LiDAR detection system and method for machine safety

Abstract

A LiDAR (Light Detection and Ranging) detection system for use with a machine includes a LiDAR sensor positioned above and configured to scan and create at least three-dimensional (3D) images or 3D point cloud maps of the machine and its surroundings, and a controller communicatively coupled to the LiDAR sensor and configured to collect data from the LiDAR sensor, including at least one of the 3D images or 3D point cloud maps, analyze the data, detect humans, and determine whether the detected humans are near a hazardous area related to the machine.

Description

Technical Field

[0001] <Cross - Reference to Related Applications> This application claims priority to U.S. Patent Application No. 18 / 219,233, filed on July 7, 2023, entitled "LIDAR DETECTION SYSTEM AND METHOD FOR MACHINE SAFETY", which is hereby incorporated by reference in its entirety.

[0002] The disclosed concepts generally relate to systems and methods for detecting humans in the vicinity of equipment, and more specifically, to systems and methods for using LiDAR to detect humans for machine safety.

Background Art

[0003] Currently, guards and light curtains are used to ensure the safety of machine operators and other personnel in the work area. Guards are barriers that prevent access to hazardous areas. There are four types: fixed, interlocking, adjustable, and self-adjusting. Fixed guards are permanent parts of the machine and function independently of moving parts. They can be made of sheet metal, screens, wire mesh, rods, plastic, or other impact-resistant materials. However, they can obstruct visibility and may be limited to specific operations. Furthermore, they need to be removed for machine adjustment or repair, necessitating alternative protective measures for maintenance personnel. Interlocking guards are mechanical, electrical, hydraulic, pneumatic, or other types of detection and safety devices. If they are opened or removed, a tripping mechanism and / or power supply are automatically shut off or released, and the machine cannot be restarted until the guard is returned to its original position. However, interlocking guards require extensive wiring, careful adjustment, and ongoing maintenance. Adjustable guards are barriers that can be adjusted to facilitate various production operations and allow for flexibility in accommodating stocks of various sizes. However, even with adjustable guards, it is still possible for a person to enter the hazard zone. Furthermore, they can obstruct the view. Automatically adjustable guards are barriers that move according to the size of the material entering the hazard zone. Therefore, when the operator moves the material into the hazard zone, the guard is pushed aside, creating an opening large enough to accommodate the material. However, this can obstruct the view and requires frequent maintenance and adjustment.

[0004] A light curtain is an optoelectronic device that detects the presence of personnel near a machine in operation. Figure 1 shows an exemplary light curtain 200 positioned to cover an exemplary can decorator 2. The can decorator 2 is used for decorating cans and may include a supply conveyor 15. The supply conveyor 15 receives cans 16 from a can supply unit (not shown) and is fixed to a pocket wheel 12, which guides them to an arc-shaped cradle or pocket 17 along the perimeter of spaced-apart parallel rings. The pocket wheel 12 is fixed to a continuously rotating mandrel carrier wheel 18, which is keyed to a continuously rotating horizontal drive shaft 19. Downstream of the supply conveyor 15, each spindle or mandrel is aligned axially close to an individual pocket 17, and undecorated cans 16 are fed from the pockets 17 to the mandrel. The suction force applied through the axial passage of the mandrel pulls the cans 16 to their final seating position on the mandrel. While mounted on the mandrel, each can 16 is decorated by engaging with a blanket (e.g., a replaceable adhesive rubber piece) positioned on the blanket wheel of a multicolor printing unit, indicated collectively by reference numeral 22. Then, while still mounted on the mandrel, the outside of each decorated can 16 is coated with a protective film of varnish applied by engaging with the periphery of a varnish application roll (not shown) rotating on the shaft 23 of an over-varnish unit, indicated collectively by reference numeral 24. The decorated and protectively coated cans 16 are then transferred from the mandrel to a suction cup (not shown) mounted adjacent to the periphery of a transfer wheel (not shown) rotating around the shaft 28 of a transfer unit 27. From the transfer unit 27, the cans 16 are placed on a nearly horizontal pin 29, which is carried by a chain-type discharge conveyor 30, which transports the cans 16 through a curing oven (not shown). Thus, because the can decorator 2 is a high-speed, continuous-operating machine containing numerous moving parts and a motor, it may be dangerous to its operator or personnel near the hazardous area 40 (for example, areas containing moving parts and a motor, but not limited to these).

[0005] The light curtain 200 is provided as a pair of transmitter 210 and receiver 220. The transmitter 210 is located at one corner of the can decorator 2 and projects an array 230 of parallel infrared light beams toward the receiver 220, located at the other corner and consisting of multiple photoelectric cells. If an object blocks one or more beams 230, a stop signal is sent to the control panel 50 of the can decorator 2, which then shuts down the can decorator 2. Figure 1 shows only one light curtain 200 covering the front of the can decorator 2, but at least three or more light curtains 200 are also needed to surround the other three sides of the can decorator 2 in order to effectively protect people near the can decorator 2. Therefore, for effective protection, the light curtain requires complex wiring, numerous sensors, and expensive installation. Furthermore, the light curtain does not protect against mechanical failures and is limited to machines that can be shut down. In addition, unnecessary shutdowns may occur because any object can block the beams.

[0006] The detection system for people near potentially dangerous machinery has room for improvement. [Overview of the project]

[0007] These and other requirements are met by a human LiDAR (Light Detection and Ranging) detection system for use with the machine. The LiDAR detection system includes a LiDAR sensor with a light source positioned above and configured to emit light onto the machine and its surroundings; a receiver configured to receive reflected light and round-trip data of that light; a scanner configured to scan the machine and its surroundings based on the round-trip data; and a controller configured to measure at least the distance between the machine and its surroundings and to create an image of the machine and its surroundings. The LiDAR sensor is configured to detect a person near the machine based on the measured distance and the created image and to send an alert based on that detection. The system also includes a user device that is communicatively coupled to the LiDAR sensor and positioned on the person, and the user device is configured to at least receive the alert.

[0008] Another exemplary embodiment of the disclosed concept provides a human LiDAR detection system for use with multiple machines. The LiDAR detection system includes a LiDAR sensor positioned above and having a light source configured to emit light towards the multiple machines and their surroundings; a receiver configured to receive reflected light and round-trip data of that light; a scanner configured to scan the multiple machines and their surroundings based on the round-trip data; and a controller configured to measure the distance between at least the multiple machines and their surroundings and to create images of the multiple machines and their surroundings. The LiDAR sensor is configured to detect a human near the multiple machines based on the measured distance and the created images and to send an alert based on the detection. The system also includes a user device communicatively coupled to the LiDAR sensor and positioned on the human, the user device being configured to receive at least the alert.

[0009] A further exemplary embodiment of the disclosed concept provides a method for detecting a person in the vicinity of a machine. The method comprises providing a LiDAR detection system, which includes (i) a LiDAR sensor configured to detect a person in the vicinity of the machine based on the measured distance and the image created, and to send a warning based on the detection, and (ii) a user device, which is communicably coupled to the LiDAR sensor, is positioned on the person, and is configured to receive at least the warning. The method further provides detecting a person in the vicinity of a machine based on the measured distance and the image created, and sending a warning to the person via the user device based on the detection. [Brief explanation of the drawing]

[0010] A full understanding of the present invention can be obtained by reading the following description of preferred embodiments in conjunction with the accompanying drawings.

[0011] [Figure 1] This is an exemplary system using a light curtain to detect people near a machine.

[0012] [Figure 2] An exemplary LiDAR detection system for detecting a person near a machine, by example of a non-limiting exemplary embodiment of the disclosed concept.

[0013] [Figure 3] An exemplary LiDAR detection system for detecting humans near multiple machines, by example of a non-limiting exemplary embodiment of the disclosed concept.

[0014] [Figure 4] Figure 2 is a flowchart illustrating a method for detecting a human using the LiDAR detection system, by example of a non-limiting exemplary embodiment of the disclosed concept. [Modes for carrying out the invention]

[0015] It will be understood that certain elements shown in the figures and described herein are merely illustrative embodiments of the disclosed concept and are provided as non-limiting examples for illustrative purposes only. Therefore, specific dimensions, orientations, assemblies, the number of components used, configurations of embodiments, and other physical characteristics relating to the embodiments disclosed herein should not be considered to limit the scope of the disclosed concept.

[0016] The terms used herein to indicate direction, such as “clockwise,” “counterclockwise,” “left,” “right,” “up,” “down,” “upward,” “downward,” and their derivatives, relate to the orientation of the elements shown in the drawings and do not limit the claims unless expressly stated in the claims.

[0017] As used herein, the singular forms of “a and an” and “the” include the plural form unless the context clearly indicates otherwise.

[0018] As used herein, "[configured to] [verb]" means that the specified element or assembly has a structure that is shaped, dimensional, positioned, joined, and / or configured to perform the action represented by the specified verb in order to perform the specified verb. For example, a member "configured to move" is movably joined to another element and includes an element that moves the member, or the member is configured to move in response to other elements or assemblies. Thus, as used herein, "[configured to] [verb]" describes a structure, not a function. Furthermore, as used herein, "[configured to] [verb]" means that the specified element or assembly is intended and designed to perform the specified action. Thus, an element that can simply perform the specified verb but is not intended and designed to perform the specified verb is not "[configured to] [verb]".

[0019] As used herein, “associated” means that elements are part of the same assembly and / or work together in some way or interact with each other. For example, a car has four tires and four hubs. All elements are joined together as part of the car, but each hubcap is understood to be “associated” with a particular tire.

[0020] As used herein, the statement that two or more parts or components are “coupled” means that the parts are connected or act together, directly or indirectly, that is, through one or more intervening parts or components, insofar as a link occurs. As used herein, “directly coupled” means that two elements are in direct contact with each other. As used herein, “fixedly coupled” or “fixed” means that two components are coupled so as to move as a unit while maintaining a certain orientation relative to each other. As used herein, “adjustably fixed” means that two components are coupled so as to move as a unit while maintaining a certain general orientation or position relative to each other, while being able to move within a limited range or around a single axis. For example, a doorknob is “adjustably fixed” to a door in that it is rotatable, but generally a doorknob remains in a single position relative to the door. Furthermore, the cartridge (nib and ink tank) of a retractable pen is "adjustably fixed" to the housing in the sense that the cartridge moves between a retracted position and an extended position, but it generally maintains its orientation relative to the housing. Thus, when two elements are joined, all parts of those elements are joined. A statement that a particular part of a first element is joined to a second element (for example, the first end of an axle is joined to the first wheel) means, however, that that particular part of the first element is positioned closer to the second element than other parts of it. An object that rests on another object, held in place only by gravity, is not "joined" to the object below unless the object on top is substantially held in place. That is, for example, a book on a table is not joined to the table, but a book glued to a table is joined to the table.

[0021] As used herein, the statement that two or more parts or components “engage” means that the elements exert force or bias on each other, either directly or through one or more intervening elements or components. Furthermore, as used herein with respect to moving parts, a moving part may “engage” with another element while moving from one position to another, and / or may “engage” with another element when it reaches the described position. Thus, the statements “When element A moves to its first position, element A engages with element B” and “When element A is in its first position, element A engages with element B” are equivalent and are understood to mean that element A engages with element B while moving to its first position, and / or that element A engages with element B while it is in its first position.

[0022] As used herein, “correspond” indicates that two structural components are sized and shaped similarly to each other so that they can be joined with minimal friction. Therefore, an opening “corresponding” to a member is sized slightly larger than the member so that the member can pass through the opening with minimal friction. This definition is modified when two components fit “snugly” together. In that situation, the size difference between the components becomes even smaller, thereby increasing the amount of friction. If the elements defining the opening and / or the components inserted into the opening are made of deformable or compressible material, the opening may even be slightly smaller than the components inserted into it. With respect to surfaces, shapes, and lines, two or more “corresponding” surfaces, shapes, or lines have substantially the same size, shape, and contour.

[0023] As used herein, the term “several” means one or more integers greater than one (i.e., multiple). That is, for example, the phrase “several elements” means one or more elements. Note in particular that the term “[X] of ‘a certain number’” includes a single [X].

[0024] As used herein, the term "about" in phrases such as "disposed about [an element, point, or axis]," "extending about [an element, point, or axis]," or "[X] degrees about [an element, point, or axis]" means surrounding, extending around, or measured around. When used in connection with measurement or similar methods, "about" means "approximately," i.e., within an approximate range associated with the measurement as understood by one of ordinary skill in the art.

[0025] As used herein, an "elongated" element essentially includes a longitudinal axis and / or a longitudinal line that extends in the direction of elongation.

[0026] As used herein, "generally" means "in a general manner" as understood by one of ordinary skill in the art in relation to the term being modified.

[0027] As used herein, "substantially" means "in most respects" as understood by one of ordinary skill in the art in relation to the term being modified. [[ID=巧]]

[0028] As used herein, "at" means on and / or near, as understood by one of ordinary skill in the art, in relation to the term being modified.

[0029] Exemplary embodiments of the disclosed concepts provide a LiDAR (Light Detection and Ranging) detection system and method for detecting humans for machine safety. The LiDAR detection system according to the disclosed concepts is novel in that it uses one or more LiDAR sensors to detect the presence of humans in the vicinity of a danger zone associated with a fast-moving machine during operation.

[0030] Currently, guards or light curtains are used to ensure the safety of operators of machinery that includes one or more high-speed moving parts that could pose a safety risk to operators or nearby personnel during operation. However, guards or light curtains can require complex wiring and expensive installations because they limit the field of view, inaccurately detect the presence of humans, and / or require numerous sensors to protect all sides of the machinery. For example, a light curtain typically needs to be wired to detect a person moving into a hazardous area, using two sensors to detect the direction of movement. By using the exemplary LiDAR detection system with the disclosed concept, such complex wiring and the number of sensors required can be greatly reduced. By simply placing one or more LiDAR sensors above and / or around one or more machines, the LiDAR detection system eliminates the complex wiring, numerous sensors, and expensive installations required by guards or light curtains, and can constantly monitor what is happening around the machinery with a 360-degree field of view. Furthermore, guards and light curtains cannot accurately depict whether humans and non-human objects (e.g., open doors, though not limited to them) are near the machine, and therefore even the detection of a non-human object (e.g., an open door, though not limited to them) can cause an accidental shutdown of the entire machine. Unlike such guards and light curtains, a LiDAR detection system can accurately detect objects up to 300 meters away without limitation and determine whether the detected object is actually a human. The LiDAR detection system can then determine whether a human is near the hazardous area and whether the machine needs to be stopped. If no human is near the hazardous area, the LiDAR detection system allows the machine to continue operating. In this way, the LiDAR detection system provides appropriate safety measures based on the detected object and the level of safety hazard, which cannot be provided by conventional guards and light curtains.

[0031] Figure 2 shows a LiDAR detection system 100 according to an exemplary, non-limiting embodiment of the disclosed concept. The LiDAR detection system 100 includes a LiDAR sensor 110 and a controller 120 communicatively coupled to the LiDAR sensor 110. The LiDAR sensor 110 is electrically coupled to a busway 300 and positioned above a machine (e.g., a can decorator) 2. The LiDAR sensor 110 is configured to scan and create at least a three-dimensional (3D) image or 3D point cloud map of a machine, but not limited to, for example, a can decorator 2 and its surroundings. The LiDAR sensor 110 has a measurable range of, but not limited to, for example, 300 meters or more. The LiDAR sensor 110 may be a rotary or rotatable LiDAR sensor positioned above the can decorator 2. The LiDAR sensor 110 emits light, receives reflected light, determines distance based on the time until the reflected light is received, scans an area to create a 3D image or 3D point cloud map. Figure 2 shows the LiDAR sensor 110 coupled to the busway 300, but this is for illustrative purposes only. Therefore, the LiDAR sensor 110 may be positioned above in other suitable ways without departing from the scope of the disclosed concept (e.g., mounted on the ceiling of the facility where machine 2 is installed). The busway 300 is a prefabricated power distribution system with conductive busbars extended within a protective enclosure, including straight sections, fittings, devices, and accessories. The extended conductive busbars are configured to carry multiphase high or low currents from a power source (not shown) to a load (here, can decorator 2). The busway 300 may include multiple busways 300 that are electrically connected or coupled end-to-end, thus continuously supplying power to one or more loads located in various parts of the facility.

[0032] In some examples, one or more additional LiDAR sensors 130 (e.g., rotating or fixed LiDAR sensors) may be positioned around the can decorator 2 and / or near the hazardous area 40. The one or more additional LiDAR sensors 130 may, but are not limited to, be positioned on a vertical busway and / or wall 310. By adding LiDAR sensors 130 to areas that may not be easily scanned by the upper LiDAR sensor 110, the LiDAR detection system 100 can further expand its scannable area and thus provide a more detailed 3D image of the can decorator 2 and its surroundings. The additional LiDAR sensors may also be communicably coupled to the controller 120.

[0033] The controller 120 is communicatively coupled to the LiDAR sensor 110 via a wired or wireless connection. The controller 120 may, but is not limited to, a microprocessor, microcontroller, or other suitable processing device or circuit. It may include a memory device, which may be one or more of the various types of internal and / or external storage media that provide memory registers (i.e., machine-readable media) for data storage, like the internal memory area of ​​a computer, such as RAM, ROM, EPROM, EEPROM, or FLASH, and may be volatile or non-volatile memory. The memory device may include a list of components of the can decorator 2, personnel identification information (e.g., facial images), and device information of user equipment 410 corresponding to the personnel. The controller 120 may be located in the field or contained in a workstation (e.g., a desktop computer, laptop computer, etc.) in a local control center that monitors the operation of the can decorator 2. The controller 120 is configured to collect data from the LiDAR sensor 110, including at least a 3D image or a 3D point cloud map, analyze the data, detect a person 400 near the can decorator 2, and determine whether the detected person 400 is too close to the can decorator 2. In some examples, one or more functions of the controller 120 may be integrated into the LiDAR sensor 110. In examples where an additional LiDAR sensor is positioned around the can decorator, the controller 120 detects a person by analyzing data from the additional LiDAR sensor in addition to the data from the LiDAR sensor 110 above. To detect a person 400, the controller 120 is further configured to detect objects near the can decorator 2 and determine whether the detected object is a person 400. If the detected object is not a person (for example, an open door, but not limited to one), the controller 120 can allow the can decorator 2 to continue operating without triggering a warning or stop for the can decorator 2. In response to the determination that the detected object is a person 400, the controller 120 is configured to further determine whether the detected person 400 is too close to the can decorator 2. If the detected person 400 is near (for example, within but not limited to) the hazard zone 40 of the can decorator 2, the detected person 400 may be too close to the can decorator 2. The hazard zone 40 may include one or more high-speed moving parts or motors of the can decorator 2. If the detected person 400 is not near the hazard zone 40, the controller 120 may allow the can decorator 2 to continue operating without triggering a warning or stop. In response to the determination that the detected person 400 is too close to the can decorator 2, the controller 120 is configured to issue a warning.

[0034] The controller 120 may issue a warning to the control panel 50 of the can decorator 2 and / or to a user device 410 located on the detected person 400. The control panel 50 may be communicably coupled to the controller 120 by a wired or wireless connection. Although Figure 2 shows the control panel 50 located inside the can decorator 2, it will be understood that the control panel 50 may be located in any suitable location, but not limited to, near or adjacent to the can decorator 2. Upon receiving a warning, the control panel 50 may perform a partial or complete shutdown of the can decorator 2 as necessary. The controller 120 may continuously track the detected person 400 and notify the control panel 50 that the detected person 400 has left the hazard zone 40, and therefore it is safe to restart all or part of the can decorator 2. When the control panel 50 is notified that the detected person 400 is outside the hazard zone 40, it may restart all or part of the can decorator 2. The user device 410 may be communicatively coupled to the controller 120 via a wireless connection and configured to receive warnings from the controller 120. The user device 410 may be a mobile device, including, for example, a mobile phone, or a wearable device such as a wristband, watch, or headset. Operators or other personnel may each wear a user device 410, and the controller 120 may identify operators or other personnel and their corresponding user devices based on a list stored in a storage device, but is not limited to. Warnings may include at least one of an alarm, vibration, or visual message indicating a specific safety risk to the detected person 400. Warnings may instruct the person 400 to move away from moving parts and / or to manually partially or completely stop the can decorator 2. The person 400 can then take appropriate safety measures. In some examples, the controller 120 may detect multiple people near the can decorator 2. For example, it may detect an operator working on one part of the can decorator 2 on one side, and another person working on a different part of the can decorator 2 on the other side.In such an example, the controller 120 may send a warning to both the operator and another person to inform each other of their presence. Upon receiving the warning, the operator or the other person can take appropriate safety measures (but not limited to, ensuring that each person is no longer in the hazardous area 40 before starting the motor).

[0035] In some cases, the controller 120 may also detect whether the can decorator 2 is functioning correctly as a whole or in part. For example, the controller 120 may determine, based on a 3D image, whether the supply conveyor 15, the chain-type output conveyor 30, the motor, etc., are operating according to the manufacturer's specifications. If it is determined that the can decorator 2 is not functioning correctly, the controller 120 may alert the appropriate personnel, but not limited to, a field engineer, to perform appropriate inspection, maintenance, and / or repair of the can decorator 2.

[0036] Therefore, by simply placing one or more LiDAR sensors 110 above and / or around one or more machines, the LiDAR detection system 100 can avoid the complex wiring, numerous sensors, and expensive installations required by guards and light curtains. Furthermore, the LiDAR detection system 100 can always provide a 360-degree view of what is happening around the can decorator 2, accurately detect people 400 near the hazardous area 40, and issue warnings so that appropriate safety measures can be taken quickly.

[0037] Figure 3 shows a LiDAR detection system 100' according to a non-limiting exemplary embodiment of the disclosed concept. The LiDAR detection system 100' is similar to the LiDAR detection system 100 in Figure 2, but differs in that it is positioned above multiple machines (but not limited to, e.g., can decorators) and no additional LiDAR sensors positioned around or near the hazardous area are shown. Thus, descriptions of overlapping components or features are omitted for brevity. In Figure 3, a single LiDAR sensor 110 is positioned sufficiently above each machine 2' (but not limited to, e.g., at the height of the facility where the decorators 2 are located) to accurately detect people 400 or objects within or near the hazardous area 40, and any corners between the can decorators 2'. With a large number of data points collected and comprehensive 3D imaging, the single LiDAR sensor 110 can accurately and precisely detect people 400 or objects near one or more can decorators 2' simultaneously.

[0038] Figure 4 shows a flowchart of method 4000 for detecting a person near a machine using the LiDAR detection system 100 of Figure 2 or the LiDAR detection system 100' of Figure 3. Method 4000 may be performed by the LiDAR detection system 100, 100' or its components, for example, by a LiDAR sensor 110 or a controller 120.

[0039] In 4010, a LiDAR detection system is provided. The LiDAR detection system includes an overhead LiDAR sensor and a controller communicatively coupled to the LiDAR sensor. The LiDAR sensor is configured to scan and create at least three-dimensional (3D) images or 3D point cloud maps of machines (but not limited to, e.g., can decorators) and their surroundings. The controller is configured to collect data from the LiDAR sensor, including at least 3D images or 3D point cloud maps, analyze the data to detect humans, determine whether the detected humans 400 are near a hazardous area, and issue a warning based on the determination that the detected humans are near a hazardous area.

[0040] In 4020, the controller analyzes data that includes at least 3D images or 3D point cloud maps.

[0041] In step 4030, the controller detects a human based on the analyzed data. If the controller does not detect a human, step 4000 returns to step 4020.

[0042] In step 4040, the controller determines whether the detected person is near a hazardous area related to the machine, where the hazardous area includes one or more moving parts of the machine. If the detected person is near a hazardous area related to the machine, method 4000 proceeds to 4050. Otherwise, method 4000 returns to 4020.

[0043] At 4050, the controller issues a warning.

[0044] While specific embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that, in light of the overall teachings of this disclosure, various modifications and alternatives to those details can be developed. Accordingly, the specific configurations disclosed are illustrative and should not limit the scope of the disclosed concept, which should be given the entire scope of the appended claims and all their equivalents.

Claims

1. A LiDAR (Light Detection and Ranging) detection system for use with machinery, A LiDAR sensor positioned above and configured to scan and create at least three-dimensional (3D) images or 3D point cloud maps of the machine and its surroundings, A controller configured to be communicatively coupled to the LiDAR sensor, to collect data from the LiDAR sensor including at least one of the 3D image or the 3D point cloud map, to analyze the data, to detect a person, and to determine whether the detected person is near a hazardous area related to the machine, A system that includes these features.

2. The system according to claim 1, wherein the machine is a machine used in a can-making process.

3. The system according to claim 2, wherein the machine is a can decorator.

4. The system according to claim 1, wherein the controller is further configured to issue a warning in response to a determination that the detected person is near the danger area.

5. The system according to claim 4, wherein the controller is communicably coupled to the control panel of the machine, the controller sends the warning to the control panel, and the control panel performs a partial or complete shutdown of the machine based on the warning.

6. The system according to claim 4, wherein the controller is communicably coupled to a user device placed on the detected person, and the controller sends the warning to the user device so that the detected person takes the corresponding safety precautions.

7. The system according to claim 6, wherein the user device includes at least a wristband, a watch, a headset, or a mobile phone.

8. The system according to claim 1, further comprising one or more additional LiDAR sensors positioned around the machine or near the hazardous area.

9. The system according to claim 1, wherein the controller is further configured to detect whether the machine is operating normally and, in response to a determination that the machine is not operating normally, to send a warning indicating the determination so that inspection, maintenance, or repair may be performed on the machine thereafter.

10. The system according to claim 1, wherein the LiDAR sensor is a rotating sensor having a 360-degree field of view.

11. A LiDAR (Light Detection and Ranging) detection system for use with multiple machines, A LiDAR sensor positioned above and configured to scan and create at least three-dimensional (3D) images or 3D point cloud maps of the plurality of machines and their surroundings, A controller configured to be communicatively coupled to the LiDAR sensor, to collect data from the LiDAR sensor including at least one of the 3D image or the 3D point cloud map, to analyze the data, to detect a person, and to determine whether the detected person is near a hazardous area relating to the plurality of machines, A system that includes these features.

12. The system according to claim 11, wherein the plurality of machines are machines used in a can-making process.

13. The system according to claim 12, wherein the plurality of machines are can decorators.

14. The system according to claim 11, wherein the controller is further configured to issue a warning in response to a determination that the detected person is near the danger area.

15. The system according to claim 14, wherein the controller is communicably coupled to the control panel of the machine, the controller sends the warning to the control panel, and the control panel performs a partial or complete shutdown of the machine based on the warning.

16. The system according to claim 14, wherein the controller is communicably coupled to a user device placed on the detected person, and the controller sends the warning to the user device so that the detected person takes the corresponding safety precautions.

17. The system according to claim 11, further comprising one or more additional LiDAR sensors positioned around the machine or near the hazardous area.

18. The system according to claim 11, wherein the LiDAR sensor is a rotating sensor having a 360-degree field of view.

19. In a method for detecting a person near a machine, To provide a LiDAR detection system comprising: (i) a LiDAR (Light Detection and Distancing) sensor positioned above and configured to scan and create at least three-dimensional (3D) images or 3D point cloud maps of the machine and its surroundings; and (ii) a controller communicatively coupled to the LiDAR sensor and configured to collect data from the LiDAR sensor including at least one of the 3D images or the 3D point cloud map, analyze the data, detect a person, and determine whether the detected person is near a hazardous area related to the machine; Analyzing data that includes at least one of the 3D image or the 3D point cloud map, Based on the analyzed data, detecting humans, To determine whether the detected person is near the danger zone, A method that includes this.

20. The method according to claim 19, further comprising issuing a warning to at least one of the control panel of the machine or a user device placed on the detected person in response to the determination that the detected person is near the danger area.

Images