JP6449263B2 - 自動的に作動する機械を保護する装置および方法 - Google Patents
自動的に作動する機械を保護する装置および方法 Download PDFInfo
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- JP6449263B2 JP6449263B2 JP2016520391A JP2016520391A JP6449263B2 JP 6449263 B2 JP6449263 B2 JP 6449263B2 JP 2016520391 A JP2016520391 A JP 2016520391A JP 2016520391 A JP2016520391 A JP 2016520391A JP 6449263 B2 JP6449263 B2 JP 6449263B2
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Description
・カメラシステムを用いて、監視区域を監視するステップと、
・監視区域内に、少なくとも1つの保護区域を画成するステップと、
・保護区域のカメラシステムのカメラ画像を分析して、異物が保護区域内に存在しているか、または、保護区域に進入したか否かを検出するステップと、
・カメラ画像の分析によって異物を分類し、溶接火花の一つ以上の特徴的特性に基づいて、その異物が溶接火花であるか否かを判断するステップと、
・その異物が溶接火花であると認識されていない場合に、安全関連機能を起動するステップと、
を有する方法によって実現される。
Claims (14)
- 自動的に作動する機械(16)がその中に配置されている監視区域(14)を保護するための装置であって、
前記監視区域(14)を監視するためのカメラシステム(12)と、前記監視区域(14)内に少なくとも1つの保護区域(36)を画成するための構成ユニット(34)と、安全関連機能を起動させるための分析ユニット(28)とを有し、
前記カメラシステム(12)は、前記保護区域(36)のカメラ画像を供給し、および前記分析ユニット(28)は、異物(53)が前記保護区域(36)内に存在しているか、または前記保護区域(36)に進入しているか否かを分析し、前記分析ユニット(28)はさらに、前記保護区域(36)内に存在しているか、または前記保護区域(36)に進入している異物(53)を、前記カメラ画像の分析によって分類し、溶接火花(52)の場合の一つ以上の特徴的特性に基づいて、前記異物(53)が溶接火花(52)であるか否かを判断するように構成され、
前記分析ユニット(28)は、前記異物(53)が溶接火花(52)であると認識されていない場合に、前記安全関連機能を起動するように構成される装置。 - 前記分析ユニット(28)によって、溶接火花(52)が前記カメラ画像内の空間的領域内で既に検出されている場合、それらの領域を置換するか、または補正するように構成される画像補正ユニット(30)を有する、請求項1に記載の装置。
- 前記画像補正ユニット(30)は、置換すべき前記空間的領域を、時間的に先行するカメラ画像の画像データと置換するように構成される、請求項2に記載の装置。
- 前記分析ユニット(28)は、前記カメラ画像の個々の画素のグレースケール値を分析し、それらのグレースケール値をグレースケール閾値と比較して、それに基づいて、前記異物(53)が溶接火花(52)であるか否かを判断するように構成される、請求項1〜請求項3のいずれか一項に記載の装置。
- 前記分析ユニット(28)は、前記カメラ画像のうちの少なくとも一つに基づいて、前記異物(53)の速度を分析し、それを速度閾値と比較して、それに基づいて、前記異物(53)が溶接火花(52)であるか否かを判断するように構成される、請求項1〜請求項4のいずれか一項に記載の装置。
- 前記分析ユニット(28)は、前記カメラシステム(12)の照明時間と、前記異物(53)の検出距離と、前記異物(53)が前記カメラ画像内で占める画素の数とに基づいて、前記異物(53)の速度を判断するように構成される、請求項5に記載の装置。
- 前記分析ユニット(28)は、前記カメラ画像のうちの少なくとも一つにおいて、検出された異物(53)の画像領域内のグレースケール値の空間的分布(56,56’)を判断し、それに基づいて、前記異物(53)が溶接火花(52)であるか否かを判断するように構成される、請求項1〜請求項6のいずれか一項に記載の装置。
- 前記分析ユニット(28)はさらに、前記グレースケール値の前記空間的分布(56,56’)から前記異物(53)のサイズおよび/または形状を推測するように構成される、請求項7に記載の装置。
- 前記分析ユニット(28)はさらに、前記グレースケール値の空間的分布(56,56’)から前記異物(53)の運動方向および/または元の位置を推測するように構成される、請求項7に記載の装置。
- 前記分析ユニット(28)は、前記グレースケール値の空間的分布(56,56’)に基づいているスケルトン化によって、前記異物(53)の輪郭を判断するように構成され、前記スケルトン化を生じさせるために、グレースケール閾値よりも大きなグレースケール値を有する隣接する画素からなるチェーン(66)が、少なくとも一つのカメラ画像内で決定される、請求項7〜請求項9のいずれか一項に記載の装置。
- 前記分析ユニット(28)は、隣接する画素のグレースケール値を、前記スケルトン化を生じさせるためのグループにまとめるように構成される、請求項10に記載の装置。
- 前記分析ユニット(28)は、時間的に連続するカメラ画像(62,62’)を互いに比較するように構成される、請求項1〜請求項11のいずれか一項に記載の装置。
- 自動的に作動する機械(16)がその中に配置されている監視区域(14)を保護する方法であって、以下のステップ、すなわち、
カメラシステム(12)を用いて前記監視区域(14)を監視するステップと、
前記監視区域(14)内に、少なくとも1つの保護区域(36)を画成するステップと、
前記保護区域(36)の前記カメラシステム(12)によって与えられたカメラ画像を分析して、異物(53)が前記保護区域(36)内に存在しているか、または、前記保護区域(36)に進入したか否かを検出するステップと、
前記カメラ画像の分析によって前記異物(53)を分類し、溶接火花(52)の一つ以上の特徴的特性に基づいて、前記異物(53)が溶接火花(52)であるか否かを判断するステップと、
前記異物(53)が溶接火花(52)であると認識されていない場合に、安全関連機能を起動するステップと、
を有する方法。 - 請求項1〜請求項12のいずれか一項に記載の装置の制御ユニット内でプログラムコードが実行されたときに、請求項13に記載の各ステップを含む方法を実行するように設計されている前記プログラムコードが格納されているデータ記憶媒体。
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DE102013106514.7 | 2013-06-21 | ||
DE201310106514 DE102013106514B3 (de) | 2013-06-21 | 2013-06-21 | Vorrichtung und Verfahren zum Absichern einer automatisiert arbeitenden Maschine |
PCT/EP2014/062321 WO2014202471A1 (de) | 2013-06-21 | 2014-06-13 | Vorrichtung und verfahren zum absichern einer automatisiert arbeitenden maschine |
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JP2016531462A JP2016531462A (ja) | 2016-10-06 |
JP6449263B2 true JP6449263B2 (ja) | 2019-01-09 |
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US (1) | US9864913B2 (ja) |
EP (1) | EP3011225B1 (ja) |
JP (1) | JP6449263B2 (ja) |
CN (1) | CN105473927B (ja) |
DE (1) | DE102013106514B3 (ja) |
HK (1) | HK1224006A1 (ja) |
WO (1) | WO2014202471A1 (ja) |
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JP6177837B2 (ja) * | 2015-06-30 | 2017-08-09 | ファナック株式会社 | 視覚センサを用いたロボットシステム |
JP6088605B1 (ja) * | 2015-08-31 | 2017-03-01 | ファナック株式会社 | 視覚センサを用いたロボットシステム |
AT517784B1 (de) * | 2015-10-01 | 2021-01-15 | B & R Ind Automation Gmbh | Verfahren zur automatisierten Steuerung einer Maschinenkomponente |
JP6333871B2 (ja) * | 2016-02-25 | 2018-05-30 | ファナック株式会社 | 入力画像から検出した対象物を表示する画像処理装置 |
JP6457416B2 (ja) * | 2016-03-11 | 2019-01-23 | ファナック株式会社 | ロボットシステム |
IL294633B1 (en) | 2016-05-31 | 2024-05-01 | Theia Group Incorporated | A system for transmitting and digitizing machine telemetry |
WO2017213947A1 (en) * | 2016-06-08 | 2017-12-14 | Siemens Healthcare Diagnostics Inc. | Apparatus, systems, and methods providing remote access warning |
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EP3011225A1 (de) | 2016-04-27 |
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DE102013106514B3 (de) | 2014-10-30 |
EP3011225B1 (de) | 2019-03-20 |
WO2014202471A1 (de) | 2014-12-24 |
HK1224006A1 (zh) | 2017-08-11 |
CN105473927A (zh) | 2016-04-06 |
CN105473927B (zh) | 2018-01-23 |
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