Configuring a hazard zone monitored by a 3D sensor
AssigneeSick AG
InventorsArmin Hornung, Matthias Neubauer, Ingolf Braune, Shane MacNamara, Thomas Neumann
Life of this patent
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Abstract
A method of configuring at least one hazard zone to be monitored by at least one three-dimensional (3D) sensor includes fixing outer surfaces, where the at least one hazard zone is a volume defined by the outer surfaces, and is a zone in which a machine to be secured is located. Additionally, a check is made during the configuration or after the configuration whether the outer surfaces are visible to the at least one 3D sensor.
Claims15
A method of configuring, in a software tool representative of a scene in a live recording, or in preparation thereof, and permitting definition of geometrical structures, at least one hazard zone to be monitored by at least one three-dimensional (3D) sensor, wherein the at least one hazard zone is a volume defined by outer surfaces to secure at least one machine at least partially contained within the at least one hazard zone, wherein a region inside the outer surfaces of the at least one hazard zone is ignored by the at least one 3D sensor, the method comprising:
- fixing the outer surfaces by storing data representative of locations of the outer surfaces in a data record, the outer surfaces being fixed based on inputs from an input device, the data record describing at least one configured hazard zone;
- displaying an image representative of the at least one configured hazard zone on a display;
- automatically checking whether the outer surfaces are directly visible to the at least one 3D sensor, wherein the outer surfaces are determined to be directly visible to the at least one 3D sensor when respective connection lines from the at least one 3D sensor to every point on the outer surfaces do not intersect the at least one hazard zone;
- and
- indicating that the at least one hazard zone has not been properly configured when the outer surfaces are not determined to be directly visible.
An apparatus for configuring at least one hazard zone to be monitored by at least one three-dimensional (3D) sensor, comprising:
- an input device;
- at least one 3D sensor;
- a display;
- and
- a control and evaluation unit configured to:
- fix outer surfaces of the at least one hazard zone based on inputs of the input device, the outer surfaces being fixed by storing data representative of locations of the outer surfaces in a data record, the data record describing at least one configured hazard zone, wherein a region inside the outer surfaces of the at least one hazard zone is ignored by the at least one 3D sensor;
- display an image representative of the at least one configured hazard zone on the display, wherein the at least one hazard zone is a volume defined by the outer surfaces to secure at least one machine at least partially contained within the at least one hazard zone;
- automatically check, during the configuration of the at least one hazard zone or after the configuration of the at least one hazard zone, whether the outer surfaces are directly visible to the at least one 3D sensor, wherein the outer surfaces are determined to be directly visible to the at least one 3D sensor when respective connection lines from the at least one 3D sensor to every point on the outer surfaces do not intersect the at least one hazard zone;
- and
- indicate that the at least one hazard zone has not been properly configured when the outer surfaces are not determined to be directly visible.
A method of configuring, in a software tool representative of a scene in a live recording, or in preparation thereof, and permitting definition of geometrical structures, at least one hazard zone to be monitored by at least one three-dimensional (3D) sensor, wherein the at least one hazard zone is a volume defined by outer surfaces to secure at least one machine at least partially contained within the at least one hazard zone, wherein a region inside the outer surfaces of the at least one hazard zone is ignored by the at least one 3D sensor, the method comprising:
- monitoring the at least one hazard zone with the at least one 3D sensor;
- detecting at least one object in an environment of the at least one hazard zone from measured data from the at least one 3D sensor;
- determining a shortest distance between the at least one hazard zone and the at least one object;
- determining whether a safety-related reaction of the at least one machine takes place in the at least one hazard zone;
- fixing the outer surfaces by storing data representative of locations of the outer surfaces in a data record, the outer surfaces being fixed based on inputs from an input device, the data record describing at least one configured hazard zone;
- displaying an image representative of the at least one configured hazard zone on a display;
- automatically checking whether the outer surfaces are directly visible to the at least one 3D sensor, wherein the outer surfaces are determined to be directly visible to the at least one 3D sensor when respective connection lines from the at least one 3D sensor to every point on the outer surfaces do not intersect the at least one hazard zone;
- and
- indicating that the at least one hazard zone has not been properly configured when the outer surfaces are not determined to be directly visible.
Dependencies are inferred from the claim text.