Camera-based monitoring of machines with mobile machine elements for collision prevention

US9122266B2 · kind B2 · utility

Assignee

• Pilz GmbH & Co. KG · DE

Inventors

• Andre Franke · Dortmund, DE
• Lars Krueger · Ulm, DE
• Christian Woehler · Darmstadt, DE

Key dates

• Filing date: Jan 30, 2009
• Grant date: Sep 1, 2015
• Expiry date: Apr 17, 2032

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/49137
• WIPO field: Control
• WIPO sector: Instruments

Abstract

In a method for collision-free interaction between a machine having mobile machine elements and objects in its vicinity, safety regions are established and monitored using the knowledge of the current position and the dynamic behavior. In particular, image data of the mobile machine element are recorded by means of an image acquisition system and are correlated with a database compiled in a training phase with image data of at least one mobile machine element. The database contains image data relating to a plurality of movement phases within the movement process of the machine. Using the database, both the current position of the mobile machine element is ascertained and a future position, reachable within the stopping time, is estimated. The dynamic behavior of the machine in the event of collision risk is optimized on the basis of this estimation.