ČSN EN ISO 16001 - Strojní zařízení pro zemní práce - Systémy detekce předmětů a pomůcky pro výhled - Požadavky na provedení a zkoušky

3.9 warning range

range within the detection zone (3.3) in which a distinctive warning is provided to indicate the range between the machine and the object being detected

####

recommended maximum.

Measuring detection zone

With the machine components at the centre of the test area according to F.3, place the test body and tag on the 1 m radius circle at the 0° radial line. Record whether detection occurs. Rotate the tag to the second and third positions as described in F.6, recording detection for each case. The person conducting the test should step aside while detection is noted to ensure they are not causing interference.

Move the test body away from the centre to the next circle along the 0° radial line and repeat the steps described above. Continue along the radial line until detection does not occur for any tag orientation.

Move to the next radial line and repeat the tests. The test body and tag shall be oriented to face the machine components as described in F.6 (The test body needs to rotate to compensate for movement around the circle). Continue until detection has been recorded for all radial lines and distances from the centre.

Recording detection zones

Each test point specified in F.7.2 shall be recorded on a polar grid as shown in Figure F.4 in order to indicate the dimensions and shape of the detection zone. Reliable detection should be noted for those points where all three tag orientations were immediately detected by the system. Sporadic detection should be noted for those points where only one or two tag orientations were detected. Furthermore, tag detection shall be considered sporadic if any tag orientation resulted in inconsistent detection at that point. The detection area shall be outlined to indicate the overall shape of the reliable detection zone with sporadic areas identified.

Values in degrees

Key

1

distance from test body, in m

sporadic detection area

reliable detection area

Figure F.4 — Example plot of reliable and sporadic detection zones

Verification test for tag on a human

Human shielding of a tag can cause interference and missed detection. An additional test shall be conducted to verify that a tag intended to be worn by a human worker is detected in all orientations. The tag shall be worn on an average-sized person (height between 1,65 m and 1,75 m) in a typical orientation and location as recommended by the manufacturer. The test person shall stand upright facing the machine components mounted on the stand as described in F.5. The person shall stand on the intersection of the 180° radial line and the 8 m circle. Tag detection shall be recorded as “Yes” or “No” for this orientation. The test person shall then rotate his body in place in 45° increments, recording tag detection at each orientation. Results shall be recorded as shown in Table F.1.

Table F.1 — Recording of tag detection for person at range of 8 m

Person's orientation degrees

Tag detection Yes/No

0

45

90

135

180

225

270

315

Practical considerations for mounting EM transceiver systems on machines

The detection zone for these systems, when recorded as described above, could be very different to the detection zone that results after mounting the system on machinery. Interference from the metallic structures on the machine can block portions of the signal, resulting in a detection zone that is truncated in one or more directions. Mounting height and location can also affect the shape of the detection zone. Some manufacturers use this quality of EM signals to limit detection to one area of the machinery. For instance, an antenna mounted on the rear axle of a dump truck might only detect tags at the rear of the truck, and conversely for an antenna mounted on the front bumper. Manufacturers shall make these limitations clear in the installation or operation manual so that it is understood that multiple antennas could be needed for full protection around a piece of machinery. It is recommended that manufacturers include an example plot of the detection area of the system when mounted on a typical piece of machinery.

A computer simulation may also be used as a means of determining system performance. A commissioning test as defined in F.11 shall be performed to confirm the validity of results produced by the computer simulation.

Commissioning test for machine types

Because of the potential for metallic structures on the machine to block portions of the signal (see F.10), a commissioning test based on the method described in F.7 shall be carried out on each machine type to determine the limitations of detection of the system as installed on the machine. The results shall be recoded in accordance with F.8 and the plot compared with that obtained in the original component test. Where there is significant truncation of the signal, a risk assessment shall be carried out to determine whether multiple antennae are needed to provide additional protection to the areas of truncation.

(normative) Particular performance requirements and tests for CCTV system with surround view

Overview and purpose of tests

This annex provides particular performance requirements and tests for a surround view on CCTV system, which merges the images from multiple cameras into a single image on a single monitor. This annex modifies Annex B so that the object can be appropriately represented on the monitor and recognized by the operator by a surround views.

The tests in Annex B shall be applied except for modification given in G.4 below.

Test body

Test body consists of a closed top cylinder 400 mm in diameter and of height 1 600 mm.

Top and bottom should be painted or marked, so that they are discriminated as mock-head and feet.

NOTE Specified dimensions are based on the dimensions of a Rotakin test body as specified in EN 50132–7:1996, Annex A.

Mounting and set-up

Cameras

The camera shall be set-up on the parent machine as designed.

Test body

The test body shall be vertical and shall be placed in the test evaluation area.

Test requirement

The purpose of the test is to measure and record the location of the test body at which the size in the monitor of the test body image is 7,0 mm. This test shall be done to each merging overlap image.

NOTE If a single test body is represented as multiple images on the monitor, use images equal to or larger than 7,0 mm height for test recording purposes.

Test procedure

For merging overlap image from multiple cameras, draw on the ground a mesh covering the detection area with specified size cells as presented on Figure G.1. Cell size shall be specified by manufacture conforming to the risk assessment. The minimum cell size shall be 1 m.

— x-axis (the lateral direction of the base machine) is the line that runs through the rear end of the base machine and perpendicular to y-axis.

— y-axis (the longitudinal direction of the base machine) is the line that runs through the centre point of base machine and parallel to the longitudinal of base machine.

— The centre point of the base machine is based on the parent machine manufacturer’s specifications.

Place test body on each point of the mesh. Measure and confirm if the size in the monitor of the test body image is equal to or larger than 7,0 mm.

Repeat the procedure, measure and record the location of the test body, until the test body image size becomes less than 7,0 mm. If some part of the test body is not represented, the head end image and leg end image need to be represented at the same time with the total image height of these ends minimum 7,0 mm for being capable to be appropriately recognized.

Figure G.1 — Records of merging overlap image

(normative) Particular performance requirements and tests for visual ODS

Overview and purpose of tests

This annex is applicable to object detection systems that detect based on the camera image of a nearby moving person around the earth-moving machinery. It specifies particular performance requirements and tests (amending those specified in Annex B) for a visual object detection system (ODS) such that the nearby persons around the machines can be appropriately detected avoiding detection loss.

Test body

See G.2.

Mounting and set up

Camera

See G.3.1.

Test body

The test body shall be vertical and shall be placed in the test evaluation area.

Test area

The test area shall be an open flat surface also no visibility obstruction to the visual ODS shall be in the test area. All personnel, except those conducting the test, shall be in an area where they are not detected by the visual ODS. Mark out criss-cross lines at 1 m intervals over the test area from the border of the machine to the distance as specified by the manufacturer.

Test environment

The test environment shall be in accordance with 4.8 and with the following additions:

— light levels shall be greater than 50 lx and less than 50 000 lx;

— the camera shall not receive direct sunlight;

— avoid snowfall, rainfall, mist or dust that can otherwise cause the test body difficult to be recognized;

— avoid raindrops, mud or dusts on camera lens that can otherwise cause distortion of the images.

Test procedure

The test body shall approach each border of the machine (in the following order: from the front, rear, left, and right) at each of the four test conditions.

Key

1

test body approaching from the front side of the machine

2

test body approaching from the rear side of the machine

3

test body approaching from the LH side of the machine

4

test body approaching from the RH side of the machine

Figure H.1 — Test body approaching the machine border

Test body approaching from the front side of the machine

Test body shall be placed at the distance, where it is not recognized by visual object detection. Let the test body approach, at velocity 4 km/h to the machine front border (0 m). Record the detection range for the test body. If this approaching line is outside the machine LH/RH border, move the test body to the centre of the front and rear end borders of the machine and record the detection range.

Shift sideway by 1 m then repeat the above mentioned movement [approaching velocity 4 km/h to the machine front border (0 m)] and record the detection range.

Then repeat side-shift by 1 m also repeat approaching movement so far as the test evaluation criteria (see H.7) are met.

Key

1

detection range where the test body is appropriately detected (bold line)

2

non-detection range where the test body cannot be detected (broken line)

Figure H.2 — Machine front side test area also recording of the detection range

Test body approaching from the rear side of the machine

Test body shall be placed at the distance, where it is not recognized by the visual ODS. Let the test body approach, at velocity 4 km/h to the machine rear border (0 m). Record the detection range for the test body. If this approaching line is outside the machine LH/RH border, move the test body to the centre of the front and rear end borders of the machine and record the detection range.

Shift sideway by 1 m then repeat the above mentioned movement [approaching velocity 4 km/h to the machine rear border (0 m)] and record the detection range.

Then repeat side-shift by 1 m also repeat approaching movement so far as the test evaluation criteria (see H.7) are met.

Key

1

detection range where the test body is appropriately detected (bold line)

2

non-detection range where the test body cannot be detected (broken line)

Figure H.3 —Machine rear side test area also recording of the detection range

Test body approaching from the LH side of the machine

Test body shall be placed at the distance, where it is not recognized by the visual ODS. Let the test body approach, at velocity 4 km/h to the machine LH side border (0 m). Record the detection range for the test body. If this approaching line is outside the machine front end/rear end border, move the test body to the centre line of the LH and RH borders of the machine and record the detection range.

Shift fore or aft by 1 m then repeat the above mentioned movement [approaching velocity 4 km/h to the machine LH side border (0 m)] and record the detection range.

Then repeat fore or aft shift by 1 m also repeat approaching movement so far as the test evaluation criteria (see H.7) are met.

Key

1

detection range where the test body is appropriately detected (bold line)

2

non-detection range where the test body cannot be detected (broken line)

Figure H.4 — Machine LH side test area also recording of the detection range

Test body approaching from the RH side of the machine

Test body shall be placed at the distance, where it is not recognized by the visual ODS. Let the test body approach at velocity 4 km/h to the machine RH side border (0 m). Record the detection range for the test body. If this approaching line is outside the machine front end/rear end border, move the test body to the centre line of the LH and RH borders of the machine and record the detection range.

Shift fore or aft by 1 m then repeat the above mentioned movement [approaching velocity 4 km/h to the machine RH side border (0 m)] and record the detection range.

Then repeat fore or aft shift by 1 m also repeat approaching movement so far as the test evaluation criteria (see H.7) are met.

Key

1

detection range where the test body is appropriately detected (bold line)

2

non-detection range where the test body cannot be detected (broken line)

Figure H.5 — Machine RH side test area also recording of the detection range

Recording

Test results measured in H.6.1 to H.6.4 shall be combined and recorded to show clearly the detection area for the test body (that is, where the body was appropriately detected) and the area where the body was not detected. Figure H.6 shows an example of recording on the way.

Key

1

detection range where the test body is appropriately detected (bold line)

2

non-detection range where the test body cannot be detected (broken line)

Figure H.6 — Recording of detection range

Test evaluation criteria

Test evaluation criteria shall be as specified by the manufacturer of the parent machine.

Practical considerations for mounting cameras on machines

Cameras shall be installed on the machine so that the rectangular grid with lines at 1 m intervals over the test area from the border of the machine to the distance as specified by the manufacturer can be represented as the combined image from the cameras.

(normative) Test procedure for vision systems based on morphological recognition

   Purpose of the tests

The purpose of the tests described in this annex are:

a) to assess Obstacle detection performance;

b) to assess the human detection and recognition (differentiation human/other object) performance and reliability;

c) to measure the limits of the detection zone;

d) to measure the detection time;

e) to check the operational system’s reliability.

If the system is not capable of classifying persons, I.8 is not applicable. If it is only capable of detecting persons, I.7 is not applicable.

    Test bodies

General

Two types of test bodies shall be used to simulate obstacle on the one hand and a person on the other hand.

Test body 1 for simulating an obstacle

The test body for simulating an obstacle shall be a cylinder with following dimensions: h = 80 cm; D = 40 cm.

The surface of the test body shall be uniform white and smooth.

Test body 2 for simulating a person

A 1,7 m mannequin shall be used. The mannequin shall wear blue work clothes and a yellow or orange high-visibility jacket. It shall wear a helmet.

For some tests, a person whose height is between 1,5 m and 1,9 m may serve as a test body. This person shall wear blue work clothes and a high-visibility jacket. This person shall wear a helmet.

   Detection system set up

Install the system on a test vehicle according to the instruction of the manufacturer of the system. Adjust the system setup accordingly. In order to facilitate the test, the system should be installed on a tripod mounted on a cart.

For the first series of test, the vehicle shall remain static in order to ease the performance measurement and to warranty the safety of the testing operator.

   Testing conditions

The test shall be made in the following conditions, unless otherwise stated in the specific test description:

a) flat ground;

b) clear test area (or wider area based on the system capability);

c) illumination comprised between 50 lx and 80 000 lx;

d) no rain nor dust nor mist nor smoke.

   Visualization performances

Refer to Annex B.

   Detection area verification

Obstacle detection

Use the system in obstacle detection mode. The test vehicle is static.

Draw on the ground the detection zone as specified by the manufacturer (if pre-set) or as configured in the setup phase.

Move the obstacle test body 1 from outside towards the detection area (as presented in Figure I.1) until the alarm is triggered. As soon as the alarm is triggered and stable, mark the position on the ground. The test body moving speed should be decided by travel speed or swing speed of machine.

Repeat the operation every 1 m around the theoretical detection area.

Figure I.1 —Area size and shape verification

   Obstacle detection performance

General

Draw on the ground a mesh covering the detection area, with 1 m size cells as presented in Figure I.2.

Static detection

For this test, vehicle and test body 1 are static.

Place the test body 1 on each point of the mesh. Check that the alarm is triggered and continuous.

NOTE It is important that the operator leaves the detection area once the test body has been positioned on a designated point. Otherwise, operator presence would impact the results of the test.

Figure I.2 — Test positions

Moving obstacle

Put test body 1 on a small cart and move it according to the trajectories depicted in Figure I.3 with the appropriate speed for the planned usage in the detection area.

Check that the alarm is triggered as long as the test body is in the detection area.

And check that the alarm stops when the test body leaves the area, or after a short while, or after the driver released deliberately the alarm depending on the implementation adopted by the manufacturer.

Figure I.3 — Moving obstacle trajectory

Moving vehicle

Translation

Place the test body outside the detection area, 5 m from the back limit of the detection zone, in the axis of the camera.

Move the test vehicle along a straight line towards the obstacle with the appropriate speed for the planned usage.

Check that the alarm is triggered and stable when the test body is in the detection area.

Figure I.4 — Translation test

Rotation

Place the test body outside the detection area, 2 m right from the right limit of the detection zone, at half the total length of the detection area.

Rotate the detection system with a rotation speed up to the appropriate speed for the planned usage.

Check that the alarm is triggered and stable when the test body is in the detection area.

Figure I.5 — Rotation test

   Person detection and recognition performance

General

These tests are carried out with the system set up for discriminating persons (specific alarm for persons or an alarm only if a person is in the detection area or both).

The detection area shall be free of any other obstacle.

Static detection

General

Vehicle is static.

Detection

Same test procedure as I.7.2 with test body 2 or an operator. Operator or mannequin shall be facing the camera.

No warning due to an obstacle which is not a person

Place test body 1 in the detection area in the axis of the camera and check that there is no person detection alarm.

NOTE Make sure that the operator is out of the detection area, once the operator has placed the test body.

The test should also be performed with the following types of objects: car, pole, mast, road sign facing the camera, large industrial gas bottle.

Record the objects, if any, triggering an alarm. The corresponding limitation shall be provided within the operator’s manual.

Moving person

General

Vehicle shall be static.

Walking person

The operator shall walk as specified in I.7.3 in the detection zone.

Check that the person detection alarm is triggered and stable as long as the operator is in the person detection area.

And check that the alarm stops when the operator leaves the person detection area, or after a short while (record the duration of this period of time), or after the driver released deliberately the alarm depending on the implementation adopted by the manufacturer.

Person carrying an object

Repeat the test of I.8.2.2 with the operator carrying a scale, a bag, a large tool or pushing a wheelbarrow.

Failing test shall be recorded if any and the corresponding limitation shall be provided within the operator’s manual.

Person performing work gestures

The operator being in the middle of the detection area, makes usual gestures at work or for guiding a manoeuvring vehicle. Check that the person detection alarm is triggered and stable.

Failing test shall be recorded if any and the corresponding limitation shall be provided within the operator’s manual.

Moving vehicle

Same test procedure as I.7.4 with test body 2.

Check that the person detection alarm is triggered and stable when the test body 2 is in the person detection area.

   Detection reliability

General

This test shall be carried out in person detection area or in person detection mode or both.

Ground configuration

Steep ramp

Without modifying the set up the system, modify the height and angle of the sensor to simulate the situation where the vehicle would be on a ramp, as presented in the figure hereunder.

Key

1

sensor

2

test body 1

Figure I.6 —Sensor and test body

The test body shall be placed at a horizontal distance of 3 m from the camera.

Check that the test body 1 is detected and the alarm is stable, as long as it is in the detection area.

NOTE Depending on the initial height of the sensor, it could happen that the detection area is naturally reduced, due to geometrical considerations. In this case, the test body shall be placed in the resulting detection area.

Check that there is no alarm once the test body is removed from the detection area.

Change the ramp angle up to the planned usage (i.e. maximum ability to climb slope), and record the maximum angle that the test body can be detected.

Uneven ground

In the camera axis, and at a distance of 3 m, place test body 2 on a pedestal. Check that the person detection alarm is triggered and stable.

Perform the test for the following pedestal height, H: 0,3 m, 0,5 m, 1 m.

NOTE H = Pedestal height.

Figure I.7 —Pedestal section

If this test fails, then the corresponding limitation shall be provided in the user’s manual.

   Detection time

The response time shall be measured as follows.

a) A laser beam is positioned parallel to the sensor’s line of sight along the border of the actual detection area with 20 cm margin inside.

b) The test body, starting at a range of 2 m from the camera, moves perpendicularly to the camera axis from outside the detection area to the inside of the detection area at a speed of 3 km/h.

c) The response time is the time elapsed between:

1) the moment when the whole obstacle is in the detection area: the laser beam goes up again as the obstacle no longer cuts its path;

2) and the moment when the alarm is triggered.

Perform the test 50 times with test body 1 (in obstacle detection mode) and with test body 2 (in person detection/recognition mode).

Arithmetic average of the 50 response time measurements shall be less than the detection time in accordance with 4.5.

Key

1

laser beam

Figure I.8 —Detection time test

   Operational reliability

If for some conditions, the device is not able to perform detection and at the same time is not able to provide a malfunction warning to the driver, the corresponding limitation shall be described in the user’s manual

Bibliography

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