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公开(公告)号：US20210099689A1
公开(公告)日：2021-04-01
申请号：US17103427
申请日：2020-11-24
申请人： Scott DENENBERG , Lev PERSITS , Clara VU , Robert Craig RANDALL , Patrick SOBALVARRO , Valentina CHAMORRO , Gene MALKIN , Alberto MOEL
发明人： Scott DENENBERG , Lev PERSITS , Clara VU , Robert Craig RANDALL , Patrick SOBALVARRO , Valentina CHAMORRO , Gene MALKIN , Alberto MOEL
IPC分类号： H04N13/246 , G06T7/80 , H04N13/194 , H04N13/254 , H04N13/271 , H04N5/357 , H04N13/204
摘要： In various embodiments, systems and methods for acquiring depth images utilize an architecture suited to safety-rated applications, and may include more than sensor (such as time-of-flight sensors) operating along different optical paths and a comparison module for ensuring proper sensor operation. Error metrics may be associated with pixel-level depth values for purposes of allowing safe control based on imperfectly known depths.
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公开(公告)号：US20210069907A1
公开(公告)日：2021-03-11
申请号：US17101792
申请日：2020-11-23
摘要： Systems and methods for determining safe zones in a workspace calculate safe actions in real time based on all sensed relevant objects and on the current state of the machinery (e.g., a robot) in the workspace. Various embodiments forecast, in real time, both the motion of the machinery and the possible motion of a human within the space, and continuously update the forecast as the machinery operates and humans move in the workspace.
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公开(公告)号：US20210069906A1
公开(公告)日：2021-03-11
申请号：US17101622
申请日：2020-11-23
摘要： Systems and methods monitor a workspace for safety purposes using sensors distributed about the workspace. The sensors are registered with respect to each other, and this registration is monitored over time. Occluded space as well as occupied space is identified, and this mapping is frequently updated.
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公开(公告)号：US20220355482A1
公开(公告)日：2022-11-10
申请号：US17848609
申请日：2022-06-24
申请人： Scott DENENBERG , Clara VU , Gene MALKIN , Lev PERSITS , Valentina CHAMORRO , Marek WARTENBERG , Pratik Devendra DALVI , Alberto MOEL
发明人： Scott DENENBERG , Clara VU , Gene MALKIN , Lev PERSITS , Valentina CHAMORRO , Marek WARTENBERG , Pratik Devendra DALVI , Alberto MOEL
摘要： Crosstalk mitigation among cameras in neighboring monitored workcells is achieved by computationally defining a noninterference scheme that respects the independent monitoring and operation of each workcell. The scheme may involve communication between adjacent cells to adjudicate non-interfering camera operation or system-wide mapping of interference risks and mitigation thereof. Mitigation strategies can involve time-division and/or frequency-division multiplexing.
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公开(公告)号：US20220234209A1
公开(公告)日：2022-07-28
申请号：US17709298
申请日：2022-03-30
申请人： Ilya A. KRIVESHKO , Marek WARTENBERG , Clara VU , Scott DENENBERG , Nicole AUCOIN , Alberto MOEL
发明人： Ilya A. KRIVESHKO , Marek WARTENBERG , Clara VU , Scott DENENBERG , Nicole AUCOIN , Alberto MOEL
IPC分类号： B25J9/16
摘要： Various embodiments for enforcing safe operation of machinery performing an activity in a three-dimensional (3D) workspace includes computationally generating a 3D spatial representation of the workspace; computationally mapping 3D regions of the workspace corresponding to space occupied by the machinery and a human; and based thereon, restricting operation of the machinery in accordance with a safety protocol during physical performance of the activity.
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公开(公告)号：US20220379474A1
公开(公告)日：2022-12-01
申请号：US17885617
申请日：2022-08-11
申请人： Clara VU , Scott DENENBERG , Marek WARTENBERG , Ilya KRIVESHKO , Antonio FIOL-MAHON , Alberto MOEL
发明人： Clara VU , Scott DENENBERG , Marek WARTENBERG , Ilya KRIVESHKO , Antonio FIOL-MAHON , Alberto MOEL
摘要： One or more computational strategies is used to reduce the complexity of handling detected point clusters appearing at a portal of a monitored workcell. If the other side of the portal is a second, adjacent workcell, the monitoring system for a first workcell predicts when a human in that workcell may pass through the portal to a second workcell and alerts the monitoring system for the second workcell. The prediction may be based on absolute proximity of a human to the portal or movement toward it. Other strategies are employed if the workcells overlap, or if the portal leads to an unmonitored space.
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公开(公告)号：US20210053227A1
公开(公告)日：2021-02-25
申请号：US16999676
申请日：2020-08-21
申请人： Marek WARTENBERG , Paul Jakob SCHROEDER , Brad C. MELLO , Clara VU , Scott DENENBERG , Nicole AUCOIN , Alberto MOEL
发明人： Marek WARTENBERG , Paul Jakob SCHROEDER , Brad C. MELLO , Clara VU , Scott DENENBERG , Nicole AUCOIN , Alberto MOEL
摘要： Various embodiments for enforcing safe operation of machinery performing an activity in a three-dimensional (3D) workspace includes computationally generating a 3D spatial representation of the workspace; computationally mapping 3D regions of the workspace corresponding to space occupied by the machinery and a human; and based thereon, restricting operation of the machinery in accordance with a safety protocol during physical performance of the activity.
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公开(公告)号：US20230271322A1
公开(公告)日：2023-08-31
申请号：US18142647
申请日：2023-05-03
申请人： Scott DENENBERG , Clara VU , Gene MALKIN , Lev PERSITS , Valentina CHAMORRO , Marek WARTENBERG , Pratik Devendra DALVI , Alberto MOEL
发明人： Scott DENENBERG , Clara VU , Gene MALKIN , Lev PERSITS , Valentina CHAMORRO , Marek WARTENBERG , Pratik Devendra DALVI , Alberto MOEL
CPC分类号： B25J9/1666 , G06T17/10 , G01S17/89 , B25J9/1676 , B25J9/1697 , G01S7/4808 , G01S17/04 , G01S17/87 , G05B2219/40202 , Y10S901/49 , G01V8/20
摘要： Crosstalk mitigation among cameras in neighboring monitored workcells is achieved by computationally defining a noninterference scheme that respects the independent monitoring and operation of each workcell. The scheme may involve communication between adjacent cells to adjudicate non-interfering camera operation or system-wide mapping of interference risks and mitigation thereof. Mitigation strategies can involve time-division and/or frequency-division multiplexing.
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公开(公告)号：US20230099717A1
公开(公告)日：2023-03-30
申请号：US17994655
申请日：2022-11-28
申请人： Clara VU , Audrey LEWIS , Antonio FIOL-MAHON , U. Murat ERDEM , Patrick J. FOY , Ilya A. KRIVESHKO , Scott DENENBERG , Alberto MOEL
发明人： Clara VU , Audrey LEWIS , Antonio FIOL-MAHON , U. Murat ERDEM , Patrick J. FOY , Ilya A. KRIVESHKO , Scott DENENBERG , Alberto MOEL
IPC分类号： G05B19/402 , G05B19/4061 , G06T7/00 , G01S17/04 , G06T7/30
摘要： Image sensors distributed about a workcell including industrial machinery are registered using a registration object and an information tag associated therewith. The tag contains information specifying the location of the object and/or the pose of the object. This information is acquired along with images of the registration object, and the sensors are registered based at least in part on the images and the acquired information.
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公开(公告)号：US20220088787A1
公开(公告)日：2022-03-24
申请号：US17538501
申请日：2021-11-30
申请人： Clara VU , Scott DENENBERG , Marek WARTENBERG , Paul Jakob SCHROEDER , Ilya A. KRIVESHKO , Alberto MOEL
发明人： Clara VU , Scott DENENBERG , Marek WARTENBERG , Paul Jakob SCHROEDER , Ilya A. KRIVESHKO , Alberto MOEL
摘要： An integrated system and method for monitoring a workspace, classifying regions therein, dynamically identifying safe states, and identifying and tracking workpieces utilizes semantic analysis of a robot in the workspace and identification of the workpieces with which it interacts, as well as a semantic understanding of entity properties both governing and arising from interaction with other entities for control purposes. These properties may be stored in a profile corresponding to the entity; depending on the implementation, the profile and methods associated with the entity may be stored in a data structure corresponding to the entity “class.” Volumetric regions (e.g., voxels) corresponding to each entity may be tracked and used to implement object methods and/or control methods. For example, machinery may be controlled in accordance with the attributes specified by the objects corresponding to identified entities in a monitored workspace.
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