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) A.pdf

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1、BSI Standards Publication 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) PD IEC/TS 61496-4-3:2015National foreword This Publis

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

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

4、om legal obligations. This Published Document was published under the authority of the Standards Policy and Strategy Committee on 31 May 2015. Amendments/corrigenda issued since publication Date Text affected PUBLISHED DOCUMENT PD IEC/TS 61496-4-3:2015 IEC TS 61496-4-3 Edition 1.0 2015-05 TECHNICAL

5、SPECIFICATION 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) INTERNATIONAL ELECTROTECHNICAL COMMISSION ICS 13.110; 29.260.99 I

6、SBN 978-2-8322-2611-7 Registered trademark of the International Electrotechnical Commission Warning! Make sure that you obtained this publication from an authorized distributor. colour inside PD IEC/TS 61496-4-3:2015 2 IEC TS 61496-4-3:2015 IEC 2015 CONTENTS FOREWORD . 5 INTRODUCTION . 7 1 Scope 8 2

7、 Normative references 9 3 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 d

8、etection requirements . 16 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.

9、3.5 Ambient light intensity 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 a

10、nd test plan . 24 5.2 Functional 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 Typ

11、e 4 ESPE . 29 5.4 Environmental 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 occlusio

12、n . 37 6 Marking for identification 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 Select

13、ion of multiple detection 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 e

14、mploying a volume as a detection 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 S o43 AA.1.3 Vision b

15、ased protective devices with 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 detec

16、tion zone . 49 Annex BB (informative) 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 Determina

17、tion of tolerance zone for 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

18、 56 CC.1 Illumination on a 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

19、 device using stereo vision 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 d

20、esign with PAPT 35 Figure 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 S owithout tolerance zone Example 1 46 Figure AA.3 Overall minimum distance S oincluding tolerance zone Example 1 . 46 Figu

21、re AA.4 Minimum distance S Example 2 47 Figure AA.5 Overall minimum distance S owithout tolerance zone Example 2 48 Figure AA.6 Overall minimum distance S oincluding tolerance zone Example 2 . 48 Figure AA.7 Application example for body detection of a VBPDST employing a volume as a detection zone 50

22、 Figure BB.1 Relationship between 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 S oincluding tolerance zone

23、. 55 Figure CC.1 Illumination model 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

24、 58 Figure CC.5 Grey value profile 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 h

25、alf as bright 60 Figure CC.8 Grey 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 1

26、0 61 Figure CC.11 Grey value profile 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

27、INTERNATIONAL ELECTROTECHNICAL 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 Elect

28、rotechnical Commission (IEC) is 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.

29、To this end and in addition to 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 Nat

30、ional Committee interested in the 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

31、(ISO) in accordance with conditions 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 representatio

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34、Any divergence between any IEC Publication 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

35、 to IEC marks of conformity. IEC 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 indivi

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37、his IEC Publication or any other 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 t

38、his IEC Publication may be the subject 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 o

39、f a technical specification when 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

40、 an International Standard. Technical 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 bee

41、n prepared by IEC technical committee 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 c

42、an be found in the report on voting 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 spec

43、ify particular requirements for 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 sub

44、clause of Part 1 is not mentioned 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 a

45、re numbered sequentially, following 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

46、 general title Safety of machinery 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 t

47、o the specific publication. At this 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 o

48、f this publication indicates that 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 protect

49、ive equipment (ESPE) is applied 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 expertis