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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：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：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：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：US20180222052A1
公开(公告)日：2018-08-09
申请号：US15889767
申请日：2018-02-06
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1676 , B25J9/1697 , G01S7/4808 , G01S17/026 , G01S17/87 , G01S17/89 , G01V8/20 , G05B2219/40202 , G06T17/05 , G06T17/10 , Y10S901/47 , Y10S901/49
摘要： Systems and methods for determining safe zones in a workspace calculate safe actions in real time based on all sensed relevant objects and on the current state of the machinery (e.g., a robot) in the workspace. Various embodiments forecast, in real time, both the motion of the machinery and the possible motion of a human within the space, and continuously update the forecast as the machinery operates and humans move in the workspace.
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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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10.发明授权公开(公告)号：US11040450B2
公开(公告)日：2021-06-22
申请号：US15889524
申请日：2018-02-06
摘要： Embodiments of the present invention determine the configuration of a workpiece and whether it is actually being handled by a monitored piece of machinery, such as a robot. The problem solved by the invention is especially challenging in real-world factory environments because many objects, most of which are not workpieces, may be in proximity to the machinery. Accordingly, embodiments of the invention utilize semantic understanding to distinguish between workpieces that may become associated with the robot and other objects (and humans) in the workspace that will not, and detect when the robot is carrying a workpiece.
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