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    • 专利摘要:
    Video curtain of security for redundant and directional detection of access to danger zone associated with industrial machinery. The present invention relates to a method and a security system for an industrial machine comprising: acquiring visual information of the protection zone by means of one or more cameras arranged on the protection zone, comprising a first protection zone further away of the machine and a second protection zone closest to it; determine, by means of a control unit, from the visual information, the presence of objects in the protection zone; and once the presence of objects has been determined, determine, in the control unit, the stopping of the machine if the presence of at least one object is detected in the first protection zone and then in the second protection zone, in consecutive instants of time. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2673167A1
    申请号:ES201631621
    申请日:2016-12-20
    公开日:2018-06-20
    发明作者:Juan Álvaro FERNÁNDEZ MUÑOZ；María Dolores MORENO RABEL
    申请人:Universidad de Extremadura；
    IPC主号:
    专利说明:

    TECHNICAL FIELD OF THE INVENTION The present invention is included in the machine safety sector, specifically within the area of Vision-Based Protection Devices used to detect the access of people or objects to a danger zone associated with machinery.
    10 industrial, from the visual information provided by an Artificial Vision System and prevent the functions of the machine if appropriate.
    BACKGROUND OF THE INVENTION A Vision Based Protection Device (VBPD) essentially consists of three
    15 parts: (1) an Artificial Vision System (SVA) formed by at least one camera that monitors a defined field of vision (FOV) where the access zone associated with a danger zone access line (DZ) is included ) of a machine, (2) an output switch (OSSD) connected to the machine control system to prevent or allow its functions, and (3) a control unit that manages the visual information provided by
    20 the SVA, from which it performs presence detection in its useful FOV (region of the FOV of the SVA used to perform the detection) and the performance of the OSSD. The actions carried out by a VBPD allow:
    - deactivate and prevent the functions of a machine when it detects at least one object in the combined useful FOV of its SVA, for example when a worker accesses the DZ of said machine, and
    - prevent the activation or enablement of the functions of said machine while at least one object remains in said useful FOV.
    The VBPDs available in the literature use cameras of three different technologies: 30 standard (2D), TOF (flight time) and stereo, and some of the following principles to perform the detection: interruption of the light reflected by a retro-reflector, TOF of the signal
    light sent from such a camera to the objects present in its useful FOV, or monitoring of background pattern changes.
    - VBPDs based on standard cameras (2D) use the principle of monitoring background pattern changes to detect the presence of objects in the area of the environment monitored by the SVA (useful FOV), hereinafter referred to as a protection zone (PZ ), by comparing a current image and a reference image, without the presence of objects, of said useful FOV.
    - VBPDs based on stereo cameras, such as (US 6,297,844 Bl, 10/02/01, Cognex Corporation; US 7,729,511 B2, 06/01/10, Pilz GmbH & Ca. KG and Daimler AG; US 2012/0182419 A1, 19 / 07/12, Wietfeld), use two or three monochrome cameras in a physical arrangement similar to human eyes, to obtain different views of the PZ. The visual information captured by each of these cameras is related in a device that calculates the disparities, that is, the differences in the position within the image of the objects present in the common useful FOV of said stereoscopic cameras, from the which gives the depth map of the objects that are visualized together by each pair of cameras.
    - VBPDs based on TOF cameras, not standardized or currently marketed, determine the distance of the camera at which the objects present in the PZ are located by measuring the TOF of the light signal sent from the camera to these objects for each point of the captured image These VBPDs detect the presence of objects in said PZ if the depth map of the PZ obtained by the camera does not correspond to that determined for the reference PZ (Schmidt and Wang, Journal of Manufacturing Systems, 33 (4), p. 711-718, 2014). The capture frequency of the cameras used by this type of VBPO is higher than that of the standard (20) and stereo (at least 5: 1) cameras used by the VBPOs 20 and 3D, respectively. However, its resolution is considerably lower (from 1: 5 to 1:10) (Schuon et al, IEEE Computer Vision and Pattern Recognition, p.1-7, 2008).
    VBPDs based on TOF cameras and stereo cameras work with a depth map, which contains information about the depth or distance of the camera at which the objects present in the PZ (Useful FOV). However, the reliability of presence detection carried out by VBPOs based on stereo cameras is

    subject to the fact that said depth map can be reliably established, which makes its use in certain applications unfeasible, for example when it is intended to detect the presence of objects of less than 300 mm height on the ground of the PZ (US 7,729,511 82, 06/01/10, Pilz GmbH & Co. KG). In addition, both VBPDs based on TOF cameras and those based on stereo cameras are associated with a higher computational cost than those based on standard cameras (2D).
    The solutions of the state of the art of VBPDs closest to the present invention are: -A VBPD based on two-dimensional digital image (2D) which, by means of the adequate processing of the images captured by an SVA formed by at least one standard camera (2D) , installed in zenith position on the DZ of a machine, detects the access of objects to said DZ, provided that said objects occlude a security tape located at a predetermined distance from the outer perimeter edge of the DZ, from the point of view of the SVA . To ensure the occlusion of the security tape, this SVA is installed on the DZ so that the FOV of each camera in the chosen dimension fully contains the security tape. This VBPD prevents the functions of the machine by operating its OSSD if it detects that at least one object occludes at least partially the security tape, or allows them otherwise (US 6,829,371 B1, 07/12/04, Cognex Corporation) .
    - A three-dimensional (3D) VBPD that includes an SVA formed by two or three analog or digital and monochrome video cameras, arranged overhead so that it allows you to visualize together the access area associated with a DZ access line of a machine. The visual information captured by this SVA is transmitted to a computer that acts as a control unit for further processing. This visual information is stored synchronously in a storage unit of said control unit. This control unit is associated with a processor that processes said visual information by means of a computer program that is also stored in said storage unit. This unit also temporarily stores the results of such processing and the warning or alarm signals, which are also sent through the convenient communication ports to the OSSD, to allow or prevent the functions of the machine (US 6,297,844 81 , 10/02/01, Cognex Corporation; US 2012 / 0182419A1, 19/07112, Wietfeld).

    - A VBPO 30 whose SVA is in turn made up of three monochrome digital cameras, an analysis unit that acts as a control unit and a programmable security and control system (US 7,729,511 B2, 06/01/10, Pilz GmbH & Co. KG and Daimler AG). Said SVA is installed in zenith position on a machine that has a high risk associated due to its high speed of rotation, for example a robotic arm, to detect access to its OZ. The PZ of this VBPO is formed by a danger zone and, optionally, by a warning zone in turn surrounding said danger zone. This PZ, which surrounds the OZ of the machine, excludes the volume where the machine carries out its activity, which must be established during the configuration stage of this 3D VBPO, as well as the region closest to said machine, the closest region to the SVA where the detection capacity is limited by the resolution and operating range of this 3D VBPD, and the area surrounding the PZ, where the calculation of disparities cannot be performed reliably. The cameras of this SVA transmit their images through high-speed cables to the control unit, which receives and processes these images and generates the safety signals that must be sent to the programmable security and control system, which in turn acts as OSSO interface. This system receives an alarm signal that indicates whether the monitored area is safe or not. However, it only acts on the OSSD when it detects presence in the danger zone of the PZ of this 3D VBPD and the functions of the machine are enabled or when it detects that the environment is safe and the functions of the machine are impeded. Said programmable safety and control system is also connected to a visual traffic light indicator that reports the safety status of the PZ.
    - A mixed VBPD 20-30 that detects the presence of objects that are ready to access the OZ of a machine from the visual information provided by a standard camera
    (20) zenith, of the projected light pattern in the access zone (PZ) associated to an access line to said DZ from a light source, also arranged in zenith position at a certain distance from the chamber, by a known technique as structured light. The standard camera (20) displays and captures a lateral image of the projected light pattern on the objects that access said PZ. This visual information provides this mixed VBPD 20-30 with a means from which depth information (3D) of said objects can be obtained, since if a line of light is generated and displayed obliquely, the distortions detected in said line are translated in variations in depth (or distance to the camera). The captured image of the useful FOV is compared with the reference image of said useful FOV obtained during the initial configuration stage of this mixed VBPO 20-30. This comparison allows to detect distortions in the pattern of light projected on the PZ, in order to generate an alarm signal that allows the aSSD to prevent the functions of the machine or keep them impeded if it is detected that these distortions exceed a preset threshold ( US 7,167,575 B1, 01/23/07, Cognex Corporation).
    5 In general, previously defined VBPDs are characterized by:
    - Do not depend on the machine present in the environment, whose risks you intend to avoid or mitigate, since your machine does not include either the machine or its DZ.
    - Failure to monitor what happens in the DZ of a machine, which does not prevent any 10 person present in it and not monitored by the SVA to suffer a work accident.
    - Prevent the functions of a machine when they detect at least one object in its associated PZ, regardless of whether said at least one object accesses or exits the DZ of said machine.
    - Do not perform presence detection redundantly, that is, prevent the functions of a machine immediately upon detecting an object in its associated PZ, without redundantly verifying the presence of said object in the PZ, before disabling the functions of said object machine.
    SUMMARY OF THE INVENTION The present invention solves the aforementioned problems by providing a method and its corresponding Safety Curtain Video system for redundant and directional detection of access to the danger zone associated with industrial machinery. For
    This presents, in a first aspect of the invention, a safety method for an industrial machine based on the detection of the presence of objects in a protection zone PZ associated with the machine, where the method comprises the steps of: a) acquire a visual information associated with the PZ, provided by at least one camera arranged on said PZ, which comprises a first protection zone
    30 PZ1 farther from the machine and a second protection zone PZ2 closer to the machine; b) determine, by means of a control unit, from the acquired visual information, the presence or absence of objects in the PZ; c) once the presence of objects in the PZ has been determined, determine, in the control unit, the stopping of the machine if at least a first safety criterion is met, which comprises detecting the presence of an object in the first protection zone, PZ1, and detect, in a consecutive moment in time,
    5 the presence of the object in the second protection zone, PZ2. Thus, advantageously, a redundant and directional detection of the objects or persons that are predictably going to access the machine and, consequently, causing their arrest is carried out.
    Additionally, the present invention contemplates initially preventing the operation of the machine and keeping it impeded until a certain latency time elapses after:
    - the control unit determines in step b) that there is no presence of objects in PZo 15 - the control unit determines the presence of an object in the PZ but, according to step c), the first criterion of security.
    In one of the embodiments of the present invention, once the machine has been stopped, the method comprises:
    20 - iteratively execute steps a) -c); -maintain the operation of the machine until a certain latency period elapses, which begins after the control unit determines compliance with a set of conditions, which at least includes:
    - that there is no presence of objects in the PZ, according to step b); or 25 -that there is presence of at least one object in the PZ, but the first safety criterion is not fulfilled according to step c); Resume machine operation after the latency time has elapsed, during which the previous set of conditions has been met. Thus, the machine is advantageously stopped until it is determined that the situation is safe to resume operation.
    Additionally, the present invention contemplates in one of its embodiments that the set of conditions comprises detecting the presence of an object in the second protection zone, PZ2, and detecting, in a consecutive instant in time, the presence of the object in the first protection zone, PZ1. In this way, advantageously

    it checks the output of an object that had previously entered the danger zone (DZ) of the machine, and prevents possible accidents even when that object that entered was not being monitored.
    According to one of the embodiments of the present invention, the PZ may include a third protection zone, PZ3, closer to the machine than the second protection zone, PZ2, and further said embodiment comprises determining, by the control unit , stopping the machine if a second safety criterion is met, which includes detecting the presence of an object in PZ3. Thus, advantageously, the situations in which an object, normally immobile or static, is located at a point very close to the machine are also contemplated, such as the case that an operator accesses the machine and leaves an object forgotten in its vicinity. Therefore, in addition to preventing cases of dangerous access, this also prevents risk cases due to excessive proximity to the machine.
    The present invention contemplates in one of its embodiments, once the control unit determines the stop of the machine, to send an order, from the control unit, to an OSSD switch connected to the machine, which opens said OS SO switch e prevents machine operation. Thus, deactivation of the machine is advantageously managed by actuating said OSSO switch in the machine control system.
    Determining the presence of objects comprises, according to one of the embodiments, the steps of:
    store information in a storage unit of the control unit
    position of the at least one camera;
    determine for each of the pixels if they belong to a defined field of view
    for the at least one camera and to which PZ they belong, depending on an image of
    reference of the field of vision defined for the at least one camera, one image
    acquired by said camera and stored position information. Advantageously, this comparison of the acquired images with a background pattern, detects the changes produced and reveals that there is an object in the image.
    In an embodiment of the invention, it is also contemplated to establish a minimum object detection threshold that allows to detect objects whose projected area in the plane that

    it contains the floor of the access zone and that is visualized from the SVA, is greater than or equal to a minimum established size. The minimum size may be different in each of the protection zones. Thus, according to one of the embodiments, a minimum size for the first and second protection zones can be established according to the ISO 15534-3 standard for the head of the shorter person tabulated in said standard and, instead, for the third protection zone, establish a minimum size according to a measure of half a foot of the person of smaller stature tabulated in ISO 15534-3. Thus, the invention is advantageously adapted to the particular case that the object to be identified is a person, since
    It is one of the main cases considered.
    A second aspect of the invention relates to a security system for an industrial machine based on the detection of the presence of objects in a PZ protection zone associated with the machine, where the system comprises:
    - at least one camera arranged on the PZ, where this PZ comprises a first protection zone, PZ1, further away from the machine and a second protection zone, PZ2, closer to the machine, where said at least one camera is configured to acquire visual information associated with the PZ; and -a control unit connected to the at least one camera, configured to determine, from the acquired visual information, the presence or absence of objects in the PZ; and once the presence of objects in the PZ has been determined, determine the machine stop if at least a first safety criterion is met, which comprises detecting the presence of an object in the first protection zone, PZ1, and detect, in a consecutive moment in time, the presence of the object in the second protection zone, PZ2.
    Additionally, according to one of the embodiments of the invention, the control unit is further configured to keep the machine from operating until a certain latency period elapses, which begins after the control unit determines compliance. of a set of conditions, which at least comprises:
    - determine that there is no presence of objects in the protection zone; or -determine the presence of an object in the protection zone, but the first safety criterion is not met; Y
    where the system also comprises an OSSD switch connected to the control unit and the machine, where said switch is configured to receive an order from the

    control unit that causes the switch to open and prevents, as a result of the
    switch opening, machine operation; and where said switch is further configured to, after the latency time has elapsed, receive an order from the control unit that causes the switch to close and, as a result of the switch closure, allow the machine to operate.
    One of the embodiments of the invention contemplates that the at least one camera is arranged on the PZ so that its optical axis is placed on the virtual line that separates the first protection zone, PZ1, from the second protection zone, PZ2.
    Optionally, the present invention may incorporate fixed guards that protect access to the OZ of the machine, except for an access line, said fixed guards being advantageously arranged so as to restrict access to the OZ diagonally from the ends of said access line
    According to one of the embodiments of the invention, the system comprises an even number of additional cameras to the at least one camera, in the normal direction of a machine access line, and one or more additional cameras to the at least one camera, parallel to the machine access line. Advantageously, using a plurality of cameras the spatial configuration options and the shape and dimensions of the monitored area (PZ) are more flexible.
    Optionally, one of the embodiments of the invention comprises a visual and / or sound indicator connected to the control unit, where said visual and / or sound indicator is configured to provide certain information to a user, where the certain information comprises one or more of the following information:
    - an instantaneous result of the detection of the presence of objects carried out by the
    control unit in the different areas of the PZ;
    - an open state or a closed state of the OSSO switch; Y
    - an accumulated number of accesses and exits of objects through an access line
    of the machine for a defined period of time.
    A final aspect of the invention relates to a computer program product comprising computer program code, adapted to perform the method of the invention when said program code is executed on a computer, a processor

    of digital signals, a formation of programmable gates in the field, an application-specific integrated circuit, a microprocessor, a micro-controller or any other form of programmable hardware.
    As for the differences and advantages of the present invention with respect to the state of the art, it should be noted that the V8POs share the same objective as the Safety Curtain Video object of the invention: stop the functions of a machine when they detect an object that is arranged to access your associated OZ. However, there are notable differences between them and the present invention, such as: - A VBPO consists essentially of (1) an SVA formed by at least one camera that monitors the access area associated with an access line to the DZ of a machine (PZ), (2) an OSSD connected to the machine control system to prevent or allow its functions, and (3) a control unit that manages the visual information provided by the SVA, from which performs presence detection in its useful FOV (region of the VAS FOV used to perform the detection), and the OSSO action. Similarly, a Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery consists essentially of (1) an SVA formed by at least one standard camera (20) that monitors the associated access zone to an access line to the DZ of a machine and, optionally, at least the area adjacent to said access zone, which includes the access line itself and the part of the DZ associated therewith, which is part of its edge external perimeter, (2) an OSSO connected to the machine control system to prevent or allow its functions, and (3) a control unit that performs presence detection in the useful FOV of at least one standard camera (2D) and which also manages the performance of the asso. However, the presence detection carried out by its control unit from the visual information captured by said SVA, is different from that carried out by the control unit of a VBPO.
    - The SVA of a V8PO exclusively monitors the access zone associated with an access line to the OZ of a machine. The proposed Safety Curtain Video, in addition to monitoring the access zone associated with an access line to the OZ of a machine, also optionally monitors at least the area adjacent to said access zone, which includes the line itself of access and the part of the OZ associated with it, which is part of its outer perimeter edge.

    - A VBPD considers the PZ where it performs presence detection as unique. On the other hand, the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery divides its PZ into at least two zones located, the first one, close to the outer perimeter edge of the DZ of a machine associated with its access line (PZ2) and the second (PZ1), away from said DZ and surrounding PZ2. This division is done in order to detect both the access and the output of at least one object of the DZ of a machine redundantly. Optionally, the PZ of the Security Curtain Video object of the invention also includes a third zone, PZ3, which monitors at least the area adjacent to said access zone, which includes the access line itself and the part of the DZ associated with it, which is part of its outer perimeter edge.
    - The spatial arrangement of the cameras that form the VAS of a VBPD depends on how its control unit performs presence detection. By design, this spatial arrangement does not consider the projective effect, that is, it does not take into account that objects or parts of objects that are totally or partially inside the FOV of a camera in a position separated from its optical axis and the image plane (plane in which the image produced by the camera is formed which, when placed in the zenith position, is perpendicular to its optical axis) appear projected on said image plane in the captured image. However, the spatial arrangement of the at least one standard camera (2 D) that forms the SVA of the Security Curtain Video object of the invention takes into account this projective effect by design when performing presence detection redundantly in its PZ . This design consideration obliges the spatial arrangement of the SVA so that the optical axis of the at least one standard camera (2D) that visualizes the virtual transition line between the PZ1 and the PZ2 is located in the vertical of said line. In this way, it is avoided that the presence detection carried out on this line, critical when determining when at least one object is ready to access the DZ of a machine or leaves said DZ, is affected by this effect and In addition, any object present in PZ1 appears projected in PZ2 and vice versa.
    - A VBPD prevents the functions of a machine when it detects the presence of at least one object in any region of its PZ, although said at least one object comes from the DZ and, therefore, is no longer exposed to risks, and keeps them in this state while detecting presence in said zone. On the other hand, the Safety Curtain Video object of the invention only prevents the functions of a machine when it determines that at least one object is ready to access its DZ, that is, when it has been detected first in PZ1 and later in PZ2 , and keeps them in this state as long as said presence does not cease. Optionally, the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery also prevents the functions of a machine when it detects presence in the PZ3.
    The division by zones carried out in the PZ PZ1-PZ2 associated to the access line to the OZ of a machine, which allows the detection of redundant presence in said PZ, allows to determine when at least one object accesses (first it has been detected in the PZ1 and later on PZ2) or exits (first detected on PZ2 and then on PZ1) of the OZ. This ability of the Security Curtain Video object of the invention to determine the direction in which the objects are moving makes it possible, optionally, to also prevent the functions of a machine while an object whose access to the OZ of a machine previously detected, do not leave that area, even if this object is not monitored by the SVA while it is still in the OZ. Optionally, this presence detection may include the recognition of at least one fiducial that allows the identification of at least one object within the group of detected objects.
    - If the VAS of a VBPO consists of more than one camera, its control unit must relate the visual information of the FOV useful for each of them to perform presence detection. On the other hand, the Security Curtain Video object of the invention does not need to relate said visual information to carry out the detection, although its SVA is formed by more than one standard camera (2D), since said detection is carried out in the control unit individually on the useful FOV of each standard camera (20) that forms the SVA.
    - As indicated in the norms lEC 61496-4 and lEC 61496-4-2, a VBPO is a device that is formed by a single camera, if it uses background patterns to carry out the presence detection, or by two or three cameras, according to IEC 61496-4-3, if you use stereopsis to carry out such detection. According to this concept, the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery that uses at least one standard camera (20) to detect presence, without using stereopsis, in the PZ associated with a line of Access to the OZ of a machine can be considered a VBPO 20 with advanced functional characteristics.
    DESCRIPTION OF THE DRAWINGS To complement the description that is being made and in order to help a better understanding of the features of the invention, according to some examples
    5 preferred of practical embodiments thereof, is attached as an integral part of this description a set of drawings where, for illustrative and non-limiting purposes, the following has been represented:
    Figure 1 - Scheme of the main elements that form the Safety Curtain Video object of the invention for an SVA formed by (a) one or (b) multiple cameras.
    10 Figure 2 - Schematic example of the PZ of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery for a machine whose DZ is protected by Fixed Guard and / or walls less by an access line to said DZ, whose ends can only be accessed in this direction
    15 normal (a) and also diagonally at one end of said access line (b). In
    (b) a Fixed Guard reduces the possible diagonal accesses that can take place at the lower end of the DZ access line.
    Figure 3 - (a and b) Schematic example of the PZ of the Security Video Curtain object
    20 of the invention for a machine whose DZ is protected by Fixed Guardians and / or walls less by an access line to said DZ, by whose ends this DZ can be accessed in the normal direction and also diagonally. In (a) a Fixed Guard reduces the possible diagonal accesses that can take place at both ends of the access line.
    25 Figure 4 - Safety Curtain Video SVA installation profile formed by (a) one and (b) three standard cameras (2D), in the normal direction of the DZ access line of a machine.
    Figure 5 - Spatial layout scheme of SVA Video Security Curtain 30 formed by three standard cameras (2D) whose FOVs overlap (a) in parallel direction and
    (b) in the normal direction to a DZ access line of a machine.
    Figure 6 - Spatial layout scheme of SVA Video Security Curtain formed by three standard cameras (2D) whose FOVs overlap in a normal direction to a DZ access line of a machine.
    Figure 7 - Safety Curtain Video flow diagram configured to consider in the analysis the PZ1 and the PZ2, prevent the functions of a machine when it redundantly detects the presence of an object that is preparing to access its DZ and allow them
    Figure 8 - Safety Curtain Video flow diagram configured to consider in the analysis the PZ1, the PZ2 and the PZ3, prevent the functions of a machine when it redundantly detects the presence of an object that is preparing to access its DZ or
    10 presence in the PZ3 and allow them after a TO latency time, after stopping to detect presence in these areas.
    Figure 9 - Safety Curtain Video flow diagram configured to consider the PZ1 and PZ2 in the analysis, preventing the functions of a machine when it detects
    15 redundantly the presence of an object that is ready to access its DZ and allow them after a latency time TO, after redundantly detecting the output of said object.
    Figure 10 - Flowchart or Safety Curtain Video Diagram configured to consider
    20 in the analysis the PZ1, the PZ2 and the PZ3, prevent the functions of a machine when it redundantly detects the presence of an object that is ready to access its DZ or presence in the PZ3 and allow them after a latency time TO , after redundantly detecting the output of said object and the non-presence of objects in PZ3.
    25 Figures 11, 12 and 13 - Sequence of zenithal safety curtain video test images illustrating how a worker, who carries a static object in his left hand, accesses the OZ of a machine, leaving it on the floor of said zone the object that was transporting and performing activities on the machine for approximately 15 minutes before leaving said OZ and leaving the PZ. Subsequently, this worker
    30 returns to the OZ to remove the static object present on the floor of said OZ before leaving both this OZ and the PZ.
    Figure 14 - Zenith images captured simultaneously at a given time by five standard cameras (20) that form the SVA of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery,
    arranged in a direction parallel to the DZ access line of a machine. This Safety Curtain Video is used to detect the access of objects to the OZ of a machine that can only be accessed in both the normal and diagonal directions. The FOV of each of these standard cameras (20) is shown in Figures b-f.
    Detailed description of the invention
    The following describes in detail the characteristics of one of the embodiments of the
    invention, which refers to a Security Curtain Video for redundant detection and
    directional access to danger zone associated with industrial machinery comprising:
    - an SVA, formed by at least one standard camera (20), located overhead on an access zone associated with an access line to the OZ of a machine, so that the optical axis of said at least one standard camera (20) is perpendicular to the detection plane (generally the floor of said access zone).
    According to one aspect of the invention, this SVA is characterized by:
    - have a useful FOV that contains a Pl that is formed by:
    - a first protection zone in which presence detection is performed redundantly. This first protection zone is characterized by dividing in turn into two zones that have dimensions at least equal to the anthropometric measurements of a person, to detect their presence, redundantly, when they are ready to access or exit the OZ of a machine. These protection zones are:
    - protection zone 2 (PZ2) closest to the outer perimeter edge of the DZ of a machine associated with an access line to said zone.
    - protection zone 1 (PZ1) furthest from said OZ and surrounding PZ2.
    - and, optionally, a second protection zone contiguous with the PZ2, protection zone 3 (PZ3), where at least the zone contiguous to said zone of
    30 access, which includes the access line itself and the part of the OZ associated with it, which is part of its external perimeter edge.
    - be formed by a number of standard cameras (20) nn greater than or equal to one, obtained from the number of standard cameras (20) in the normal direction of the access line, nA, which must be greater than or equal to one e odd, so that the optical axis of the at least one standard camera (20) that visualizes the virtual transition line
    5 between the PZ1 and the PZ2 is in the vertical of said line, and of the number of standard cameras (20) in a direction parallel to said access line, n L, which by design must not necessarily be odd.
    - spatially arranged so that the optical axis of the at least one camera
    10 standard (20) that visualizes the virtual transition line between the PZ1 and the PZ2 is in the vertical of said line, so that the objects that access or leave the OZ of a machine, when passing through this line virtual transition, be seen by the at least one standard camera (20) without projective effect.
    15 -a normally closed asso, connected to the control system of a machine to allow or prevent its functions, as directed by the control unit of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery , with which it communicates bi-directionally.
    - a control unit, consisting of at least one processor, that processes
    20 individualized the visual information provided by each standard camera (20) that constitutes the SVA of the Security Curtain Video object of the invention, and manages the two-way communication with its asso. This control unit is characterized by:
    - be bidirectionally connected to each standard camera (20) that forms the SVA, by means of a suitable communication standard, preferably not wireless,
    25 that allows it to acquire in real time the visual information captured by said standard cameras (20). The number of standard cameras (20) nn that form said SVA must be less than or equal to the maximum number of standard cameras (20) that can be connected to this control unit to ensure presence detection and, therefore, prevention Active in real time.
    - include at least one storage unit, where it stores, for each standard camera (20) that forms the SVA, at least the spatial position on the PZ in which it is zenitially installed, its useful FOV, the zone (s) of the PZ (s) contained in said useful FOV, as well as any other data necessary to perform presence detection at
    From the visual information of your useful FOV.
    - load in your random access memory, when the Security Curtain Video starts
    5 for redundant and directional detection of access to the danger zone associated withindustrial machinery, the necessary data to perform presence detection fromof the useful FOV visual information of the at least one standard (2D) camera that formsthe SVA. In said random access memory they are also stored temporarily,among other data, at least the status of the OSSD and the result of the detection of
    10 presence carried out in PZ1, in PZ2 and in PZ3 if considered optionally.
    - Perform presence detection, based on the visual information captured by the at least one standard camera (20) that forms the SVA, on PZ1, on PZ2 and, optionally, on PZ3. This presence detection made from the monitoring of changes in the background pattern of the PZ, allows to determine when at least one object enters or leaves the OZ of a machine and manage the performance of the OSSO, which is connected to said control unit and the control system of a machine, and materializes the active prevention carried out by the
    20 Safety Curtain Video object of the invention.
    According to the presence detection result, this control unit is also characterized by: - knowing and managing the status of the OSSO connected to said control unit and to the
    25 machine control system.
    - prevent the functions of a machine preventively when starting the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery, indicating to the OSSO connected to said control unit that
    30 open
    - initially allow the functions of a machine, by closing the OS SO that is connected to the control system of said machine and to the control unit, after a latency time TO, at least the same as the minimum time it takes for a person to travel in a straight line the distance occupied by the PZ1-PZ2 in the normal direction to the access line, added to the distance to the machine from said access line, during which the non-presence of objects in the PZ1 has been verified, in the PZ2, and in PZ3 if optionally considered.
    - immediately prevent the functions of a machine, by opening the asso, when it redundantly detects that at least one object of area projected on the plane that contains the floor of the access area and that is displayed from the SVA, in forward, projected horizontally, greater than or equal to OAfmln is accessing its OZ. That is, when it detects at least one object whose horizontal projected area is greater than or equal to OA1mifl, first in PZ1 and then in PZ2.
    - keep the functions of a machine and, therefore, the open asso, while detecting the presence of at least one object of horizontal projected area greater than or equal to OA2mifl in PZ1 and / or PZ2, after disabling the functions of said machine, upon detecting at least one horizontally projected area object greater than or equal to OAfmifl, which is ready to access its OZ.
    - optionally, immediately prevent the functions of a machine, by opening the asso, when it detects the presence of at least one object of horizontal projected area greater than or equal to OAJmin in PZ3.
    - optionally, also keep the functions of a machine while detecting the presence of at least one object of horizontal projected area greater than or equal to OAJminen the PZ3, if considered in the PZ analysis.
    - allow the functions of a machine, by closing the asso, after a latency time TO, during which the non-existence of objects has been verified in PZ1, in PZ2, and in PZ3 if considered optionally, after having previously detected the access of at least one horizontally projected area object greater than or equal to DA1min to the OZ of said machine or, optionally, the presence of at least one horizontally projected area object greater than or equal to OAJmifl in PZ3.
    - optionally, also maintaining the functions of a machine while an object of horizontally projected area greater than or equal to OA1min, whose access to the DZ of a machine has been previously detected, does not leave said DZ.
    5 -and, optionally, allow the functions of a machine, by closing the OSSD, after a latency time ro, during which the non-existence of objects has been verified in PZ1, in PZ2, and in PZ3 if optionally, after having previously detected the access and exit of an object of horizontally projected area greater than or equal to OA1min at the DZ of said machine. Said control unit
    10 considers that an object of horizontally projected area greater than or equal to OA 1mjn has left the DZ of a machine when this object is detected first in PZ2 and then in PZ1.
    Optionally, the Security Curtain Video for redundant and directional detection of
    15 access to the danger zone associated with industrial machinery is characterized by: -including a control unit that detects the presence of objects of horizontal projected area greater than or equal to OA 1mjn and / or OA2mjn on the PZ1-PZ2 and, optionally, the presence of objects of projected area in horizontal greater than or equal to OA3mjn in PZ3, by monitoring changes in the background pattern of said PZ, which is
    20 monitored by an SVA formed by at least one standard camera (20), connected to said control unit. Optionally, this control unit is also characterized by: - optionally counting and optionally also saving in the at least one storage unit, the number of accesses and outputs of the OZ of a machine detected during a period of time TP.
    - optionally identify at least one object capable of accessing and / or leaving the OZ of a machine, from the recognition of the at least one fiducial, identifiable from the point of view of the SVA, which incorporates the at least one object to be identified . This optional fiducial-based identification allows for example to distinguish or classify
    30 objects that access or leave the OZ of a machine (for example, depending on its area) or count the number of accesses or exits of a certain object of said DZ.
    - communicate preferably bidirectionally with a visual and / or audible indicator
    which informs at least the instantaneous result of the presence detection carried out by the control unit in the different zones of the PZ, the status of the OSSO and, optionally, the number of accesses and outputs of the OZ of a detected machine.
    - include a visual and / or audible indicator preferably connected bi-directionally with the control unit. This visual and / or audible indicator is characterized at least by informing:
    - of the instantaneous result of the presence detection carried out by the control unit in the different zones of the PZ.
    - of the OS OS status connected to said control unit.
    - of the number of accesses and outputs of the OZ of a machine detected for a period of time greater than or equal to TP.
    - used to detect the access and exit of objects from the OZ of a machine that has a single access line through which to access said OZ.
    With reference to the figures, the elements comprising a
    20 Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, as well as, by way of illustration and not limitation, four preferred embodiments thereof.
    A Video Security Curtain for redundant and directional zone access detection
    25 of danger associated with industrial machinery 1, characterized by being used to detect the access and exit of objects from the OZ 70 of a machine 60, which may be partially protected by Fixed Guard 80 and / or walls 82 and has a single line of access 71 by which to access said OZ 70. This Safety Curtain Video 1 comprises, as illustrated in Figure 1:
    30 -a SVA 10, consisting of nn standard cameras (20) (101, 102, ..., 1 nn), preferably of identical characteristics, located overhead at a height H10 on an access area associated with an access line 71 to OZ 70 of a machine 60. This SVA 10 is characterized by:
    - own a useful FOV that contains a PZ 300, which is formed in turn, as
    schematically illustrated in Figures 2a, 2b, 3a and 3b, by: -a PZ1-PZ2 301-302 in which a control unit 20 performs presence detection redundantly, to detect when at least one person 90
    It is characterized by being divided into two zones: -PZ2 302, closer to the outer perimeter edge of the DZ 70 of a machine 60 associated with its access line 71.
    10 -PZ1 301, further away from said DZ 70 and surrounding the PZ2 302.
    Since the Safety Curtain Video object of the invention 1 is preferably designed to detect the presence of people 90 who are willing to access or exit the DZ 70 of a machine 60, the height of the PZ1 301 and the PZ2 15 302 must be at least equal to the height of the person 90 of the highest stature tabulated in ISO 15534-3 (95% percentile man), h 90. In addition, the width of PZ1 301, A301, and PZ2 302, AJ02, must also be greater than or equal to the maximum bideltoid width of the shoulders, A90, tabulated in said ISO 15534-3 standard, and that the maximum space traveled by a person 90, Smax, in time 20 used by the control unit 20 in synchronously capturing the visual information provided by each standard (2D) camera that forms the SVA 10 AND in processing said information. The Smax parameter is obtained from the approach speed to a machine 60 of a person 90 walking, Vmax, tabulated in ISO 13855, of the average time used by the unit of
    25 control 20 of the Security Curtain Video 1 in processing the visual information provided by the at least one standard camera (2D) that forms the SVA 10, tue, and the image capture frequency of said at least one standard camera ( 2D) which forms said SVA 10, fSVA, by:
    5max = Vmax (tue + f; VA)
    (one )
    In addition, they define:ALm; n = max (A90 • 5max) (2)

    = =
    A301 A302 k. To Lmin (3)
    where k is a factor greater than or equal to one.
    Similarly, the length of the PZ1 301, L 301, Y of the PZ2 302, L 302 is defined, which are at least equal to the length of the access line 71, L71, which in turn is at least equal that ALmin, as established by ISO 15534-1, to allow access of at least one person 90 through said access line 71. These lengths
    10 are obtained by:
    (4 )
    (5)
    where it does not indicate the number of ends of the access line 71 (zero, one, two) by which said DZ 70 can be accessed diagonally.
    This is not null if, as illustrated in Figure 2a, by the ends of the line of
    20 access 71 can only access the DZ 70 of a machine 60 in the normal direction to said access line 71, either because said machine 60 is in an environment delimited by Fixed Guard 80 and / or walls 82 that prevent diagonal access to the DZ 70 at said ends, or because at least one Fixed Guard 80 is installed during the installation of the Safety Curtain Video 1 object of the invention
    25, at the one end of the access line 71 whereby diagonal access to the DZ 70 is allowed, to avoid this type of access. In these cases where it is not zero, the length of PZ1 301, L 301, Y of PZ2 302, L 302, according to equations (4) and (5), are equal to the length of the access line 71, L71, which in turn is at least the same as ALmin.
    In all other cases, it does not count the number of ends of the access line 71 to the DZ 70 of a machine 60 by which it is possible to access diagonally with respect to said access line 71 (Figures 2b, 3a and 3b). In these cases the lengths of PZ1 301, b Ol, Y of PZ2 302, L302, are longer than L71, since Safety Curtain Video 1 must redundantly detect any object of horizontally projected area greater than or equal to OA lmin 304 that is ready to access or exit the OZ 70 of said machine 60, regardless of the region of the PZ1-PZ2 301-302 through which said OZ 70 accesses or leaves.
    Figures 2b and 3a also illustrate how the Fixed Guard 80 that can be optionally installed for the correct operation of the proposed Safety Curtain Video 1, can be arranged so as to restrict the possible diagonal accesses to the OZ 70 of the machine 60 when the access line 71 forms a right angle with the at least one Fixed Guard 80 adjacent to said access line 71. In this way, the diagonal access is similar to that associated with an access line 71 that is aligned with adjacent Fixed Guard 80 (see Figure 3b).
    - and optionally, a PZ3 303, adjacent to PZ2 302, where at least the area adjacent to the access area contained in PZ 300 is displayed, which includes the access line 71 itself and the part of the DZ 70 associated with the same, which is part of its outer perimeter edge. That is, a PZ3 303, whose length, L303, is equal to the length of the access line 71, L71, and whose maximum width is given by:
    . ((FOV ~))
    A303 = mtn h90 'tan 2' Ayo
    (6)
    where FOVdAo is the angular FOV of each of the cameras that form the SVA 10, in the chosen direction, horizontal or vertical, in the normal direction to the access line 71 to the DZ 70 of a machine 60.
    - be formed by a number of standard cameras (20) nn (101, 102, ..., 1nn) greater than or equal to one, obtained as the product of the number of standard cameras (20) in the normal direction of the access line 71 , nA, which must be greater than or equal to one and odd, so that the optical axis of at least one standard camera (20) is vertical of the virtual transition line between PZ1 301 and PZ2 302, and of the number of standard cameras (20) in the direction parallel to said access line 71, nL, which by design must not necessarily be odd.
    The number of standard cameras (20) in the normal direction to access line 71, nA, andnumber of standard cameras (20) in the direction parallel to said access line 71, nL,are obtained from the parameters of the standard cameras (20) that will form the5 SVA 10, of the maximum height at which said SVA 10 can be spatially arrangedon the detection plane according to the restrictions of the environment, Hmax, and thedimensions and configuration of the region of said PZ 300 used to detect fromredundant the presence of at least one object that is ready to access the OZ70 of a machine 60: height, h90, (height of the 90 person of the highest tabulated height
    In ISO 15534-3), length, L 3DO equal to L 301, and width, A301-302, given by:
    A 301 -302 = A 301 + A 302 (7)
    The FOV of the at least one standard camera (20) that will form the SVA 10 must allow
    15 detect at least once in each of the two halves into which the optical axis of said at least one standard camera (20) divides said FOV, the object of minimum projected horizontal area more unfavorable, that is, the OA1min 304 for the person of greatest height tabulated in ISO 15534-3. From L 3DO, from A301-302 and from said FOV the minimum heights to which a single camera should be arranged are determined
    20 standard (20) in normal direction, fiA min, and in parallel direction, HLmin, to access line 71, to fully visualize the area of PZ 300 used to detect access to OZ 70 of a machine 60, is say the PZ1-PZ2 301-302. These heights are obtained from the following equations:
    HL L300
    h. cabbage (F02V ~ L)
    min =
    90 +2
    25 (8)
    HA _ h A 301 -302
    min -90 + 2
    (9)
    where FOVOdL and FOvodA are the angular FOVs of the standard camera (20) 101 in the
    30 chosen direction, horizontal or vertical, in the parallel direction (of) and in the normal direction (dA), to the access line 71 to the OZ 70 of a machine 60.

    If, regardless of the orientation chosen, it is verified that fiL min is less than or equal to Hmax, then a single standard camera (20) can fully visualize the PZ 300 in a direction parallel to the access line 71, that is, nL is the same to one If HLmin is greater than Hmax, nL is greater than one, since more than one standard camera (20) is needed to fully visualize L 300. Similarly, if I-fAm1n is less than or equal to Hmax, nA is equal to one and, if this relationship is not verified, nA is greater than one, that is, more than one standard camera (20) is needed to display A 30 / -30z.
    Depending on the value of nL and nA, whose product determines the total number of standard cameras (20) nn that form the SVA 10, the spatial arrangement of said SVA 10 on the 300 pcs is one of the following four spatial arrangements:
    - In a first spatial arrangement, both nL and nA are equal to one, that is, a single standard camera (20) 101 displays the PZ 300. This standard camera (20) 101, whose FOV useful in both normal and parallel directions The access line 71 contains exclusively the PZ 300, spatially arranged, as illustrated in Figure 4a, at a height H10 greater than or equal to the maximum of HLmin and HAmin and less than or equal to Hmax on the detection plane of so that its optical axis is in the vertical of the virtual transition line between PZ1 301 and PZ2 302.
    In accordance with the design criteria of the Safety Curtain Video 1 object of the invention, this first spatial arrangement is applicable when access to the OZ 70 of a machine 60 through the ends of the access line 71 to said OZ 70 only It occurs in the normal direction. In this case, said standard camera (20) 101 is arranged so that its optical axis is vertical of the midpoint of the virtual transition line between PZ1 301 and PZ2 302. This first spatial arrangement is also applicable when diagonal access is allowed at one end of the access line 71 to OZ 70 of a machine 60, PZ 300 is not formed by PZ3 303 (in this case the SVA 10 must be installed in accordance with the second spatial arrangement ), and a single standard camera (2D) 101 fully visualizes said PZ 300. In this case, said standard camera (20) 101 is spatially arranged so that its optical axis is in the vertical corner of the virtual transition line existing between PZ1 301 and PZ2 302.

    - In a second spatial arrangement of SVA 10, nA is equal to one, but nL is greater than one, so nn is equal to nL. These nL standard cameras (2D) are arranged at a height greater than or equal to HAmin and less than or equal to Hmax above the detection plane, so that the optical axis of each standard camera (2D) is in the vertical of the virtual line of transition between the PZ1 301 and the PZ2 302. In this spatial arrangement, as illustrated in Figure 5a, the adjacent standard (2D) FOVs of cameras must overlap at a height greater than or equal to h9Q, in order to ensure the display of a person 90 located within the PZ 300 from the point of view of the SVA 10, regardless of their position in said area. The FOV useful in the normal direction to the access line 71 is the same for all standard cameras (2D) that form the SVA 10 and allows the display of A301-J02 at h90 height. The FOV useful in a direction parallel to the access line 71 of each of the standard cameras (20) that form the SVA 10 is preferably equal to its maximum FOV, which also allows redundant presence detection in the regions of the PZ 300 that are simultaneously displayed by adjacent standard (2D) cameras (see Figure 5a).
    According to the design criteria of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, this second spatial arrangement of the SVA 10 is applicable whether the access to the OZ 70 of a machine 60 by The ends of the access line 71 to said DZ 70 are allowed only in the normal direction or also in the diagonal direction. However, if diagonal access to the DZ 70 is allowed by at least one end of the access line 71, at each corner of the virtual transition line between PZ1 301 and PZ2 302 one of the cameras must be provided standard (20) forming the SVA 10, so that the optical axis of said at least one standard camera (20) is vertical of said virtual transition line. In addition, if the PZ 300 is also formed by the PZ3 303, the spatial arrangement of the nL -no standard cameras (20) remaining of the SVA 10 should allow the PZ3 303 to be fully visualized.
    - In a third spatial arrangement of SVA 10, nL is equal to one, but nA is greater than one and odd (and equal to nn), generally equal to three, as illustrated in Figure 5b, so that the optical axis of the central standard camera (2D) of said group of nA standard cameras (2D) is located in the vertical of the virtual transition line between the PZ1 301 and the PZ2 302. This spatial arrangement allows said standard camera (20) to visualize objects that pass through the virtual transition line without

    projective effect As shown in Figures 5b and 6, the nA standard (2D) cameras that form the SVA 10 are arranged at a height HIO greater than or equal to H Lmif! and less
    or equal to Hmax on the PZ 300 in the normal direction to the access line 71, so that the adjacent standard camera FOVs (20) overlap at a height greater than or equal to hgo, as in the second spatial arrangement, in order to guarantee the visualization of a person 90 located within the PZ 300 from the point of view of the SVA 10, regardless of their position in said area. The combined useful FOV of the nA standard cameras (20) that form the SVA 10 exclusively contains the PZ 300. However, while the FOV useful in the direction parallel to the access line 71 is the same for all the nA standard cameras (20 ) and allows L300 to be displayed together at h90, the FOV useful in the normal direction to the access line 71 depends on the spatial position on the PZ 300 in which said standard chamber (20) is installed and is generally different for each of them. The FOVs useful in the normal direction to the access line 71 of said nA standard cameras (20) overlap as well as the maximum FOVs of said standard cameras (20) at a height greater than or equal to h90 (see Figure 5b), with in order to guarantee the visualization of a person 90 located within the PZ 300 from the point of view of the SVA 10, regardless of their position in said area. The FOV useful in the normal direction to the access line 71 of the central standard chamber (20) of the group of nA standard cameras (20) is preferably equal to its maximum FOV in said direction. However, if the standard cameras (20) adjacent to said central standard camera (20) simultaneously display the PZ1 301 and the PZ2 302, their FOV useful in the normal direction to the access line 71 is less than its maximum FOV in said direction , since said standard cameras (20) must exclusively display either the PZ1 301 or the PZ2 302 and, optionally, the PZ3 303, to prevent objects passing through the virtual transition line between the PZ1 301 and the PZ2 302 be seen by at least one standard camera (20) with projective effect. However, if as illustrated in Figure 6, the standard cameras (20) adjacent to the central standard camera (20) of the group of n standard cameras (20) display only the PZ1 301 or the PZ2 302 and, optionally, the PZ3 303, the useful FOV of said cameras in the normal direction to the access line 71 may be equal to their maximum FOV.
    This third spatial arrangement is only applicable when, regardless of the fact that the PZ 300 is also formed by the PZ3 303, access to the DZ 70 of a machine 60 by the ends of the access line 71 is only allowed in the normal direction of said line. The optical axis of the standard camera (20) central group of nA standard cameras

    (20) is located vertically from the midpoint of the virtual transition line between PZ1 301 and PZ2 302. The remaining standard cameras (2D) of the SVA 10 are aligned with said standard camera (20) in the normal direction of access line 71 with the considerations set forth above.
    - In a fourth spatial arrangement of SVA 10, both nL and nA are greater than one, since H-mjo and HAmjo are greater than Hmax. However, in this spatial arrangement of SVA 10 nA it is also odd and generally equal to three. These nn standard cameras
    (twenty) they are arranged at a height H10 less than or equal to Hmax and less than H-mio and J-lA mjn on the detection plane, so that the line in which the FOVs of standard cameras (20) intersect both in the direction intersect normal as in the direction parallel to the access line 71 is greater than or equal to h 90, in order to ensure the display of a person 90 located within the PZ 300 from the point of view of the SVA 10, regardless of its position in said area. Each group of nL standard cameras
    (twenty) It is arranged in a direction parallel to the access line 71 on the PZ 300 as indicated in the second spatial arrangement of the SVA 10. Or similarly, each group of nA standard cameras (20) is arranged in a normal direction to the access line 71 taking into account the provisions of the third spatial arrangement of the SVA 10. The useful FOV of said standard cameras (20) is also determined in accordance with the provisions of the second and third spatial arrangements of the SVA 10.
    This fourth spatial arrangement is applicable for any value of no (zero, one or two). However, if at least one end of the access line 71 associated with the OZ 70 of a machine 60 is allowed diagonal access, in addition to determining the number of standard cameras (20) necessary to detect redundantly when the unless an object is ready to access or leaves the OZ 70 considering that access to said OZ 70 through the ends of the access line 71 only occurs in the normal direction, the standard cameras (20) necessary to visualize the at least one region of the existing virtual transition line between PZ1 301 and PZ2 302 associated with at least one end of access line 71 where diagonal access to OZ 70 is allowed. The spatial arrangement of these nn Standard cameras (20) must allow full visualization of the PZ 300 And must ensure that objects that access or leave the OZ 70 of a machine 60 are displayed without projective effect when passing through the virtual transition line e existing between PZ1 301 and PZ2 302.
    - a control unit 20, formed by at least one processor, which processes
    individualized visual information provided by each standard camera (20) that
    constitutes the SVA 10 of the Safety Curtain Video 1 object of the invention, and manages the
    bidirectional communication with an OSSO 30. This control unit 20 is characterized by: - being connected bi-directionally with each standard camera (20) that forms the SVA 10, by means of a suitable communication standard, preferably not wireless, that allows it to acquire in real time the visual information captured by these standard cameras (2D). The number of standard cameras (2D) nn that form said SVA 10 must be less than or equal to the maximum number of standard cameras (20) that can be connected to this control unit 20 to ensure presence detection and, therefore, Active prevention in real time.
    - include at least one storage unit 21, where it stores, for each standard camera (20) that forms the SVA 10, at least the spatial position on the PZ 300 in which it is installed overhead, as well as any other data necessary to perform detection of presence from the visual information of your useful FOV. These data are, for each standard camera (20), at least:
    - a reference image of your useful FOV, IREF, without the presence of static or moving objects, on which to perform presence detection from the monitoring of changes in the background pattern.
    - at least one variable that classifies each pixel of the image obtained by the image sensor of said standard camera (20), if said pixel belongs or not to its useful FOV, and where appropriate to which area of the PZ 300 is associated.
    - the area projected horizontally, adapted to the resolution in pxlmm2 of said standard camera (20), of the smallest object considered in the presence detection performed in the control unit 20 from the visual information captured by said standard camera ( 20) on PZ1 301 and / or on PZ2 302, ONmin 304 and OA2m1n 305, and, optionally, on PZ3 303, OA3min 306. Both OA2min 305 and OA3min 306 are less than or equal to OA / min 304.
    - one or more thresholds of minimum difference, th, which may be different for each region of the PZ 300 contained in its useful FOV and / or for each pixel of said useful FOV.
    These thresholds allow to detect the presence of objects of projected area in horizontal greater than or equal to OA1min 304 or OA2min 305 in PZ1 301 and / or in PZ2 302 and, optionally, the presence of objects of projected area in horizontal greater than or equal to OA3min 306 on PZ3 303 of the current image of its useful FOV, "by monitoring changes in the background pattern of said image, with respect to the same pattern of the reference image, IREF, of said standard camera (2D) .
    - load in your random access memory, at the beginning of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, the necessary data to perform presence detection based on the useful FOV visual information of the at least one standard camera (2D) that forms the SVA 10. These data are stored in the at least one storage unit 21. In said random access memory, the variables involved in the decisions to be taken are also temporarily stored by control unit 20 during operation. These variables, which are initialized together with the proposed Safety Curtain Video 1, are at least:
    - presence of objects of horizontal projected area greater than or equal to OA lmin 304
    in PZ1 301 in the at least one current image, 1, captured by SVA 10, -presence of objects of projected area in horizontal greater than or equal to OA2min 305 in PZ1 301 in the at least one current image, "captured by the SVA 10,
    - presence of objects of horizontal projected area greater than or equal to OA1min 304
    in the PZ2 302 in the at least one current image, "captured by the SVA 10, -presence of objects of horizontal projected area greater than or equal to OA2min 305 in the PZ2 302 in the at least one current image," captured by the SVA 10,
    - presence of objects of horizontal projected area greater than or equal to OA1min 304
    on PZ1 301 in the at least one image prior to, IANT, captured by SVA 10, -presence of objects of projected area in horizontal greater than or equal to OA2min 305 in PZ1 301 in at least one image before, IANT , captured by SVA 10,
    - presence of objects of horizontal projected area greater than or equal to OA 1min 304
    in the PZ2 302 in the at least one image prior to, IANT • captured by the SVA 10, -presence of objects of projected area in horizontal greater than or equal to OA2min 305 in the PZ2 302 in the at least one image before, IANT . captured by SVA 10,

    - and if the PZ3 303 is optionally considered, presence of area objects
    projected horizontally greater than or equal to OA3min 306 in said PZ3 303 in the al
    minus a current image, 1, captured by SVA 10, and
    - OSSD status 30 connected to the control unit 20 and the control system of
    a machine 60.
    All these variables, except the last one that depends on the state of OSSD 30 itself, are initialized to OFF.
    - perform presence detection from the visual information captured by the at least one standard camera (20) that forms the SVA 10, in the PZ1 301, in the PZ2 302 and, optionally, in the PZ3 303. This presence detection is preferably performed by the background subtraction technique that obtains a difference image, ID, as a result of the difference in absolute value of a current image, "and of a reference image, IREF. The presence of at least one object is detected in said image if at least one group of pixels that exceed at least a minimum threshold of differences, th, has a projected horizontal area greater than or equal to a preset value, said at least one threshold th represents the minimum difference that should exist between the visual information of the pixels of I and those of IREF that occupy the same position, to consider that in said pixels there is a change with respect to the background pattern.The control unit 20 applies this technique ica to the visual information captured by each standard camera (2D) that forms the SVA 10. This control unit 20 determines that at least one object is ready to access the DZ 70 of a machine 60 if it detects in at least one resulting image , ID, a group of pixels that exceed at least a threshold of minimum differences, th, of horizontal projected area greater than or equal to OA1min 304 in PZ1 301, and in at least one resulting image, ID, consecutive in time to the at least one previous ID image, a group of pixels that exceed at least a minimum threshold of differences, th, of horizontal projected area greater than or equal to OAlmin 304 in PZ2 302. Similarly, this control unit 20 determines that at least one object has left the DZ 70 of a machine 60 if it detects the presence of a group of pixels that exceed at least a threshold of minimum differences, th, of horizontal projected area greater than or equal to OA 1min 304 in the PZ2 302, and in at least one imag consequently, ID, consecutive in time to the at least one previous ID image, a group of pixels that exceed at least a threshold of minimum differences, th, of horizontal projected area greater than or equal to OA 1min 304 in PZ1

    301 Said control unit 20 detects the presence of at least one object if in at least one resulting image, ID, detects a group of pixels that exceed at least a threshold of minimum differences, th, of horizontal projected area greater than or equal to OA2min 305 for pixels assigned to PZ1 301 and / or PZ2 302, or greater than or equal to OA3min 306 for pixels assigned to PZ3 303, if optionally considered.
    The areas of the PZ 300 to which the objects detected in / D belong are obtained by relating said image to the at least one variable that identifies the different PZs into which its useful FOV is divided, PZ1 301, PZ2 302 and, optionally, PZ3 303.
    Optionally, this presence detection can: - Require a previous filtering of the images' and IREF, in order to eliminate the possible noise associated with said images. However, this filtering can be substituted by adjusting the at least one minimum difference threshold, th, so that in addition to detecting the presence of objects of projected area in horizontal greater than or equal to OAfmin 304 U OA2min 305 on PZ1 301 and / or in the PZ2 302 or that OA3min 306 in the PZ3 303, rejects said noise, thus avoiding false presence detections.
    - Consider in the accounting of the area of the objects detected in ID the possible assembly defects of the standard camera (2D), for example, when said standard camera (2D) is not arranged zenith perpendicular to the ground, defects of the ground itself, so as the possible distortions of the lens associated to the at least one standard camera (2D) that has captured them, since these cause variation in the counted area. To avoid this variation, the effects of these distortions and / or defects of both the current image, /, and the reference image, IREF, can be corrected before performing background subtraction. However, this correction can entail a high computational cost to the control unit 20, which can reduce the number of standard cameras (2D) that can be connected to said control unit 20, ensuring active prevention in real time. Alternatively, the projected area of the detected objects can be properly accounted for without correcting said distortions, taking into account the area occupied by each object pixel detected in the captured image, in the distorted version of the same, since this relationship remains constant in he
    time as long as the spatial arrangement of standard cameras is not modified
    (2D) with each other and with respect to the environment.
    - Periodically update the reference image, IREF, of each standard camera (20) that forms the SVA 10 of the Security Curtain Video 1 object of the invention, for example by a combination of its previous IREF and m consecutive images in those with no presence detected (m-1 previous images, IANT, and the current image, 1). This update is carried out in order to
    that the presence detection performed by the control unit 20 from the visual information captured by each standard camera (2D) that forms the SVA 10, be as robust as possible against the possible lighting changes occurred in the useful FOV of said standard cameras (20).
    The presence detection redundant and divided into at least two zones, PZ1 301 and PZ2 302, allows to determine the access or exit of objects of the OZ 70 of a machine 60 and manage the performance of the OS SO 30 that is connected to said unit control 20 and
    it materializes the active prevention carried out by the Safety Curtain Video 1 object of the invention.
    According to the result of this presence detection, this control unit 20 is also characterized by:
    - knowing and managing the status of OSSO 30 connected to said control unit 20 and the
    control system of a machine 60.
    - prevent the functions of a machine 60 in a preventive way when starting the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, indicating to OSSO 30 connected to said unit of
    control 20 to open.
    - initially allow the functions of a machine 60, by closing the OSSD 30 that is connected to its control system and to said control unit 20, after a latency time TO, at least equal to the minimum time it takes for a person 90 to travel in a straight line the distance occupied by the PZ1-PZ2 301-302 in the normal direction to the access line 71, added to the distance to the machine 60 from said access line 71, during which the non-presence of objects in the
    PZ1 301, on PZ2 302, and on PZ3 303 if optionally considered. This TO latency time is given by:
    5 (10)
    - immediately prevent the functions of a machine 60, by opening the OSSO 30, when it redundantly detects that at least one horizontally projected area object greater than or equal to OA 'min 304 is accessing its OZ 70. This
    lOes, when it detects at least one object of horizontal projected area greater than or equal to the horizontal projected area of the part of the human body considered in the detection, whose dimensions are tabulated in ISO 15534-3, first in PZ1 301 and then on PZ2 302.
    15 - keep the functions of a machine 60 and, therefore, the OSSO 30 open, impeded,
    while detecting the presence of at least one horizontally projected area object greater than or equal to OA2min 305, on PZ1 301 and / or on PZ2 302, after disabling
    functions of said machine 60, by detecting at least one horizontally projected area object greater than or equal to OAlmin 304, which is ready to access its OZ 70.
    - optionally, immediately prevent the functions of a machine 60, by opening the OSSO 30, when it detects the presence of at least one object of horizontally projected area greater than or equal to OAJmin 306 on PZ3 303.
    25 -Optionally, also keep the functions of a machine 60 hindered while detecting the presence of at least one horizontally projected area object greater than or equal to OAJmin 306 on PZ3 303, if considered in the analysis of PZ 300.
    - allow the functions of a machine 60, by closing the OSSD 30, after
    30 a latency time TO, during which the non-existence of objects has been verified in PZ1 301 and in PZ2 302, and in PZ3 303 if considered optionally, after detecting the access of at least one object of projected area horizontally greater than or equal to OA 'min 304 to OZ 70 of said machine 60 or, optionally, the presence of at

    minus one horizontally projected area object greater than or equal to OA3min 306 in the
    PZ3303.
    - optionally, also to keep the functions of a machine 60 from being impeded while an object with a horizontal projected area greater than or equal to OA lmin 304, whose access to the DZ 70 of a machine 60 has been previously detected, does not leave said DZ 70.
    - and, optionally, allow the functions of a machine 60, by closing the OSSD 30, after a latency time TO, during which the non-existence of objects has been verified in PZ1 301, in PZ2 302, and in the PZ3 303 if optionally considered, after having previously detected the access and exit of an object of horizontally projected area greater than or equal to OA lmin 304 to DZ 70 of said machine
    60. Said control unit 20 considers that an object of horizontally projected area greater than or equal to OAfmin 304 has left the DZ 70 of a machine 60 when this object is first detected in PZ2 302 and then in PZl 301.
    Optionally, the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1 is characterized by:
    - include a control unit 20 that detects the presence of objects of projected area horizontally greater than or equal to OAfmin 304 U OA2m1n 305 on PZ1-PZ2 301-302 and,
    optionally, the presence of objects of horizontal projected area greater than or equal to OA3min 306 in PZ3 303, by monitoring the changes in the background pattern of said PZ 300 that is monitored by an SVA 10, formed by at least a standard camera (20), connected to said control unit 20. Optionally, this control unit 20 is also characterized by:
    - Optionally count and optionally also store in the at least one storage unit 21, the number of accesses and outputs of the DZ 70 of a machine 60 detected during a period of time TP.
    - optionally identify at least one object capable of accessing and / or leaving the DZ 70 of a machine 60, from the recognition of the at least one fiducial, identifiable, from the point of view of the SVA 10, which incorporates the at least one object that you want to identify. This optional fiducial-based identification allows for example to distinguish or classify objects that access or leave the DZ 70 of a machine 60 (for example
    depending on its area) or count the number of accesses or exits of a certain object of said DZ 70.
    - communicate preferably bidirectionally with a visual indicator 50 and / or sound 52 that informs at least the instantaneous result of the presence detection carried out by the control unit 20 in the different zones of the PZ 300, of the OSSD status 30 and, optionally, the number of accesses and outputs of the DZ 70 of a machine 60 detected.
    - include a visual indicator 50 and / or sound 52 preferably preferably bidirectionally connected with the control unit 20. This visual indicator 50 and / or sound 52 is characterized at least by informing:
    - of the instantaneous result of the presence detection carried out by the control unit 20 in the different zones of the PZ 300.
    - of the status of OSSD 30 connected to said control unit 20.
    - of the number of accesses and outputs of the DZ 70 of a machine 60 detected during a period of time TP.
    Four preferred embodiments of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1 for different configurations of its control unit 20 are described below, for illustrative and non-limiting purposes. states associated with the different configurations of this control unit 20, used in these preferred embodiments, are illustrated in Figures 7-10.
    To demonstrate the correct functionality of these state machines, a temporal sequence of zenithal images of a work environment is used where a generic machine 60 is located, whose DZ 70, of dimensions conforming to ISO 13855 and ISO 13857, is delimited by Fixed Guard 80 minus an access line 71 (Figures 11, 12 and 13). Said access line 71, of length L71 = 1600 mm, has an associated PZ 300 where a Security Curtain Video for detection is carried out.
    30 lOn said temporal sequence of zenith images only the left part is illustrated

    redundant and directional access to the danger zone associated with industrial machinery 1. In the definition of the different zones that form the PZ 300, it has been considered that access to the DZ 70, of width A70 = 1040 mm, can occur both in the direction normal as in a diagonal direction to said access line 71. In this temporal sequence of zenith images illustrated in Figures 11, 12 and 13, A 301 AND 302, which are obtained from equation (3) for k = 1, they measure both 538 mm, L 302 and L301, determined from the
    Equations (4) and (5) for nD = 2, 2676 mm and 3752 mm, correspondingly and, A 303 and L303, 347 mm and 1600 mm, respectively.
    of said environment, where the access line 71 to the DZ 70 is located. Hereinafter referred to as static object 400 is any object that cannot move itself from a position, so it must be moved by the action of an object dynamic. A dynamic object is any object that, although it can instantly remain fixed in a position, is capable of moving by itself. According to this definition, both a forklift and a person are dynamic objects.
    In this temporal sequence of zenithal images, a worker 90, who carries a static object 400 in his left hand, accesses through the PZ1 301 and the PZ2 302 of the Safety Curtain Video 1 object of the invention to the DZ 70 of a machine 60 (Figures 11 ad), which until now was risk free. Worker 90 leaves the static object 400 he was carrying on the floor of DZ 70 (Figures 11e-f) and performs activities on machine 60 for fifteen minutes (Figures 12a and 12b). After this time, this worker 90 leaves the DZ 70 through the PZ 300, leaving the static object 400 (Figures 12c-e) forgotten on the floor of the DZ 70. Subsequently, this worker 90 returns to the DZ 70 to remove said static object 400 (Figures 12f and 13a-c) and immediately afterwards leaves both this DZ 70 and the PZ 300 (Figures 13d-f).
    The environment of this temporal sequence of zenithal images, and in general, any environment in which the Safety Curtain Video is applicable for redundant and directional detection of access to the danger zone associated with industrial machinery 1, is associated, in order of occurrence and severity of the injuries produced, at least the occupational risks of: entrapment or amputation (RL 1), collision or collision with a motionless object (RL2), crushing on or against a moving object (RL3), and projectiles, fluids and
    fumes (RL4). These are the risks that are intended to be avoided or at least mitigated in such environments with the use of the Safety Curtain Video 1 object of the invention.
    Without loss of generality, in the preferred embodiments described below it is considered that the SVA 10 is formed by two or more standard cameras (20) arranged so that the optical axis of at least one of them is in the vertical of each of the regions into which the existing virtual transition line is divided between PZl 301 and PZ2 302. Taking this generality into account, in the temporal sequence of zenith images illustrated in Figures 11, 12 and 13, PZ 300 is considered , which is formed by PZl 301, by PZ2 302 and, optionally, by PZ3 303, represents the combined useful FOV of the SVA 10. Figure 14 shows the FOV of each of the five standard cameras (20) , arranged in a direction parallel to the access line 71 to the OZ 70 of a machine 60, which form the SVA 10, in order to illustrate that when said SVA 10 is multi-camera, it is possible that more than one standard camera (20) visualize the same object of simultaneously, the presence of this object being detectable in each of the images obtained from said standard cameras (20). In said Figure 14, the standard cameras (2D) 102, 103 and 104 allow detecting the presence of worker 90 in the PZ2
    302
    In a first preferred embodiment of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, the PZ 300 analyzed by the control unit 20 is formed by the PZ1 301 and the PZ2 302. In this preferred embodiment, said control unit 20 is configured to prevent the functions of a machine 60 when it redundantly detects the presence of an object that is ready to access the OZ 70 of said machine 60 and allow them after a latency time TO, after stopping to detect presence in the PZ1-PZ2 301-302.
    Figure 7 illustrates the state machine representing the operation of the control unit 20 according to the design specifications of this first preferred embodiment. Each state of this state machine has one or more actions associated with the control unit 20 of the Safety Curtain Video 1 object of the invention. The function of state 201 is to prevent preventively the functions of the machine 60 by opening the OS SO 30, when starting the Safety Curtain Video 1, until ensuring that the PZ1-PZ2 301-302, associated with the access line 71 to OZ 70 of

    said machine 60, is safe by lacking visible obstacles from the SVA 10. The states 202 and 204 perform presence detection in the PZ1-PZ2 301-302 from the background subtraction carried out using the current image, 1, the reference image, IREF, the minimum areas projected horizontally, DA 1min 304 and DA2min 305, and at least one threshold of differences, th. If the result of the detection is the absence of objects in the PZ 300 formed by the PZ1 301 and the PZ2 302, for a time at least equal to ro, the control unit 20 allows the functions of the machine 60 by closing from OSSO 30 (state 203). On the other hand, if as a result of the detection carried out in state 204, an object of horizontal projected area greater than or equal to OA / mln 304 is detected, which is ready to access OZ 70 of machine 60 (first it has been detected in PZ1 301 and later, in PZ2 302), the control unit 20 tells OSSO 30 to impede the functions of the machine 60 immediately, by opening, action carried out in state 205.
    Depending on the behavior of this state machine, the control unit 20 of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1 allows the functions of a machine 60 when verifying that there is no object in the PZ 300 associated with the access line 71 to the OZ 70 of said machine 60, and prevents them when it detects a dynamic object of horizontal projected area greater than or equal to OAfmin 304 that is disposed to access said OZ 70. The temporal sequence of zenithal images of Figures 11, 12 and 13 allows to illustrate the operation of the Safety Curtain Video 1 object of the invention according to this first preferred embodiment. In this preferred and subsequent embodiments, the latency time ro is considered to be equal to the minimum latency time established in equation (10), that DA / min 304 is equal to the horizontal projected area of the head of the person of smaller stature tabulated in ISO 15534-3 (5% percentile woman) and that DA2min 305 and OAJmin 306 are equal to the horizontal projected area of half a foot of the person of shorter stature tabulated in said ISO 15534-3 standard.
    At the beginning of the temporal sequence of zenithal images (Figure 11 a), the control unit 20 of the proposed Safety Curtain Video 1 prevents the functions of the machine 60 preventively by opening its OSSD 30 (state 201). Then, it performs presence detection on the PZ1-PZ2 301-302 through state 202, to check if these areas are safe. Once the non-presence of objects in said PZ1-PZ2 301-302 has been verified for a time at least equal to ro, it allows the functions of the machine 60

    by closing the aSSD 30 (state 203). The control unit 20 continues the analysis in state 204, in charge of detecting presence in PZ1-PZ2 301-302, as well as state 202. The presence detection performed by this state 204 in PZ 300, formed by the PZ1 301 and by PZ2 302, allows to detect a worker 90 carrying a static object 400 in his left hand on PZ1 301 in Figure 11 b. This presence is associated with the risks RL1, RL3 and RL4. However, as the probability that said worker 90 suffers a work accident due to these risks is practically null, given the distance of said worker 90 from the DZ 70 of the machine 60, the control unit 20, instead of preventing the functions of said machine 60, as any of the patented and / or standardized VBPDs related to the present invention would do, is prepared to disable them when it verifies redundantly that said worker 90 is ready to access the DZ 70 of machine 60, that is, when it reaches PZ2 302. In this way, the functions of the machine 60 are stopped before said worker 90 reaches the DZ 70, an area where the probability of an accident at work due to the aforementioned RL1 risks occurs, RL3 AND RL4 is much higher.
    The control unit 20 of the proposed Safety Curtain Video 1 detects worker 90 at PZ2 302 in Figure 11c. As a consequence, since it has detected the presence of said worker 90 in a redundant way, first in PZ1 301 and then in PZ2 302, it opens asso 30 (state 205), which implies the immediate disabling of machine functions 60 to prevent the risks RL 1, RL3 and RL4 from materializing. The control unit 20 of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1 keeps the functions of said machine 60 hindered until a latency time at least equal to ro elapses without detecting the presence of a horizontally projected area object greater than or equal to OA2min 305 on PZ1-PZ2 301-302 (state 202, Figure 11d). After said latency time, the functions of the machine 60 are allowed by closing the aSSD 30 (state 203, Figure 11e), although the worker 90 remains in the DZ 70. As a consequence, as when any other VBPO is used Zenith installed to detect presence in the access area considered in this sequence, this worker 90 may suffer a work accident due to the risks RL 1, RL3 and RL4, and the risk RL2 associated with the presence of static object 400 present in the floor of the DZ 70 while remaining in said DZ (state 204, Figures 11f and 12a-c).

    The worker 90 ceases to be exposed to risk once he leaves the DZ 70. However, the risk RL2 associated with the static object 400 prevails, a risk that in these circumstances can cause damage mainly to the machine 60 (state 204, Figures 12e and 12f ), but which could also cause damage to at least one worker 90 in subsequent accesses to the DZ 70 of said machine 60, if said worker collides with the static object 400. The control unit 20 again prevents the functions of the machine 60 in Figure 13a when it detects a new access of said worker 90 to the DZ 70 of the machine 60, and does not allow them again until Figure 13e, at which time the environment is again risk-free since, although in Figures 13b and 13c do not detect presence in PZ1-PZ2 301302, said worker 90 leaves DZ 70 before exceeding the latency time TO.
    As indicated for the temporal sequence of zenithal images illustrated in Figures 11, 12 and 13, in accordance with the first preferred embodiment of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, said Safety Curtain Video 1 completely eliminates the risks RL1, RL2, RL3 and RL4 since it redundantly detects the presence of a worker 90 in the PZ1-PZ2 301-302 that is ready to access the DZ 70 of the machine 60 until it stops detecting presence in said PZ1-PZ2 301-302 for a time at least equal to TO (Figures 11c-e and 13a-f). In addition, it also partially eliminates the risks RL 1, RL2, RL3 and RL4 while at least one worker 90 is in DZ 70, since although the closure of the asSo 30 does not involve the reactivation of the functions of the machine 60, the prevention carried out In these circumstances, it is subject to the possible activation of said machine 60 by a second worker located outside of OZ 70 and PZ1-PZ2 301-302 (Figures 111, 12a-121).
    In a second preferred embodiment of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, the PZ 300, in addition to the PZ1 301 and the PZ2 302, includes the region of the OZ 70 associated to the access line 71, displayed by the SVA 10, that is, the PZ3 303. The operation of the control unit 20 of the Safety Curtain Video 1 as regards the access detection in the PZ1 301 and in the PZ2 302 in this second preferred embodiment is similar to the operation of said control unit 20 according to the first preferred embodiment. However, in this second preferred embodiment, the control unit 20 also analyzes the PZ3 303 and prevents the functions of the machine 60 immediately when it detects the

    presence of at least one horizontally projected area object greater than or equal to OA3min 306 in said PZ3 303.
    Figure 8 illustrates the state machine representing the operation of the control unit 20 according to this second preferred embodiment. The states of this state machine are functionally similar to those of the state machine of Figure 7, except that, in this second state machine, states 212 and 214, equivalent to states 202 and 204 of the machine of states of Figure 7, they also perform presence detection in PZ3 303. As a consequence, the opening of the aSSD 30 of the Security Curtain Video 1 object of the invention also occurs when the control unit 20 detects the presence of the minus one horizontally projected area object greater than or equal to OA3min 306 on PZ3 303 (state 215), remaining open while detecting the presence of at least one horizontally projected area object greater than or equal to OA2min 305 on PZ1- PZ2 301-302 and / or the presence of at least one horizontally projected area object greater than or equal to OA3min 306 in said PZ3 303 (state 212).
    In relation to the temporal sequence of zenithal images of Figures 11, 12 and 13, the control unit 20 of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, in accordance with this second preferred embodiment, prevents the functions of the machine 60 in Figure 11c (states 214 and 215), as in the first preferred embodiment. However, while in the first preferred embodiment the functions of said machine 60 are allowed in Figure 11e and are not prevented again until Figure 13a, being maintained in this state until Figure 13e, in this second preferred embodiment, since the functions of the machine 60 are disabled in Figure 11 c, these remain disabled and the control unit 20 is maintained in state 212 until Figure 13f (states 212 and 213) since, in the remaining images of the time sequence of zenithal images, said control unit 20 detects the presence of at least one horizontally projected area object greater than or equal to OA3m1n 306 in PZ3 303 (Figures 11 ef, 12a-f and 13a-c) and / or the presence of at least one horizontally projected area object greater than or equal to OA2min 305 on PZ1-PZ2 301-302 (Figures 13d-e).

    Therefore, as indicated for the temporal sequence of zenithal images illustrated in Figures 11, 12 and 13, as in the first preferred embodiment, in this second preferred embodiment, the Security Curtain Video 1 object of the invention completely eliminates the risks RL1, RL2, RL3 and RL4 while detecting presence in the PZ1-PZ2 301-302 after detecting the access of a worker 90 to the DZ 70 of the machine 60. However, while, according to the first preferred embodiment, the Safety Curtain Video 1 partially eliminates the risks RL1, RL2, RL3 and / or RL4 in Figures 11f and 12a-f, according to the second preferred embodiment, said Safety Curtain Video 1 completely eliminates the risks RL1, RL2, RL3 and / or RL4 in these Figures, since its control unit 20 detects the presence of at least one object of horizontal projected area greater than or equal to OA3min 306 in PZ3 303 in Figures 11 df, 12a-f and 13a-c . However, this complete elimination of the risks RL1, RL2, RL3 and RL4 would not be possible if the static object 400 was located in the region of the DZ 70 not monitored by the SVA 10, or if a worker 90 remained in that region. monitored, after accessing DZ 70. In these cases, no presence would be detected in PZ3 303 and, as in the first preferred embodiment, the elimination of risks RL1, RL2, RL3 and RL4 would also be partial.
    The larger the region monitored by SVA 10 of DZ 70 (PZ3 303), the lower the likelihood of an accident due to the risks RL1, RL2, RL3 and / or RL4, while at least one object of horizontal projected area greater than or equal to OA3min 306 is in said DZ 70. Consequently, the prevention obtained by the Safety Curtain Video 1 object of the invention according to the second preferred embodiment is higher, or at least not lower, than that obtained according to the first preferred embodiment. However, the complete monitoring of the region of the DZ 70 associated with the access line 71 can cause false presence detections in certain types of machinery, for example in machines that move from their resting position when they carry out their activity associated. For this reason, and since the operation of the Safety Curtain Video 1 is independent of the machine whose risks it intends to eliminate or mitigate, it is not recommended to completely monitor said region of the DZ 70, even when this is possible.
    In a third preferred embodiment of the Safety Curtain Video 1 object of the invention, its control unit 20 does not allow the functions of the machine 60 after detecting the access of an object of horizontally projected area greater than or equal to OA1min 304 to the Dz

    70 of said machine 60 until it detects its output from said DZ 70, although this object is not monitored by the SVA 10 in the time interval between its input and output of the DZ 70 of the machine 60. The PZ 300 considered in this third preferred embodiment is formed by the PZ1 301 and the PZ2 302. This third preferred embodiment of the Safety Curtain Video 1 is only applicable when used in machines 60 that have a DZ 70 associated with a single access line. 71 by which only a single worker 90 responsible for said machine 60 can access.
    Figure 9 illustrates the state of operation machine of the control unit 20 according to this third preferred embodiment. This state machine is similar to that of Figure 7, but unlike this it includes a state 226 that also performs presence detection in PZ1 301 and in PZ2 302, as well as states 222 and 224, in this case with in order to detect when an object of horizontally projected area greater than or equal to OAfmin 304 leaves DZ 70 of machine 60 (first it has been detected in PZ2 302 and later, in PZ1 301), after having previously detected its access to said DZ 70 (state 224), which is why the control unit 20 of the Safety Curtain Video 1 has previously prevented the functions of the machine 60 by opening the OSSD 30 (state 225). Once said output is detected, the control unit 20 performs presence detection in the PZ1-PZ2 301-302 (state 222) to allow the functions of the machine 60, after a time at least equal to TO without detecting presence in said PZ 300. From this state 222, the control unit 20 can return to state 226 if it detects an object by accessing DZ 70 of machine 60.
    In relation to the temporal sequence of zenithal images of Figures 11, 12 and 13, the Safety Curtain Video 1 proposed in accordance with this third preferred embodiment, as in the first and second preferred embodiments, allows the functions of the machine 60 in Figure 11a (states 221, 222 and 223) And prevents them in Figure 11c (states 224 and 225), by detecting the presence of a redundant worker 90 who is willing to access the DZ 70. However , while in the first preferred embodiment the functions of the machine 60 are allowed in Figure 11 e, and in the second preferred embodiment they remain hindered until Figure 13f, in this third preferred embodiment the functions of the machine 60 are kept disabled while said worker 90 remains in DZ 70, although it is not monitored by SVA 10 (Figures 11 f, 12a-c, state 226). The functions of the machine 60 are allowed again after a latency time TO (Figure 12e, states 222 and 223) after detecting the output of said

    worker 90 of DZ 70 (Figure 12d, state 222). The Safety Curtain Video 1, according to this third preferred embodiment, and as in the first preferred embodiment, prevents the functions of the machine 60 again in Figure 13a (states 222 and 223), since it detects a new access to the DZ 70 of the machine 60 of the worker 90. The functions of the machine 60 are maintained in said state until Figure 13f (states 224 and 225) when the functions of said machine 60 are allowed, since the environment is again free of risks.
    As indicated in this third preferred embodiment of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, the risk prevention obtained with said Safety Curtain Video 1 is superior to that obtained according to to the first preferred embodiment, since worker 90 is not exposed to risks RL 1, RL2, RL3 and RL4 while remaining in DZ 70 of machine 60 (Figures 11 f, 12a-d and 13a-e), since Machine 60 functions are not allowed. However, in this third preferred embodiment, and unlike the second preferred embodiment, the proposed Safety Curtain Video 1, by not monitoring the PZ3 303, allows the functions of said machine 60 when in said PZ3 303 there is at least one horizontally projected area object greater than or equal to OA3min 306 (Figures 12e and 12f), an object with which a worker 90 can collide in subsequent accesses to the DZ
    70. However, the priority of the Safety Curtain Video 1 object of the invention is to prevent a worker 90 from suffering a work accident due to the risks RL1, RL2, RL3 and RL4 when accessing and / or remaining in DZ 70 of machine 60, risks that are completely eliminated in this third preferred embodiment, while in the second preferred embodiment the elimination of these risks RL1, RL2, RL3 and RL4 is subject to the presence of at least one horizontally projected area object greater than or equal to OA3mil'l 306 in PZ3 303 (Figures 11f, 12a-f and 13a-d), since if no object was detected in said PZ3 303, worker 90 would be exposed to risks while remaining in DZ 70 .
    In a fourth preferred embodiment of the proposed Security Curtain Video 1, and as in the third preferred embodiment, the control unit 20 of said Security Curtain Video 1 does not allow the functions of the machine 60 after detecting the access of a object of horizontally projected area greater than or equal to OA / m / n 304 at DZ 70 of said machine 60 until it detects its output from said DZ 70, regardless of whether or not it is monitored by the SVA 10. However, and as in the second embodiment

    In this fourth preferred embodiment, the control unit 20 also detects presence in the PZ3 303 and prevents the functions of the machine 60 if it detects the presence of at least one horizontally projected area object greater than or equal to OA3mjn 306 in said PZ3 303. Similar to the third preferred embodiment, this fourth preferred embodiment is only applicable when the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1 is used in machines 60 that have an associated DZ 70 which has a single access line 71 through which only a single worker 90 responsible for said machine 60 can access.
    Figure 10 shows the state machine representing the operation of the control unit 20 according to this fourth preferred embodiment of the Safety Curtain Video 1 object of the invention. This state machine is similar to that of Figure 8, but unlike this, and like that of Figure 9, it includes a state 236 that performs presence detection on PZ1 301 and PZ2 302, with the in order to detect when an object of horizontally projected area greater than or equal to OAlmjn 304 leaves the DZ 70 of the machine 60, that is to say it has been detected first in PZ2 302 and then in PZ1 301, when crossing the access line 71 moving away from DZ 70. After detecting this output from DZ 70, the control unit 20 continues in state 232, which detects presence in PZ1 301, in PZ2 302 and in PZ3 303, to allow the functions of the machine 60 after a time at least equal to TO has elapsed without detecting presence in the PZ 300. From this state, the control unit 20 can return to state 236 if it detects an object of horizontal projected area greater than or equal to OAlmin 304 by accessing DZ 70 of machine 60.
    In relation to the temporal sequence of zenithal images of Figures 11, 12 and 13, the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, according to this fourth preferred embodiment, allows the functions of machine 60 in Figure 11a (states 231, 232 and 233) and prevents them in Figure 11c (states 234 and 235), as in the previous three preferred embodiments. However, while in the first preferred embodiment the functions of the machine 60 are again allowed in Figure 11e, as no presence is detected in the PZ1PZ2 301-302 for a time at least equal to TO, and in the third preferred embodiment are allowed in Figure 12e, when detecting the output of worker 90 of DZ 70; according to this fourth preferred embodiment, said Safety Curtain Video 1 does not allow the functions of the machine 60 until Figure 13f, as it happens in the second embodiment

    preferential. This is because, in this fourth preferred embodiment, although the Safety Curtain Video 1 object of the invention determines that the worker 90 has left the DZ 70 in Figure 12d, in Figure 12e detects by means of state 232 the presence of an object of horizontal projected area greater than or equal to OA3min 306 in PZ3 303, as also occurs in the second preferred embodiment. In Figure 13a, in which the functions of the machine 60 are disabled again in the first and third preferred embodiments, the control unit 20 of the Safety Curtain Video 1 according to this fourth preferred embodiment goes to state 236, since it is determined that the worker 90 is ready to access the DZ 70. The control unit 20 of the Safety Curtain Video 1 according to this fourth preferred embodiment remains in this state until Figure 13e, where it returns to state 232 upon detecting the leaving said worker 90 of the DZ 70, before finally allowing the functions of the machine 60 in Figure 13f (states 232 and 233), at the end of the latency time TO considered.
    As indicated for the temporal sequence of zenithal images of Figures 11, 12 and 13, the prevention obtained by the Safety Curtain Video 1 object of the invention according to this fourth preferred embodiment is greater than that obtained in the three previous preferred embodiments, since, as in the third preferred embodiment, the complete elimination of the risks RL1, RL2, RL3 and RL4 during the period of time during which worker 90 is in DZ 70, is not subject to the presence of at least one horizontally projected area object greater than or equal to OA3min 306 in PZ3 303, as in the second preferred embodiment, but to the correct detection of the access and exit of the DZ 70 of a larger horizontal projected area object or the same as OA1min 304. In addition, unlike the third preferred embodiment, it also prevents the functions of the machine 60 while detecting the presence of at least one object is static 400 of horizontal projected area greater than or equal to OA3min 306 on PZ3 303, which ensures that the functions of said machine 60 will not be allowed while said at least one static object 400 is removed, which minimizes the possibility that the At least one worker 90 suffers a work accident if at least one static object 400 collides in subsequent accesses to the DZ 70.
    Taking into account what is indicated for the four preferred embodiments of the Safety Curtain Video for redundant and directional detection of access to the danger zone associated with industrial machinery 1, and that the patented and / or standardized VBPDs related to the invention disable the functions of the machine 60 regardless of whether at least one object enters or exits the DZ 70 of a machine 60, and that said VBPDs keep them disabled while detecting presence in their associated PZ, the Security Curtain Video 1 object of the invention differs from said patented and / or standardized VBPDs, at least, by:
    5 -detect redundantly when at least one object of horizontally projected area greater than or equal to OA / mln 304 accesses or exits the DZ 70 of a machine 60.
    - disable the functions of a machine 60, by opening the aSSD 30, when it detects at least one horizontally projected area object greater than or equal to OA1m1n 304 10 that is ready to access the DZ 70 of said machine 60 (first in the PZ1 301 and then on PZ2 302).
    - keep the functions of a machine 60 hindered and, therefore, the aSSD 30 open while detecting the presence of at least one object of projected area in greater horizontal
    15 or equal to OA2min 305 on PZ1 301 and / or on PZ2 302, after previously disabling the functions of said machine 60 by detecting at least one horizontally projected area object greater than or equal to OA / min 304, which is arranged to access your DZ 70.
    - allow the functions of a machine 60, by closing the aSSD 30, after a
    20 TO latency time, during which the absence of objects of projected area in horizontal greater than or equal to OA2min 305 in PZ1-PZ2 301-302 has been verified, after detecting the access of at least one object of horizontally projected area greater than or equal to OA1min 304 to DZ 70 of said machine 60.
    25 - optionally detect the presence of objects of projected area in horizontal greater than or equal to OAJmin 306 on PZ3 303, adjacent to PZ2 302, where at least the area adjacent to the access area contained in PZ 300 is displayed, which includes the access line 71 itself and the part of the DZ 70 associated therewith, which is part of its outer perimeter edge.
    - optionally disable the functions of a machine 60 when it detects at least one horizontally projected area object greater than or equal to OA3min 306 on PZ3 303.
    - optionally keep the functions of a machine 60 and, therefore, the aSSD 30 open, while detecting the presence of at least one object of horizontal projected area greater than or equal to OA3min 306 on PZ3 303, after disabling the functions of said machine machine 60 when detecting at least one object of horizontal projected area greater or equal
    5 that ONmin 304, which is ready to access your DZ 70 or, optionally, the presence ofless an area object projected horizontally greater than or equal to OA3min 306 in PZ3.
    - optionally allow the functions of a machine 60, by closing the OSSD 30, after a latency time has elapsed during which the absence of 10 objects of horizontal projected area greater than or equal to OA2min 305 in the PZ1-PZ2 301302 has been verified , And greater than or equal to OA3min 306 on PZ3 303, after detecting access to at least one
    horizontally projected area object greater than or equal to ONmin 304 at DZ 70 of said machine 60 or, optionally, the presence of at least one horizontally projected area object greater than or equal to OA3min 306 in PZ3.
    - optionally, also keep the functions of a machine 60 while a
    object of horizontal projected area greater than or equal to OAlmin 304, whose access to the DZ 70 of a machine 60 has been previously detected, do not leave said DZ 70.
    20 - and, optionally, allow the functions of a machine 60, by closing the aSSD 30, after a latency time has elapsed during which the absence of objects has been verified in PZ1 301, in PZ2 302, and in the PZ3 303 if optionally considered, after having previously detected the access and exit of an object of horizontally projected area greater than or equal to OA 1min 304 to DZ 70 of said machine 60.
    权利要求:
    Claims (16)
    [1]
    1.-Safety method for an industrial machine (60) based on the detection of the presence of objects (90) in a protection zone (300) associated with the machine, where the method comprises the steps of:
    a) acquire a visual information associated with the protection zone, provided by at least one camera (101) disposed on the protection zone, where the protection zone comprises a first protection zone (301) further away from the machine and a second protection zone (302) closest to the machine; b) determine, by means of a control unit (20), based on the acquired visual information, the presence or absence of objects in the protection zone; c) once the presence of objects in the protection zone has been determined, determine, in the control unit, the stopping of the machine if at least a first safety criterion is met, which comprises detecting the presence of at least one object in the first protection zone and detect, at a time in a row, the presence of at least one object in the second protection zone.
    [2]
    2. Method according to claim 1 which further comprises initially preventing the operation of the machine and keeping it impeded until a certain latency time elapses after:
    -the control unit determines in step b) that there is no presence of objects in theprotection zone or-the control unit determines the presence of an object in the protection zone,but according to step c) the first safety criterion is not met.
    [3]
    3. Method according to any of the preceding claims where, once it has been
    Once the machine has been stopped, it also includes: - iteratively execute steps a) -c); -maintain the operation of the machine until a certain latency period elapses, which begins after the control unit determines compliance with a set of conditions, which at least include:
    - that there is no presence of objects in the protection zone, according to step b); or
    - the presence of an object in the protection zone, but the first safety criterion is not met according to step c); Resume machine operation after latency time has elapsed.
    [4]
    4. Method according to claim 3, wherein the set of conditions further comprises detecting the presence of an object in the second protection zone and detecting, in a consecutive moment in time, the presence of the object in the first zone of protection.
    [5]
    5. Method according to any of the preceding claims wherein the protection zone comprises a third protection zone (303) closer to the machine than the second protection zone, which further comprises determining, by the control unit, the Stopping the machine if a second safety criterion is met, which includes detecting the presence of an object in the third protection zone.
    [6]
    6. Method according to any of the preceding claims wherein, once the control unit determines the stop of the machine, it also comprises sending an order, from the control unit to an OSSO switch (30) connected to the machine. , which opens said OSSO switch and prevents machine operation.
    [7]
    7. Method according to any of the preceding claims wherein determining the presence of objects comprises:
    store in a storage unit (21) of the control unit
    information on the position of the at least one camera;
    determine for each of the pixels if they belong to a defined field of view
    for the at least one camera and to which protection zone they belong, depending on
    a reference image of the field of vision defined for the at least one camera,
    an image acquired by said camera and the stored position information.
    [8]
    8. Method according to claim 7, further comprising establishing a minimum threshold for detecting objects, for each of the protection zones, which allows detecting objects whose horizontal projected area is greater than or equal to a set minimum size.
    [9]
    9. Method according to claims 5 and 8 wherein the minimum size established to determine the presence of objects in the first and second protection zone, is established according to a measure of the head of the person of smaller stature tabulated in ISO 15534-3; And the minimum size established to determine the presence of
    5 objects in the third protection zone (303) are established according to a measure of half a foot of the person of smaller stature tabulated in ISO 15534-3.
    [10]
    10.-Security system for an industrial machine (60) based on the detection of the presence of objects (90) in a protection zone (300) associated with the machine, where the
    The system is characterized in that it comprises: -at least one chamber (101) disposed on the protection zone, where the protection zone comprises a first protection zone (30 1) further away from the machine and a second protection zone (302 ) closest to the machine, where said at least one camera is configured to acquire visual information
    15 associated with the protection zone; and -a control unit (20) connected with the at least one camera, configured to determine, from the acquired visual information, the presence or not of objects in the protection zone; and once the presence of objects in the protection zone has been determined, determine the machine stop if
    20 meets at least a first safety criterion which comprises detecting the presence of an object in the first protection zone and detecting, in a consecutive moment in time, the presence of the object in the second protection zone.
    [11]
    11.- System according to claim 10, where the control unit is also
    25 configured to keep the machine from working until a certain latency period has elapsed, which begins after the control unit determines compliance with a set of conditions, which at least comprises:
    - determine that there is no presence of objects in the protection zone; or -determine the presence of an object in the protection zone, but that is not met
    30 the first safety criterion; and where the system also comprises an OSSD switch (30) connected to the control unit and the machine, where said switch is configured to receive an order from the control unit that causes the switch to open and prevents, as a result of the opening of the switch, the operation of the machine; and where said switch
    35 is also configured to, after the latency time has elapsed, receive an order from the control unit that causes the switch to close and, as a result of the closure
    of the switch, allow machine operation.
    [12]
    12. System according to any of claims 10-11 wherein the at least one
    5 camera (101) is disposed on the protection zone so that its optical axis is positionedon a virtual line that separates the first protection zone and the second zone ofprotection.
    [13]
    13. System according to any of claims 10-12, further comprising 10 fixed guards (80) that protect access to the machine, except for an access line (71).
    [14]
    14. System according to any of claims 10-13 comprising an even number of additional cameras, to the at least one camera, in the normal direction to an access line (71) to the machine and one or more cameras additional, to the at least one camera, in a direction parallel to the machine access line.
    [15]
    15. System according to any of claims 11-14 which further comprises a visual and / or audible indicator connected to the control unit, wherein said indicator (50)
    Visual (51) and / or sound (52) is configured to provide certain information to a user, where the certain information comprises one or more of the following information: - an instantaneous result of the detection of the presence of objects carried out by the control unit in the different zones of the protection zone;
    25 - an open state or a closed state of the aSSD switch; and -a cumulative number of accesses and exits of objects through an access line
    of the machine for a defined period of time.
    [16]
    16.-Product of computer program comprising computer program code,
    30 adapted to perform the method according to any one of claims 1 to 8 when said program code is executed on a computer, a digital signal processor, a formation of field-programmable gates, an application-specific integrated circuit, a microprocessor, a micro-controller or any other form of programmable hardware.
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    同族专利:
    公开号 | 公开日
    ES2673167B2|2018-10-10|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US6829371B1|2000-04-29|2004-12-07|Cognex Corporation|Auto-setup of a video safety curtain system|
    US20040125206A1|2002-11-06|2004-07-01|Lueze Lumiflex Gmbh + Co. Kg|Method and device for monitoring an area of coverage|
    US20120182419A1|2009-07-24|2012-07-19|Wietfeld Martin|Method and device for monitoring a spatial region|
    US20150049911A1|2012-03-16|2015-02-19|Pilz Gmbh & Co. Kg|Method and device for safeguarding a hazardous working area of an automated machine|
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    ES201631621A|ES2673167B2|2016-12-20|2016-12-20|CURTAIN SAFETY VIDEO FOR REDUNDANT AND DIRECTIONAL DETECTION OF ACCESS TO DANGER AREA ASSOCIATED WITH INDUSTRIAL MACHINERY|ES201631621A| ES2673167B2|2016-12-20|2016-12-20|CURTAIN SAFETY VIDEO FOR REDUNDANT AND DIRECTIONAL DETECTION OF ACCESS TO DANGER AREA ASSOCIATED WITH INDUSTRIAL MACHINERY|
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