TW201718170A - Smart collision-prevention safety system and machine tool applying the same having a computation control unit to output a warning signal when the relative distance between the processing head and the other object is shorter than a preset warning distance - Google Patents

Abstract

A smart collision-prevention safety system is applied in a machine tool comprising a processing head which is controlled to move in a processing area. The smart collision-prevention safety system comprises: a three-dimensional image-capturing unit facing the processing area to capture a depth image information, a storage unit to store a set of three-dimensional model information of the machine tool, a computation control unit, and a warning unit. The computation control unit is electrically connected to the machine tool, the three-dimensional image-capturing unit, and the storage unit. The computation control unit computes the relative distances between the processing head and the other objects based on the depth image information and the set of three-dimensional model information, and outputs a warning signal when the relative distance between the processing head and the other object is shorter than a preset warning distance. The warning unit is electrically connected to the computation control unit and issues a warning when receiving the warning signal, so that the processing head can receive a warning before colliding with the other objects, thereby preventing the damage of processing head due to collision.

Description

Smart collision safety system and machine tool using same

The invention relates to a machine tool, in particular to a smart collision avoidance safety system and a machine tool using the same.

When the existing large-scale machine tool is used for processing, it is generally the engineer who manually performs the planned movement of the processing head until the route planning is completed, and then the automatic control is performed.

However, when the processing head is moved, sometimes the processing head collides with other components due to poor route planning or line of sight dead angle, which causes damage to the machine tool, which not only increases the maintenance cost, but also must wait until the repair is completed. After that, it can continue to be used, which also wastes time.

Accordingly, it is an object of the present invention to provide a smart collision avoidance safety system and a machine tool therewith.

Therefore, the smart collision avoidance safety system of the present invention is applied to a machine tool, and the machine tool includes a processing head that can be controlled to move in a processing area, the smart defense The collision safety system comprises a three-dimensional image capturing unit, a storage unit, an arithmetic control unit, and a warning unit.

The 3D image capturing unit captures a depth image information toward the processing area, the storage unit stores a 3D model information set of the machine tool, and the operation control unit is electrically connected to the machine tool, the 3D image capturing unit and the storage unit And calculating a relative distance between the processing head and other objects according to the depth image information and the three-dimensional model information set, and outputting a warning signal when the relative distance between the processing head and other objects is lower than a preset warning distance, the warning The unit is electrically connected to the arithmetic control unit and issues a warning when receiving the warning signal.

Therefore, the utility model of the invention applies the intelligent collision avoidance safety system, and comprises a processing head, a machine tool control unit, and a smart collision avoidance safety system.

The processing head can be controlled to move in a processing area, and the power tool control unit electrically connects and controls the movement of the processing head. The smart collision avoidance safety system comprises a three-dimensional image capturing unit, a storage unit and an operation control unit. And a warning unit, the 3D image capturing unit is configured to capture a depth image information toward the processing area, the storage unit stores a 3D model information set of the machine tool, and the operation control unit is electrically connected to the machine tool, and the 3D image is captured. a unit and the storage unit, and calculating a relative distance between the processing head and other objects according to the depth image information and the three-dimensional model information set, and outputting a relative distance between the processing head and other objects below a preset warning distance police The warning unit is electrically connected to the arithmetic control unit and issues a warning when receiving the warning signal.

The effect of the invention is that, by the setting of the operation control unit and the three-dimensional image capturing unit, the depth image information can be calculated to obtain a warning before the processing head collides with other objects, thereby avoiding the processing machine Damaged by collision.

2‧‧‧Processing head

3‧‧‧Tool machine control unit

4‧‧‧Smart Collision Safety System

41‧‧‧3D image capture unit

411‧‧‧Deep image information

412‧‧‧ entity image

42‧‧‧storage unit

43‧‧‧Operation Control Unit

44‧‧‧Warning unit

5‧‧‧Processing area

Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: FIG. 1 is a system block diagram of an embodiment of the smart collision avoidance safety system of the present invention and a machine tool using the same; 2 is a depth image information captured by a 3D image capturing unit of the embodiment; and FIG. 3 is a physical image captured by the 3D image capturing unit of the embodiment.

Referring to Figures 1, 2 and 3, an embodiment of the intelligent anti-collision safety system and the machine tool using the same comprises a processing head 2, a machine tool control unit 3, and a smart collision avoidance safety system 4.

The processing head 2 can be controlled to move within a processing zone 5.

The machine tool control unit 3 electrically connects and controls the movement of the machining head 2, and can output a processing head information set having a pair of processing head position information of the actual position of the processing head 2, and a pair of should Processing head speed information of the moving speed of the processing head 2.

The smart anti-collision security system 4 includes a three-dimensional image capturing unit 41, a storage unit 42, an arithmetic control unit 43, and a warning unit 44.

The 3D image capturing unit 41 captures a depth image information 411 and a solid image 412 toward the processing area 5 . In this embodiment, the three-dimensional image capturing unit 41 obtains the depth image information 411 by transmitting a plurality of infrared light beams and receiving the intensity of the reflected infrared light beams, wherein the color is darker in FIG. The image represents a distance, while the lighter image represents a closer location, and the solid image 412 is for viewing by the user.

The storage unit 42 stores a three-dimensional model information set, a plurality of human body model information, and a speed warning table of the machine tool.

In this embodiment, the three-dimensional model information set may be a data sheet or a computer-aided design (CAD) image file, and has the size information of the processing head 2 and the floor located in the processing area 5, and the source of the size information. It may be pre-formed according to the physical size of the processing head 2 and the floor located in the processing area 5, but may be pre-modeled by the depth image information 411 previously captured by the 3D image capturing unit 41. The human body model information is respectively different postures corresponding to the human body, and the speed warning table is a correspondence table corresponding to the moving speeds of the processing heads 2 and the preset warning distances.

The operation control unit 43 is electrically connected to the machine tool control unit 3, the three-dimensional image capturing unit 41 and the storage unit 42, and can calculate when the relative distance between the processing head 2 and other objects is lower than a preset warning distance. A warning signal is output.

The warning unit 44 is electrically connected to the arithmetic control unit 43 and issues a warning when receiving the warning signal.

In use, after receiving the processing head information set output by the machine tool control unit 3, the operation control unit 43 first calculates the processing according to the processing head position information, the depth image information 411, and the three-dimensional model information set. The head 2 and other objects located in the processing zone 5 correspond to actual positions in the depth image information 411, respectively. In the embodiment, the processing head position information is used to know the actual position of the processing head 2, and the depth image information 411 is used for modeling a three-dimensional image, and the three-dimensional model information collection is used for positioning the processing head. 2 and the position of the floor in the depth image information 411, respectively, thereby calculating that the processing head 2 and other objects respectively correspond to the actual position in the depth image information 411. It should be noted that other items referred to herein refer to items other than the processing head 2, such as a workpiece to be processed, a clamp for holding the workpiece to be processed, a base for the fixture to be disposed, Walls and floors, etc.

The operation control unit 43 then calculates the relative distance between the processing head 2 and other objects, and outputs the warning signal when the relative distance between the processing head 2 and other objects is lower than the preset warning distance. In the embodiment, the operation control unit 43 adjusts the preset warning distance according to the processing head speed information and the speed warning table.

The operation control unit 43 determines whether a human body is located in the processing area 5 according to the depth image information 411 and the human body model information, and outputs the warning signal and stops the machine tool when it is determined that the human body is located in the processing area 5 Operation.

Since the calculation method for judging the position of the human body in the image based on the information of the human body model is the application of the image processing technology, it is not the main feature of the present invention, and therefore will not be described in this specification.

It should be noted that, in other implementation manners, a plurality of sets of three-dimensional image capturing units 41 for shooting at different angles toward the processing area 5 may be disposed on the processing area 5, and through a plurality of depth images of different angles. The splicing of the information 411 produces an annular field effect, thereby reducing the mutual shielding of the objects in the processing zone 5, and more accurately calculating the position of the processing head 2 and other objects, thereby improving accuracy.

In summary, by the operation control unit 43 and the setting of the three-dimensional image capturing unit 41, the depth image information 411 can be calculated to obtain a warning before the processing head 2 collides with other objects, thereby avoiding the The processing machine or the workpiece to be processed is damaged by the collision, and further, the depth image information 411 can be used to instantly grasp the relative position and relative distance of each object in the processing area 5, and can grasp the instant processing of the workpiece to be processed. The condition does not need to be separately modeled separately with the different processing procedures of the workpiece to be processed, thereby reducing the time or error of modeling the workpiece to be processed, and additionally, when a human body is located in the processing area 5 It is also possible to issue a warning and stop the operation of the machine tool while avoiding the occurrence of an accident, so that the object of the present invention can be achieved.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.

2‧‧‧Processing head

3‧‧‧Tool machine control unit

4‧‧‧Smart Collision Safety System

41‧‧‧3D image capture unit

42‧‧‧storage unit

43‧‧‧Operation Control Unit

44‧‧‧Warning unit

Claims (6)

A smart anti-collision safety system is applied to a machine tool, which comprises a processing head that can be controlled to move in a processing area, the smart anti-collision security system comprises: a three-dimensional image capturing unit facing the processing The area captures a depth image information; a storage unit stores a three-dimensional model information set of the machine tool; an operation control unit electrically connects the machine tool, the three-dimensional image capturing unit and the storage unit, and according to the depth image information And the three-dimensional model information set calculates a relative distance between the processing head and other objects, and outputs a warning signal when the relative distance between the processing head and other objects is lower than a preset warning distance; and a warning unit electrically connects the operation The control unit also issues a warning when receiving the warning signal. The smart anti-collision safety system of claim 1, wherein the machine tool outputs a processing head information set to the operation control unit, the processing head information set having a pair of processing head position information of an actual position of the processing head, The three-dimensional model information set has size information of the processing head, and the operation control unit first calculates, according to the processing head position information, the depth image information, and the three-dimensional model information set, that the processing head and other objects respectively correspond to the depth image. The actual position in the information, and then calculate the relative distance between the processing head and other objects. The smart collision avoidance safety system of claim 2, wherein the processing head information set further has a pair of processing head speeds at which the moving speed of the processing head should be processed. Information, the operation control unit adjusts the preset warning distance according to the processing head speed information. The smart collision avoidance safety system of claim 3, wherein the storage unit further stores a speed warning table, wherein the speed warning table is a correspondence table of the plurality of groups corresponding to the moving speed of the processing head and the preset warning distance, the operation The control unit adjusts the preset warning distance according to the processing head speed information and the speed warning table. The smart collision avoidance safety system of claim 4, wherein the storage unit further stores a plurality of human body model information, and the operation control unit determines, according to the depth image information and the human body model information, whether a human body is located in the processing area. And outputting the warning signal and stopping the operation of the machine tool when it is determined that the human body is located in the processing area. A machine tool using a smart collision avoidance safety system, comprising: a processing head movable in a processing area; a machine tool control unit electrically connecting and controlling the processing head movement; and a smart collision avoidance safety system The method includes a 3D image capturing unit, a storage unit, an operation control unit, and a warning unit. The 3D image capturing unit captures a depth image information toward the processing area, and the storage unit stores a 3D model information of the machine tool. The computing control unit is electrically connected to the machine tool, the three-dimensional image capturing unit and the storage unit, and calculates a relative distance between the processing head and other objects according to the depth image information and the three-dimensional model information set, and the processing A warning signal is output when the relative distance between the head and the other object is lower than a predetermined warning distance, and the warning unit is electrically connected to the operation control unit and issues a warning when receiving the warning signal.