Sensor-based safety features for robotic equipment

An apparatus configured to implement sensor-based safety features for robotic equipment, the apparatus comprising:

• one or more sensors configured to capture light from an environment that surrounds the robotic equipment;
• and
• at least one analysis module communicatively coupled to the one or more sensors, wherein the at least one analysis module is configured to:
• generate a model image of the environment that surrounds the robotic equipment based on the light captured by the one or more sensors, wherein a time variation of the model image is stored as a plurality of frames;
• receive, through a user interface that displays the model image, a definition of at least a first boundary and a second boundary within the environment that surrounds the robotic equipment,
• wherein a distance between the first boundary and the robotic equipment is less than a distance between the second boundary and the robotic equipment;
• detect a change in the model image based on a comparison of one or more of the plurality of frames;
• determine whether an unintended object is approaching the robotic equipment based on the detected change;
• in response to a determination that the unintended object is approaching the robotic equipment, instruct the robotic equipment to adjust an operating speed of the robotic equipment based on one or more of a proximity and a speed of approach of the unintended object to the robotic equipment;
• and
• in response to detection that the unintended object is leaving the second boundary within the environment that surrounds the robotic equipment, instruct the robotic equipment to increase the operating speed of the robotic equipment,
• wherein to detect that the unintended object is leaving the second boundary, the at least one analysis module is configured to store the plurality of frames as histograms and to determine an absence of the unintended object in response to a determination that a histogram of a current frame matches a histogram of a last known frame in which the unintended object was absent within the second boundary.

A system to implement sensor-based safety features for robotic equipment, the system comprising:

• at least one imaging module configured to capture light of an environment that surrounds the robotic equipment through one or more sensors;
• at least one modeling module configured to generate a model image of the environment that surrounds the robotic equipment based on the light captured by the at least one imaging module, wherein a time variation of the model image is stored as a plurality of frames;
• at least one detection module configured to detect a change in the model image based on a comparison of one or more of the plurality of frames, and to determine whether an unintended object is approaching the robotic equipment based on the detected change;
• and
• at least one controller configured to:
• receive, through a user interface that displays the model image, a definition of at least a first boundary and a second boundary within the environment that surrounds the robotic equipment,
• wherein a distance between the first boundary and the robotic equipment is less than a distance between the second boundary and the robotic equipment;
• instruct the robotic equipment to adjust an operating speed of the robotic equipment based on one or more of a proximity and a speed of approach of the unintended object to the robotic equipment, in response to a determination that the unintended object is approaching the robotic equipment;
• and
• instruct the robotic equipment to increase the operating speed of the robotic equipment in response to detection that the unintended object is leaving the second boundary within the environment that surrounds the robotic equipment,
• wherein to detect that the unintended object is leaving the second boundary, the at least one detection module is configured to store the plurality of frames as histograms and to determine an absence of the unintended object in response to a determination that a histogram of a current frame matches a histogram of a last known frame in which the unintended object was absent within the second boundary.