BS PD IEC TS 61496-4-3-2015 Safety of machinery Electro-sensitive protective equipment Particular requirements for equipment using vision based protective devices (VBPD) Additionals.pdf

1、BSI Standards PublicationSafety of machinery Electro-sensitive protective equipmentPart 4-3: Particular requirements for equipment using vision based protective devices (VBPD) Additional requirements when using stereo vision techniques (VBPDST)PD IEC/TS 61496-4-3:2015National forewordThis Published

2、Document is the UK implementation of IEC/TS 61496-4-3:2015.The UK participation in its preparation was entrusted to TechnicalCommittee MCE/3, Safeguarding of machinery.A list of organizations represented on this committee can be obtained onrequest to its secretary.This publication does not purport t

3、o include all the necessary provisions ofa contract. Users are responsible for its correct application. The British Standards Institution 2015.Published by BSI Standards Limited 2015ISBN 978 0 580 80409 0ICS 13.110; 29.260.99Compliance with a British Standard cannot confer immunity fromlegal obligat

4、ions.This Published Document was published under the authority of theStandards Policy and Strategy Committee on 31 May 2015.Amendments/corrigenda issued since publicationDate Text affectedPUBLISHED DOCUMENTPD IEC/TS 61496-4-3:2015IEC TS 61496-4-3 Edition 1.0 2015-05 TECHNICAL SPECIFICATION Safety of

5、 machinery Electro-sensitive protective equipment Part 4-3: Particular requirements for equipment using vision based protective devices (VBPD) Additional requirements when using stereo vision techniques (VBPDST) INTERNATIONAL ELECTROTECHNICAL COMMISSION ICS 13.110; 29.260.99 ISBN 978-2-8322-2611-7 R

6、egistered trademark of the International Electrotechnical Commission Warning! Make sure that you obtained this publication from an authorized distributor. colourinsidePD IEC/TS 61496-4-3:2015 2 IEC TS 61496-4-3:2015 IEC 2015 CONTENTS FOREWORD . 5 INTRODUCTION . 7 1 Scope 8 2 Normative references 9 3

7、 Terms and definitions 9 Abbreviated terms . 12 4 Functional, design and environmental requirements 12 4.1 Functional requirements 12 4.1.2 Sensing function 12 4.1.3 Types of ESPE 15 4.1.6 Zone with limited detection capability . 15 4.2 Design requirements . 16 4.2.2 Fault detection requirements . 1

8、6 4.2.12 Integrity of the VBPDST detection capability 17 4.2.13 Test pieces for type testing 19 4.2.14 Wavelength . 21 4.2.15 Radiation intensity . 21 4.2.16 Mechanical construction 21 4.3 Environmental requirements . 21 4.3.1 Ambient air temperature range and humidity 21 4.3.5 Ambient light intensi

9、ty 21 4.3.6 Light interference . 21 4.3.7 Pollution interference . 22 4.3.8 Manual interference . 22 4.3.9 Optical occlusion (eclipsed by small object) . 23 4.3.10 Drift or ageing of components 23 5 Testing 23 5.1 General . 23 5.1.2 Test conditions 23 5.1.4 Test conditions and test plan . 24 5.2 Fun

10、ctional tests 24 5.2.1 Sensing function 24 5.2.9 Verification of optical performance . 28 5.2.10 Wavelength . 28 5.2.11 Radiation intensity . 28 5.3 Performance testing under fault conditions . 28 5.3.2 Type 1 ESPE . 28 5.3.3 Type 2 ESPE . 28 5.3.4 Type 3 ESPE . 29 5.3.5 Type 4 ESPE . 29 5.4 Environ

11、mental tests 29 5.4.2 Ambient temperature variation and humidity 29 5.4.4 Mechanical influences . 29 5.4.6 Light interference . 30 5.4.7 Pollution interference . 36 5.4.8 Manual interference . 37 PD IEC/TS 61496-4-3:2015IEC TS 61496-4-3:2015 IEC 2015 3 5.4.9 Optical occlusion . 37 6 Marking for iden

12、tification and for safe use . 38 6.1 General . 38 7 Accompanying documents . 38 Annex A (normative) Optional functions of the ESPE . 40 A.9 Setting the detection zone and/or other safety-related parameters 40 A.9.1 Functional requirements 40 A.9.2 Verification 40 A.10 Selection of multiple detection

13、 zones 41 A.10.1 Functional requirements 41 A.10.2 Verification 41 Annex B (normative) Catalogue of single faults affecting the electrical equipment of the ESPE, to be applied as specified in 5.3 . 42 B.7 Imaging sensor . 42 Annex AA (informative) The positioning of VBPDST employing a volume as a de

14、tection zone in respect of parts of the human body . 43 AA.1 Calculation of distances for electro-sensitive protective equipment employing vision based protective devices (VBPDST) 43 AA.1.1 General . 43 AA.1.2 Calculation of the overall minimum distance So43 AA.1.3 Vision based protective devices wi

15、th a detection capability 40 mm and 55 mm 44 AA.1.4 Vision based protective devices with a detection capability 55 mm and 200 mm 45 AA.1.5 Examples of detection zone and tolerance zone 45 AA.2 Application examples for body detection of a VBPDST employing a volume as a detection zone . 49 Annex BB (i

16、nformative) Relationship between position accuracy and tolerance zones for VBPDST 51 BB.1 Probability of detection . 51 BB.2 Tolerance zone related to probability 52 BB.3 Determination of tolerance zone for systems not providing object distance information 52 BB.4 Determination of tolerance zone for

17、 systems providing distance information . 53 BB.5 Tolerance zone related to systematic interferences . 54 BB.6 Adding the tolerance zone on the outer border of the detection zone 54 Annex CC (informative) Basic principles of physics for contrast of convex homogeneous bodies 56 CC.1 Illumination on a

18、 surface element 56 CC.2 Brightness of a surface element 58 Bibliography 63 Figure 1 Image planes in imaging device of a VBPDST 10 Figure 2 3D view of a vision based protective device using stereo vision techniques (VBPDST) . 13 Figure 3 2D view of a vision based protective device using stereo visio

19、n techniques (VBPDST) . 14 Figure 4 Examples for periodic surface structures on the background 28 Figure 5 Test setup for indirect light interference on the background 34 PD IEC/TS 61496-4-3:2015 4 IEC TS 61496-4-3:2015 IEC 2015 Figure 6 Test setup for VBPDST of identical design with PAPT 35 Figure

20、7 Test setup for direct light interference on the sensing device . 36 Figure AA.1 Minimum distance S Example 1 45 Figure AA.2 Overall minimum distance Sowithout tolerance zone Example 1 46 Figure AA.3 Overall minimum distance Soincluding tolerance zone Example 1 . 46 Figure AA.4 Minimum distance S E

21、xample 2 47 Figure AA.5 Overall minimum distance Sowithout tolerance zone Example 2 48 Figure AA.6 Overall minimum distance Soincluding tolerance zone Example 2 . 48 Figure AA.7 Application example for body detection of a VBPDST employing a volume as a detection zone 50 Figure BB.1 Relationship betw

22、een test piece position and the probability of detection . 51 Figure BB.2 Example for measurement of the probability of detection 52 Figure BB.3 Relationship between detection zone and tolerance zone . 54 Figure BB.4 Overall minimum distance Soincluding tolerance zone . 55 Figure CC.1 Illumination m

23、odel Sphere illuminated by a point source 57 Figure CC.2 Illumination model Sphere illuminated by a half-Ulbricht sphere 57 Figure CC.3 Brightness of a surface element of a sphere in spherical coordinates . 58 Figure CC.4 Brightness distribution in an image of a sphere 58 Figure CC.5 Grey value prof

24、ile over a sphere with low contrast for a typical imaging contrast (Modulation Transfer Function) 59 Figure CC.6 Grey value profile over a sphere with the same colour as the background . 59 Figure CC.7 Grey value profile over a sphere in front of a background that is half as bright 60 Figure CC.8 Gr

25、ey value profile over a sphere in front of a background that is twice as bright 60 Figure CC.9 Grey value profile over a sphere by low contrast 61 Figure CC.10 Grey value profile over the sphere from Figure CC.9 but with the direction to the imaging device changed by 10 61 Figure CC.11 Grey value pr

26、ofile over a small sphere that results in an image that is 5 pixels in diameter 62 Table 1 Verification of detection capability requirements (see also 4.2.12) . 25 Table 2 Overview of light interference tests 30 PD IEC/TS 61496-4-3:2015IEC TS 61496-4-3:2015 IEC 2015 5 INTERNATIONAL ELECTROTECHNICAL

27、COMMISSION _ SAFETY OF MACHINERY ELECTRO-SENSITIVE PROTECTIVE EQUIPMENT Part 4-3: Particular requirements for equipment using vision based protective devices (VBPD) Additional requirements when using stereo vision techniques (VBPDST) FOREWORD 1) The International Electrotechnical Commission (IEC) is

28、 a worldwide organization for standardization comprising all national electrotechnical committees (IEC National Committees). The object of IEC is to promote international co-operation on all questions concerning standardization in the electrical and electronic fields. To this end and in addition to

29、other activities, IEC publishes International Standards, Technical Specifications, Technical Reports, Publicly Available Specifications (PAS) and Guides (hereafter referred to as “IEC Publication(s)”). Their preparation is entrusted to technical committees; any IEC National Committee interested in t

30、he subject dealt with may participate in this preparatory work. International, governmental and non-governmental organizations liaising with the IEC also participate in this preparation. IEC collaborates closely with the International Organization for Standardization (ISO) in accordance with conditi

31、ons determined by agreement between the two organizations. 2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international consensus of opinion on the relevant subjects since each technical committee has representation from all interested IEC Nation

32、al Committees. 3) IEC Publications have the form of recommendations for international use and are accepted by IEC National Committees in that sense. While all reasonable efforts are made to ensure that the technical content of IEC Publications is accurate, IEC cannot be held responsible for the way

33、in which they are used or for any misinterpretation by any end user. 4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications transparently to the maximum extent possible in their national and regional publications. Any divergence between any IEC P

34、ublication and the corresponding national or regional publication shall be clearly indicated in the latter. 5) IEC itself does not provide any attestation of conformity. Independent certification bodies provide conformity assessment services and, in some areas, access to IEC marks of conformity. IEC

35、 is not responsible for any services carried out by independent certification bodies. 6) All users should ensure that they have the latest edition of this publication. 7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and members of its

36、technical committees and IEC National Committees for any personal injury, property damage or other damage of any nature whatsoever, whether direct or indirect, or for costs (including legal fees) and expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other

37、 IEC Publications. 8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is indispensable for the correct application of this publication. 9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the s

38、ubject of patent rights. IEC shall not be held responsible for identifying any or all such patent rights. The main task of IEC technical committees is to prepare International Standards. In exceptional circumstances, a technical committee may propose the publication of a technical specification when

39、 the required support cannot be obtained for the publication of an International Standard, despite repeated efforts, or the subject is still under technical development or where, for any other reason, there is the future but no immediate possibility of an agreement on an International Standard. Tech

40、nical specifications are subject to review within three years of publication to decide whether they can be transformed into International Standards. PD IEC/TS 61496-4-3:2015 6 IEC TS 61496-4-3:2015 IEC 2015 IEC TS 61496-4-3, which is a technical specification, has been prepared by IEC technical comm

41、ittee 44: Safety of machinery Electrotechnical aspects. The text of this technical specification is based on the following documents: Enquiry draft Report on voting 44/711/DTS 44/722/RVC Full information on the voting for the approval of this technical specification can be found in the report on vot

42、ing indicated in the above table. This publication has been drafted in accordance with the ISO/IEC Directives, Part 2. This part is to be used in conjunction with IEC 61496-1:2012. This part supplements or modifies the corresponding clauses in IEC 61496-1:2012 to specify particular requirements for

43、the design, construction and testing of electro-sensitive protective equipment (ESPE) for the safeguarding of machinery, employing vision based protective devices (VBPD) using stereo vision techniques (VBPDST) for the sensing function. Where a particular clause or subclause of Part 1 is not mentione

44、d in this Part 4-3, that clause or subclause applies as far as is reasonable. Where this part states “addition“, “modification“ or “replacement“, the relevant text of Part 1 shall be adapted accordingly. Clauses and subclauses which are additional to those of Part 1 are numbered sequentially, follow

45、ing on the last available number in Part 1.Terminological entries (in Clause 3) which are additional to those in Part 1 are numbered starting from 3.4301. Additional annexes are lettered from AA onwards. A list of all parts in the IEC 61496 series, published under the general title Safety of machine

46、ry Electro-sensitive protective equipment, can be found on the IEC website. The committee has decided that the contents of this publication will remain unchanged until the stability date indicated on the IEC web site under “http:/webstore.iec.ch“ in the data related to the specific publication. At t

47、his date, the publication will be transformed into an International standard, reconfirmed, withdrawn, replaced by a revised edition, or amended. A bilingual version of this publication may be issued at a later date. IMPORTANT The colour inside logo on the cover page of this publication indicates tha

48、t it contains colours which are considered to be useful for the correct understanding of its contents. Users should therefore print this document using a colour printer. PD IEC/TS 61496-4-3:2015IEC TS 61496-4-3:2015 IEC 2015 7 INTRODUCTION An electro-sensitive protective equipment (ESPE) is applied

49、to machinery presenting a risk of personal injury. It provides protection by causing the machine to revert to a safe condition before a person can be placed in a hazardous situation. The working group responsible for drafting this technical specification was concerned that, due to the complexity of the technology, there are many issues that are highly dependent on analysis and expertise in specific test and measuremen