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US 12,036,683 B2Granted
Safe motion planning for machinery operation
AssigneeVeo Robotics, Inc.
InventorsClara Vu, Scott Denenberg, Patrick Sobalvarro, Alberto Moel
Life of this patent
Estimating the term…
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. Based on the mapping, a constrained motion plan of machinery can be generated to ensure safety.
Claims20
A method of safely operating machinery in a three-dimensional workspace, the method comprising:
- monitoring at least a portion of the workspace with a sensor associated with a grid of pixels for recording images of the at least a portion of the workspace within a field of view of the sensor;
- based on the recorded images, computationally generating a three-dimensional representation of the at least a portion of workspace as a plurality of 3D volumes stored in a computer memory;
- identifying volumes within the field of view of the sensor as occupied or unoccupied;
- and
- mapping one or more safe volumetric zones within the workspace based at least in part on the identified volumes.
2 more elements
Dependencies are inferred from the claim text.