Security device for monitoring target in environment and method of assembling security device

Abstract

A security device and method of assembling a security device for monitoring a target in an environment, the security device comprising an image sensor disposed in a main housing and an optical lens fitted in a through channel of the housing, the optical lens projecting an optical image of a field of view onto the image sensor. A marking element is mounted in the through channel and surrounds the lens element. The marking portion of the marking element is provided to appear as a predetermined visual marker in the optical image. In the preferred marking element, the marking portion is removably fitted in the channel and is formed by a pin protruding from the annular mounting portion and contrasting with the color of the channel wall. A monitoring system performs a security function by detecting a target in the environment based on environment image data, and performs a diagnostic function and / or a calibration function based on marker image data, both of which are collected by the image sensor.

Description

Technical Field

[0001] The present invention relates to a safety device for monitoring objects in an environment, in particular an optical safety device and a hybrid safety device, comprising an image sensor and an additional object detection sensor (such as a radar scanning sensor, a lidar scanning sensor or a laser scanning sensor). More particularly, the present invention relates to a marking element included in the safety device for diagnostic and / or calibration functions. Background Art

[0002] Safety devices for monitoring objects in an environment are known in the art. These may include one or more sensors of one or more different types for detecting the object. The output of the detection may be used to signal a dangerous situation, such as a person approaching a hazardous area in an industrial environment containing dangerous machinery or equipment.

[0003] Since safety measures can be automatically triggered when a hazardous situation is detected, it is of paramount importance that the safety device does not fail in any way and that eventual failures are correctly identified and remedied before any hazardous situation can occur.

[0004] Using multiple sensors with different technologies helps the device be more accurate in object detection, more robust to environmental conditions that may affect only one of the sensors, and continue to operate in the event of partial failure until at least one sensor is active.

[0005] One such sensor is based on optical technology. Optical devices known in the art, such as cameras, include a lens and an image sensor to collect image data. The lens focuses an optical image of a field of view onto a focal region that is at least partially located on the optical sensor. Depending on the design and placement of the lens and image sensor, the collected image data can represent not only a portion of the external environment but also a portion of the lens tube.

[0006] In known systems, the accuracy of an optical device is estimated based on visual markers placed at fixed locations relative to the device in the field of view. The visual markers depict a predetermined image, typically a geometric pattern. The device then compares the captured image of the markers with stored parameters to determine whether the device is correctly calibrated, whether the lenses are contaminated, and whether objects in the environment are obstructing vision.

[0007] However, the marker must always be visible by the optical unit. Therefore, it needs to be carefully mounted in a fixed position without causing damage throughout the lifetime of the optical unit. Summary of the Invention

[0008] The Applicant has solved the problem of checking the correct operation of an optical or mixing device while simplifying the installation of the marker and providing more protection for the optical device during its lifetime.

[0009] This and other problems are solved by a security device for monitoring an object in an environment and a method of assembling the same according to any one of the appended claims.

[0010] The present invention provides a marker element mounted in a through-channel of a housing, with a lens element also mounted in the through-channel. The marker element surrounds the lens element. The marker element includes at least a marking portion, which is shaped and positioned so as to be included in the field of view of the lens. Consequently, the marking portion appears as a visual marker in the optical image projected by the lens onto the image sensor. Marker image data representing the visual marker is then collected and analyzed to perform diagnostic and / or calibration functions.

[0011] In this way, the marking element is mounted on the housing of the device, rather than in the monitoring area of ​​the field of view. Therefore, the marking element is easier to install without having to find the best position one by one according to the environment to be monitored.

[0012] In a preferred embodiment, the marking element is detachably mounted in the through-channel. Otherwise, the marking element can be mounted to the housing by co-molding.

[0013] Preferably, the marking portion has a color (which can be any color, including black or white) so as to contrast with the color of the channel wall of the through channel in which the marking element and the lens element are mounted. Thus, the combined appearance of the marking portion and the channel wall can form a desired pattern, wherein the contrasting lines facilitate diagnosis and calibration of the device.

[0014] In a preferred embodiment, the marking element has an annular mounting portion and pins protruding from the annular mounting portion toward the exterior of the main housing. The marker can be mounted on the front wall of the main housing from one side of the front surface of the main housing, or more preferably from one side of the rear surface, and can be sandwiched between the front wall and the lens support. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The invention will be described in more detail hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown.

[0016] Figure 1 is a schematic perspective view of a security device for monitoring a target in an environment according to one embodiment of the present invention;

[0017] Figure 2 yes Figure 1 A perspective view of a marking element of a security device;

[0018] Figure 3 yes Figure 1 a cross-sectional view of some details of the safety device; and

[0019] Figure 4 Can be Figure 1 Example images captured by the security device, where marking elements and parts of the channel wall are visible. DETAILED DESCRIPTION

[0020] Reference numeral 1 shows a security device for monitoring a target in an environment. The security device 1 includes a main housing 2 having an interior space for accommodating components described in detail below. The main housing 2 is configured to open and close. For example, the main housing 2 may include a container portion and a cover portion adapted to be detachably secured together.

[0021] As described in more detail below, the security device 1 includes some typical components of an optical device, namely a lens element 3 and an image sensor 4, which are arranged in a main housing 2. In addition, the security device 1 may include one or more additional object detection sensors 8, which are preferably radar sensors, lidar sensors and / or laser scanners, also arranged in the main housing 2.

[0022] In some embodiments, the security device 1 includes an entire optical device 5 having its own housing 51. The optical device 5 is disposed within the main housing 2, and the typical components of the optical device mentioned above are provided as elements of the actual optical device 5. Similarly, the security device 1 may include an entire additional object detection device (not shown) having its own housing within the main housing 2 for accommodating an additional object detection sensor 8.

[0023] In other embodiments, typical components of an optical device are not grouped within a separate housing 51 of the optical device 5, but are supported directly by the main housing 2. Similarly, an additional object detection sensor 8 may be supported directly by the main housing 2.

[0024] The main housing 2 includes a front wall 21, which may be formed in a container portion or a cover portion of the main housing 2. The front wall 21 has a front surface 22 facing the outside of the main housing 2 and a rear surface 23 facing the inside of the main housing 2.

[0025] Furthermore, the front wall 21 has a through passage 24, preferably circular, connecting the front surface 22 and the rear surface 23. The passage 24 is delimited by a passage wall 25 surrounding and oriented towards the passage axis, extending in an axial direction transverse to the front wall 21.

[0026] The security device 1 comprises a lens element 3. The lens element 3 in turn comprises an optical lens 31 having a lens profile and a lens support 32 which is preferably fixed to the optical lens 31 along the lens profile. In some embodiments, the lens support 32 is a front part of the housing 51 of the optical device 5.

[0027] The lens support 32 is configured to preferably detachably mount the optical lens 31 in the through-channel 24. Specifically, the lens support 32 may be configured to be fixed to the main housing 2 at the channel wall 25 or at the rear surface 23 of the front wall 21. In other embodiments, the lens support 32 may be fixed to the main housing 2 elsewhere, for example, indirectly via the housing 51 of the optical device 5 or other components mentioned below.

[0028] The security device 1 comprises an image sensor 4 arranged behind an optical lens 31. The image sensor 4 may be arranged as a component of an optical device 5. Thus, the image sensor 4 is arranged within the main housing 2 and optionally also within a housing 51 of the optical device 5.

[0029] The optical lens 31 is configured to project an optical image of a field of view onto the image sensor 4. The field of view depends on the shape and material of the optical lens 31 and is generally defined by a predetermined viewing angle. The optical lens 31 is configured so that its field of view includes a portion of the environment outside the main housing 2.

[0030] The image sensor 4 is configured to collect and output image data. Thus, the image data represents at least the optical image projected by the optical lens 31 onto the image sensor 4. In particular, the image data includes environmental image data representing the portion of the environment outside the main housing 2 that falls into the field of view.

[0031] The invention provides that the security device 1 comprises a marking element 6. The marking element 6 is mounted in the through-going channel 24 and surrounds the lens element 3.

[0032] In more detail, although the marking element 6 does not need to be located entirely within the through-going channel 24 , the marking element 6 has a marking portion 61 that is disposed within the channel 24 and that is shaped and positioned to be included within the field of view of the optical lens 31 .

[0033] The marking element 6 further includes a mounting portion 62 connected to the marking portion 61. The mounting portion 62 is configured to be mounted to the main housing 2 and / or the lens support 32 such that the marking portion 61 is disposed within the channel 24.

[0034] The mounting portion 62 need not be within the channel 24 or within the field of view of the optical lens 31. In a preferred embodiment, the mounting portion 62 is annular, disposed about the channel axis, and the marking portion 61 protrudes from the mounting portion 62 in the axial direction within the through channel 24.

[0035] In a preferred embodiment, the marking element 6 is detachably mounted in the through-channel 24 , and in particular, the mounting portion 62 is configured for detachable mounting to the main housing 2 and / or the lens support 32 .

[0036] In other embodiments, the marking element 6 may be co-molded with the main housing 2 , or it may be co-molded with the lens element 3 for subsequent assembly to the main housing 2 .

[0037] Preferably, the mounting portion 62 is configured to be fixed to the main housing 2 at the channel wall 25 or at the rear surface 23 of the front wall 21. These components may have one or more recesses for coupling with the mounting portion 62. The marking portion 61 may then protrude from the mounting portion 62 toward the exterior of the main housing 2. In the embodiment of the accompanying drawings, the annular mounting portion 62 rests against the rear surface 23 of the front wall 21 around the channel 24. The outer dimensions (e.g., diameter) of the mounting portion 62 are larger than the inner dimensions (e.g., diameter) of the channel 24, so that the mounting portion 62 cannot be inserted into the channel 24.

[0038] In other embodiments, the mounting portion 62 may be fixed to the main housing 2 at the front surface 22 of the front wall 21 .

[0039] Furthermore, the mounting portion 62 may be configured to be fixed to the lens support 32. In a preferred embodiment, the mounting portion 62 is directly fixed to both the main housing 2 and the lens support 32. At the same time, the main housing 2 and the lens support 32 may even be fixed directly to each other, or they may be only indirectly fixed via the mounting portion 62 of the marking element 6.

[0040] In other embodiments, the mounting portion 62 may be fixed only to the main housing 2 without contacting the lens support 32. In still other embodiments, the mounting portion 62 is fixed only to the lens support 32 without contacting the main housing 2, although they are still at least indirectly connected.

[0041] Preferably, the marking element 6, in particular the mounting portion 62, is clamped between the front wall 21 and the lens support 32. Thus, the marking element 6 cannot be removed from the through-channel 24 until the lens element 3 is removed from the front wall 21.

[0042] In particular, the method of assembling the security device 1 may comprise the following steps in sequence: first fitting the marking element 6 in the through-channel 24 and then fitting the lens element 3 in the through-channel 6 so as to sandwich the marking 6 between the front wall 21 and the lens support 32. Preferably, the marking element 6 and the lens element 3 are shaped such that these steps cannot be performed in the reverse order.

[0043] Alternatively, the method may still comprise the following steps in sequence: first fitting the marking element 6 to the lens support 32 and then fitting the lens element 3 in the through-channel 6 so as to sandwich the marking 6 between the front wall 21 and the lens support 32 .

[0044] Preferably, both the marking element 6 and the lens element 3 are configured to be fitted into or removed from the through-channel 24 from one side of the rear surface 23 of the front wall 21. Therefore, in order to disassemble the security device 1, the main housing 2 should be opened first.

[0045] In other embodiments, the marking element 6 is configured to be assembled in or removed from the through-channel 24 from one side of the front surface 22 of the front wall 21, while it is still preferred that the lens element 3 is configured to be assembled in or removed from the through-channel 24 from one side of the rear surface 23.

[0046] In yet other embodiments, the security device 1 may be assembled by co-molding the marking element 6 with the main housing 2 or the lens element 3 and then fitting the lens element 3 in the through-going channel 6 .

[0047] The marking portion 61 is shaped and arranged so as to appear as a predetermined visual marker in the optical image. Therefore, the image data collected by the image sensor 4 includes not only the above-mentioned environment image data but also marker image data representing the visual marker.

[0048] In this document, the term visual marker is used to designate the appearance of the marking portion 61, optionally in combination with other background elements, from the perspective of the image sensor 4. Thus, the visual marker is included in the optical image and may also be displayed in a digital image formed from the image data (particularly the marker image data).

[0049] In a preferred embodiment, the marking portion 61 protrudes from the mounting portion 62 in the through-channel 24. In particular, the marking portion 61 may completely surround the lens element 3, protruding from the entire periphery of the annular mounting portion 62. Otherwise, the marking portion 61 may only protrude from a limited periphery of the mounting portion 62.

[0050] Preferably, while the channel wall 25 has at least a channel portion of a first color that appears in the optical image, the marking portion 61 has a second color that is different from the first color. Preferably, the first color and the second color are contrasting colors (such as black and white). In addition, the marking portion 61 is shaped and positioned so that the visual marker appears to have a channel portion of the first color and a marking portion 61 of the second color that intersects with each other and defines a predetermined pattern. In other words, the visual marker formed in the optical image is formed by a combination of the appearance of the marking portion 61 in the foreground and the appearance of the channel wall 25 in the background.

[0051] In a preferred embodiment, this is achieved by including a marking portion 61 with a plurality of prongs 63. The prongs 63 protrude from the mounting portion 62, particularly toward the exterior of the main housing 2. Preferably, each prong 63 extends primarily in an axial direction, and the prongs 63 may be substantially parallel to one another. The prongs 63 may be distributed along the entire perimeter of the mounting portion 62, or only along a limited portion of the perimeter. As shown, the mounting portion 62 may protrude radially outward compared to the marking portion 61 for assembly purposes.

[0052] Thus, the pins 63 overlap the channel wall 25 at the channel portion having the first color, so that the first color is visible between adjacent pins 63 from the perspective of the image sensor 4. Figure 4 shown.

[0053] In other embodiments, the pins 63 may have different lengths from one another, or may be tilted relative to the axial direction and / or to one another, for example the pins 63 may be arranged in a grid.

[0054] Preferably, a bridge portion 64, spaced apart from the mounting portion 62, connects the pins 63 to each other. In the embodiment shown in the drawings, the bridge portion 64 is annular. The bridge portion 64 may be provided at the end of the pin 63 away from the mounting portion 62. Alternatively, the bridge portion 64 may be provided midway between the mounting portion 62 and the free end of the pin 63. The bridge portion 64 increases the rigidity of the marking element 6, thereby preventing the pin 63 from bending.

[0055] In still other embodiments, the marking portion 61 already has a plurality of colors forming a predetermined pattern.Thus, no portion of the channel wall 25 needs to be visible from the perspective of the image sensor 4 to define a visual marker.

[0056] Security device 1 includes an electronic monitoring system 7 in signal communication with image sensor 4 to receive collected image data. If provided, monitoring system 7 is also in signal communication with an additional object detection sensor 8. Monitoring system 7 may include one or more processing units disposed within main housing 2. In some embodiments, one or more of the processing units may be incorporated into optical device 5, within its housing 51, and / or into an additional object detection device.

[0057] The monitoring system 7 is configured to perform a safety function, including detecting objects within the portion of the environment that falls within the field of view from at least the collected environmental image data. Preferably, the safety function involves detecting objects based on a combination (i.e., data fusion) of the environmental image data and additional object detection data from the additional object detection sensor 8. The safety function may also include one or more sub-functions, such as object classification, object location determination, and / or generation of object-based control signals for external devices (such as alarm devices, machinery, or other hazardous devices).

[0058] The monitoring system 7 is also configured to perform diagnostic and / or calibration functions, including analyzing the marker image data. Specifically, the diagnostic function may include determining an image quality level in the form of one or more image quality parameters based on the appearance of visual markers in the marker image data. The diagnostic function may then provide a fault signal in the event of poor image quality. Examples of poor image quality levels are associated with a contaminated or obstructed optical lens 31, low ambient light, solid or diffuse visual obstructions in the environment, an aged optical lens 31 or image sensor 31, and disrupted image data collection.

[0059] The calibration function may involve determining calibration parameters from the tagged image data, such as calibration parameters to be selected for automatic setting. The calibration function preferably also includes applying the determined calibration parameters to image processing of the image sensor 4. Example calibration parameters are contrast, white balance and exposure.

Claims

1. A security device (1) for monitoring an object in an environment, the security device comprising: a main housing (2) having a front wall (21) and a through-channel (24) delimited by a channel wall (25), - an image sensor (4), which is arranged in the main housing (2), a lens element (3), comprising a lens support (32) and an optical lens (31) fixed to the lens support (32), the lens support (32) being configured for mounting the optical lens (31) in the through-channel (24), the optical lens (31) being configured to project an optical image of a field of view, including a portion of the environment located outside the main housing (2), on the image sensor (4), an electronic monitoring system (7) disposed in the main housing (2) and in signal communication with the image sensor (4) to receive image data, the image data including environmental image data representing the environment, the monitoring system (7) being configured to perform a safety function including detecting an object in the environment from the environmental image data, Its characteristics are: a marking element (6) mounted in the through-channel (24) and surrounding the lens element (3), - wherein the marking element (6) has at least one marking portion (61) shaped and positioned such that the marking portion (61) is included in the field of view and appears as a predetermined visual marker in the optical image, the image data further comprising marking image data representing the visual marker, - the monitoring system (7) is further configured to perform diagnostic functions and / or calibration functions, including analyzing the marker image data.

2. The safety device (1) according to claim 1, wherein the marking element (6) is detachably mounted in the through-channel (24).

3. The security device (1) according to claim 1 or 2, wherein the marking element (6) is clamped between the front wall (21) and the lens support (32).

4. The safety device (1) according to any one of claims 1 to 3, wherein: - the front wall (21) comprises a front surface (22) facing the outside of the main housing (2) and a rear surface (23) facing the inside of the main housing (2), and - Both the marking element (6) and the lens element (3) are configured to be fitted into or removed from the through-channel (24) from one side of the rear surface (23) of the front wall (21).

5. The safety device (1) according to any one of claims 1 to 3, wherein: - the front wall (21) comprises a front surface (22) facing the outside of the main housing (2) and a rear surface (23) facing the inside of the main housing (2), and The marking element (6) is configured to be fitted into or removed from the through-channel (24) from one side of the front surface (22) of the front wall (21).

6. The safety device (1) according to any one of claims 1 to 5, wherein: - the marking element (6) comprises an annular mounting portion (62) configured for mounting to the main housing (2) and / or the lens support (32), and The marking portion (61) protrudes from the mounting portion (62) in the through-channel (24).

7. The safety device (1) according to any one of claims 1 to 6, wherein: - the channel wall (25) has a channel portion, the channel portion having a first color appearing in the optical image, - the marking portion (61) has a second color different from the first color, - the marking portions (61) are shaped and positioned so that the visual marker shows the channel portions having the first color and the marking portions (61) having the second color, the channel portions and the marking portions being interlaced with each other and defining a predetermined pattern.

8. The security device (1) according to claim 7, wherein the marking portion (61) comprises a plurality of pins (63) overlapping the channel portion having the first color.

9. The safety device (1) according to the combination of claims 6 and 8, wherein the pins (63) protrude from the mounting portion (62) toward the outside of the main housing (2).

10. A security device (1) according to any one of claims 1 to 9, comprising an optical device (5) arranged in the main housing (2), wherein the optical device (5) comprises a housing (51), the lens support (32) is part of the housing (51), and the image sensor (4) is arranged inside the housing (51).

11. A safety device (1) according to any one of claims 1 to 10, comprising an additional target detection sensor (8) and an electronic monitoring system (7), wherein the additional target detection sensor is arranged in the main housing (2), and the electronic monitoring system is configured to detect targets in the environment based on data fusion between image data from the image sensor (4) and additional target data from the additional target detection sensor (8), wherein the additional target detection sensor (8) is preferably a radar sensor, a lidar sensor or a laser scanner.

12. The security device (1) according to claim 1 or any one of claims 6 to 11, wherein the marking element (6) is co-moulded with the through-channel (24).

13. A method of assembling a safety device (1) according to any one of claims 1 to 11, the method comprising, in sequence: - fitting the marking element (6) in the through-channel (24) or to the lens support (32), and - fitting the lens element (3) in the through-channel (24) so ​​as to sandwich the marker between the front wall (21) and the lens support (32).

Images