Monitoring device

Abstract

The invention relates to a monitoring device (1) having a safety sensor (4) which is designed to carry out protection field monitoring. A configuration unit (8) is provided for configuring the protection field (7) for protection field monitoring carried out by means of the safety sensor (4). The configuration unit (8) has a graphic rendering interface (22) in which graphic information of the hazardous area (2) in which the protection field (7) is to be configured is superimposed. Elements of the graphic information are used to configure the protection field (7).

Description

Technical Field

[0001] The invention relates to a monitoring device.

[0002] Such monitoring devices are used in particular for monitoring hazardous areas at hazardous installations. Hazardous areas at such installations are monitored using optical sensors, which are usually designed as scanning sensors, so that the monitoring area, in particular the hazardous area, is periodically scanned using a light beam of a transmitting / receiving unit of the optical sensor. The optical sensor can be designed in particular as an area distance sensor, i.e. a scanning distance sensor, with which the position of an object in the monitoring area can be determined. Background Art

[0003] In known monitoring devices, scanning optical sensors are used so that with them object monitoring is not performed in the entire monitoring area (i.e., the danger zone), but only within a preset protection field. This protection field is stored as a parameter in the optical sensor, wherein the size of the protection field is optimally adjusted to the danger zone to be monitored.

[0004] The measurement data generated with the optical sensor are evaluated in the optical sensor. For this purpose, an evaluation unit is integrated in the optical sensor, which evaluates the received signal to be processed at the output of the receiver of the transmitting / receiving unit. In this case, a binary object determination signal is generated, the switching state of which indicates whether an object is located within the protection field.

[0005] The object determination signal is output to a controller, which controls the device. When the object determination signal is output, which indicates that no object is present in the protection field, the operation of the device is released. If the optical sensor generates an object determination signal with a switching state corresponding to the detection of an object in the protection field, the device is stopped by means of the controller by means of the object determination signal in order to prevent a dangerous situation.

[0006] Depending on the respective application or also on the operating state of the system, the hazardous area monitoring may have to be adapted. This is achieved by storing different protective fields in the optical sensor, wherein the most suitable protective field is activated as required.

[0007] It is known to configure a protection field using a configuration unit connected to a safety sensor. The protection field is configured in a configuration operation which is separate from an operating operation in which the safety sensor performs protection field monitoring.

[0008] In principle, the measurement data of the safety sensors can be used to calculate the protective fields, in particular their contours. However, these measurement values ​​are not available if the safety sensors are offline during the configuration operation. Moreover, the measurement values ​​of the safety sensors alone are not sufficient for configuring the protective fields. The hazardous points within the hazardous area must be explicitly preset by the user via user input to the configuration unit. Furthermore, environmental conditions present in the hazardous area, such as guardrails, room dividers or mechanical components, must be taken into account.

[0009] When configuring the protection field, all these geometric boundary conditions must be taken into account by the user through manual input in the configuration unit. These processes are not only time-consuming but also prone to errors. Summary of the invention

[0010] The invention seeks to solve the problem of achieving a user-friendly and at the same time safe configuration of the protection field in a monitoring device of the type mentioned at the outset.

[0011] To solve this problem the features of claim 1 are provided. Advantageous embodiments and suitable further developments of the invention are described in the dependent claims.

[0012] The invention relates to a monitoring device having a safety sensor designed to perform protection field monitoring. A configuration unit is provided for configuring the protection field for the protection field monitoring performed with the safety sensor. The configuration unit has a graphic drawing interface in which graphic information of a danger zone is superimposed, within which the protection field is to be configured. Elements of the graphic information are used to configure the protection field.

[0013] The invention also relates to a method for operating a monitoring device.

[0014] During operating operation of the safety sensor, it carries out protective field monitoring and thus ensures the safety of the hazardous area at the installation, wherein the term “installation” generally also includes machines, vehicles, robots and the like.

[0015] In principle, the safety sensor can be designed as a radar sensor or an ultrasonic sensor. Advantageously, the safety sensor is an optical sensor. In this case, the optical sensor can be an area distance sensor, with which a planar monitoring area is monitored. Thus, the protection field also forms a two-dimensional area for the plane of the area distance sensor. Alternatively, the optical sensor can be a camera sensor, with which a three-dimensional area can be monitored. With this, in principle, a three-dimensional protection field can also be monitored. Advantageously, in this case, the protection field is also a two-dimensional area.

[0016] Safety sensors usually have an evaluation unit in which the sensor signals of the sensor components of the safety sensor are evaluated. In this case, protection field monitoring is usually performed so that it is checked in the evaluation unit whether an object is present in the activated protection field of the safety sensor. According to this, the evaluation unit generates a binary switching signal as an object determination signal, the switching state of which indicates whether an object is located in the protection field. The object in the protection field is classified as a dangerous situation, so that a corresponding signal triggers a safety function, which switches the monitored device into a safe situation, in particular stops it.

[0017] In order to meet the requirements for the use of safety sensors in technical safety applications, the evaluation unit has a fail-safe design. This is achieved, for example, because the evaluation unit consists of two computer units that monitor each other.

[0018] In the simplest case, only one protective field can be stored in the safety sensor, specifically in its evaluation unit. During working operation, protective field monitoring is then always performed with the same protective field. Alternatively, multiple protective fields can be stored in the safety sensor. Different protective fields for protective field monitoring can then be activated depending on the application situation.

[0019] Advantageously, the protective field(s) form a suitable sub-area of ​​the danger zone located at the installation which is monitored with the safety sensor.

[0020] In any case, it is necessary to adjust the protection field(s) according to the respective environment of the hazardous area. To this end, the protection field is configured in a configuration operation which is preferably separate from the working operation.

[0021] For this purpose, the configuration unit is connected to the safety sensor. Advantageously, the connection is made by means of a bidirectional, fail-safe data connection, for example a safety bus system such as PROFIsafe, CIPsafety or FSoE. The data are transmitted via the bus system by means of a safety bus protocol.

[0022] For example, the configuration unit has a computer, such as a PC. In addition, the configuration unit has a graphical drawing interface, in which a user can configure the corresponding protection field in a graphically supported manner.

[0023] According to the invention, the graphic information of the danger zone to be monitored is integrated, ie, superimposed in the graphic drawing interface. Typically, the complete danger zone or only the relevant part of the danger zone can be superimposed.

[0024] The user thus receives a graphical representation of the position and shape of the danger zone within which the respective protective field is to be configured.

[0025] In this case, it is very important that the danger zone is depicted faithfully, preferably to scale, by means of the graphic information. In this depiction, the user can easily and simply configure the protective field by appropriate inputs, taking into account the actual spatial environment of the danger zone. Thus, the protective field can be adjusted accurately to the danger zone, in particular also to the objects present there, such as guardrails, room dividers, machine parts and the like, in a simple manner.

[0026] Through the depicted graphical information, the user receives graphical information about the danger zone, which enables the user to quickly and intuitively define the protection field. In this case, the user can use parts of the depicted graphical information to define the protection field, which means a significant simplification.

[0027] According to a first embodiment, the graphical information superimposed in the graphical drawing interface may be a CAD rendering.

[0028] Advantageously, the CAD depiction is a CAD drawing, i.e. a two-dimensional depiction of the danger zone. This depiction is suitable for configuring a two-dimensional protection field. In principle, a 3D-CAD depiction can also be superimposed on the graphics drawing interface when the graphics drawing interface is 3D-capable. In this case, the graphic information can be used not only for configuring a two-dimensional protection field, but also for configuring a three-dimensional protection field.

[0029] According to a second variant, the graphical information is a photograph of the danger zone.

[0030] The photograph is a two-dimensional depiction, making this suitable for configuring a two-dimensional protection field.

[0031] According to an advantageous embodiment, the graphical information is drawn to scale.

[0032] This may be the case in particular for graphical information in the form of CAD drawings.For graphical information in the form of photographs, a drawing drawn to scale is only given from a suitable angle from which the photograph was taken, for example in a top-down view when a hazardous area is taken right from above.

[0033] In the scaled graphical information, the user can use the graphical information, in particular the geometric features present therein, to graphically specify and thereby configure the protective field. Since the graphical information of the danger zone is scaled, the user can easily define a protective field adjusted to the real environment of the danger zone.

[0034] In the case of graphic information not drawn to scale, the depiction of the danger zone is distorted. The distorted graphic information contains markings and advantageously a scale, on the basis of which the distortion correction of the graphic information is performed.

[0035] Based on the markings and the associated scale, the graphic information can be distortion corrected so that a proportional depiction of the danger zone is obtained again. Based on this proportional depiction of the danger zone, the user can again configure the protection field geometrically, also proportionally.

[0036] Particularly advantageously, the graphic information is marked to scale with markings of the spatial axes, on the basis of which the distorted graphic information is converted into a graphic representation in a two-dimensional plane.

[0037] This enables simple and precise distortion correction of distorted graphic information.

[0038] According to a particularly advantageous embodiment of the present invention, elements of the graphic information are marked on the graphic drawing interface, wherein the marked elements are used as protection field contour elements, or the protection field contour elements are calculated based on the marked elements.

[0039] In another embodiment, distortion correction of the superimposed graphical depiction is not performed, but is taken into account in the calculation of the protection field contour. In order to show the protection field contour in the graphical depiction, the calculated / determined protection field contour is distorted so that these protection field contours correspond to the distortion of the superimposed graphical information and can thus be superimposed so that the user has a proper understanding of the protection field contour.

[0040] This means that the image information about the danger zone contained in the graphic information can be used directly as a protective field contour, ie a protective field contour element, or can be calculated, in particular by means of suitable calculation instructions stored in the configuration unit.

[0041] This makes it considerably easier to configure the protection field, since the user does not have to draw the protection field outline freehand, which on the one hand leads to inaccuracies and is also prone to errors. Instead, the graphical information provides accurate, to-scale drawn image information that can be used directly to specify the protection field.

[0042] For example, line elements may be marked in graphical information in the form of a CAD drawing and may be used to form a protection field contour proposal.

[0043] Furthermore, contrasting edges can be marked in the graphical information in the form of a photograph and can be used to form a protection field contour suggestion.

[0044] In the simplest case, straight lines are formed by marked line elements of the CAD drawing or marked contrasting edges in the photograph, which can be used as components of the protection field contour.

[0045] Furthermore, polygon chains and / or support points may be calculated based on the marked elements, and the polygon chains and / or support points are used to calculate or form protection field contour elements.

[0046] The process of configuring the protection field causes a protection field contour suggestion to be calculated based on the protection field contour elements, which suggestion is displayed on the graphical area interface.

[0047] If an online connection exists between the safety sensor and the configuration unit during the configuration operation, the measurement data of the safety sensor can additionally be used to calculate the protective field contour proposal.

[0048] The complete protection field outline is then displayed on the graphical drawing interface. The user can then still make changes or corrections to the protection field outline.

[0049] Once the protective field contour has been finalized, the user confirms this by a corresponding input and the protective field contour is loaded into the safety sensor by the configuration unit.

[0050] By means of the verified setting of the protective field and the fail-safe transmission of the protective field from the configuration unit to the safety sensor, the protective field is generated in a fail-safe manner in the safety sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present invention will be described below with reference to the accompanying drawings. The accompanying drawings show:

[0052] Figure 1 : An exemplary embodiment of a monitoring device according to the present invention.

[0053] Figure 2 : Based on the configuration unit Figure 1 Safety sensors for monitoring devices.

[0054] Figure 3 : A first example of a safety sensor in the form of an area distance sensor.

[0055] Figure 4 : A second example of a safety sensor in the form of an area distance sensor.

[0056] Figure 5 : Example of a security sensor in the form of a camera sensor.

[0057] Figure 6 : A first exemplary embodiment of a graphics drawing interface with a superimposed CAD drawing.

[0058] Figure 7 : A second exemplary embodiment of a graphical drawing interface with superimposed photographs.

[0059] Figure 8 : A third exemplary embodiment of a graphical drawing interface with superimposed photos. DETAILED DESCRIPTION

[0060] Figure 1 A schematic depiction of an exemplary embodiment of a monitoring device 1 according to the invention is shown. The monitoring device 1 is used to monitor a danger zone 2 of an installation 3. A safety sensor 4 as a component of the monitoring device 1 is used for this monitoring. The safety sensor 4 is mounted on a machine 5, which is a component of the installation 3. An additional machine 5' and a guardrail 6 are located in the danger zone. Of course, other designs of the installation 3 are also possible.

[0061] Protection field monitoring is performed with the safety sensor 4. For this purpose, a protection field 7 covering a portion of the danger zone 2 is activated in the safety sensor 4. If an object O is detected in the protection field 7 by the safety sensor 4, this is evaluated as a dangerous situation and a safety function is triggered, for example, the device 3 or its parts are stopped. In general, a plurality of protection fields 7 can be stored in the safety sensor 4, so that different protection fields 7 can be activated depending on the actual application situation.

[0062] Provide configuration unit 8 ( Figure 2 ) is used to configure the protective field 7 for the safety sensor 4. The configuration unit 8 is connected to the safety sensor 4 via a bidirectional data connection 9, wherein the safety sensor 4 and the configuration unit 8 have interface modules 9a, 9b suitable for this. Advantageously, the data transmission via the data connection 9 is fail-safe. For example, the data connection 9 is formed by a safety bus system.

[0063] Figure 3 A first exemplary embodiment of a safety sensor 4 in the form of an optical sensor is shown, which in the present case is designed in the form of an area distance sensor.

[0064] The optical sensor has at least one transmitting / receiving unit 10, which has a transmitter 12 for emitting a light beam 11 and a receiver 13 for receiving the light beam 11. The transmitter 12 is formed, for example, by a laser diode and the receiver 13 is formed, for example, by a photodiode. The receiver 13 has an associated receiving lens 14. The transmitting / receiving unit 10 is fixedly integrated into a housing 15.

[0065] A deflection unit 16 is also arranged in the housing 15, which has a motor-driven deflection mirror 17 that can be rotated about a rotation axis D. The light beam 11 emitted by the transmitter 12 and the light beam 11 reflected by the object O to be detected are guided via the deflection mirror 17. The light beam 11 is guided periodically in the monitoring area by the rotational movement of the deflection mirror 17. The current rotational position of the deflection mirror 17 and thus the current beam direction of the light beam 11 are detected by an angle encoder.

[0066] In the present case, the transmitting / receiving unit 10 forms a distance sensor which operates according to the pulse travel time method. Alternatively, the distance measurement can be carried out according to the phase measurement method.

[0067] Figure 4 A second embodiment of an optical sensor is shown. In this case, a transmitting / receiving unit 10 having a transmitter 12 for emitting a light beam 11 and a receiver 13 for receiving the light beam 11 is arranged in a rotating measuring head 18. In this case, the measuring head 18, which is rotatable about an axis of rotation D and is mounted on a fixed socket 19, realizes a periodic deflection of the light beam 11 in the monitoring area. In other respects, according to Figure 4 The optical sensor corresponds to Figure 3 Embodiment of the invention.

[0068] The two-dimensional detection range is detected by means of the safety sensor 4 in the form of an area distance sensor. Thus, a protection field monitoring is performed in a two-dimensional protection field 7 by means of the safety sensor 4 .

[0069] Figure 5 An exemplary embodiment of a safety sensor 4 in the form of a camera sensor is shown. The camera sensor has a transmitting unit 20 which emits a light beam 11 and a receiving unit 21 in the form of an image sensor with a matrix-shaped arrangement of receiving elements. The image sensor can be formed by a CMOS or CCD array. In this case as well, distance measurement is performed using the light beam 11, in particular according to the pulse travel time method.

[0070] The object detection in the three-dimensional detection area is performed using the camera sensor. The protection field 7 can thus constitute a two-dimensional or three-dimensional area.

[0071] The safety sensor 4 has an evaluation unit in which the received signal of the receiver 13 or the receiving unit 21 is evaluated. The evaluation unit has a fail-safe structure. For example, the evaluation unit comprises two computer units that monitor each other cyclically.

[0072] The protective field monitoring is performed with the safety sensor 4. In this context, it is determined with the safety sensor 4 whether an object O, in particular a safety-critical object O, is present in the protective field 7. In this context, the safety sensor 4 generates a binary switching signal as an object determination signal, the switching state of which indicates whether the object O is located in the protective field 7. If the object O is detected in the protective field 7 with the safety sensor 4, this corresponds to a hazardous situation. The switching signal generated thereby is used to trigger a safety function of the device, which switching signal is output via the output of the safety sensor 4, and which safety function comprises, for example, stopping the device 3.

[0073] Figures 6 to 8The example of FIG. 1 illustrates the function according to the invention of the monitoring device 1 and the method according to the invention for configuring a protection field 7 .

[0074] The configuration unit 8 has a graphic drawing interface 22 . According to the present invention, graphic information of the dangerous area 2 can be drawn on the graphic drawing interface. On this basis, the user can configure the protection field 7 by inputting into the configuration unit 8 .

[0075] In accordance with Figure 6 In the example of FIG. 2 , the graphical information consists of a CAD drawing that is drawn to scale on the graphical drawing interface 22 .

[0076] On the CAD drawing, a closed hazardous area 2 is provided in the form of a hall 23 with a door 24 and an emergency exit 25. In the hall 23 there is a laboratory 26 and a workroom 28 which can be closed with an additional door 27 and has processing machines 29a-29d. In the hall 23, a conveyor 30 runs along a cabinet 31. Safety sensors 4 are located on the additional processing machine 29e.

[0077] In the CAD drawing, the user can mark existing lines by means of area markings 32, 32'. In addition, the user can mark auxiliary lines 33 for specifying the contour of the protection field.

[0078] The protection field contour elements can be derived from the lines of the CAD drawing marked with the area markings 32, 32'. This can be done directly by using the lines from the CAD drawing. Optionally, from these lines, polygon chains or support points can be calculated, from which the protection field contour elements are in turn calculated. The same applies correspondingly to the auxiliary lines 33.

[0079] If the safety sensor 4 is connected online to the configuration unit 8 during the configuration operation, a protection field contour proposal is calculated from the protection field contour elements, possibly in dependence on the measured values ​​of the safety sensor 4. The protection field contour proposal with the corresponding protection field 7 is displayed to the user on a graphical interface.

[0080] like Figure 6 As shown, protective field 7 calculated in this way is adjusted to the environment of danger zone 2 , wherein it is ensured in particular that no stationary objects are present in protective field 7 , so that these do not trigger any object reports in safety sensors 4 during monitoring of the protective field.

[0081] The user can still change or correct the protection field contour suggestion. Once the protection field 7 has been finalized, it is loaded into the safety sensor 4 via the data connection 9 and can be used there by the safety sensor 4 for protection field monitoring.

[0082] Figure 7An example is shown in which a photograph of a hazardous area 2 is superimposed as graphic information in the graphics rendering interface 22 .

[0083] In the present case, the photograph shows a depiction to scale of the danger zone 2 .

[0084] like Figure 7 As shown, cabinets 31 , 31 ′ are again present in the hazardous area 2 , which cabinets 31 , 31 ′ are to be omitted in the protective field 7 to be configured.

[0085] A marking strip 34 is located on the floor of the danger zone 2. In the photo, a scale specification 35 in the form of a double arrow with a distance specification 1.2 m is included on this marking strip 34, which is drawn to scale. Alternatively, this measurement can also be measured by an operator and entered into the configuration system as a scale specification.

[0086] Based on this scale specification, the dimensions of the danger zone 2 and the objects present therein (including the safety sensor 4 ) can be drawn to scale.

[0087] This allows users to create conservation field contour suggestions directly based on photos (just like Figure 6 CAD Figure 1 The corresponding methods and Figure 6 In particular, the region markings 32 can be used again, wherein, in the present case, they mark the comparison lines 36 from which the protection field contour proposal is derived.

[0088] The rest of the method for configuring the protection field 7 is the same as that according to Figure 6 The embodiment of is carried out similarly.

[0089] Figure 8 An example of a photograph with angle and scale distortions is shown, which is superimposed as graphic information into the graphic drawing interface 22 .

[0090] Also in this photo, there is a danger zone 2, as well as a cabinet 31 and marking strips 34 on the floor.

[0091] To perform distortion correction on the photograph, for example, scale specifications 35a-35g are included in the photograph.

[0092] Then, the configuration of the protection field 7 can be performed based on the distortion-corrected photograph, similar to the configuration according to Figure 7 Embodiment of the invention.

[0093] Reference numerals list

[0094] (1) Monitoring device

[0095] (2) Dangerous areas

[0096] (3) Equipment

[0097] (4) Safety sensor

[0098] (5) Machine

[0099] (5') Machine

[0100] (6) Guardrail

[0101] (7) Protection area

[0102] (8) Configuration unit

[0103] (9) Data connection

[0104] (9a, b) Interface module

[0105] (10) Transmit / receive unit

[0106] (11) Beam

[0107] (12) Transmitter

[0108] (13) Receiver

[0109] (14) Receiving optics

[0110] (15) Housing

[0111] (16) Deflection unit

[0112] (17) Deflecting mirror

[0113] (18) Measuring head

[0114] (19) Support part

[0115] (20) Sending unit

[0116] (21) Receiving unit

[0117] (22) Graphical drawing interface

[0118] (23) Lobby

[0119] (24) Door

[0120] (25) Emergency Exit

[0121] (26) Laboratory

[0122] (27) Door

[0123] (28) Studio

[0124] (29a-e) Processing machines

[0125] (30) Conveyor

[0126] (31) Cabinet

[0127] (31') Cabinet

[0128] (32) Area marking

[0129] (32') Area Marker

[0130] (33) Auxiliary lines

[0131] (34) Marking strip

[0132] (35) Proportional specifications

[0133] (35a-g) Scale Specifications

[0134] (36) Contrast line

[0135] (D) Axis of rotation

[0136] (O) Object

Claims

1. A monitoring device (1) comprising a safety sensor (4) which is designed to perform protective field monitoring and can be connected to a configuration unit (8) which is designed to configure a protective field (7) for the protective field monitoring performed by means of the safety sensor (4), characterized in that The configuration unit (8) has a graphic drawing interface (22), in which graphic information of the dangerous area (2) is superimposed, and a protection field (7) is to be configured in the dangerous area (2), and elements of the graphic information are used to configure the protection field (7).

2. The monitoring device (1) according to claim 1, characterized in that The graphical information is a CAD drawing or a photograph.

3. The monitoring device (1) according to claim 1 or 2, characterized in that: The graphical information is drawn to scale.

4. The monitoring device (1) according to claim 1 or 2, characterized in that: For distorted graphic information, a mark with a scale is contained in the graphic information or can be input into the graphic information, and based on the mark, the distortion correction of the graphic information is performed in the configuration unit (8).

5. The monitoring device (1) according to claim 4, characterized in that The spatial axes are marked with markings, based on which the distorted graphical information is converted into a graphical depiction in a plane.

6. The monitoring device (1) according to any one of claims 1 to 5, characterized in that: The elements of the graphic information are marked on the graphic drawing interface, wherein the marked elements are adopted as protection field contour elements; or, the protection field contour elements are calculated according to the marked elements.

7. The monitoring device (1) according to claim 6, characterized in that Line elements are marked in the graphical information in the form of a CAD drawing and used to form a protection field contour proposal.

8. The monitoring device (1) according to claim 6 or 7, characterized in that The contrasting edges are marked in the graphical information in the form of a photograph and used to form a protection field contour suggestion.

9. The monitoring device (1) according to any one of claims 6 to 8, characterized in that Polygon chains and / or support points are calculated based on the marked elements, and the polygon chains and / or support points are used for calculating protection field contour elements or for constructing protection field contour elements.

10. The monitoring device (1) according to any one of claims 7 to 9, characterized in that A protection field contour suggestion is calculated based on the protection field contour elements, and the protection field contour suggestion is displayed on the graphical drawing interface.

11. The monitoring device (1) according to claim 10, characterized in that The measurement data of the safety sensor (4) are used to calculate a protective field recommendation.

12. The monitoring device (1) according to claim 10 or 11, characterized in that The protection field contour suggestion displayed on the graphical rendering interface is modifiable.

13. The monitoring device (1) according to claim 12, characterized in that The protection field contour suggestion displayed on the graphic drawing interface can be confirmed by inputting into the configuration unit (8), and the confirmed protection field contour suggestion is adopted as the protection field (7) in the safety sensor (4).

14. The monitoring device (1) according to any one of claims 1 to 13, characterized in that The safety sensor (4) is composed of an area distance sensor or a camera sensor.

15. The monitoring device (1) according to any one of claims 1 to 14, characterized in that The configuration unit (8) and the safety sensor (4) are connected via a bidirectional fail-safe data connection (9).

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