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公开(公告)号：US11945119B2
公开(公告)日：2024-04-02
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
IPC分类号： G06T7/10 , B25J9/16 , G01S7/48 , G01S17/04 , G01S17/87 , G01S17/89 , G06T17/10 , G01V8/20 , G06T17/05
CPC分类号： 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： 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：US11679504B2
公开(公告)日：2023-06-20
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
CPC分类号： 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： 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：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：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.
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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.
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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.
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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：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：US11766780B2
公开(公告)日：2023-09-26
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
CPC分类号： B25J9/1674 , B25J13/08
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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