 6.
The acquisition device 5 acquires, moment by moment, the image projected onto the surface of risk zone 2 and sends it to the processing unit 6, which then processes it to determine whether or not there is a condition of intrusion inside risk zone 2. This processing may comprise a comparison between the geometrical shape in the acquired image and the geometrical shape in the reference image, or it may comprise checking any distortions or irregularities in the projected image. For
example, if geometrical shape 9 corresponds to a chessboard, processing unit 6 checks the structural regularity of the areas that define said chessboard pattern; if it detects one or more irregularities in the geometric configuration of at least one area, it identifies a condition of intrusion to signal to controller 7.
The advantages of the vision sensor 4 described above are evident: firstly, the vision sensor 4 makes it extremely simple to "generate" the reference pattern on the surface of the zone being monitored, regardless of the degree of complexity of the geometrical structure that defines said pattern.
Furthermore, it eliminates any need to carry out any periodical maintenance work on the surface corresponding to the risk zone in order to "redefine" the reference pattern, with clear advantages from a financial point of view.
Furthermore, the vision sensor 4 is extremely versatile and adaptable to any type of environment and area being monitored, as it allows the shape and/or geometrical structure of the reference pattern being projected to be changed and redefined at any time.
Clearly, changes may be made to vision sensor 4 as described and illustrated herein without, however, departing from the scope of the present invention as defined in the accompanying Claims .
Claims
1. Vision sensor (4) able to detect the absence/presence of objects or people inside at least one predetermined area (2) (2a) , which has on its surface a geometrical reference shape
(9) (9a); the vision sensor (4) comprising an image acquisition device (5) which is able to acquire, moment by moment, the image of the predetermined area (2) (2a), and a processing unit
(6), which is able to process said acquired image to check for the absence/presence of objects or persons inside said at least one predetermined area (2) (2a); said vision sensor (4) being characterised in that it comprises projection means (8) able to generate a image comprising said geometrical reference shape (9) towards said at least one predetermined area (2) (2a) so as to create a projection of said geometrical reference shape (9) onto the surface of said at least one predetermined area (2) (2a) .
2. Vision sensor according to Claim 1, characterised in that said projection means (8) are able to generate an image which comprises a number of geometrical reference shapes (9a) towards respective predetermined areas (2a) that are distinct from each other so as to determine the projection of each geometrical reference shape (9a) onto the surface of the corresponding predetermined area (2a) .
3. Vision sensor according to Claims 1 or 2, characterised in that said projection means (8) is able to vary on command the shape and/or geometrical structure of said geometrical reference shape (9) (9a) of the image projected onto said surface according to the shape of the said at least one predetermined area (2) (2a) .
4. Vision sensor according to any one of the previous Claims, characterised in that said projection means (8) are able to project onto the surface of said at least one predetermined area (2) (2a) a geometrical reference figure (9) (9a) having a structure that is essentially in the shape of a chessboard.
5. Vision sensor according to any one of Claims 1 to 4, characterised in that said projection means (8) comprise a projector operating within the spectrum of visible electromagnetic radiations.
6. Vision sensor according to any one of Claims 1 to 4, characterised in that said means of projection (8) comprise a projector operating within the spectrum of non-visible electromagnetic radiations.
7. Security system (1) comprising a vision sensor (4) able to detect the absence/presence of objects or persons inside at least one predetermined area (2) (2a) , the area having on its surface at least one geometrical reference shape (9) (9a) ; and a controller (7) which, when objects or persons are detected inside said at least one predetermined area (2) (2a), is able to control a machine or a system (3) in such a way as to lead it into a certain condition of safety; said system being characterised in that said vision sensor (4) is provided according to any of the previous claims.
8. Method for detecting the absence/presence of objects or persons inside at least one predetermined area (2) (2a), the area having on its surface a geometrical reference shape
(9) (9a) ; said method comprising the steps of acquiring, moment by moment, the image of the predetermined area (2) (2a), and of processing said image in order to check for the absence/presence of objects or persons inside said predetermined area (2) (2a) ; said method being characterised in that it comprises the step of generating by projection means
(8) a image consisting of said geometrical reference shape (9) (9a) towards said predetermined area (2) (2a) so as to determine the projection of said geometrical reference shape (9) (9a) onto said surface.
9. Method according to claim 8, characterised in that said step of generating a image comprising said geometrical reference shape (9) (9a) comprises the phase of generating an bright image which comprises a series of geometrical reference shapes (9a) towards respective predetermined areas (2a) so as to project said geometrical reference shapes (9a) onto the surfaces of the corresponding predetermined areas (2a) .
10. Method according to claims 8 or 9, characterised in that it comprises the step of varying on command the shape and/or geometrical structure of said geometrical reference shape (9) (9a) projected onto said surface according to the shape of the relevant predetermined area (2) .
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP05794557A EP1929333A1 (en) | 2005-08-18 | 2005-08-18 | Vision sensor for security systems and its operating method |
| PCT/IT2005/000495 WO2007020666A1 (en) | 2005-08-18 | 2005-08-18 | Vision sensor for security systems and its operating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/IT2005/000495 WO2007020666A1 (en) | 2005-08-18 | 2005-08-18 | Vision sensor for security systems and its operating method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO2007020666A1 true WO2007020666A1 (en) | 2007-02-22 |
| WO2007020666A8 WO2007020666A8 (en) | 2007-09-13 |
Family
ID=36444232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IT2005/000495 WO2007020666A1 (en) | 2005-08-18 | 2005-08-18 | Vision sensor for security systems and its operating method |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP1929333A1 (en) |
| WO (1) | WO2007020666A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009083301A1 (en) * | 2007-12-21 | 2009-07-09 | Robert Bosch Gmbh | Monitoring unit for a monitoring region in a machine tool |
| WO2011063936A1 (en) * | 2009-11-25 | 2011-06-03 | Technische Universität Carolo-Wilhelmina Zu Braunschweig | Method and device for optical activity recognition |
| CN102956084A (en) * | 2012-09-16 | 2013-03-06 | 中国安全生产科学研究院 | Three-dimensional space safety protection system |
| EP2818824A1 (en) * | 2013-06-28 | 2014-12-31 | Sick Ag | Apparatus comprising an optoelectronic 3D-sensor and method for recognising objects |
| EP2916147A1 (en) * | 2014-03-06 | 2015-09-09 | REER S.p.A. | An optoelectronic safety barrier for detecting intrusions |
| WO2017025571A1 (en) * | 2015-08-10 | 2017-02-16 | Koninklijke Philips N.V. | Occupancy detection |
| US11314971B2 (en) | 2017-09-27 | 2022-04-26 | 3M Innovative Properties Company | Personal protective equipment management system using optical patterns for equipment and safety monitoring |
| WO2022100988A1 (en) * | 2020-11-12 | 2022-05-19 | Robert Bosch Gmbh | Method for providing monitoring data for detecting a movable object, method for detecting a movable object, method for producing at least one predefined point-symmetric region, and vehicle |
| US11373076B2 (en) | 2017-02-20 | 2022-06-28 | 3M Innovative Properties Company | Optical articles and systems interacting with the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10026710A1 (en) * | 2000-05-30 | 2001-12-06 | Sick Ag | Optoelectronic protection device for surveillance area has latter enclosed by reflector with coded reflector segments |
| US20020061134A1 (en) * | 2000-11-17 | 2002-05-23 | Honeywell International Inc. | Object detection |
| DE10202660A1 (en) * | 2002-01-23 | 2003-07-31 | Peter Ludwig | Automatic monitoring of hazard zones for ingress of objects, persons or parts thereof involves evaluating image of zone and pattern on electronically readable image storage matrix |
| US6841780B2 (en) * | 2001-01-19 | 2005-01-11 | Honeywell International Inc. | Method and apparatus for detecting objects |
-
2005
- 2005-08-18 EP EP05794557A patent/EP1929333A1/en not_active Withdrawn
- 2005-08-18 WO PCT/IT2005/000495 patent/WO2007020666A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10026710A1 (en) * | 2000-05-30 | 2001-12-06 | Sick Ag | Optoelectronic protection device for surveillance area has latter enclosed by reflector with coded reflector segments |
| US20020061134A1 (en) * | 2000-11-17 | 2002-05-23 | Honeywell International Inc. | Object detection |
| US6841780B2 (en) * | 2001-01-19 | 2005-01-11 | Honeywell International Inc. | Method and apparatus for detecting objects |
| DE10202660A1 (en) * | 2002-01-23 | 2003-07-31 | Peter Ludwig | Automatic monitoring of hazard zones for ingress of objects, persons or parts thereof involves evaluating image of zone and pattern on electronically readable image storage matrix |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009083301A1 (en) * | 2007-12-21 | 2009-07-09 | Robert Bosch Gmbh | Monitoring unit for a monitoring region in a machine tool |
| WO2011063936A1 (en) * | 2009-11-25 | 2011-06-03 | Technische Universität Carolo-Wilhelmina Zu Braunschweig | Method and device for optical activity recognition |
| CN102956084A (en) * | 2012-09-16 | 2013-03-06 | 中国安全生产科学研究院 | Three-dimensional space safety protection system |
| EP2818824A1 (en) * | 2013-06-28 | 2014-12-31 | Sick Ag | Apparatus comprising an optoelectronic 3D-sensor and method for recognising objects |
| EP2916147A1 (en) * | 2014-03-06 | 2015-09-09 | REER S.p.A. | An optoelectronic safety barrier for detecting intrusions |
| CN106716447A (en) * | 2015-08-10 | 2017-05-24 | 皇家飞利浦有限公司 | Occupancy detection |
| WO2017025571A1 (en) * | 2015-08-10 | 2017-02-16 | Koninklijke Philips N.V. | Occupancy detection |
| US10074184B2 (en) | 2015-08-10 | 2018-09-11 | Koniklijke Philips N.V. | Occupancy detection |
| US11373076B2 (en) | 2017-02-20 | 2022-06-28 | 3M Innovative Properties Company | Optical articles and systems interacting with the same |
| US11651179B2 (en) | 2017-02-20 | 2023-05-16 | 3M Innovative Properties Company | Optical articles and systems interacting with the same |
| US11314971B2 (en) | 2017-09-27 | 2022-04-26 | 3M Innovative Properties Company | Personal protective equipment management system using optical patterns for equipment and safety monitoring |
| US11682185B2 (en) | 2017-09-27 | 2023-06-20 | 3M Innovative Properties Company | Personal protective equipment management system using optical patterns for equipment and safety monitoring |
| WO2022100988A1 (en) * | 2020-11-12 | 2022-05-19 | Robert Bosch Gmbh | Method for providing monitoring data for detecting a movable object, method for detecting a movable object, method for producing at least one predefined point-symmetric region, and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1929333A1 (en) | 2008-06-11 |
| WO2007020666A8 (en) | 2007-09-13 |
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