US 11,679,504 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 Jun. 24, 2022, as Appl. No. 17/848,609.
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.
Application 17/375,447 is a continuation of application No. 16/800,427, filed on Feb. 25, 2020, granted, now 11,097,422.
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.
Prior Publication US 2022/0355482 A1, Nov. 10, 2022
Int. Cl. G06T 17/10 (2006.01); B25J 9/16 (2006.01); G01S 17/89 (2020.01); G01S 7/48 (2006.01); G01S 17/04 (2020.01); G01S 17/87 (2020.01); 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)] 22 Claims
OG exemplary drawing
 
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.