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公开(公告)号：US20240326253A1
公开(公告)日：2024-10-03
申请号：US18740527
申请日：2024-06-12
申请人： Clara VU , Scott DENENBERG , Patrick SOBALVARRO , Alberto MOEL
发明人： Clara VU , Scott DENENBERG , Patrick SOBALVARRO , Alberto MOEL
CPC分类号： B25J9/1694 , B25J9/1666 , B25J9/1676 , B25J9/1697 , G01S7/4808 , G01S17/04 , G01S17/87 , G01S17/89 , G06T17/10 , G01V8/20 , G05B2219/40202 , G06T17/05 , Y10S901/47 , Y10S901/49
摘要： A method of safely operating machinery in a workspace includes recording images of a portion of a workspace. The method also includes generating a three-dimensional (3D) representation of the portion of the workspace based on the recorded images, where the 3D representation includes one or more volumes that correspond to the portion of the workspace. Additionally, the method includes identifying one or more of the volumes as being either occupied or unoccupied. Further, the method includes mapping one or more safe zones based on the one or more identified volumes, where the safe zones correspond to one or more regions within the portion of the workspace for safe operation of machinery.
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公开(公告)号：US20210379763A1
公开(公告)日：2021-12-09
申请号：US17400242
申请日：2021-08-12
申请人： Scott DENENBERG , Clara VU , Patrick SOBALVARRO , Alberto MOEL
发明人： Scott DENENBERG , Clara VU , Patrick SOBALVARRO , Alberto MOEL
IPC分类号： B25J9/16
摘要： Spatial regions potentially occupied by a robot (or other machinery) or portion thereof and a human operator during performance of all or a defined portion of a task or an application are computationally estimated. These “potential occupancy envelopes” (POEs) may be based on the states (e.g., the current and expected positions, velocities, accelerations, geometry and/or kinematics) of the robot and the human operator. Once the POEs of human operators in the workspace are established, they can be used to guide or revise motion planning for task execution.
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公开(公告)号：US20200073358A1
公开(公告)日：2020-03-05
申请号：US16553738
申请日：2019-08-28
申请人： Dmitriy DEDKOV , Scott DENENBERG , Ilya A. KRIVESHKO , Paul Jakob SCHROEDER , Clara VU , Patrick SOBALVARRO , Alberto MOEL
发明人： Dmitriy DEDKOV , Scott DENENBERG , Ilya A. KRIVESHKO , Paul Jakob SCHROEDER , Clara VU , Patrick SOBALVARRO , Alberto MOEL
IPC分类号： G05B19/402 , G05B19/4061 , G06T7/00
摘要： Various approaches to ensuring safe operation of industrial machinery in a workcell include disposing multiple image sensors proximate to the workcell and acquiring, with at least some of the image sensors, the first set of images of the workcell; registering the sensors to each other based at least in part on the first set of images and, based at least in part on the registration, converting the first set of images to a common reference frame of the sensors; determining a transformation matrix for transforming the common reference frame of the sensors to a global frame of the workcell; registering the sensors to the industrial machinery; acquiring the second set of images during operation of the industrial machinery; and monitoring the industrial machinery during operation thereof based at least in part on the acquired second plurality of images, transformation, and registration of the sensors to the industrial machinery.
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公开(公告)号：US20220126449A1
公开(公告)日：2022-04-28
申请号：US17569742
申请日：2022-01-06
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：US20210260770A1
公开(公告)日：2021-08-26
申请号：US17319367
申请日：2021-05-13
申请人： Clara VU , Scott DENENBERG , Patrick SOBALVARRO , Alberto MOEL
发明人： Clara VU , Scott DENENBERG , Patrick SOBALVARRO , Alberto MOEL
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. Based on the mapping, a constrained motion plan of machinery can be generated to ensure safety.
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公开(公告)号：US20240042616A1
公开(公告)日：2024-02-08
申请号：US18479933
申请日：2023-10-03
申请人： Clara VU , Scott Denenberg , Patrick Sobalvarro , Alberto Moel
发明人： Clara VU , Scott Denenberg , Patrick Sobalvarro , Alberto Moel
CPC分类号： B25J9/1694 , B25J9/1666 , B25J9/1697 , B25J9/1676 , G01S17/87 , G01S7/4808 , G01S17/04 , G01S17/89 , G06T17/10 , G06T17/05
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. Based on the mapping, a constrained motion plan of machinery can be generated to ensure safety.
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公开(公告)号：US20210389745A1
公开(公告)日：2021-12-16
申请号：US17412912
申请日：2021-08-26
申请人： Dmitriy DEDKOV , Scott DENENBERG , Ilya A. KRIVESHKO , Paul Jakob SCHROEDER , Clara VU , Patrick SOBALVARRO , Alberto MOEL
发明人： Dmitriy DEDKOV , Scott DENENBERG , Ilya A. KRIVESHKO , Paul Jakob SCHROEDER , Clara VU , Patrick SOBALVARRO , Alberto MOEL
IPC分类号： G05B19/402 , G05B19/4061 , G06T7/00 , G01S17/04 , G06T7/30
摘要： Various approaches to ensuring safe operation of industrial machinery in a workcell include disposing multiple image sensors proximate to the workcell and acquiring, with at least some of the image sensors, the first set of images of the workcell; registering the sensors to each other based at least in part on the first set of images and, based at least in part on the registration, converting the first set of images to a common reference frame of the sensors; determining a transformation matrix for transforming the common reference frame of the sensors to a global frame of the workcell; registering the sensors to the industrial machinery; acquiring the second set of images during operation of the industrial machinery; and monitoring the industrial machinery during operation thereof based at least in part on the acquired second plurality of images, transformation, and registration of the sensors to the industrial machinery.
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公开(公告)号：US20210339396A1
公开(公告)日：2021-11-04
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：US20200070347A1
公开(公告)日：2020-03-05
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：US20210379762A1
公开(公告)日：2021-12-09
申请号：US17400241
申请日：2021-08-12
申请人： Scott DENENBERG , Clara VU , Patrick SOBALVARRO , Alberto MOEL
发明人： Scott DENENBERG , Clara VU , Patrick SOBALVARRO , Alberto MOEL
IPC分类号： B25J9/16
摘要： Spatial regions potentially occupied by a robot (or other machinery) or portion thereof and a human operator during performance of all or a defined portion of a task or an application are computationally estimated. These “potential occupancy envelopes” (POEs) may be based on the states (e.g., the current and expected positions, velocities, accelerations, geometry and/or kinematics) of the robot and the human operator. Once the POEs of human operators in the workspace are established, they can be used to guide or revise motion planning for task execution.
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