Safe motion planning for machinery operation
AssigneeVeo Robotics, Inc.
InventorsClara VU, Scott DENENBERG, Patrick SOBALVARRO, Alberto MOEL
Life of this patent
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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.
Claims22
A system for safely operating machinery in a three-dimensional workspace, the system comprising:
- a plurality of sensors distributed about the workspace, each of the sensors being associated with a grid of pixels for recording images of a portion of the workspace within a sensor field of view, the workspace portions partially overlapping with each other;
- and
- a controller configured to:
- computationally generate a three-dimensional representation of the workspace as a plurality of 3D volumes based on the recorded images;
- for each of the sensors, identify volumes within a line of sight of the sensor as occupied or unoccupied;
- map one or more safe volumetric zones within the workspace based on the identified volumes;
- receive a task specification;
- and
- computationally generate a constrained motion plan comprising at least one trajectory of the machinery to perform the task within the one or more safe volumetric zones.
A method of safely operating machinery in a three-dimensional workspace, the method comprising the steps of:
- monitoring the workspace with a plurality of sensors distributed thereabout, each of the sensors being associated with a grid of pixels for recording images of a portion of the workspace within a sensor field of view, the workspace portions partially overlapping with each other;
- based on the recorded images, computationally generating a three-dimensional representation of the workspace as a plurality of 3D volumes stored in a computer memory;
- for each of the sensors, identifying volumes within a line of sight of the sensor as occupied or unoccupied;
- mapping one or more safe volumetric zones within the workspace based on the identified volumes;
- receiving a task specification;
- and
- computationally generating a constrained motion plan comprising at least one trajectory of the machinery to perform a specified task within the one or more safe volumetric zones.
Dependencies are inferred from the claim text.