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BSI PD IEC/TS 61496-4-3:2015

BSI PD IEC/TS 61496-4-3:2015

$198.66

Safety of machinery. Electro-sensitive protective equipment – Particular requirements for equipment using vision based protective devices (VBPD). Additional requirements when using stereo vision techniques (VBPDST)

Published By Publication Date Number of Pages
BSI 2015 68
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This part of IEC 61496 specifies requirements for the design, construction and testing of electro-sensitive protective equipment (ESPE) designed specifically to detect persons or parts of persons as part of a safety-related system, employing vision-based protective devices (VBPDs) using stereo vision techniques (VBPDST) for the sensing function. Special attention is directed to features which ensure that an appropriate safety-related performance is achieved. An ESPE may include optional safety-related functions, the requirements for which are given in Annex A of IEC 61496‑1:2012 and this Technical Specification.

This part of IEC 61496 does not specify the dimensions or configurations of the detection zone and its disposition in relation to hazardous parts for any particular application, nor what constitutes a hazardous state of any machine. It is restricted to the functioning of the ESPE and how it interfaces with the machine.

The detection principle is based on the evaluation of images from different viewing points (stereoscopic view) for the determination of distance information. This distance information is used to determine the location of an object(s).

  • This part of IEC 61496 is limited to vision based ESPEs with distances (stereo base) and directions between the different imaging devices fixed during manufacture.

  • It is limited to vision based ESPEs, with a minimum distance from the sensing device to the detection zone of 4 times of the stereo base.

  • It is limited to vision based ESPEs that can detect objects with at least 5 pixel diameter in the image plane.

  • It is limited to vision based ESPEs that do not require human intervention for detection.

  • It is limited to vision based ESPEs that detect objects entering into or being present in a detection zone(s).

  • It is limited to VBPDSTs employing radiation at wavelengths within the range 400 nm to 1 500 nm.

  • This part of IEC 61496 does not address those aspects required for complex classification or differentiation of the object detected.

  • This part of IEC 61496 does not consider the aspects of a moving ESPE installation.

Additional requirements and tests can apply in the following cases:

  • Use of multi-spectral (colour) techniques;

  • Setups other than as shown in Figures of 4.1.2 (e.g. changing backgrounds, horizontal orientation of the optical axis with respect to the floor);

  • Intended for outdoor applications.

This technical specification is relevant for VBPDSTs having a stated detection capability up to 200 mm.

This technical specification may be relevant to applications other than those for the protection of persons or parts of persons like arm or fingers (in the range 14 mm to 200 mm), for example the protection of machinery or products from mechanical damage. In those applications, additional requirements can be necessary, for example when the materials that are to be recognized by the sensing function have different properties from those of persons.

This technical specification does not deal with EMC emission requirements.

PDF Catalog

PDF Pages PDF Title
4 CONTENTS
7 FOREWORD
9 INTRODUCTION
10 1 Scope
11 2 Normative references
3 Terms and definitions
12 Figures
Figure 1 – Image planes in imaging device of a VBPDST
14 4 Functional, design and environmental requirements
4.1 Functional requirements
4.1.2 Sensing function
15 Figure 2 – 3D view of a vision based protective device using stereo vision techniques (VBPDST)
16 Figure 3 – 2D view of a vision based protective device using stereo vision techniques (VBPDST)
17 4.1.3 Types of ESPE
4.1.6 Zone with limited detection capability
18 4.2 Design requirements
4.2.2 Fault detection requirements
19 4.2.12 Integrity of the VBPDST detection capability
21 4.2.13 Test pieces for type testing
23 4.2.14 Wavelength
4.2.15 Radiation intensity
4.2.16 Mechanical construction
4.3 Environmental requirements
4.3.1 Ambient air temperature range and humidity
4.3.5 Ambient light intensity
4.3.6 Light interference
24 4.3.7 Pollution interference
4.3.8 Manual interference
25 4.3.9 Optical occlusion (eclipsed by small object)
4.3.10 Drift or ageing of components
5 Testing
5.1 General
5.1.2 Test conditions
26 5.1.4 Test conditions and test plan
5.2 Functional tests
5.2.1 Sensing function
27 Tables
Table 1 – Verification of detection capability requirements (see also 4.2.12)
30 5.2.9 Verification of optical performance
5.2.10 Wavelength
5.2.11 Radiation intensity
5.3 Performance testing under fault conditions
5.3.2 Type 1 ESPE
5.3.3 Type 2 ESPE
Figure 4 – Examples for periodic surface structures on the background
31 5.3.4 Type 3 ESPE
5.3.5 Type 4 ESPE
5.4 Environmental tests
5.4.2 Ambient temperature variation and humidity
5.4.4 Mechanical influences
32 5.4.6 Light interference
Table 2 – Overview of light interference tests
36 Figure 5 – Test setup for indirect light interference on the background
37 Figure 6 – Test setup for VBPDST of identical design with PAPT
38 5.4.7 Pollution interference
Figure 7 – Test setup for direct light interference on the sensing device
39 5.4.8 Manual interference
5.4.9 Optical occlusion
40 6 Marking for identification and for safe use
6.1 General
7 Accompanying documents
42 Annex A (normative) Optional functions of the ESPE
A.9 Setting the detection zone and/or other safety-related parameters
A.9.1 Functional requirements
A.9.2 Verification
43 A.10 Selection of multiple detection zones
A.10.1 Functional requirements
A.10.2 Verification
44 Annex B (normative) Catalogue of single faults affecting the electrical equipment of the ESPE, to be applied as specified in 5.3
B.7 Imaging sensor
45 Annex AA (informative) The positioning of VBPDST employing a volume as a detection zone in respect of parts of the human body
AA.1 Calculation of distances for electro-sensitive protective equipment employing vision based protective devices (VBPDST)
AA.1.1 General
AA.1.2 Calculation of the overall minimum distance So
46 AA.1.3 Vision based protective devices with a detection capability > 40 mm and ≤ 55 mm
47 AA.1.4 Vision based protective devices with a detection capability > 55 mm and ≤ 200 mm
AA.1.5 Examples of detection zone and tolerance zone
Figure AA.1 – Minimum distance S – Example 1
48 Figure AA.2 – Overall minimum distance So without tolerance zone – Example 1
Figure AA.3 – Overall minimum distance So including tolerance zone – Example 1
49 Figure AA.4 – Minimum distance S – Example 2
50 Figure AA.5 – Overall minimum distance So without tolerance zone – Example 2
Figure AA.6 – Overall minimum distance So including tolerance zone – Example 2
51 AA.2 Application examples for body detection of a VBPDST employing a volume as a detection zone
52 Figure AA.7 – Application example for body detection of a VBPDST employing a volume as a detection zone
53 Annex BB (informative) Relationship between position accuracy and tolerance zones for VBPDST
BB.1 Probability of detection
Figure BB.1 – Relationship between test piece position and the probability of detection
54 BB.2 Tolerance zone related to probability
BB.3 Determination of tolerance zone for systems not providing object distance information
Figure BB.2 – Example for measurement of the probability of detection
55 BB.4 Determination of tolerance zone for systems providing distance information
56 BB.5 Tolerance zone related to systematic interferences
BB.6 Adding the tolerance zone on the outer border of the detection zone
Figure BB.3 – Relationship between detection zone and tolerance zone
57 Figure BB.4 – Overall minimum distance So including tolerance zone
58 Annex CC (informative) Basic principles of physics for contrast of convex homogeneous bodies
CC.1 Illumination on a surface element
59 Figure CC.1 – Illumination model – Sphere illuminated by a point source
Figure CC.2 – Illumination model – Sphere illuminated by a half-Ulbricht sphere
60 CC.2 Brightness of a surface element
Figure CC.3 – Brightness of a surface element of a sphere in spherical coordinates
Figure CC.4 – Brightness distribution in an image of a sphere
61 Figure CC.5 – Grey value profile over a sphere with low contrast for a typical imaging contrast (Modulation Transfer Function)
Figure CC.6 – Grey value profile over a sphere with the same colour as the background
62 Figure CC.7 – Grey value profile over a sphere in front of a background that is half as bright
Figure CC.8 – Grey value profile over a sphere in front of a background that is twice as bright
63 Figure CC.9 – Grey value profile over a sphere by low contrast
Figure CC.10 – Grey value profile over the sphere from Figure CC.9 but with the direction to the imaging device changed by 10°
64 Figure CC.11 – Grey value profile over a small sphere that results inan image that is 5 pixels in diameter
65 Bibliography

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