CN101490283A - 具有涉及安全的区域的工业设备 - Google Patents
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Abstract
在用来制造或加工液态的,炽热的或者热的金属(2,6)的工业设备(1)中,尤其是在高炉设备中或者轧机里,在液态的或者炽热的金属的直接外界形成涉及安全的部件(B1、B2),在该区域里至少有时不允许有人。为了监测这个区域设有探测器单元(10,12,14,16A,16B),它检测由到场的人所发出的电磁辐射或者由于在场的人而造成的电磁辐射的消隐。此外有分析单元(22),它由探测器单元(10,12,14,16A,16B)的输出数据识别出是否有人存在,还设有与分析单元(22)连接的单元(24),其在涉及安全的区域(B1)里有人时自动地引入一种排除人的存在的行动。通过形成多个具有不同危险等级的涉及安全的区域(B1、B2,B2),可以使工业设备(1)平缓地停止。
Description
本发明涉及一种用于制造或者加工液态的、炽热的或者热的金属的工业设备,尤其是高炉设备或者轧机,在该设备里,在液态的或炽热的金属的直接外界形成了涉及安全的区域,在该区域里至少局部地不允许有人。
用于监测空间区域的装置例如由DE 101 63 534 A1、DE 102 21 578A1和DE 10 2004 047022 A1已经得知。这里应用了传感器,它们提供了有关所监测范围的三维信息。三维CMOS传感器的原理基于:激光器和电子快门精确地同步。快门精确地随激光脉冲的发射而打开。极短的光脉冲照亮障碍物—只要存在—而且反射的光脉冲照到三维CMOS图像转换器上。传感器记录下延迟时间,该时间被分析作为障碍物的距离和形状的尺度。作为发射器可以应用发光二极管或者激光器。CMOS传感器的一个像素可以分别包括一个光电二极管和一个配属的像素电容,后者在时间窗口打开时通过光电二极管的照射而放电。
现代工业设备必须这样来设计和运动,使得对人员的危险降到最小。一般因此将具有高危险倾向的某些设备区域进行隔离,或者封闭住进入某些区域的通路。为此可以设有防护围栏或者门。
为了隔离或者控制,在机器外界或者就在工业设备里的有危险区域也已知有所谓开关垫或者也有光学***,例如光栅。开关垫同样也如同具有进入大门的栅栏那样结构费用高,并且在极端的环境条件下无法使用。
本发明的任务是在一种具有很强的热辐射的工业设备中,即在用于制造或者加工液态的、炽热的或者热的金属的工业设备中以结构上简单的方式确保和控制涉及安全的区域。
这个任务按照本发明针对开头所述的工业设备通过一种用于上述涉及安全的区域的监测装置来解决,该监测装置包括:
-探测器单元,该探测器单元检测由在场的人所发出的电磁辐射或者由于在场的人而造成的电磁辐射的消隐,
-分析单元,该分析单元从探测器单元的输出数据识别出是否有人存在,
-与分析单元相接的控制单元,该控制单元当涉及安全的区域里存在有人时自动地引入一种排除人的存在的行动。
本发明已经认识到:基于辐射的用于涉及安全的区域的监测装置在具有高的热辐射和红外辐射的工业设备中也能保证所要求的安全性。这打破了技术偏见。专业人员迄今并没有考虑将这样的探测器单元用于高炉设备或者轧机。而在那里一如既往地加大投入机械式接近阻拦。本发明的优点在于,为保证足够的人员安全性,无需花费大的机械闭锁装置,如在栅栏等等里的大量的电闭锁的门。放弃或者减少这样的防护栅栏和/或门在设备维护时也具有重大的优点,因为由此这些栅栏和门不会阻碍接近设备。
探测器单元优选基于下述探测器类型中的至少一种:
-运动检测器,
-光栅,
-摄像机或者CCD照相机,
-热感照相机,
-由光发射器和半导体矩阵传感器所组成的组合,尤其是用CMOS工艺。
特别优选的是,在探测器单元里使用上面所述探测器类型中的至少两种的组合,因而可以实现特别高的安全标准。
除此之外特别有利的是:如果在探测器单元里应用了具有不同的探测器维度的探测器原理,例如一维传感器或者行扫描仪,尤其是光栅,和/或二维传感器或者面扫描仪,尤其是光幕或者二维照相机,和/或三维传感器,其尤其包括光传感器、半导体矩阵传感器以及延迟时间确定单元,其中上述半导体矩阵传感器对于每像素具有用于对反射回的反射器光进行积分的一个电容和一个光电二极管。
按照一种特别优选的实施方式,探测器单元设置用于由涉及安全的区域产生图像并且分析单元对图像进行处理。优选在图像处理时进行目标识别或者模式识别,优选基于神经网络,因此可以将人与非人目标区分开来。
因此除了识别人员危险之外也可以了解到在设备里,例如车辆的或者跌下来的零部件的其它意外的或者不寻常的运动。
按照一种优选的改进方案,在工业设备里形成了另外至少一个涉及安全的区域,该区域在其危险程度方面与之前提到的涉及安全的区域是不同的,其中所述另外的涉及安全的区域可以由监测装置分别地对是否存在有人进行监测。所述涉及安全的区域中的至少一个优选具有介于“最高危险”和“没有危险”之间的危险等级。
按照另一种优选的改进方案,控制单元与设备控制装置相连,从而在识别出人员危险时,可以由设备控制装置自动地尤其是实时地、在线和/或无需人为中间输入,实现对设备驱动器采取降低危险的干预措施。
特别有利的是:干预措施的强度可以取决于已经识别出存在不允许的人的那个涉及安全的区域的危险程度来实现。由此可以有利地使设备“平稳”地停止,如果在中等危险程度的区域里探测到有人,对于轧机而言其措施例如是首先使轧制速度或者通过速度降低,并且当这个人进入到最高危险程度的区域里时,才使轧制速度或者通过速度降到零,也就是说使设备停止。
对于钢厂或者高炉来说,可以延迟和/或完全中断出钢作为对进入人员的反应。
工业设备同样也优选地具有输入装置用于通过调度室的操作人员来确定封锁区域。对于操作人员来说因此可以灵活地,例如在中等危险程度的区域之内规定区域,即所谓封锁区域,这个区域暂时具有较高的或者最高的危险等级,例如因为在这个区域里具有高的危险程度的机器暂时地停止了。
以下根据附图对于按照本发明的工业设备的实施例进行详细说明。唯一的附图作为工业设备1简略表示出了连铸设备,它具有热轧轧机。本发明也可以应用在一种冷轧轧机中,在那里钢的温度例如高于100℃。
液态金属2,例如铁,通过漏斗式结晶器3和转向辊从垂直的进给方向转变成水平的进给方向。在水平面上,还是炽热的钢带6当它在感应炉7中加热8之后,经过多个轧机机座5。
围绕着工业设备1的连铸区域和轧制区域形成多个涉及安全的区域B1、B2、B3,它们通过监测装置分别单独地进行监测。监测的目的是确定:哪个过程在相应的区域B1、B2、B3里发生以及尤其是在相应的区域B1、B2、B3里是否未经许可进入了人员,这个人在这个区域里可能会进到不允许的危险。涉及安全的区域包括安全的区域B3、不很危险的区域B2和很危险的区域B1。
监测装置,尤其用于涉及安全的区域B1和B2,包括具有多个不同探测器的探测器单元。这些探测器是CCD照相机或者摄像机10,它产生所监测的区域的二维图像(投影);此外还是一种三维图像传感器,它具有由光发射器和直接邻接光发射器布置的半导体矩阵传感器所组成的组合12;此外还是一种运动检测器14和一种光栅16A、16B。运动检测器14例如基于所谓的热电效应。光栅可以用可见光或者不可见光工作。作为三维传感器例如采用一种按CMOS工艺的半导体矩阵传感器,正如它例如在DE 10 2004 04 7022 A1、DE 101 63 534 A1或者DE 10221 578 A1中所描述的那样。
通过这些不同探测器类型和探测器原理的共同作用,对于无线地或者有线地接收所述探测器的输出数据的分析单元22来说,特别可靠地可以识别出涉及安全的区域B1和B2里是否存在人,并且例如区分出由于来自连铸区域或轧制区域的干扰辐射所产生的假象。为了进一步确保人员探测过程,在分析单元22里除此之外借助于神经网络对于由探测器单元所产生的图像进行目标识别和模式识别。
不同的涉及安全的区域B1、B2可以根据图像按如下措施单独地进行监测:对于每个区域都设有单独的照相机或者单独的矩阵探测器,也就是说,不同的区域B1、B2通过配属的探测器的各自的检测锥来规定和确定。区域B1、B2备选地可以由共同的探测器,优选由三维传感器,共同监测,其中可以在分析侧借助由探测器所提供的位置数据来区分不期望的人在区域B1里还是在B2里。
在从功能上后置于分析单元22的控制单元24中,如果探测到在危及安全的区域B1或B2里有不期望的人,那就引入一种排除人的存在的行动。这可能是:首先例如在短时间里通过光或声音信号,例如借助于扬声器26警告这个人。在较高的升级等级中,控制单元24直接从功能上作用于设备控制装置30,该装置30与分析单元22和控制单元24一起布置在工业设备1的调度室20里。如果在短时的声音警告时间之后,人员还是在危险区域B1或B2里,那就使轧机机组5停止或者降低通过速度。这种过程不需要操作人员的干预。
尤其是在通过三维传感器监测这些涉及安全的区域B1、B2时,特别有利的是:在调度室20里的操作人员可以通过输入装置40来规定封锁区域V,这个区域短时间地在其危险程度方面被分级为提高的。所示的封锁区域V因此例如可以短期地被分级成区域B1的危险程度,也就是说,如果有人进入封锁区域V,那么立即会引起最高的升级等级的行动,例如使轧机立即停机。
按照一种方案,作为照相机应用了一种热感照相机,因此其优点在于:不仅可以识别出在不期望区域里的人员,而且可以了解到在工业设备中其它的不寻常的温度变化情况,例如,如果在不期望的位置上流出了液态的金属或者高温的铁零件掉落下来。
Claims (12)
1.用于制造或加工液态的、炽热的或者热的金属(2,6)的工业设备(1),尤其是高炉设备或者轧机,在该设备里,直接在液态或炽热的金属(2)外界形成涉及安全的区域(B1),在该区域里至少有时不允许有人,其特征在于用于上述涉及安全的区域的监测装置,该监测装置包括:
-探测器单元(10,12,14,16A,16B),该探测器单元检测由在场的人所发出的电磁辐射或者由于在场的人而造成的电磁辐射的消隐,
-分析单元(22),该分析单元从探测器单元(10,12,14,16A,16B)的输出数据识别出是否有人存在,
-与分析单元(22)相接的控制单元(24),该控制单元当涉及安全的区域(B1)里存在有人时自动地引入一种排除人的存在的行动。
2.按权利要求1所述的工业设备,其特征在于,探测器单元(10,12,14,16A,16B)基于以下探测器类型中的至少一种并优选基于至少两种的组合:
-运动检测器(14),
-光栅(16A,16B),
-摄像机(10)或CCD照相机
-热感照相机,
-由光发射器和半导体矩阵传感器所组成的组合(12),尤其是按CMOS工艺。
3.按权利要求1或2所述的工业设备,其特征在于,探测器单元(10,12,14,16A,16B)基于以下探测器类型中的至少一种并优选基于多种的组合:
-一维传感器或者行扫描仪,尤其是光栅(16A,16B)
-二维传感器或者面扫描仪,尤其是光幕或者二维照相机,
-三维传感器,尤其包括光发射器、半导体矩阵传感器和延迟时间确定单元,其中上述半导体矩阵传感器对于每像素具有用于对反射回的反射器光进行积分的一个电容和一个光电二极管。
4.按权利要求1至3中任一项所述的工业设备(1),其特征在于,探测器单元(10,12)由涉及安全的区域(B1)产生图像;而且分析单元(22)进行图像处理。
5.按权利要求1至4中任一项所述的工业设备(1),其特征在于,所述图像处理进行目标识别或模式识别,优选基于神经网络,从而可以将人与非人目标区分开。
6.按权利要求1至5中任一项所述的工业设备(1),其特征在于,为了确保涉及安全的区域(B1),无需防护栅栏或者防护围栏;或者为保证足够的或者规定的安全性,与不设监测装置相比,只需更少的防护栅栏或者防护围栏。
7.按权利要求1至6中任一项所述的工业设备(1),其特征在于,形成了另外至少一个涉及安全的区域(B2,B3),其在危险程度方面与首次提到的涉及安全的区域(B1)不同;而且所述另外的涉及安全的区域(B2,B3)能够由监测装置分开地监测是否存在有人。
8.按权利要求7所述的工业设备(1),其特征在于,上述涉及安全的区域中的至少一个(B2)具有介于“最高危险”和“没有危险”之间的危险等级。
9.按权利要求1至8中任一项所述的工业设备(1),其特征在于,控制单元(24)与设备控制装置(30)连接,从而在识别出有危险的人时可以由设备控制装置(30)自动地,尤其是实时地,对设备驱动器采取降低危险的干预措施。
10.按权利要求8和9所述的工业设备(1),其特征在于,干预措施的强度取决于已经识别出不允许人存在的那个涉及安全的区域(B1、B2,B3)的危险程度来实施。
11.按权利要求9或10所述的工业设备(1),其特征在于,对于轧机而言,所述干预措施包括降低轧制速度或者通过速度和/或停止轧机机组(5)。
12.按权利要求9或10所述的工业设备,其特征在于,对于钢厂或者高炉而言,上述干预措施包括延迟和/或中断出钢。
13.按权利要求1至12中任一项所述的工业设备(1),其特征在于输入装置(40),用于通过调度室(20)的操作人员来规定封锁区域(V)。
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CN104102185A (zh) * | 2013-02-27 | 2014-10-15 | 洛克威尔自动控制技术股份有限公司 | 具有人和物体区分的基于识别的工业自动化控制 |
CN106287188A (zh) * | 2015-06-29 | 2017-01-04 | 上海宝钢工业技术服务有限公司 | 运转机械设备的安全防护*** |
CN107407919A (zh) * | 2015-03-04 | 2017-11-28 | Abb股份公司 | 安全控制***和安全控制***的运行方法 |
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DE102010030667A1 (de) | 2010-06-29 | 2011-12-29 | Siemens Aktiengesellschaft | Vorrichtung zur Überwachung einer Position und/oder einer Bewegung wenigstens eines Objekts im Bezug auf einen vorgegebenen Bereich, insbesondere Gefahrenbereich, einer Anlage sowie Anlage mit einer Mehrzahl an Vorrichtungen |
US9517617B2 (en) * | 2012-10-17 | 2016-12-13 | M&R Printing Equipment, Inc. | Printing machine safety system |
CN102915027B (zh) * | 2012-11-16 | 2014-08-13 | 武汉钢铁(集团)公司 | 一种基于模式识别技术构建的高炉冶炼专家***及其方法 |
EP2835699B1 (de) * | 2013-08-09 | 2015-05-06 | Sick Ag | Vorrichtung und Verfahren zum Konfigurieren und/oder Programmieren einer Sicherheitssteuerung |
EP2937745B1 (de) * | 2014-04-25 | 2016-10-05 | Sick Ag | Sicherheitssteuerung zum sicheren Betreiben einer technischen Anlage und Verfahren zum Betreiben der Sicherheitssteuerung |
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CN104102185A (zh) * | 2013-02-27 | 2014-10-15 | 洛克威尔自动控制技术股份有限公司 | 具有人和物体区分的基于识别的工业自动化控制 |
CN104102185B (zh) * | 2013-02-27 | 2018-03-13 | 罗克韦尔自动化技术公司 | 具有人和物体区分的基于识别的工业自动化控制的***和方法 |
CN107407919A (zh) * | 2015-03-04 | 2017-11-28 | Abb股份公司 | 安全控制***和安全控制***的运行方法 |
CN107407919B (zh) * | 2015-03-04 | 2020-08-25 | Abb股份公司 | 安全控制***和安全控制***的运行方法 |
CN106287188A (zh) * | 2015-06-29 | 2017-01-04 | 上海宝钢工业技术服务有限公司 | 运转机械设备的安全防护*** |
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DE102006032955A1 (de) | 2008-02-07 |
MX2009000617A (es) | 2009-01-29 |
US20090315229A1 (en) | 2009-12-24 |
RU2439163C2 (ru) | 2012-01-10 |
UA98939C2 (ru) | 2012-07-10 |
CA2663893A1 (en) | 2008-01-24 |
EP2041324B1 (de) | 2013-07-31 |
KR20090033392A (ko) | 2009-04-02 |
WO2008009536A1 (de) | 2008-01-24 |
EP2041324A1 (de) | 2009-04-01 |
RU2009105244A (ru) | 2010-08-27 |
BRPI0714388B1 (pt) | 2015-08-18 |
BRPI0714388A2 (pt) | 2013-02-19 |
CN101490283B (zh) | 2012-08-01 |
PL2041324T3 (pl) | 2013-12-31 |
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