Patents Assigned to VEO ROBOTICS, INC.
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Patent number: 11945119Abstract: 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.Type: GrantFiled: May 3, 2023Date of Patent: April 2, 2024Assignee: Veo Robotics, Inc.Inventors: Scott Denenberg, Clara Vu, Gene Malkin, Lev Persits, Valentina Chamorro, Marek Wartenberg, Pratik Devendra Dalvi, Alberto Moel
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Patent number: 11919173Abstract: 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.Type: GrantFiled: August 12, 2021Date of Patent: March 5, 2024Assignee: Veo Robotics, Inc.Inventors: Scott Denenberg, Clara Vu, Patrick Sobalvarro, Alberto Moel
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Patent number: 11846916Abstract: Control systems for industrial machinery (e.g., robots) or other devices such as medical devices utilize a safety processor (SP) designed for integration into safety applications and computational components that are not necessarily safety-rated. The SP monitors performance of the non-safety computational components, including latency checks and verification of identical outputs. One or more sensors send data to the non-safety computational components for sophisticated processing and analysis that the SP cannot not perform, but the results of this processing are sent to the SP, which then generates safety-rated signals to the machinery or device being controlled by the SP. As a result, the system may qualify for a safety rating despite the ability to perform complex operations beyond the scope of safety-rated components.Type: GrantFiled: November 22, 2022Date of Patent: December 19, 2023Assignee: Veo Robotics, Inc.Inventors: Scott Denenberg, Clara Vu, Patrick Sobalvarro, Lev Persits, Ilya A. Kriveshko, Elliot Simon, Alberto Moel, Patrick J. Foy, Justin Bronder
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Patent number: 11830131Abstract: Systems and methods for identifying a workpiece 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 workpiece at a location where a specified position and orientation thereof is required. A processor may determine, from the recorded image(s) and a stored digital model, whether the workpiece conforms to the specified position and orientation.Type: GrantFiled: May 7, 2020Date of Patent: November 28, 2023Assignee: Veo Robotics, Inc.Inventors: Brad C. Mello, Paul Jakob Schroeder, Scott Denenberg, Clara Vu
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Patent number: 11820025Abstract: 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.Type: GrantFiled: May 13, 2021Date of Patent: November 21, 2023Assignee: Veo Robotics, Inc.Inventors: Clara Vu, Scott Denenberg, Patrick Sobalvarro, Alberto Moel
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Patent number: 11766780Abstract: 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.Type: GrantFiled: January 6, 2022Date of Patent: September 26, 2023Assignee: VEO ROBOTICS, INC.Inventors: Scott Denenberg, Brad C. Mello, Matthew Galligan, Clara Vu, Patrick Sobalvarro, Marek Wartenberg, Alberto Moel
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Patent number: 11679504Abstract: 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.Type: GrantFiled: June 24, 2022Date of Patent: June 20, 2023Assignee: Veo Robotics, Inc.Inventors: Scott Denenberg, Clara Vu, Gene Malkin, Lev Persits, Valentina Chamorro, Marek Wartenberg, Pratik Devendra Dalvi, Alberto Moel
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Patent number: 11635749Abstract: Systems and methods for optimizing factory scheduling, layout or both which represent active factory elements (human and machine) as computational objects and simulate factory operation to optimize a solution. This enables the efficient assembly of customized products, accommodates variable demand, and mitigates unplanned events (floor blockages, machines/IMRs/workcell/workers downtime, variable quantity, location, and destination of supply parts).Type: GrantFiled: January 3, 2022Date of Patent: April 25, 2023Assignee: VEO ROBOTICS, INC.Inventors: Patrick Sobalvarro, Clara Vu, Joshua Downer, Paulo Ferreira, Mehmet Ali Guney, Thomas C. Ferree, Alberto Moel, Richard A. Kelsey
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Patent number: 11636648Abstract: Systems and methods for identifying a workpiece 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 workpiece at a location where a specified position and orientation thereof is required. A processor may determine, from the recorded image(s) and a stored digital model, whether the workpiece conforms to the specified position and orientation.Type: GrantFiled: April 26, 2021Date of Patent: April 25, 2023Assignee: VEO ROBOTICS, INC.Inventors: Brad C. Mello, Paul Jakob Schroeder, Scott Denenberg, Clara Vu
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Patent number: 11623356Abstract: 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.Type: GrantFiled: April 4, 2022Date of Patent: April 11, 2023Assignee: VEO ROBOTICS, INC.Inventors: Clara Vu, Scott Denenberg, Abraham K. Feldman
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Patent number: 11613017Abstract: 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.Type: GrantFiled: July 14, 2021Date of Patent: March 28, 2023Assignee: VEO ROBOTICS, INC.Inventors: Scott Denenberg, Patrick Sobalvarro, Clara Vu, Alberto Moel, Richard A. Kelsey
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Patent number: 11602852Abstract: 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.Type: GrantFiled: May 9, 2022Date of Patent: March 14, 2023Assignee: VEO ROBOTICS, INC.Inventors: Marek Wartenberg, Clara Vu, Scott Denenberg, Ilya A. Kriveshko, Zeynep Şeker
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Patent number: 11541543Abstract: 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.Type: GrantFiled: July 2, 2020Date of Patent: January 3, 2023Assignee: VEO ROBOTICS, INC.Inventors: Clara Vu, Scott Denenberg, Abraham K. Feldman
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Patent number: 11543796Abstract: 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.Type: GrantFiled: August 26, 2021Date of Patent: January 3, 2023Assignee: Veo Robotics, Inc.Inventors: Dmitriy Dedkov, Scott Denenberg, Ilya A. Kriveshko, Paul Jakob Schroeder, Clara Vu, Patrick Sobalvarro, Alberto Moel
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Patent number: 11543798Abstract: Control systems for industrial machinery (e.g., robots) or other devices such as medical devices utilize a safety processor (SP) designed for integration into safety applications and computational components that are not necessarily safety-rated. The SP monitors performance of the non-safety computational components, including latency checks and verification of identical outputs. One or more sensors send data to the non-safety computational components for sophisticated processing and analysis that the SP cannot not perform, but the results of this processing are sent to the SP, which then generates safety-rated signals to the machinery or device being controlled by the SP. As a result, the system may qualify for a safety rating despite the ability to perform complex operations beyond the scope of safety-rated components.Type: GrantFiled: February 25, 2020Date of Patent: January 3, 2023Assignee: VEO ROBOTICS, INC.Inventors: Scott Denenberg, Clara Vu, Patrick Sobalvarro, Lev Persits, Ilya A. Kriveshko, Elliot Simon, Alberto Moel, Patrick J. Foy, Justin Bronder
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Patent number: 11518051Abstract: 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.Type: GrantFiled: July 2, 2020Date of Patent: December 6, 2022Assignee: VEO ROBOTICS, INC.Inventors: Clara Vu, Scott Denenberg, Abraham K. Feldman
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Patent number: 11396099Abstract: 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.Type: GrantFiled: August 21, 2020Date of Patent: July 26, 2022Assignee: Veo Robotics, Inc.Inventors: Marek Wartenberg, Paul Jakob Schroeder, Brad C. Mello, Clara Vu, Scott Denenberg, Nicole Aucoin, Alberto Moel
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Patent number: 11376741Abstract: 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.Type: GrantFiled: November 23, 2020Date of Patent: July 5, 2022Assignee: Veo Robotics, Inc.Inventors: Clara Vu, Scott Denenberg, Patrick Sobalvarro, Patrick Barragan, Alberto Moel
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Patent number: 11279039Abstract: 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.Type: GrantFiled: November 23, 2020Date of Patent: March 22, 2022Assignee: VEO ROBOTICS, INC.Inventors: Clara Vu, Scott Denenberg, Patrick Sobalvarro, Patrick Barragan, Alberto Moel
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Patent number: 11254004Abstract: 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.Type: GrantFiled: August 28, 2019Date of Patent: February 22, 2022Assignee: VEO ROBOTICS, INC.Inventors: Scott Denenberg, Brad C. Mello, Matthew Galligan, Clara Vu, Patrick Sobalvarro, Marek Wartenberg, Alberto Moel