TWI666615B - Anti-clamp detection system - Google Patents

Abstract

The invention relates to an anti-clamp detection system, which is a detection system that uses image vision to monitor structural light shape changes to prevent objects from being pinched by a dynamic mechanism. The invention includes at least one light source generator, at least one image capture unit, Image processing unit and control unit; thereby, the present invention uses a pulsed light source generator to correspond to the camera hardware design of the image capture unit to use the image to visually detect the shape change of the structured light emitted by the pulsed light source generator. Method to effectively detect and prevent the object from being pinched by a dynamic mechanism with a vertical downward function or a lateral telescopic function, and indeed achieve the purpose of being crushed or pinched by a dynamic mechanism, and detect the existence of objects with small dead space in the gap. Effectively confirm the advantages of unobstructed entrance and exit channels and synchronous monitoring.

Description

Anti-clamp detection system

The invention relates to an anti-clamping detection system, in particular to a detection system that uses image vision to monitor the shape change of structured light to prevent a dynamic mechanism driven by a driving device from clamping a human body and other objects.

Press, whether it is a hydraulic device, a pneumatic cylinder or an electric motor driven iron roll door, telescopic door, elevator or electric bed and other dynamic devices, as long as it has the function of vertical depression or lateral expansion, It may cause the danger of pinching on the objects located in the longitudinal depression or lateral extension. Take the electric bed in the hospital as an example, because the electric bed can lift the patient's upper body or foot separately for daily activities or diagnostic operations; Some patients have difficulty moving due to severe illness. If they accidentally place their hands or feet on the depression of the electric bed, the consequences will be unthinkable. Therefore, current electric beds will be equipped with guardrails outside the depression. Prevent the unfortunate events mentioned above; however, if you encounter a patient who deliberately wants to self-harm, the setting of the guardrail will not stop regrets from happening.

In addition, in order to distinguish the private area from the public area, the most common method is to install a retractable door at the entrance. The main advantage is that the retractable door is not limited by the size of the entrance and exit, and can be equipped with a drive device to achieve automatic opening and closing. Advantages; most people often stay inside the house to open the telescopic door for the sake of convenience. However, if a child climbs and plays at the telescopic door at this time, it will be difficult to be clamped by the sudden telescopic door. The tragedy of recovery; Therefore, how to effectively detect and prevent the danger of human body and other objects from being pinched by a dynamic mechanism with a longitudinal depression function or a lateral telescopic function through innovative hardware design, it is still a relevant industry developer such as an anti-clamp system. Relevant researchers need to make continuous efforts to overcome and solve the problems.

Today, the inventor is considering that there are still many defects in the traditional anti-clamp device when it is actually implemented. Therefore, it is a tireless spirit, supplemented by its rich professional knowledge and years of practical experience. Based on this, the present invention was developed.

The main purpose of the present invention is to provide an anti-clamping detection system, in particular to a detection system that uses image vision to monitor the shape change of structured light to prevent a dynamic mechanism driven by a driving device from pinching objects such as the human body. At least one pulsed light source generator corresponds to a hardware design such as a camera equipped with at least one image capture unit, and uses the image to visually detect the shape change of the structured light emitted by the pulsed light source generator to effectively detect and prevent the human body. The object is subject to the danger of being pinched by a dynamic mechanism with a vertical depression function or a lateral telescopic function, and the use of the same image capture unit for the purpose of synchronously monitoring the longitudinal depression or the lateral telescopic position, and indeed achieve complete prevention of intentional or unintentional The purpose of crushing or pinching personnel by dynamic mechanisms, and detecting the existence of large and small objects in the gap, and effectively confirming the smooth passage and synchronous monitoring of entrance and exit are the main advantages.

In order to achieve the above-mentioned implementation purpose, the present inventor proposes an anti-clamp detection system, which is arranged on a dynamic mechanism having one of the functions of longitudinal depression or lateral extension driven by a driving device, and prevents pressure. The clip detection system includes at least one light source generator, at least one image capturing unit, an image processing unit, and a control unit. At least one light source generator is disposed on the dynamic mechanism, and the light source generator is oriented toward the dynamic mechanism. Vertical depression A pulsed light beam with a flicker frequency is emitted at the side telescopic position. The pulsed light beam includes at least one structured light, wherein the structured light is changed by irradiating at least one object located at the longitudinal depression or the side telescopic position. ; At least one image capturing unit is correspondingly arranged on one side of the light source generator, the image capturing unit includes an optical lens and a photosensitive element connected to the optical lens, and the optical lens captures an object and structured light thereon; A plurality of images are formed on the photosensitive element, wherein the frequency of the image captured by the optical lens is the same as the flicker frequency of the pulsed beam; the image processing unit includes a receiving module electrically connected to the image capturing unit, and an electrical connection receiving Module comparison module, where the receiving module receives the image captured by the image capture unit and passes it to the comparison module. The comparison module compares the structured light between the images before and after the continuous time. When the structured light changes, the comparison module system sends a signal; the control unit includes a module and a drive device that are electrically connected to the comparison module. System module and a control module electrically connected to the alarm module, system control signals issued to receiving module than the module of the apparatus is stopped after the drive, and drive module emits a warning signal warning.

The anti-clamp detection system described above, wherein the driving device is one of a hydraulic cylinder, a pneumatic cylinder, or a driving motor.

The anti-clamp detection system as described above, wherein the dynamic mechanism is one of a telescopic door, a lift electric bed, a medical electric bed, an iron roll door, a lift table, or a scissor lift.

The pressure-clamp detection system as described above, wherein the light source generator is one of a light emitting diode (LED), a laser diode (LD), or a light emitting element for outputting a light beam.

The anti-clamp detection system as described above, wherein the structured light system is grid, straight, One of a plurality of regularly arranged points or a plurality of irregularly arranged points.

The pressure-clamp detection system as described above, wherein the wavelength of the structured light is between 650 nanometers (nm) and 1000 nanometers.

The pressure-clamp detection system as described above, wherein the object is one of a human body, a dynamic object, or a static object, or a combination of two or more.

The pressure-clamp detection system as described above, wherein the optical lens is a device such as a fisheye lens, a wide-angle lens, or a standard lens.

The pressure-clamp detection system as described above, wherein the photosensitive element is one of a device such as a Photo Coupled Device (CCD) or a Complementary Metal-Oxide-Semiconductor (CMOS).

The pressure-clamp detection system as described above, wherein the warning signal is presented in one type of sound, light, image, or vibration, or a combination of two or more.

Therefore, the anti-clamp detection system of the present invention is mainly designed by using at least one pulsed light source generator corresponding to a camera and other hardware with at least one image capture unit to use the image visual detection of the pulsed light source generator. The shape change of the emitted structured light can effectively detect and prevent the danger of the human body and other objects from being pinched by a dynamic mechanism with a vertical depression function or a lateral telescopic function, and use the same image capture unit for vertical depression. The purpose of monitoring at the telescopic or lateral telescoping locations is indeed to achieve the purpose of completely preventing intentional or unintentional personnel from being crushed or pinched by the dynamic mechanism, and to detect the presence of small and large objects in the gap dead angle, and to effectively confirm the smooth and synchronous monitoring of the entrance and exit channels Advantages; In addition, the anti-clamp detection system of the present invention mainly uses the cameras of the same image capture unit to simultaneously perform the structural light shape change detection and image security monitoring functions, and indeed achieves hardware cost savings. , And the main advantages of integrating multiple functions into one; Finally, the anti-clamp detection system of the present invention is mainly designed by hardware such as a pulse-type light source generator that can emit structured light of infrared light, and provides an effective ambient light source for the image capture unit in an environment without a light source in the middle of the night. The signals such as the shape change of the structured light are captured through image vision, and the main advantages such as the clearance and safety of the vertical depression or lateral extension of the dynamic mechanism for all-weather monitoring of the dynamic mechanism, as well as the safety monitoring in the all-weather execution space are achieved.

(1) ‧‧‧Pressure detection system

(11) ‧‧‧Light source generator

(111) ‧‧‧Pulse Beam

(1111) ‧‧‧ structured light

(12) ‧‧‧Image Acquisition Unit

(121) ‧‧‧Optical lens

(122) ‧‧‧Photosensitive Element

(13) ‧‧‧Image processing unit

(131) ‧‧‧Receiving module

(132) ‧‧‧Comparison Module

(14) ‧‧‧Control unit

(141) ‧‧‧Control Module

(142) ‧‧‧Warning Module

(2) ‧‧‧Dynamic mechanism

(21) ‧‧‧Drive

(3) ‧‧‧ Object

FIG. 1: Block diagram of the system structure of a preferred embodiment of the anti-clamp detection system of the present invention

Fig. 2: Schematic diagram of system setup and operation of a preferred embodiment of the anti-clamp detection system of the present invention

In order for the reviewing committee members to understand the technical features, contents, advantages of the present invention, and the effects that can be achieved, the present invention is described in detail with the accompanying drawings in the form of embodiments, and the diagrams used therein, Its main purpose is only for the purpose of illustration and supplementary description. It may not be the actual proportion and precise configuration after the implementation of the invention. Therefore, the attached drawings should not be interpreted and limited to the scope of rights of the present invention in actual implementation. , He Xianxian.

First, please refer to FIG. 1 and FIG. 2, which are block diagrams of a system structure of a preferred embodiment of the anti-clamp detection system of the present invention, and a schematic diagram of system setting and operation. The anti-clamp detection of the present invention The system (1) is set on a dynamic mechanism (2) having one of the functions of vertical depression or lateral expansion driven by a driving device (21), wherein the dynamic mechanism (2) is a telescopic door, One type of mechanism, such as a lift electric bed, a medical electric bed, an iron roll door, a lift table, or a scissor lift, and the driving device (21) is a hydraulic cylinder, a pneumatic cylinder, or a drive motor. In a preferred embodiment of the present invention, the dynamic mechanism (2) may be, for example, but not limited to, a medical electric bed driven by an electric drive motor, wherein the anti-clamp detection system (1) of the present invention ) The switch (marked in the diagram) is connected to the switch (marked in the diagram) of the dynamic mechanism (2), that is, when the switch of the dynamic mechanism (2) is activated, the anti-clamp detection system (1) The switch is also activated at the same time; the anti-clamp detection system (1) of the present invention at least includes: at least one light source generator (11), which is arranged on the dynamic mechanism (2), and the light source generator (11) is oriented to dynamic A pulsed light beam (111) with a flicker frequency is emitted at the longitudinal depression or lateral extension of the mechanism (2). The pulsed light beam (111) includes at least one structured light (1111), wherein the structured light (1111) is The light source generator (11) is a light-emitting diode, a laser diode, or a light-emitting diode, which is used to output one One of the devices such as the light emitting element of the light beam; moreover, the structured light (1111) is a grid, a straight line, and a plurality of regularly arranged points One of several aspects, such as a plurality of irregularly arranged points, in which the wavelength of structured light (1111) is between 650nm and 1000nm; in addition, the object (3) is one of the states of a human body, a dynamic object, or a static object. Or a combination of the two; in a preferred embodiment of the present invention, a light source generator (11) in the form of a light emitting diode (LED) is arranged in a dynamic state presented in the form of a medical electric bed. A pulsed light beam (111) is emitted on the mechanism (2) and directed toward the lower part of the medical electric bed, and the pulsed light beam (111) includes structured light (1111) composed of 25 regularly arranged points, where the structured light ( 1111) The wavelength is between 650nm and 1000nm, the best is 850nm, 905nm, or 940nm. When any part of the human body (such as the arm shown in the lower left corner of Figure 2) is placed under the medical electric bed Will cause the shape of structured light (1111) to change; however, it must be noted that the shape of the dynamic mechanism (2), the shape of the light source generator (11) and the structured light (1111) emitted by it The composition and position of the irradiation are for the convenience of explanation, not for the sake of convenience. The present invention is limited, and those skilled in the art should know the appearance of different dynamic mechanisms (2), the appearance of the light source generator (11), and the composition and appearance of the structured light (1111) emitted by it. Position, as long as the shape of the structured light (1111) can be visually recognized by the image, the actual implementation of the present invention will not be affected; at least one image capture unit (12) is correspondingly arranged on one side of the light source generator (11) The image capture unit (12) includes an optical lens (121) and a photosensitive element (122) connected to the optical lens (121). The optical lens (121) captures an object (3) and structured light thereon. The plurality of images of (1111) are imaged on the photosensitive element (122), wherein the frequency captured by the optical lens (121) is the same as the flicker frequency of the pulsed beam (111); in addition, the optical lens (121) is fisheye One of a device such as a head, a wide-angle lens, or a standard lens; furthermore, the photosensitive element (122) is one of a type such as a photo-coupled element (CCD) or a complementary metal-oxide semiconductor (CMOS); In the preferred embodiment, an image capture unit (12) is disposed on the light One side of the source generator (11), and the built-in optical lens (121) captures images of a plurality of objects including the human body (3) and structured light (1111) on the human body at a frequency on the light receiving element (122 ), That is, when the light source generator (11) emits a pulsed light beam (111) with structured light (1111) at the first time and lights up, the optical lens (121) of the image capture unit (12) The image of the structured light (1111) of the human body and the human body is captured on the photosensitive element (122), and when the light source generator (11) goes out next time, the image capture unit (12) captures the human body again The image of structured light (1111) on the human body is imaged on the photosensitive element (122), so the difference between the two is only the existence of structured light (1111); however, it must be noted that the light source generator (11) The number of corresponding image capturing units (12) is for convenience of explanation, and is not limited by the present invention, and those skilled in the art should know different number of light source generators (11) and corresponding images. Acquisition unit (12), as long as it can detect the needs of different angles, and Does not affect the actual implementation of the present invention; an image processing unit (13) includes a receiving module (131) electrically connected to the image capturing unit (12), and a receiving module (131) electrically connected to the receiving module (131). The comparison module (132), wherein the receiving module (131) receives the image captured by the image capturing unit (12) and transmits it to the comparison module (132). The comparison module (132) is comparison The state of the structured light (1111) between the images before and after the continuous time. When the structured light (1111) changes, the comparison module (132) sends a signal; in a preferred embodiment of the present invention, the internal The receiving module (131) built in the image processing unit (13) receives a plurality of images captured by the image capturing unit (12) and passes them to the comparison module (132). The comparison module (132) then Compare the state of structured light (1111) between images before and after continuous time. When structured light (1111) changes, the comparison module (132) sends a signal, that is, as described above, continuous Before and after time, the image is due to the difference between the presence or absence of structured light (1111) due to the pulse beam (111) that one of the light source generators (11) is on and off. After the comparison module (132) of the processing unit (13) receives these images from the receiving module (131), it performs the subtraction of the two images before and after and leaves the image of structured light (1111) separately. The module (132) can more easily determine the shape of the structured light (1111) due to the presence of an object (3) in any part of the human body. When the module (132) detects the structured light (1111) ) When there is a change in shape, a signal is transmitted to the control unit (14); and a control unit (14) includes a control module that electrically connects the comparison module (132) and the driving device (21) respectively (141) and a warning module (142) electrically connected to the control module (141). The control module (141) stops driving the device (21) after receiving a signal from the comparison module (132). Operation and drives the warning module (142) to issue a warning signal; in addition, the warning signal is presented in one of sound, light, image or vibration, or a combination of two or more; in a preferred embodiment of the present invention In the embodiment, the control module (141) built in the control unit (14) is connected to the receiving module. After receiving the signal from the comparison module (132), it means that there is a dangerous object (3) in the longitudinal depression or lateral extension of the dynamic mechanism (2), the control module (141) immediately stops The driving device (21) electrically connected to it stops the dynamic mechanism (2) from continuing to press down or expand or contract laterally. At the same time, the control module (141) will drive the electric connection to it. The warning module (142) sends out a warning signal to warn of the dangers in the surroundings.

Next, in order for your review committee to better understand the purpose, characteristics and desired effect of the present invention, the following is a specific practical embodiment of the anti-clamp detection system (1) of the present invention to further prove the protection of the present invention. The range in which the clamp detection system (1) can be practically used, but it is not intended to limit the scope of the present invention in any form; when a hospital wants to set up a medical electric bed for patients, it can be used in the dynamic mechanism of the medical electric bed (2 The side of) is equipped with the anti-clamp detection system (1) of the present invention, which is mainly designed by using at least one pulsed light source generator (11) corresponding to (12) cameras such as at least one image capture unit and other hardware design In order to effectively detect and prevent objects such as the human body (3) from having a vertical depression function or a lateral direction by using the image visual detection of the shape change of the structured light (1111) emitted by the pulsed light source generator (11) The dynamic mechanism of the telescopic function (2) the danger of clamping, and (12) using the same image capture unit for the purpose of synchronously monitoring the longitudinal depression or the lateral telescopic position; first, prepare a light source generator (11), where Light source generator (11) set On the dynamic mechanism (2), the light source generator (11) emits a pulsed beam (111) with a flickering frequency toward the longitudinal depression or lateral extension of the dynamic mechanism (2). The pulsed beam (111) is It includes at least one structured light (1111), wherein the structured light (1111) is changed due to irradiation on at least one object (3) located at the vertical downward pressure or the lateral extension and contraction; then, an image capture unit is prepared (12), wherein the image capturing unit (12) is correspondingly disposed on one side of the light source generator (11), the image capturing unit (12) includes an optical lens (121), and an optical lens (121) The connected photosensitive element (122) and the optical lens (121) are captured The plurality of images of the object (3) and the structured light (1111) thereon are imaged on the photosensitive element (122), wherein the frequency of the image captured by the optical lens (121) is the same as the flicker frequency of the pulsed beam (111); Prepare an image processing unit (13), where the image processing unit (13) includes a receiving module (131) electrically connected to the image capturing unit (12), and a ratio of an electrically connected receiving module (131) The matching module (132), wherein the receiving module (131) receives the image captured by the image capturing unit (12) and transmits it to the comparison module (132). The comparison module (132) is continuously compared. The state of the structured light (1111) between the images before and after the time, when the structured light (1111) changes, the comparison module (132) sends a signal; finally, a control unit (14) is prepared, in which the control unit (14) It includes a control module (141) electrically connected with the comparison module (132) and the driving device (21), and a warning module (142) electrically connected with the control module (141). The control module (141) stops the operation of the drive device (21) after receiving the signal from the comparison module (132), and drives the warning module (142) to issue an alarm Signal; after the hardware is set up, when the dynamic mechanism (2) of the medical electric bed starts to lift, especially when descending, the light source generator (11) also starts to emit a pulsed beam containing structured light (1111) (111) to the vertical press down of the dynamic mechanism (2), and the image capture unit (12) also activates the optical lens (121) to capture the image of the structured light (1111). If any part of the human body exists in the When the vertical portion of the moving dynamic mechanism (2) is pushed down, the shape of the structured light (1111) will be changed. When the comparison module (132) of the image processing unit (13) detects the structured light (1111), After the shape is changed, the signal is transmitted to the control module (141) of the control unit (14), and the control module (141) stops the operation of the driving device (21) of the dynamic mechanism (2) to stop the dynamic mechanism (2) Continue to press down vertically, the control module (141) and at the same time drive the warning module (142) electrically connected to it to send out a warning signal in the form of a warning signal to warn about the existence of danger in the surroundings; the invention It can truly achieve the purpose of completely preventing intentional or unintentional personnel from being crushed or pinched by the dynamic mechanism (2) , And detecting the blind spot of the gap size articles (3) present aspect, an effective Confirm the main advantages of unobstructed entrance and exit channels and synchronous monitoring.

As can be seen from the above-mentioned implementation description, compared with the prior art, the anti-clamp detection system and method of the present invention have the following advantages:

1. The anti-clamp detection system of the present invention is mainly designed by using at least one pulse-type light source generator corresponding to at least one camera with at least one image capturing unit and other hardware design, so as to visually detect the light emitted by the pulse-type light source generator. The shape change of the structured light effectively detects and prevents the danger of the human body and other objects from being clamped by a dynamic mechanism with a vertical depression function or a lateral telescopic function, and uses the same image capture unit to perform vertical depression. The purpose of monitoring at lateral or telescopic positions is indeed to achieve the purpose of completely preventing intentional or unintentional personnel from being crushed or pinched by dynamic mechanisms, and to detect the presence of large and small objects in the gap dead angle, and effectively confirm the smoothness of the entrance and exit channels. .

2. The anti-clamp detection system of the present invention mainly uses the cameras of the same image capture unit to simultaneously perform the structural light shape change detection and image security monitoring functions, and indeed achieves hardware cost savings, and Combines the main advantages of multiple functions into one.

3. The anti-clamp detection system of the present invention is mainly designed by hardware such as a pulsed light source generator that can emit structured light that emits infrared light, and provides an effective ambient light source for the image capture unit in the middle of the night without a light source. The signals such as the shape change of the structured light are captured through image vision, and the main advantages such as the clearance and safety of the vertical depression or lateral extension of the dynamic mechanism for all-weather monitoring of the dynamic mechanism, as well as the safety monitoring in the all-weather execution space are achieved.

In summary, the anti-clamp detection system of the present invention can indeed achieve the expected use effect through the above-disclosed embodiments, and the present invention has not been disclosed before the application, and it has fully complied with the patent law. Regulations and requirements.提出 Filed an application for an invention patent in accordance with the law. Examining and granting a quasi-patent is a real convenience.

However, the illustrations and descriptions disclosed above are only preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Anyone who is familiar with the technology, according to the characteristic scope of the present invention, makes other Equivalent changes or modifications should be regarded as not departing from the design scope of the present invention.

Claims (10)

An anti-clamp detection system is provided on a dynamic mechanism having one of the functions of longitudinal depression or lateral expansion driven by a driving device. The anti-clamp detection system includes at least: A light source generator is disposed on the dynamic mechanism. The light source generator emits a pulsed beam with a flicker frequency toward a longitudinal depression or a lateral extension of the dynamic mechanism. The pulsed beam includes at least one structure. Light, wherein the structured light is changed by being irradiated on at least one object located at the longitudinal depression or the lateral extension and contraction; at least one image capturing unit is correspondingly disposed on one side of the light source generator, The image capturing unit includes an optical lens and a photosensitive element connected to the optical lens. The optical lens captures a plurality of images of the object and the structured light on the photosensitive element for imaging on the photosensitive element. The optical lens The frequency of capturing the images is the same as the flickering frequency of the pulsed beam. An image processing unit includes a receiver electrically connected to the image capturing unit. A receiving module, and a comparison module electrically connected to the receiving module, wherein the receiving module receives the image captured by the image capturing unit and transmits the image to the comparison module. For the state of the structured light between the images before and after the continuous time, the comparison module sends a signal when the structured light changes; and a control unit includes a control unit electrically connected to the comparison module. The control module of the driving device and a warning module electrically connected to the control module. The control module stops the operation of the driving device after receiving the signal from the comparison module, and drives the driving device. The warning module sends out a warning signal. The anti-clamp detection system according to item 1 of the patent application scope, wherein the driving device is one of a hydraulic cylinder, a pneumatic cylinder or a driving motor. The anti-clamp detection system according to item 1 of the scope of patent application, wherein the dynamic mechanism is one of a telescopic door, a lifting electric bed, a medical electric bed, an iron rolling door, a lifting table or a scissor lift. The pressure-clamp detection system according to item 1 of the patent application scope, wherein the light source generator is one of a light emitting diode, a laser diode, or a light emitting element for outputting a light beam. The anti-clamp detection system according to item 1 of the scope of patent application, wherein the structured light system is one of a grid, a straight line, a plurality of regularly arranged points, or a plurality of irregularly arranged points. The anti-clamp detection system according to item 5 of the scope of patent application, wherein the wavelength of the structured light is between 650 nm and 1000 nm. The anti-clamp detection system according to item 1 of the scope of patent application, wherein the object is one or more of a human body, a dynamic object, or a static object. The anti-clamp detection system according to item 1 of the patent application scope, wherein the optical lens is one of a fisheye lens, a wide-angle lens, or a standard lens. The pressure-clamp detection system according to item 1 of the patent application scope, wherein the photosensitive element is one of a photoelectric coupling element (CCD) or a complementary metal oxide semiconductor (CMOS). The anti-clamp detection system according to item 1 of the scope of patent application, wherein the warning signal is presented in one of sound, light, image or vibration, or a combination of two or more.