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公开(公告)号：US12049014B2
公开(公告)日：2024-07-30
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
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： 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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公开(公告)号：US12097625B2
公开(公告)日：2024-09-24
申请号：US17206626
申请日：2021-03-19
IPC分类号： G05B19/4061 , B25J9/16 , G01S7/48 , G01S17/04 , G01S17/87 , G01S17/89 , G06T17/10 , G01V8/20 , G06T17/05
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： Systems and methods for identifying a robot end effector in a processing environment may utilize one or more sensors for digitally recording visual information and providing that information to an industrial workflow. The sensor(s) may be positioned to record at least one image of the robot including the end effector. A processor may determine the identity of the end effector from the recorded image(s) and a library or database stored digital models.
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公开(公告)号：US11543796B2
公开(公告)日：2023-01-03
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：US11156981B2
公开(公告)日：2021-10-26
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 , 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：US20210205995A1
公开(公告)日：2021-07-08
申请号：US17206626
申请日：2021-03-19
摘要： Systems and methods for identifying a robot end effector in a processing environment may utilize one or more sensors for digitally recording visual information and providing that information to an industrial workflow. The sensor(s) may be positioned to record at least one image of the robot including the end effector. A processor may determine the identity of the end effector from the recorded image(s) and a library or database stored digital models.
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公开(公告)号：US11602852B2
公开(公告)日：2023-03-14
申请号：US17739815
申请日：2022-05-09
申请人： Marek Wartenberg , Clara Vu , Scott Denenberg , Ilya A. Kriveshko , Zeynep Şeker
发明人： Marek Wartenberg , Clara Vu , Scott Denenberg , Ilya A. Kriveshko , Zeynep Şeker
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：US20110050848A1
公开(公告)日：2011-03-03
申请号：US12666464
申请日：2008-06-27
IPC分类号： H04N13/00
CPC分类号： G06T17/10 , A61C9/0053 , G06F3/04815 , G06F3/04847 , G06T15/10 , H04N5/14 , H04N13/00 , H04N13/189
摘要： Tools are described for preparing digital dental models for use in dental restoration production processes, along with associated systems and methods. Dental modeling is improved by supplementing views of three-dimensional models with still images of the modeled subject matter. Video data acquired during a scan of the model provides a source of still images that can be displayed alongside a rendered three-dimensional model, and the two views (model and still image) may be synchronized to provide a common perspective of the model's subject matter. This approach provides useful visual information for disambiguating surface features of the model during processing steps such as marking a margin of a prepared tooth surface for a restoration. Interactive modeling tools may be similarly enhanced. For example, tools for margin marking may synchronize display of margin lines between the still image and the model so that a user can interact with either or both of the visual representations, with changes to a margin reflected in both displays.
摘要翻译： 描述了用于制备牙科修复生产工艺中使用的数字牙科模型的工具，以及相关的系统和方法。 通过用建模主题的静止图像补充三维模型的观点来改进牙齿建模。 在模型的扫描期间获取的视频数据提供可以与渲染的三维模型一起显示的静止图像源，并且两个视图（模型和静止图像）可以被同步以提供模型的主题的共同视角 。 这种方法提供了有用的视觉信息，用于在处理步骤期间消除模型的表面特征，例如标记用于恢复的准备好的齿面的边缘。 可以类似地增强交互式建模工具。 例如，用于边缘标记的工具可以使静止图像和模型之间的边界线的显示同步，使得用户可以与两个视觉表示中的一个或两者进行交互，同时在两个显示中反映的余量的变化。
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公开(公告)号：US20110007137A1
公开(公告)日：2011-01-13
申请号：US12811236
申请日：2009-01-04
申请人： Janos Rohaly , Ilya A. Kriveshko
发明人： Janos Rohaly , Ilya A. Kriveshko
IPC分类号： H04N13/02
CPC分类号： G06K9/00214 , A61C13/0004 , G06K9/00201 , G06T17/00 , G06T2207/10012 , G06T2210/41 , H04N13/221
摘要： A hierarchical pattern matching process is improved for use in three-dimensional reconstruction by calculating a disparity field for low-resolution data, and using this low-resolution disparity field to estimate the disparity field for higher-resolution images. By pre-warping a template according to the estimated disparity field, improved correlation results can be obtained.
摘要翻译： 通过计算低分辨率数据的视差场，并且使用该低分辨率视差场来估计高分辨率图像的视差场，改进了用于三维重建中的分层模式匹配过程。 通过根据估计的视差场预测模板，可以获得改善的相关性结果。
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公开(公告)号：US20070172112A1
公开(公告)日：2007-07-26
申请号：US11469871
申请日：2006-09-03
申请人： Eric B. Paley , Ilya A. Kriveshko , Joseph Boeries , Steven V. Weeks , Edward K. Tekeian , Janos Rohaly
发明人： Eric B. Paley , Ilya A. Kriveshko , Joseph Boeries , Steven V. Weeks , Edward K. Tekeian , Janos Rohaly
IPC分类号： G06K9/00
CPC分类号： A61C9/0053 , A61B1/24 , A61B5/1077 , A61B5/4547 , A61B5/7435 , A61C9/0046 , A61C9/0086 , A61C11/08 , A61C11/085 , A61C13/0004 , A61C13/0022 , A61C19/04 , B33Y80/00 , G06T1/0007 , G06T17/00 , G06T17/30 , G06T19/00 , G06T2210/41 , G16H40/20
摘要： The systems and methods disclosed herein provide visual feedback concerning one or more scanning parameters to a user during acquisition of a three dimensional scan.
摘要翻译： 本文公开的系统和方法在获取三维扫描期间向用户提供关于一个或多个扫描参数的视觉反馈。
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公开(公告)号：US09418474B2
公开(公告)日：2016-08-16
申请号：US12811237
申请日：2009-01-04
CPC分类号： G06K9/00214 , A61C13/0004 , G06K9/00201 , G06T17/00 , G06T2207/10012 , G06T2210/41 , H04N13/221
摘要： A three-dimensional measurement is refined by warping two-dimensional images of an object from offset camera positions according to a three-dimensional model of the object, and applying any resulting discrepancies to refine the three-dimensional model, or to refine one of a number of three-dimensional measurements used to create the three-dimensional model.
摘要翻译： 通过根据对象的三维模型对来自偏移照相机位置的物体的二维图像进行扭曲来改进三维测量，并且应用任何得到的差异来细化三维模型，或者将 用于创建三维模型的三维测量数。
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