• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a method of safety control of a plant, such as a work piece (2) for workpieces made of wood, fiberglass and the like, which includes the following phases: (A) taking a virtual reference image of the scene to be monitored (S1, S2), generating a vector or a matrix of reference signals, each of these signals containing corresponding information regarding the distance of the objects of that scene (S1, S2); (B) selecting one or more groups of the signals of the vector or matrix of reference signals, each group of signals corresponding to a corresponding security space of the scene (S1, S2); (C) recording the scene (S1, S2), generating a vector or a matrix of control signals, each of these signals containing corresponding information regarding the distance of the objects of that scene (S1, S2); and (D) comparing the vector or matrix of reference signals with the vector or matrix of control signals to determine whether, for each of the images taken in phase (C), a predefinable number Ns of signals of the vector or matrix of control signals corresponding to the signals of one of the groups of signals of the vector or of the matrix of reference signals, a variation of the information related to the distance from the scene (S1, S2), wherein said detected distance is related to a potential hazard within one of the security rooms or the safety zones of said scene (S1, S2) indicates.
    公开号:AT516140A1
    申请号:T529/2015
    申请日:2015-08-11
    公开日:2016-02-15
    发明作者:
    申请人:Scm Group Spa；
    IPC主号:
    专利说明:

    The present invention relates to a system for safety control of a plant and corresponding safety system.
    More particularly, the invention relates to a method and safety system which has been developed and manufactured particularly for machining centers for workpieces of wood, fiberglass, plastic, glass and the like, but is also applicable to any other system involving interaction between a machine, plant or machining center moving or stationary organs and an operator.
    In the following, the invention will be described with reference to the application to a woodworking center, but it is obvious that this description should not be construed as limited to this specific application.
    As is well known, there are currently various types of safety systems for woodworking equipment designed to avoid the risk of approaching a user to the plant tools installed in the plant.
    In particular, as is well known, such woodworking equipment provides a worktable on which the workpieces to be processed are laid and conveyed, a portal movable relative to that worktable on which a mobile equipment is installed along the portal, and a machining tool disposed on that equipment. During operation, such processing equipment is controlled by a user who can interact with the equipment, for example in the event of a malfunction or maintenance.
    At such processing plants, therefore, sensors are provided to reduce the risk that the user comes into contact with parts of the plant which pose a potential hazard.
    Thus, a current commercial system provides optical sensors and touch sensors. Optical sensors, such as lasers and the like, illuminate a particular area such that, if the laser beam is incident on a user, the operating speed of the equipment would be reduced. Touch sensors, on the other hand, are arranged in such a manner that if the user touches a location on which a sensor is mounted, plant stoppage is provided.
    A technical problem with prior art safety systems concerns the fact that the equipment is often constructed differently. The installation of such security systems is therefore not easy to standardize, with the effect that the cost of the systems equipped with these systems and their complexity increase considerably.
    It is obvious that this method is costly in terms of both commercial and economical aspects.
    In view of the above, the object of the present invention is to provide a safety system for processing equipment that can overcome the limitations of the prior art systems.
    The specific subject of the present invention therefore consists in a method for safety control of a plant, such as woodworking, fiberglass, and the like, comprising the following phases: (A) taking a virtual reference image of the scene to be monitored, generating a vector or a matrix of reference signals each of these signals containing corresponding information regarding the distance of the objects of that scene; (B) selecting one or more groups of the signals of the vector or matrix of reference signals, each group of signals corresponding to a corresponding security space of the scene; (C) recording the scene, generating a vector or matrix of control signals, each of said signals containing corresponding information regarding the distance of the objects of that scene; and (D) comparing the vector or matrix of reference signals with the vector or matrix of control signals to determine whether, for each of the images taken in phase (C), a predefinable number Ns of signals of the vector or matrix of control signals represent the signals correspond to one of the groups of signals of the vector or the matrix of reference signals, a variation of the information related to the distance from the scene, wherein this detected distance is a potential one
    Danger within one of the security rooms or one of the security zones of said scene.
    Also according to the invention, the detection phase (A) and the reception phase (C) each include the following phases: providing at least one
    Imaging unit; and / or performing a calibration to correct for any registration errors or rotations of one of the cameras of the imaging unit relative to the other, and nonuniform illumination conditions to obtain internal and external parameters of the scene image; and / or performing rectification to obtain the internal ones obtained by the calibration phase and external parameters so that the stereoscopic images originating from the image capturing unit are converted so that one or more conditions are satisfied. * Also according to the invention, the at least one
    Be ToF (Time Of Fly) or stereoscopic type.
    Advantageously, according to the invention, said method may include the phase of filtering the plurality of signals, preferably by means of low-pass filtering.
    Further according to the invention, following the phase (D), if a number of signals Ns of one of the groups of signals of the vector or of the matrix of signals related to the image of the scene concerned have a variation in the information of the distance from the scene indicative of a potential hazard within one of the security rooms or security zones of the scene, security devices such as
    Alarm, or organs or devices for slowing down or stopping the operation of the system are activated.
    Also according to the invention, the method may assign to each of the group of signals of the vector or the matrix of reference signals two or more security levels.
    Also according to the invention, the phases (C) and (D) can be repeated iteratively.
    A further object of the present invention is a system for safety control of a plant, such as a machining center for workpieces of wood, plastic, fiberglass and the like, which includes at least one image pick-up unit capable of detecting the scene in which, at least in part, the object to be monitored Processing center, with the generation of a vector or matrix of signals, which image acquisition unit is adapted to associate with each of these signals corresponding information regarding the distance of the objects of that scene and a control unit connected to and capable of the at least one image capture unit Process signals by means of the method defined above.
    Also according to the invention, the at least one image pickup unit (31, 32) may be of the ToF (Time Of Fly) type or of the stereoscopic type.
    Advantageously, according to the invention, the system may include two imaging units for capturing two different scenes.
    Also according to the invention, the image recording unit can be arranged such that in the image of the scene to be monitored, at least partially, the machining center is included.
    Further, according to the invention, the image pickup unit may be arranged on a movable part or on a stationary part of the processing center.
    The present invention will now be described with reference to the accompanying drawings which illustrate preferred embodiments of the invention without, however, limiting its general scope. Hereby show:
    Fig. 1 is a block diagram of a security system according to the invention;
    Fig. 2 is an image pickup unit of the system of Fig. 1;
    3 is a flow chart of the operation of the system of FIG. 1; and
    4 shows an ideal stereoscopic reference scheme.
    In the various figures, similar parts are identified by the same reference numerals.
    With reference to Figs. 1 and 2, there is shown a schematic diagram of the security system 1 according to the invention applied to a machining center 2. This
    Machining center 2 includes a base frame 21 having a surface 22 for shifting the workpieces P to be processed along a direction F, and a portal 23 having installed thereon an equipment 24 movable along the gantry 23 including a tool for machining the workpieces P.
    In the case under investigation, the moving parts of the processing center 2, and thus at the same time the most dangerous for the integrity of the user, the portal 23 and the movable equipment 24. The safety system 1 makes it possible, as described in more detail below, to reduce the risk of a user being at the machining center 2, and in particular the moving parts, when the processing center 2 is in operation.
    The security system 1 includes two image pickup units respectively denoted by 31 and 32 and a central control unit 4.
    The image pickup units 31 and 32 are adapted to detect a scene designated S1 and S2, respectively, at least partially containing the processing center 2 to be monitored. Each image capturing unit 31 and 32 generates a plurality of signals, each corresponding respectively to one of the pixels that make up the image of the respective scenes S1 or S2, so as to generate a vector or matrix of control signals. The recording is made continuously over time, with appropriate sampling intervals.
    The image capturing units 31 and 32 are preferably of the Time of Fly type, as shown in Fig. 2, because this type of apparatus allows to judge in real time the distance between the camera and the subjects or scenes S1 or S2 to be captured by measuring the time A light impulse is needed to cover the range Camera Object Camera (the so called runtime).
    The scene S1 or S2 of each of the image pickup units 31 and 32 is thus completely picked up, but the measurement of the distance is independently of each of the
    Imaging units 31 and 32 are performed for each signal of the vector or matrix of signals of the captured image to enable the three-dimensional reconstruction of the object or scene S1 or S2 that has been detected and measured.
    The image capturing units 31 and 32 may also be of the stereoscopic type (or stereo vision), since they too are capable of capturing the depth of a scene and thus the distance of an object to a reference point (generally the camera itself) of the captured scene. The aforementioned visualization technique is well known in various academic and commercial studies.
    Each of the image pickup units 31 and / or 32 includes a corresponding holder 31 '.
    The image capturing units 31 and / or 32 are connected to the central control unit 4, which processes the detected signals and thus the identification of an object and the information "distance". any object or component of scene S1 or S2 from the observation point. These information obtained by means of the images taken simultaneously by each of the image pickup units 31 or 32 are processed by a microprocessor or DSP (Digital Signal Processor) which determines the distance in which each subject of the recorded scene is located via geometric processing.
    In other words, thanks to the use of the image pickup units 31 or 32 which provide a stereo video recording which, as already mentioned, enables the distance of the signals from which the image of the captured scene S1 or S2 is composed, the image of the scene S1 in real time or S2, which shows the elements of the machining center 2, wherein for each signal the information regarding the distance from the image pickup unit 31 or 32 is provided.
    In advance, the security system further enables the acquisition of a reference virtual image of the scene SI, S2, in which, as mentioned, the processing center 2 to be monitored is included, generating a vector or a matrix of reference signals. This reference image, if known, can also be input to the security system 1 in advance.
    As a result, taking into account the fact that the scene S1 or S2 taken by the image-recording units 31 and 32 will, as already mentioned, enable zones or spaces which pose no danger to the user, as well as other zones, in particular in the vicinity of the tools of the processing center which pose a particular danger to the physical integrity of a user when the machining center is in operation, a pre-selection of the safety areas of the detected scene S1 or S2.
    In particular, the security system 1 makes it possible to select one or more groups of the signals of the vector or of the matrix of reference signals before the control phases. Each group of signals corresponds to a corresponding safety space or safety zone of the scene SI, S2.
    Subsequently, the system allows the vector or matrix of reference signals to be compared to the vector or matrix of control signals sequentially sampled to determine whether, for each of the captured images, a predefinable number Ns of signals of the vector or matrix of control signals in that the signals corresponding to one of the groups of signals of the vector or the array of reference signals defining corresponding security areas or zones are subject to a variation of the detected distance, the distance obtained for each signal indicating a potential hazard within one of the rooms or one of the security zones of said scenes S1 or S2 ,
    In this way, if a user approaches or enters a particularly hazardous space or zone near the processing center 2, e.g. the area near the portal 23 or the movable equipment 24, a predefined group or number of signals of the vector or matrix of control signals will vary (in this case, reduce) the distance to the corresponding signals of the vector or array of
    Reference signals and thus indicate a potential hazard.
    Thus, the central control unit 4 can appropriately halt or slow down the operation of the machining center 2 or trigger alarms to reduce the risks to the user in the vicinity of the machining center 2.
    In order to obtain the above-mentioned result, the central control unit 4 executes a program for processing the images picked up by the image pickup units 31 and 32 based, as already mentioned, on the real-time comparison of the vector or matrix of reference signals with the vector or matrix of control signals.
    The main phases of this program are shown in Fig. 3d and are: - taking pictures, i. a point cloud in the Cartesian coordinate system, by means of at least one of the image recording units 31 and 32, recording the matrix of signals, each preferably related to a corresponding pixel which constitutes the image of the scene S1 or S2 taken up; - digital filtering of the image signals; - defining one or more groups of these signals of the image, each group of signals corresponding to one or more predefinable security spaces surrounding the potentially dangerous parts of the scene (Sl, S2); - assessing, for each pixel (pixel) of each matrix signal, the position within said predefined security spaces, based on a real-time comparison between the vector or matrix of reference signals with the vector or matrix of control signals; and - checking whether a number Ns of signals within at least one of the predefined security spaces is subject to a variation of the detected distance.
    The first phase of the capture involves a series of sub-phases of image processing, i.e.: - calibration; - rectification; Stereo matching (the latter phase is provided only for picture-taking units 31 and 32 of the stereoscopic type); which are briefly described below.
    The calibration phase makes it possible to correct for any misalignment or rotation of one of the cameras relative to the other and non-uniform lighting conditions.
    Calibration is a procedure that is generally performed on-the-fly and serves to identify parameters that characterize a system for stereoscopic vision. These so-called intrinsic and extrinsic parameters are used by the rectification method to reshape the images taken by the stereoscopic system to obtain stereoscopic images of a particular shape (standard shape) and the three-dimensional coordinates (3D) of the points by the triangulation method obtained.
    Various techniques for performing the calibration of a stereoscopic system are known. In general, this process is carried out with techniques based on the use of geometric patterns whose features are well known in different positions so that the internal and external parameters characterizing the stereoscopic system can be assessed.
    The phase of the rectification is a method which utilizes the inner and outer parameters obtained by the calibration to transform the stereoscopic images originating from the recording device so that some conditions are satisfied. Among other things, the rectification allows the conversion of the images into the standard form. ,
    In the case of binocular systems, this ensures that, for any given point in an image, its homologous point can be found on the same line of the other image, thus enabling a significant reduction in computation and greater reliability in solving the correspondence problem.
    By means of the rectification, the images can be converted such that the homologous points of one line (scanline) of the image in the corresponding line of the other image can be searched for.
    The rectification phase also makes it possible to reduce the problems caused by the distortions caused by the optics and to obtain images with the same focal length.
    The phase of the stereo matching (solving the correspondence problem) is, as already mentioned, provided only for stereoscopic-type image pickup units 31 and 32. The bibliography for stereoscopic or spatial vision is very extensive, and the algorithms for stereo matching can initially be divided into two main categories: - Feature-based algorithms; and - dense stereo (dense stereo).
    The former make it possible to obtain disparity information (so-called disparity maps) for a limited number of points of images for which particular features such as lines, segments or angles have been identified. These algorithms prove to be efficient in terms of calculations, due to the reduced number of identifiable features present in the images compared to the total number of points, and are also extremely reliable, since the features extracted from the images are generally originally distinctive and no ambiguity problems in solving cause the correspondence problem.
    However, these algorithms are currently little used because the disparity maps are limited only to those having distinguishing features. On the other hand, dense-stereo-type algorithms allow the generation of disparity maps for each pixel, and according to a recent taxonomy, can be divided into two main groups: local {local} algorithms and global (global) algorithms.
    Local algorithms search the homologous points individually and independently, generally using a local support in the environment of each point of interest (this area around each point is also referred to as a correlation window) to match the signal-to-noise ratios increase.
    By using a local vertex, these algorithms implicitly assume that the disparity inside the local support point is constant, even if this, not always checked, leads to a discrepancy between the objects of the scene and the disparity maps near the points that exist in different places Distance from the cameras are arranged.
    It should be noted that there are also algorithms that can adapt their base based on the local features of the images and with which excellent results can be achieved. In general, the local standard type algorithms have a very regular structure in terms of computations and can be effectively implemented using both recursive computational schemes and single instruction multiple data (SIMD) instructions currently used in almost all architectures, and also in non-linear architectures available to the youngest generation graphics accelerators.
    For this reason, such algorithms can currently be used in real-time applications. Besides assuming the constancy of disparity within the correlation window, the local algorithms have a further limitation caused by the fact that they are not necessarily capable of producing fully dense disparity maps (eg, there is no guarantee that a disparity value can be determined for each pixel ). This is mainly due to two causes: uniform regions and occlusions. In the first case, it is not possible to determine disparity information in regions that have a constant intensity or, in any case, few
    Have distinguishing elements due to high ambiguity in solving the correspondence problem.
    In the second case, given the geometry of the stereoscopic system, in the presence of adjacent dots located at different distances from the cameras, some dots are visible in one frame but not in the other frame of the stereo pair:
    In such cases, the solution of the correspondence problem is not possible.
    Unlike the local algorithms, the dense-type global algorithms do not use local landmarks, but rather strive for some disparity assignment involving some hypotheses about the nature of the objects (smoothnessassumption), which involves minimizing a global cost function.
    The skin difference between these algorithms is the method of minimizing the cost function (e.g., simulated annealing, probabilistic diffusion, graph-cuts). Such algorithms, especially those on the graph-cut-based, make much better
    To obtain disparity maps than with the type locals algorithms, however, at extremely high computational costs, then exclude usability in real-time applications.
    Further, although some algorithms, by utilizing the methods of minimizing the cost function, are able to solve the problem of occlusions, the occlusions, analogous to the algorithms of the local type, can lead to incomplete disparity maps.
    It should be noted that there are also local or semi-global algorithms that use a non-point cost function, but a variable support point based one with which excellent results can be achieved. While the two described categories of algorithms (local and global) are most of the algorithms known in the literature, it should be noted for the sake of completeness that algorithms based on other approaches also exist.
    After the correspondences (correspondences) are established and parameters of the stereoscopic system obtained by calibration are known, for the points for which a homologous point exists and could be detected, the distance of the point from the cameras can be determined.
    In particular, with reference to Figure 4, consider an ideal stereoscopic system, or one in which the images are returned to the standard shape by the rectification process. Further, let us say (xi, yi) and (Xr, yr) the coordinates (in millimeters) of the projections of the point P on the two image planes θι and 0r, with reference to the reference systems originating in the optical centers of the two cameras.
    These points have the coordinates (ui, vi) and (ur, vr) with respect to the reference systems originating in the upper left-hand point of each image. It should be noted that to obtain the coordinates in millimeters of the points (ui, vi) and (ur, vr) corresponding to the two image planes with respect to the
    Reference system centered on the optical axis of each camera, the origin of the coordinates is shifted to the principal point of each camera, and this value is multiplied by the horizontal dimension of the pixel in the case of the x-coordinate and the vertical dimension of the pixel in the case of the y-coordinate becomes.
    The dimensions of the pixel may coincide or be different in the case of image sensors with square pixels. In the latter case, it is necessary to know both the horizontal dimensions (Dimx) and the vertical dimensions (Dimy) of the pixels in order to obtain the coordinates in millimeters.
    If the reference system is chosen to be the one whose origin lies at the optical center Oi, with the axes x and y parallel to the image planes and the axis z guided through the optical center Οχ and the image center, the relationships describing the coordinates X and Y can be written determine this reference system from the image coordinates χχ and yi.
    When f is the focal length and b is the baseline and the similarity between the triangles OiPOr and xiPxr is used, the following relationship can be written that determines the distance Z of the point P from the line passing through the optical centers Οχ and 0r of the two cameras:
    From this also the remaining coordinates x and y can be determined.
    As can be seen, thanks to the security system 1 and the security control process performed by the central control unit 4, it is possible to directly record on the captured two-dimensional image information on the distance associated with the various pixels that make up each of them by means of at least one image capture unit 31 or 32 captured images, groups of pixels, ie Select and determine areas of the captured image that correspond to the spaces of the scene S1 or S2 that are perceived to be sensitive in terms of security. These groups of pixels may be assigned a risk gradient so that, in the case of approaching a user and varying the depth of a predefinable number of contiguous pixels and / or by suitable patterns, it is possible for the user to enter the security spaces, i. a person, so that the central control unit 4 can automatically perform security operations, such as triggering an alarm, slowing down the operation of the processing center 2 or stopping the machine.
    These security rooms can be set up quite flexibly, as needed. In general, in any case, these security rooms do not extend to the floor, leaving a suitable space uncovered, as it is very common to locate 2 workpieces P in the vicinity of a machining center, which could thus provide false alarms to the security system 1.
    An advantage of the present invention is that it provides a fully optical security system that can be adapted to all types of systems to be monitored and, therefore, is also readily applicable to existing processing centers or machines that have overarching protection without making any functional or structural changes to the machining centers or machines to have to.
    The present invention has been described by way of illustration, but not limitation, in accordance with preferred embodiments thereof; it is understood that variations and / or changes may be made thereto by those skilled in the art without departing from the scope of protection set forth in the appended claims.
    权利要求:
    Claims (12)
    [1]
    Claims 1. A method of safety control of a plant, such as a woodworking, fiberglass, and the like machining center (2) comprising the following phases: (A) taking a reference virtual image of the scene to be monitored (SI, S2), generating a vector or a vector Matrix of reference signals, each of these signals containing corresponding information regarding the distance of the objects in that scene (Si, S2); (B) selecting one or more groups of the signals of the vector or matrix of reference signals, each group of signals corresponding to a corresponding security space of the scene (Si, S2); (C) recording the scene (SI, S2), generating a vector or matrix of control signals, each of said signals containing corresponding information regarding the distance of the objects in that scene (SI, S2); and (D) comparing the vector or matrix of reference signals with the vector or matrix of control signals to determine whether, for each of the images taken in phase (C), a predefinable number Ns of signals of the vector or matrix of control signals represent the signals one of the groups of signals of the vector or matrix of reference signals has a variation of the information related to the distance from the scene (SI, S2), wherein said detected distance is related to a potential hazard within the safety spaces or zones of said scene (SI, S2) points.
    [2]
    A method according to claim 1, characterized in that the acquisition phase (A) and the phase of the acquisition (C) each comprise the following sub-phases: - providing at least one image acquisition unit (31, 32); and / or - performing a calibration to correct for any misalignment or rotation of one of the cameras of the imaging unit (31, 32) relative to the other and non-uniform illumination conditions to obtain internal and external parameters of the scene image (SI, S2); and / or - performing a rectification to process the inner and outer parameters obtained by the calibration phase so that the stereoscopic images originating from the image capture unit (31, 32) are converted to satisfy one or more conditions.
    [3]
    3. The method according to any one of the preceding claims, characterized in that the at least one image pickup unit (31, 32) of the ToF type (Time Of Fly - runtime) or vomstereoskopischen type.
    [4]
    Method according to one of the preceding claims, characterized in that it includes the phase of filtering of the plurality of signals, preferably by means of low-pass filtering.
    [5]
    Method according to any one of the preceding claims, characterized in that, following the phase (D), if a number of signals Ns relate to one of the groups of signals of the vector or of the matrix of signals related to the image of the scene concerned (SI, S2) are, a variation of the information regarding the distance from the scene (SI, S2), which indicates a potential hazard within one of the security rooms or one of the safety zones of the scene (Si, S2), safety devices, such as an alarm, triggered or organs or devices are activated to slow down or stop the operation of the plant (2).
    [6]
    A method according to any one of the preceding claims, characterized in that it assigns two or more levels of security to each of the groups of signals of the vector or matrix of reference signals.
    [7]
    A method according to any one of the preceding claims, characterized in that the phases (C) and (D) are repeated iteratively.
    [8]
    A system (1) for safety control of a plant, such as a work piece (2) for woodwork, fiberglass and the like, comprising: at least one image pickup unit (31, 32) capable of detecting the scene (SI, S2) in which, at least in part, the machining center (2) to be monitored is produced, producing a vector or a matrix of signals, this image recording unit (31, 32) being designed to provide each of these signals with a corresponding information regarding the distance of the objects of that scene (SI, S2), and a control unit (4) connected to the at least one image pickup unit (31, 32) and capable of processing said signals using the method described in claims 1-7.
    [9]
    A system (1) according to claim 8, characterized in that the at least one image pickup unit (31, 32) is of the ToF type (Time Of Fly) or of the stereoscopic type.
    [10]
    10. System (1) according to any one of claims 8 or 9, characterized in that it includes two image recording units (31, 32) for detecting two different scenes (SI, S2).
    [11]
    11. System (1) according to one of claims 8 to 10, characterized in that the image recording unit (31, 32) is arranged such that in the image of the scene to be monitored (SI, S2), at least partially, the machining center (2) is included.
    [12]
    A system (1) according to any one of claims 8 to 11, characterized in that the image pickup unit (31, 32) is disposed on a movable part or on a stationary part of the processing center (2).
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ITRM20140469|2014-08-11|
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