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公开(公告)号:US11279039B2
公开(公告)日:2022-03-22
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:US11254004B2
公开(公告)日:2022-02-22
申请号:US16553744
申请日:2019-08-28
申请人: Scott Denenberg , Brad C. Mello , Matthew Galligan , Clara Vu , Patrick Sobalvarro , Marek Wartenberg , Alberto Moel
发明人: Scott Denenberg , Brad C. Mello , Matthew Galligan , Clara Vu , Patrick Sobalvarro , Marek Wartenberg , Alberto Moel
摘要: Embodiments of the present invention provide automated robotic system identification and stopping time and distance estimation, significantly improving on existing ad-hoc methods of robotic system identification. Systems and methods in accordance herewith can be used by end users, system integrators, and the robot manufacturers to estimate the dynamic parameters of a robot on an application-by-application basis.
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公开(公告)号:US20210053226A1
公开(公告)日:2021-02-25
申请号:US16999674
申请日:2020-08-21
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: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.
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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.
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公开(公告)号:US20200331146A1
公开(公告)日:2020-10-22
申请号:US16919963
申请日:2020-07-02
申请人: Clara VU , Scott DENENBERG , Abraham K. FELDMAN
发明人: Clara VU , Scott DENENBERG , Abraham K. FELDMAN
摘要: Systems and methods for determining safe and unsafe zones in a workspace—where safe actions are calculated in real time based on all relevant objects (e.g., some observed by sensors and others computationally generated based on analysis of the sensed workspace) and on the current state of the machinery (e.g., a robot) in the workspace—may utilize a variety of workspace-monitoring approaches as well as dynamic modeling of the robot geometry. The future trajectory of the robot(s) and/or the human(s) may be forecast using, e.g., a model of human movement and other forms of control. Modeling and forecasting of the robot may, in some embodiments, make use of data provided by the robot controller that may or may not include safety guarantees.
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公开(公告)号:US11613017B2
公开(公告)日:2023-03-28
申请号:US17375447
申请日:2021-07-14
摘要: Safety systems in distributed factory workcells intercommunicate or communicate with a central controller so that when a person, robot or vehicle passes from one workcell or space into another on the same factory floor, the new workcell or space need not repeat the tasks of analysis and classification and can instead immediately integrate the new entrant into the existing workcell or space-monitoring schema. The workcell or space can also communicate attributes such as occlusions, unsafe areas, movement speed, and object trajectories, enabling rapid reaction by the monitoring system of the new workcell or space.
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公开(公告)号:US11541543B2
公开(公告)日:2023-01-03
申请号:US16919963
申请日:2020-07-02
申请人: Clara Vu , Scott Denenberg , Abraham K. Feldman
发明人: Clara Vu , Scott Denenberg , Abraham K. Feldman
摘要: Systems and methods for determining safe and unsafe zones in a workspace—where safe actions are calculated in real time based on all relevant objects (e.g., some observed by sensors and others computationally generated based on analysis of the sensed workspace) and on the current state of the machinery (e.g., a robot) in the workspace—may utilize a variety of workspace-monitoring approaches as well as dynamic modeling of the robot geometry. The future trajectory of the robot(s) and/or the human(s) may be forecast using, e.g., a model of human movement and other forms of control. Modeling and forecasting of the robot may, in some embodiments, make use of data provided by the robot controller that may or may not include safety guarantees.
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公开(公告)号:US20220324111A1
公开(公告)日:2022-10-13
申请号:US17739815
申请日:2022-05-09
申请人: Marek WARTENBERG , Clara VU , Scott DENENBERG , Ilya A. KRIVESHKO , Zeynep SEKER
发明人: Marek WARTENBERG , Clara VU , Scott DENENBERG , Ilya A. KRIVESHKO , Zeynep SEKER
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. Limited-access zones are defined within which the presence of a human will not affect operation of the machinery.
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公开(公告)号:US20220141445A1
公开(公告)日:2022-05-05
申请号:US17577487
申请日:2022-01-18
申请人: Gene MALKIN , Scott DENENBERG , Valentina CHAMORRO , Lev PERSITS
发明人: Gene MALKIN , Scott DENENBERG , Valentina CHAMORRO , Lev PERSITS
IPC分类号: H04N13/246 , G06T7/80 , H04N13/194 , H04N13/254 , H04N13/271 , H04N5/357 , H04N13/204
摘要: Systems and methods utilize one or more 3D cameras (e.g., ToF cameras) in industrial safety applications. The 3D camera generates a depth map that may be used by external hardware and software to classify objects in a workcell and generate control signals for machinery. To facilitate sensor-specific calibration and coordination among sensors in a workcell, the sensors may store calibration data in a boot file that is loaded upon start-up. During initialization, the calibration data is loaded and, as the sensor operates, corrections are made to sensed data (e.g., pixel depth values) using the calibration data.
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