Recording arrangement and procedure for controlling the operation of a recording arrangement

Abstract

A detection arrangement (1) comprising a detection device (2) with at least one detection unit (3, 3') configured to detect an environment (4) of a machine (5), in particular a multi-axis robot, arranged in a detection area (6, 6') of the detection unit (3, 3'), wherein a control unit (9) of the detection arrangement (1) is configured to determine a shadow area (8) generated by at least one object (7) in the detection area (6, 6'), wherein the control unit (9) is configured to generate a model of the detection area (6, 6') based on actual recorded detection data of the at least one detection unit (3, 3') and to determine a deviation between an actual shadow area (11) from a target shadow area and to output it on an output unit (10).

Description

[0001] The invention relates to a detection arrangement comprising a detection device with at least one detection device which is designed to detect an environment of a machine, in particular a multi-axis robot, arranged in a detection area of ​​the detection device, wherein a control device of the detection arrangement is designed to determine a shadow area generated by at least one object in the detection area, and a method for controlling an operation of a detection arrangement.

[0002] Detection arrangements of the type mentioned above, which are designed with a detection device and at least one control device for determining a shadow area created by an object in the detection range of a detection device, are generally known from the prior art. Typically, a known configuration of a detection device having a specific detection range and the position or dimensions of at least one object within the detection range are used to model or simulate a shadow area created by the object in the detection range. This ensures, in particular, that objects to be detected can be reliably detected in the detection range of the detection arrangement and cannot remain undetected, for example, in shadow areas.

[0003] Such a detection arrangement can, for example, be assigned to a machine, specifically a multi-axis robot, ensuring that the multi-axis robot can cover its range of motion during operation using the detection device in such a way that, in particular, no persons can be found in danger zones, thus preventing a collision between the machine and a person. It is also known from the prior art that determining shadow areas using calculations or simulations is difficult and dependent on numerous environmental influences.For example, the shadow area created by an object in the detection area does not depend exclusively on the relative position between the detection device and the object and the dimensions of the object, but surface properties, such as the degree of reflection of the surface of the object, contamination of the detection unit and similar factors can also influence the actual shadow area.

[0004] Another source of influence is objects that are only temporarily located in the detection area or in the surrounding area, which, for example, due to their reflective surface, can also cause changes in shadow areas. Therefore, it is only possible to a limited extent to determine the shadow areas of the detection device, especially to eliminate so-called "blind spots," without considering the actual structure of the machine or the actual environment of the machine.

[0005] The publication DE 10 2004 043 515 A1 describes a method for detecting an object within a surveillance area, in which at least two sensors each monitor at least part of the surveillance area. Each sensor generates an individual digital image of the entire surveillance area, with the individual images of all sensors being generated in a uniform coordinate system.

[0006] The document DE 10 2018 116 371 A1 describes a 3D sensor for monitoring a surveillance area, wherein the 3D sensor has at least one light receiver for generating a received signal from received light from the surveillance area and a control and evaluation unit with a memory, which is designed to detect objects in the surveillance area by evaluating the received signal and to determine the shortest distance of the detected objects to at least one reference volume and to read at least one pre-calculated distance to the reference volume from a memory for determining the respective shortest distance of a detected object.

[0007] Document EP 3 573 021 A1 discloses a method for visualizing 3D image data from a 3D sensor with a plurality of 3D points forming a lateral 2D array with a respective depth value. Connected segments are formed from connected 3D points and the segments are displayed. Two 3D points in the same segment are connected if they are laterally adjacent and, in addition, differ in their depth value by at most one depth threshold.

[0008] The invention is based on the object of providing an improved detection arrangement in which the determination of shadow areas is improved.

[0009] The object is achieved by a detection arrangement according to claim 1. The dependent claims relate to possible embodiments.

[0010] As described, the invention relates to a detection arrangement comprising a detection device for detecting the surroundings of a machine located within a detection range of a detection device of the detection device. The machine can, for example, be a multi-axis robot having at least one movable section in the surroundings. In particular, the detection device can thus ensure that no items or objects are located within the movement range of the machine or enter it during operation of the machine.

[0011] Furthermore, the detection arrangement has a control device which is designed to determine a shadow region created by at least one object in the detection range. In the context of this application, a shadow region can also be understood in particular as a “covering region”, i.e. a region of the actual detection range of the detection device which lies behind the object in relation to the detection device and is thus covered by it. In the described shadow region, the detection device is therefore blind and not designed to detect objects or persons. When designing the detection arrangement, it is therefore important to ensure that the described shadow regions are at least small enough that no object or person can be found there.no person can remain undetected, but at least protrudes far enough out of the shadow area to allow detection by one of the detection devices of the detection device.

[0012] The invention is based on the finding that the control device is designed to generate a model of the detection area based on actually recorded detection data from the at least one detection device and to determine a deviation between an actual shadow area and a desired shadow area and to output this on an output device. Compared to the previously described prior art, the invention thus proposes that a deviation between an actual shadow area, which was determined on the basis of actually recorded detection data, and a desired shadow area can be determined and that the described deviation or the actual shadow area can be output on an output device. A user of the detection arrangement who observes the output device can thus directly recognize the actual shadow area or the deviation between the actual shadow area and a desired shadow area.Since the determination of the actual shadow area or its deviations from a target shadow area is based on actually recorded detection data, it is ensured that the current environmental conditions, for example objects or people in the environment, contamination of the detection device or objects, the current reflectance of the object surface and the like are directly taken into account.

[0013] Furthermore, the direct output of the deviation or the actual shadow area allows the user to immediately recognize any change, making troubleshooting or optimizing the actual shadow area of ​​the detection device much easier. For example, the influences of individual objects in the detection area or their changes can be observed directly instead of simulating or modeling them. This is based on the actually recorded detection data that was actually recorded with the detection devices or the at least one detection device. This means that the actual conditions in the environment are already taken into account in the actually recorded detection data and do not have to be modeled, i.e. approximated, as part of a simulation.In particular, it can be ruled out that environmental effects not taken into account in the simulation could lead to a distortion of the shadow area, which is subsequently not output and taken into account. Instead, the actually recorded detection data is used, in which the detection area of ​​the at least one detection device is realistically represented.

[0014] As described, the actual shadow area or the deviation between the actual shadow area and the desired shadow area can be output by means of an output device. The output device can be designed, for example, as glasses, in particular as VR glasses ("virtual reality") or AR glasses ("augmented reality"). In one embodiment, the output device can be designed, in particular as AR glasses, to output the at least one detection area and / or the at least one actual shadow area, in particular superimposed on an environment. In other words, the user can wear the output device, in particular the glasses, while the user is in the environment and thus, on the one hand, view the real environment with the machine and the objects superimposed on the specific detection area or the previously described actual shadow area.This makes it easier for the user to know the actual shadow area that is currently present, so that the user can immediately determine whether there are blind spots in the actual shadow area that cannot be tolerated or whether the actual shadow area has been sufficiently reduced by the detection arrangement so that, in particular, personal protection is guaranteed.

[0015] In the representation that the user receives from the output device, it can be provided in particular that the output device is designed to output the at least one detection area and / or the actual shadow area in real time. As described above, the determination of the actual shadow area is based on actually recorded detection data from the at least one detection device. This can in particular be a so-called "live image", according to which the data currently detected by means of the at least one detection device can be included in the output of the output device and this data can be output in real time. In other words, the user receives information in real time about how the detection area, in particular the actual shadow area of ​​the at least one detection device, in particular of the entire detection arrangement, is currently behaving.This makes it possible, in particular, to directly monitor changes that occur when observing the environment, especially the machine, and to determine their influence on the detection range.

[0016] According to a further embodiment of the detection arrangement, it can be provided that the control device is designed to model at least one change to the environment and / or the at least one detection device. As described, the detection area and / or the actual shadow area can be output by means of the output device, specifically superimposed on the real environment, or the real environment can be viewed through the output device, for example as AR glasses, wherein the detection area and / or the actual shadow area can be displayed superimposed. By modeling the change in the environment and / or the detection device, the user can be directly shown which effects can be expected from the change made. For example, an object in the environment can be changed, and the resulting change in the detection area can be viewed by the user.The same applies to changes to the detection device, for example, its orientation or positioning. The user can modify the environment and / or the detection device in such a way that a detection area, in particular an actual shadow area, is created that is optimized, for example, with regard to blind spots.

[0017] In a further development of the detection arrangement, it can be provided that the output device is designed to output a change to the at least one detection area and / or the at least one actual shadow area in real time. By outputting the changes to a detection area or the actual shadow area in real time, the changes made can be output to the user “live”. The user, who is in the vicinity of the machine and views the detection areas of the detection device or their shadow areas through the output device, can thus immediately determine which changes have been made and how the changes currently made affect the detection area and / or the actual shadow area in real time. This also facilitates troubleshooting and / orthe optimization of the detection arrangement, since the user is directly shown which effects are to be expected or a connection between changes in the environment and the resulting changes in the detection area or the actual shadow area can be quickly determined.

[0018] The output device of the detection arrangement can further be designed to display an object detected in the detection range of the at least one detection device, in particular to highlight it in an output. As described, the user can wear the output device, for example as glasses, in the vicinity of the machine in order to have the detection ranges of the detection device in the detection device or the remaining actual shadow areas directly output. In addition to the objects that create the described shadow areas and that are not detected by the detection device as critical objects for the operation of the machine, but are, for example, masked out from the surroundings, objects within the detection range that, for example, relate to the operation of the machine can also be detected by the detection device.

[0019] In particular, for troubleshooting purposes, it can be identified which object was detected by the detection device in the detection area. This can be used, for example, to identify which detection device detects which object and thus to determine whether the detection concerns an object that should be detected or whether, for example, a hidden area or a shadow area is not set correctly and has led to false triggering. The user can, for example, have the object detected by the detection arrangement highlighted so that the user can directly identify the object that has led to the triggering of a specific action, in particular a stop of the machine. This allows the user to decide directly whether a detection is valid or an incorrect detection, which may require an adjustment of the detection arrangement.

[0020] The detection arrangement can be further developed such that the control device is configured to output at least one control command for modifying and / or cleaning at least one detection device. For example, if an actual shadow area in at least one sub-area of ​​the environment is too large, the detection arrangement can be modified. In particular, at least one detection device can be realigned and / or repositioned to adjust the actual shadow area. Furthermore, the detection device can be cleaned, for example, if a sensor becomes dirty, in order to enlarge the detection area or reduce the actual shadow area.

[0021] As described, the detection arrangement comprises a detection device with at least one detection unit. The individual detection units of the detection device can be of the same or different design. The at least one detection unit can comprise, for example, a scanner and / or a camera.

[0022] In addition to the detection arrangement, the invention relates to a method for controlling the operation of a detection arrangement, in particular according to one of the preceding claims, comprising a detection device with at least one detection device which is designed to detect an environment of a machine, in particular a multi-axis robot, arranged in a detection area of ​​the detection device, wherein a control device of the detection arrangement is designed to determine a shadow area generated by at least one object in the detection area, wherein a model of the detection area is generated based on actually recorded detection data of the at least one detection device and a deviation between an actual shadow area and a desired shadow area is determined.

[0023] All advantages, details, designs and / or features described with regard to the detection arrangement are fully transferable to the method.

[0024] The invention is explained using exemplary embodiments with reference to the figures. The figures are schematic representations and show: Fig. 1 shows a schematic diagram of a detection arrangement according to a first embodiment; Fig. 2 shows a schematic diagram of a detection area of ​​a detection arrangement according to a second embodiment; and Fig. 3 a schematic diagram of a detection area of ​​a detection arrangement according to a third embodiment.

[0025] Fig. 1 shows a detection arrangement 1 having a detection device 2, for example a detection unit 3, wherein the detection device 2 can have any number of detection units 3. The detection unit 3 is designed to detect an environment 4 of a machine 5 in any detection range 6 of the detection unit 3. The detection unit 3 can, for example, have a camera and / or a scanner. For example, the detection unit 3 can be used to ensure that the environment 4 or a sub-area of ​​the environment 4 is free of objects, structures, and people so that the machine 5, for example a multi-axis robot, can be operated. By means of the detection unit 3, it can be detected, for example, whether a person enters the detection range 6, which can possibly be a relevant movement range of the machine 5.Consequently, this can prevent a person from getting too close to the machine 5. If such a condition is detected, the machine 5 can be stopped, for example.

[0026] Further in Fig. 1 schematically shows that an object 7 is arranged in the detection area 6. The object 7 can, for example, represent a structure of the detection arrangement 1 or a structure of the machine 5 or any other structure in the environment 4, for example a frame, a support device or the like. The object 7 is arranged in the environment 4 or in the detection area 6 in such a way that, with respect to the detection device 3, in particular its detection area 6, a shadow area 8 results, in which the detection device 3 is not designed to detect the environment 4.

[0027] The detection arrangement 1 has a control device 9, which is basically designed to determine the shadow region 8 created by the object 7. In the present case, the control device 9 is designed to generate a model of the detection region 6 based on actually recorded detection data from the detection device 3. The model of the detection region 6 can then be output on an output device 10, which is designed, for example, as AR glasses. The output device 10, in particular in its embodiment as AR or VR glasses, can be worn by a user. The environment 4 can, for example, be viewed through the output device 10, wherein the model generated by the control device 9 can be displayed superimposed on the real environment 4.

[0028] In other words, a user can use the output device 10 to view the environment 4, wherein the generated model of the detection area 6 can be directly displayed superimposed to the user. The user can thus see which detection device 3 has which detection area 6. In particular, desired shadow areas, actual shadow areas, or a deviation between an actual shadow area and a desired shadow area can be determined or output by the control device 9.

[0029] Since, as described, the control device 9 generates the model of the detection area 6 based on actually recorded detection data from the detection device 3, the "live data" or "live images" from the detection device 3 are used, in particular in real time, to output the superimposed representation on the output device 10. The user therefore sees the current detection areas 6 or the current detection area 6 as well as the shadow area 8 in real time. Current environmental influences, for example people or objects moving in the environment 4, contamination of the detection device 3, changes in the reflectance of the surface of the objects 7 and the like, are therefore not based on modeling, but are incorporated into the model based on actually recorded detection data.

[0030] For example, in Fig. 2, Fig. 3, it is also possible to output a real or simulated change of the detection arrangement 1 directly, ie in real time, by means of the output device 10. For example, in Fig. 2 shows a first situation in which two detection devices 3, 3' are arranged close to one another, so that their detection areas 6, 6' overlap. The object 7, which is located in both detection areas 6, 6', creates a shadow area 8 in both detection areas 6, 6'. Since the detection areas 6, 6' of the individual detection devices 3, 3' can be combined by the detection device 2, only the actual shadow area 11 remains that cannot be detected by either of the two detection devices 3, 3'.

[0031] As in Fig. 2, this results in a blind spot for the detection device 2, in which, for example, an object or a person could be located. Consequently, the actual shadow area 11, which is shown in Fig. 2. For this purpose, the user can, for example, make changes that can be fed to the control device 9. Purely as an example, Fig. 3 illustrates that the distance between the two detection devices 3, 3' can be changed. The change can be made in practice by the user physically moving the two detection devices 3, 3' apart, whereby the resulting changes in the detection areas 6, 6' and thus the actual shadow area 11 can be directly read off the output device 10.

[0032] The user of the output device 10 is thus given direct feedback by the output device 10 about which change in the environment 4 and / or the detection arrangement 1 leads to which changes in the detection areas 6, 6' or the actual shadow area 11. This allows the user to make the changes until a desired shadow area or a target shadow area is reached. In particular, the user can make changes and check them in real time. For example, the user can position the detection devices 3, 3' relative to each other such that the Fig. 3 results in the reduced actual shadow area 11. Alternatively or in addition to changing the relative positions of the detection devices 3, 3' or the position of the detection device 3', it is also possible to change other parameters, for example, the position of the object 7.

[0033] It is also possible not to make the changes in reality, but to change them simulatively. For example, the user can be provided with a selection of the components in the environment 4 or the components that are to be changed or can be changed by the detection device 1 on the output device 10. The user can select such a changeable component, for example a position of a detection device 3, 3', a parameter of the object 7, for example its dimensions, its position, or a surface quality of the object 7. By changing the environment 4, the object 7, or the detection device 1, the resulting modeled changes can be displayed to the user on the output device 10.

[0034] Furthermore, an object detected by one of the detection devices 3, 3' can be displayed on the output device 10. This can be used, for example, in the context of an error analysis. For example, if a detected object in a detection area 6, 6' has led to an action, such as a stop of the machine 5, the user can be directly shown which object led to the triggering of the action, such as the stop of the machine 5. The object triggering the action can, for example, be visually highlighted, so that the reason for the action being triggered can be determined more quickly in the context of an error analysis.

[0035] The advantages, details, and features shown in the individual embodiments can be combined with one another as desired, are interchangeable, and are transferable to one another. The method described herein for controlling the operation of a detection arrangement can be implemented with the described detection arrangement 1. List of reference symbols 1 Recording arrangement 2 Detection device 3, 3' detection device 4 Surroundings 5 Machine 6.6' detection range 7 Object 8 Shadow area 9 Control device 10 Output device 11 Actual shadow area

Claims

[1] Detection arrangement (1), comprising a detection device (2) with at least one detection device (3, 3') which is designed to detect an environment (4) of a machine (5), in particular a multi-axis robot, arranged in a detection area (6, 6') of the detection device (3, 3'), wherein a control device (9) of the detection arrangement (1) is designed to determine a shadow area (8) generated by at least one object (7) in the detection area (6, 6'), wherein the control device (9) is designed to generate a model of the detection area (6, 6') based on actually recorded detection data of the at least one detection device (3, 3') and to determine a deviation between an actual shadow area (11) and a desired shadow area and to output it on an output device (10). [2] Detection arrangement (1) according to claim 1, characterized bythat the output device (10), in particular AR glasses, is designed to output the at least one detection area (6, 6') and / or the at least one actual shadow area (8), in particular superimposed on an environment (4). [3] Detection arrangement (1) according to claim 1 or 2, characterized by that the output device (10) is designed to output the at least one detection area (6, 6') and / or the actual shadow area (11) in real time. [4] Detection arrangement (1) according to one of the preceding claims, characterized by that the control device (9) is designed to model at least one change in the environment (4) and / or the at least one detection device (3, 3'). [5] Detection arrangement (1) according to one of the preceding claims, characterized bythat the output device (10) is designed to output a change in the at least one detection area (6, 6') and / or the at least one actual shadow area (11) in real time. [6] Detection arrangement (1) according to one of the preceding claims, characterized by that the output device (11) is designed to display an object (7) detected in the detection area (6, 6') of the at least one detection device (3, 3'), in particular to highlight it in an output. [7] Detection arrangement (1) according to one of the preceding claims, characterized by that the control device (9) is designed to output at least one control command for changing and / or cleaning at least one detection device (3, 3'). [8] Detection arrangement (1) according to one of the preceding claims, characterized by that the at least one detection device (3, 3') has a scanner and / or a camera. [9] Method for controlling the operation of a detection arrangement (1), in particular according to one of the preceding claims, comprising a detection device (2) with at least one detection device (3, 3') which is designed to detect an environment (4) of a machine (5), in particular a multi-axis robot, arranged in a detection area (6, 6') of the detection device (3, 3'), wherein a control device (9) of the detection arrangement (1) is designed to determine a shadow area (8) generated by at least one object (7) in the detection area (6, 6'), wherein a model of the detection area (6, 6') is generated based on actually recorded detection data of the at least one detection device (3, 3') and a deviation between an actual shadow area (11) and a desired shadow area is determined.

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