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1. 发明申请

US20050207618A1 Method and device for safeguarding a hazardous area 有权
标题翻译：保护危险区域的方法和装置
公开(公告)号：US20050207618A1
公开(公告)日：2005-09-22
申请号：US11088041
申请日：2005-03-23
申请人： Christian Wohler , Werner Progscha , Lars Kruger , Dietmar Dottling , Martin Wendler
发明人： Christian Wohler , Werner Progscha , Lars Kruger , Dietmar Dottling , Martin Wendler
IPC分类号： B25J9/16 , B25J19/06 , F16P3/14 , G06K9/00 , G06T7/00
CPC分类号： F16P3/142 , B25J9/1674 , B25J9/1697 , B25J19/06 , G06T7/001 , G06T2207/10012 , G06T2207/30108 , G06T2207/30196
摘要： In order to safeguard a hazardous area, in particular the hazardous area of an automatically operating machine, images of the hazardous area are recorded with at least a first and a second image recording unit that are arranged offset from one another. The images of the scene are subjected to three-dimensional scene analyses using different three-dimensional scene analysis methods, and the hazardous area is safeguarded when at least one of the scene analysis methods detects a foreign object.
摘要翻译：为了保护危险区域，特别是自动操作机器的危险区域，危险区域的图像被记录有至少第一和第二图像记录单元，该第一和第二图像记录单元被布置为彼此偏移。使用不同的三维场景分析方法对场景的图像进行三维场景分析，并且当至少一个场景分析方法检测到异物时，对危险区域进行保护。

2. 发明授权

US08154590B2 Method for observation of a person in an industrial environment 有权
标题翻译：在工业环境中观察人的方法
公开(公告)号：US08154590B2
公开(公告)日：2012-04-10
申请号：US12362745
申请日：2009-01-30
申请人： Ulrich Kressel , Lars Krueger , Werner Progscha , Christian Woehler , Franz Kummert , Joachim Schmidt , Rainer Ott , Gerhard Sagerer
发明人： Ulrich Kressel , Lars Krueger , Werner Progscha , Christian Woehler , Franz Kummert , Joachim Schmidt , Rainer Ott , Gerhard Sagerer
IPC分类号： G06K9/00
CPC分类号： F16P3/142 , G05B2219/40202 , G06K9/00201 , G06K9/00342
摘要： A method for observing a person in an industrial environment using a multicamera system to acquire image data about the position and alignment of a person, including a person's body parts. These image data are then examined with regard to the imaging of a person so that whenever a person has been detected in the image data, an articulated virtual 3D model of the human body is matched to this person hypothesis. Subsequently, this virtual body model is continuously matched to the movement behavior of the person detected in the image data. A hazard potential is determined using knowledge of the position and the movement behavior of the virtual body model in space. The hazard potential thus determined is subjected to a threshold value comparison in order to act upon the movement control of the machine or the machine part in the event of this threshold value being exceeded.
摘要翻译：一种使用多摄像系统观察工业环境中的人的方法，用于获取关于包括人体部分在内的人的位置和位置的图像数据。然后，关于人的成像检查这些图像数据，使得每当在图像数据中检测到人时，将人体的关节虚拟3D模型与该人假设相匹配。随后，该虚拟身体模型与图像数据中检测到的人的运动行为连续匹配。使用空间中的虚拟身体模型的位置和运动行为的知识来确定危险潜力。如此确定的危险潜力经受阈值比较，以便在超过该阈值的情况下对机器或机器部件的移动控制起作用。

3. 发明授权

US07729511B2 Method and device for safeguarding a hazardous area 有权
标题翻译：保护危险区域的方法和装置
公开(公告)号：US07729511B2
公开(公告)日：2010-06-01
申请号：US11088041
申请日：2005-03-23
申请人： Christian Wöhler , Werner Progscha , Lars Krüger , Dietmar Döttling , Martin Wendler
发明人： Christian Wöhler , Werner Progscha , Lars Krüger , Dietmar Döttling , Martin Wendler
IPC分类号： G06K9/00
CPC分类号： F16P3/142 , B25J9/1674 , B25J9/1697 , B25J19/06 , G06T7/001 , G06T2207/10012 , G06T2207/30108 , G06T2207/30196
摘要： In order to safeguard a hazardous area, in particular the hazardous area of an automatically operating machine, images of the hazardous area are recorded with at least a first and a second image recording unit that are arranged offset from one another. The images of the scene are subjected to three-dimensional scene analyses using different three-dimensional scene analysis methods, and the hazardous area is safeguarded when at least one of the scene analysis methods detects a foreign object.
摘要翻译：为了保护危险区域，特别是自动操作机器的危险区域，危险区域的图像被记录有至少第一和第二图像记录单元，该第一和第二图像记录单元被布置为彼此偏移。使用不同的三维场景分析方法对场景的图像进行三维场景分析，并且当至少一个场景分析方法检测到异物时，对危险区域进行保护。

4. 发明申请

US20090237499A1 METHOD FOR OBSERVATION OF A PERSON IN AN INDUSTRIAL ENVIRONMENT 有权
标题翻译：在工业环境中观察人的方法
公开(公告)号：US20090237499A1
公开(公告)日：2009-09-24
申请号：US12362745
申请日：2009-01-30
申请人： Ulrich Kressel , Lars Krueger , Werner Progscha , Christian Woehler , Franz Kummert , Joachim Schmidt , Rainer Ott
发明人： Ulrich Kressel , Lars Krueger , Werner Progscha , Christian Woehler , Franz Kummert , Joachim Schmidt , Rainer Ott
IPC分类号： H04N7/18
CPC分类号： F16P3/142 , G05B2219/40202 , G06K9/00201 , G06K9/00342
摘要： Manufacturing processes profit greatly from a close collaboration between human and machine. Whereas a human behaves flexibly and adaptively but is inclined to make mistakes during repetitive work operations, machines operate quickly and exactly but are static and not very flexible. In order to enable an improved hazard protection in the context of a safe human-machine interaction, a spatial- and time-dependent variable degree of hazard is allocated to monitored spatial areas as a function of the current position and the current movement state of a machine or a machine element, as well as of the observed person. For this purpose, a multicamera system is used to acquire image data of the person in order to obtain the most detailed information possible about the position and alignment of a person, in particular also with reference to the body parts thereof, in an industrial environment. These image data are then examined with regard to the imaging of a person so that whenever a person has been detected in the image data, an articulated virtual 3D model of the human body is matched to this person hypothesis. Subsequently, this virtual body model is continuously matched to the movement behavior of the person detected in the image data. A hazard potential is determined using knowledge of the position and the movement behavior of the virtual body model in space. The hazard potential thus determined is subjected to a threshold value comparison in order to act upon the movement control of the machine or the machine part in the event of this threshold value being exceeded.
摘要翻译：制造流程从人与机器之间的密切合作中获益良多。虽然人类的行为灵活自适，但倾向于在重复的作业过程中发生错误，机器运行速度快，但静止而且不是很灵活。为了在安全的人机交互的背景下实现改进的危害保护，将空间和时间依赖的可变危险程度分配给监视的空间区域作为当前位置和当前运动状态的函数机器或机器元件，以及观察者。为此目的，使用多面体系统来获取人的图像数据，以便在工业环境中获得关于人的位置和排列的最详细信息，特别是参考其身体部分。然后，关于人的成像检查这些图像数据，使得每当在图像数据中检测到人时，将人体的关节虚拟3D模型与该人假设相匹配。随后，该虚拟身体模型与图像数据中检测到的人的运动行为连续匹配。使用空间中的虚拟身体模型的位置和运动行为的知识来确定危险潜力。如此确定的危险潜力经受阈值比较，以便在超过该阈值的情况下对机器或机器部件的移动控制起作用。

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