公开(公告)号：US20220004162A1

公开(公告)日：2022-01-06

申请号：US17358108

申请日：2021-06-25

申请人： Ilya A. KRIVESHKO ,  Lev PERSITS ,  Scott DENENBERG ,  Paul Jakob SCHROEDER ,  Robert Craig RANDALL ,  Valentina CHAMORRO ,  Gene MALKIN

发明人： Ilya A. KRIVESHKO ,  Lev PERSITS ,  Scott DENENBERG ,  Paul Jakob SCHROEDER ,  Robert Craig RANDALL ,  Valentina CHAMORRO ,  Gene MALKIN

IPC分类号： G05B19/406

摘要： Systems and methods for continuously monitoring a workcell during operation of industrial machinery are disclosed. The system may comprise a safety system that includes at least one sensor and supporting software and/or hardware for acquiring image data associated with the workcell; a monitoring system for detecting a parameter value associated with the safety system; and a controller configured to determine a status of the safety system based at least in part on the detected parameter value and cause an alert to be issued if the status of the safety system does not satisfy a target objective.

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.

公开(公告)号：US10887579B2

公开(公告)日：2021-01-05

申请号：US16553727

申请日：2019-08-28

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 ,  G01K13/00 ,  H04N13/00

摘要： Systems and methods for calibrating a sensor array for 3D depth sensing include the steps of providing multiple 3D sensors each for (i) illuminating a field of view of the sensor and (ii) generating an output array of pixelwise values indicative of distances to objects within the illuminated a field of view; sequentially causing each of the 3D sensors to generate an output array while other 3D sensors are illuminating their fields of view; and creating an interference matrix from the generated output arrays, the interference matrix indicating, for each of the 3D sensors, a degree of interference by other 3D sensors simultaneously active therewith.

公开(公告)号：US10887578B2

公开(公告)日：2021-01-05

申请号：US16553724

申请日：2019-08-28

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： H04N13/271 ,  H04N13/246 ,  G06T7/80 ,  H04N13/194 ,  H04N13/254 ,  H04N5/357 ,  H04N13/204 ,  G01K13/00 ,  H04N13/00

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.

公开(公告)号：US20200077078A1

公开(公告)日：2020-03-05

申请号：US16553724

申请日：2019-08-28

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： H04N13/271 ,  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.

公开(公告)号：US20200077075A1

公开(公告)日：2020-03-05

申请号：US16553729

申请日：2019-08-28

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 ,  H04N13/271 ,  H04N13/254 ,  H04N13/194 ,  H04N5/357

摘要： In various embodiments, systems and methods for generating a digital representation of a 3D space and objects therein include the steps of providing one or more 3D sensors for generating an output array of pixelwise values, the values including an optical intensity value and a value indicative of an estimated distances to an object within a field of view of the sensor; and processing successive output arrays originating from the 3D sensor(s) into a pixelwise array of depth values, each of the depth values having an associated error metric based at least in part on the associated intensity value.

公开(公告)号：US20200077074A1

公开(公告)日：2020-03-05

申请号：US16553727

申请日：2019-08-28

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 ,  H04N13/271 ,  H04N13/254 ,  H04N13/194

摘要： In various embodiments, systems and methods for calibrating a sensor array for 3D depth sensing include the steps of providing multiple 3D sensors each for (i) illuminating a field of view of the sensor and (ii) generating an output array of pixelwise values indicative of distances to objects within the illuminated a field of view; sequentially causing each of the 3D sensors to generate an output array while other 3D sensors are illuminating their fields of view; and creating an interference matrix from the generated output arrays, the interference matrix indicating, for each of the 3D sensors, a degree of interference by other 3D sensors simultaneously active therewith.