US 12,330,311 B2
Intelligent monitoring of entry points in multi-cell workspaces
Clara Vu, Cambridge, MA (US); Scott Denenberg, Newton, MA (US); Marek Wartenberg, Chelsea, MA (US); Ilya Kriveshko, Boxborough, MA (US); Antonio Fiol-Mahon, Cambridge, MA (US); and Alberto Moel, Cambridge, MA (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by SYMBOTIC LLC, Wilmington, MA (US)
Filed on Aug. 11, 2022, as Appl. No. 17/885,617.
Application 17/885,617 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, issued on Aug. 24, 2021.
Prior Publication US 2022/0379474 A1, Dec. 1, 2022
Int. Cl. G06T 17/05 (2011.01); 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)
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)] 21 Claims
OG exemplary drawing
 
1. A method of monitoring a portal between adjacent first and second three-dimensional workcells each of which includes controlled machinery, the portal being traversable by humans from either of the workcells into the other workcell, at least the second workcell including a monitoring system comprising a plurality of cameras distributed thereabout, the method comprising the steps of:
computationally predicting that a human will cross the portal from the first workcell into the second workcell; and
electronically signaling the monitoring system of the second workcell of expected entry of the identified first human into the second workcell,
wherein the monitoring system of the second workcell does not analyze detected features at the portal to determine whether they are associated with a human except following receipt of the signal indicating expected entry of a human into the second workcell through the portal.