人間・機械協調システムを対象とした全方位画像センサを用いた視体積交差法による移動体存在領域検出のための基礎的解析

摘要

The detection of object zone which includes surveillance targets such as human and machines is high important process of Vision Based Protective Devices for safeguarding of machinery, since object zone represents presence of a target. In this paper, the detection method for VBPD is proposed and the feature of this method is that the areas depicted by object bearing angles which are detected by all sensors are used as silhouettes. It is shown that the characteristics of the tendencies that object zones appear in response to certain numbers of sensors and object placement condition given are analyzed. Although the proposed method is robust to occlusion, the missing is unavoidable. Therefore, sensor positions should be determined according to the result of risk assessment. Ghosts in the detection result are unavoidable by the proposed method, but the ghost detection is not failure to danger. There is basically no solution for the ghost problem, therefore it is necessary to supplement with other detection method using active sensor to solve this problem.%機械安全の分野において，画像監視方式による保護rn装置への要求事項の検討が「IEC/TR61496-4機械類のrn安全性一電気的検知保護設備一第4部：映像利用保護rn装置を使う設備に対する要求事項」として進められてrnいる.