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)] | 22 Claims |
1. A method of identifying safe regions in a three-dimensional workspace that includes controlled machinery and a plurality of workcells distributed about the workspace, each of the workcells 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 associated 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 the steps of:
determining, for a first workcell, which neighboring workcells include light sources whose operation causes crosstalk with the cameras in the first workcell;
computationally generating a noninterference scheme for simultaneously operating the cameras of the first workcell and the light sources of neighboring workcells substantially without crosstalk; and
causing the cameras of the first workcell and the neighboring workcells to operate simultaneously in accordance with the noninterference scheme.
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