Abstract: 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.
Type:
Grant
Filed:
August 28, 2019
Date of Patent:
January 5, 2021
Assignee:
VEO ROBOTICS, INC.
Inventors:
Scott Denenberg, Lev Persits, Clara Vu, Robert Craig Randall, Patrick Sobalvarro, Valentina Chamorro, Gene Malkin, Alberto Moel
Abstract: 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:
Grant
Filed:
February 6, 2018
Date of Patent:
January 5, 2021
Assignee:
VEO ROBOTICS, INC.
Inventors:
Clara Vu, Scott Denenberg, Patrick Sobalvarro, Patrick Barragan, Alberto Moel
Abstract: 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.
Type:
Grant
Filed:
August 28, 2019
Date of Patent:
January 5, 2021
Assignee:
VEO ROBOTICS, INC.
Inventors:
Scott Denenberg, Lev Persits, Clara Vu, Robert Craig Randall, Patrick Sobalvarro, Valentina Chamorro, Gene Malkin, Alberto Moel
Abstract: 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:
Grant
Filed:
February 6, 2018
Date of Patent:
October 16, 2018
Assignee:
VEO ROBOTICS, INC.
Inventors:
Clara Vu, Scott Denenberg, Patrick Sobalvarro, Patrick Barragan, Alberto Moel