US 11,945,119 B2
Crosstalk mitigation for multi-cell workspace monitoring
Scott Denenberg, Newton, MA (US); Clara Vu, Cambridge, MA (US); Gene Malkin, Brookline, MA (US); Lev Persits, Cambridge, MA (US); Valentina Chamorro, Somerville, MA (US); Marek Wartenberg, Chelsea, MA (US); Pratik Devendra Dalvi, Waltham, MA (US); and Alberto Moel, Cambridge, MA (US)
Assigned to Veo Robotics, Inc., Waltham, MA (US)
Filed by Scott Denenberg, Newton, MA (US); Clara Vu, Cambridge, MA (US); Gene Malkin, Brookline, MA (US); Lev Persits, Cambridge, MA (US); Valentina Chamorro, Somerville, MA (US); Marek Wartenberg, Chelsea, MA (US); Pratik Devendra Dalvi, Waltham, MA (US); and Alberto Moel, Cambridge, MA (US)
Filed on May 3, 2023, as Appl. No. 18/142,647.
Application 18/142,647 is a continuation of application No. 17/848,609, filed on Jun. 24, 2022, granted, now 11,679,504.
Application 17/848,609 is a continuation in part of application No. 17/375,447, filed on Jul. 14, 2021, granted, now 11,613,017, issued on Mar. 28, 2023.
Application 17/375,447 is a continuation of application No. 16/800,427, filed on Feb. 25, 2020, granted, now 11,097,422, issued on Aug. 24, 2021.
Application 16/800,427 is a continuation in part of application No. 16/129,999, filed on Sep. 13, 2018, granted, now 10,899,007, issued on Jan. 26, 2021.
Application 16/129,999 is a continuation of application No. 15/889,523, filed on Feb. 6, 2018, granted, now 10,099,372, issued on Oct. 16, 2018.
Claims priority of provisional application 62/811,073, filed on Feb. 27, 2019.
Claims priority of provisional application 62/455,834, filed on Feb. 7, 2017.
Claims priority of provisional application 62/455,828, filed on Feb. 7, 2017.
Prior Publication US 2023/0271322 A1, Aug. 31, 2023
Int. Cl. G06T 7/10 (2017.01); B25J 9/16 (2006.01); G01S 7/48 (2006.01); G01S 17/04 (2020.01); G01S 17/87 (2020.01); G01S 17/89 (2020.01); G06T 17/10 (2006.01); G01V 8/20 (2006.01); G06T 17/05 (2011.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1676 (2013.01); B25J 9/1697 (2013.01); G01S 7/4808 (2013.01); G01S 17/04 (2020.01); G01S 17/87 (2013.01); G01S 17/89 (2013.01); G06T 17/10 (2013.01); G01V 8/20 (2013.01); G05B 2219/40202 (2013.01); G06T 17/05 (2013.01); Y10S 901/47 (2013.01); Y10S 901/49 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method of monitoring a workcell of a three-dimensional workspace that includes controlled machinery, the workcell including a plurality of 3D cameras distributed about the workcell, each of the cameras being associated with a sensor grid of pixels for recording images of a portion of the workcell within a camera field of view and configured to sense distance by emitting radiation and sensing reflections of the emitted radiation, the method comprising:
computationally generating a background interference map at least in part by accumulating illumination levels recorded by each camera with one or more other cameras active and/or with no other cameras active;
based at least in part on the background interference map, computationally determining one or more light sources within the workspace whose operation interferes with operation of one or more of the cameras;
computationally generating a noninterference scheme for simultaneously operating the one or more of the cameras and the one or more light sources substantially without interference; and
causing the one or more cameras to operate in accordance with the noninterference scheme.