US 12,066,810 B2
Continuous monitoring of a workcell safety system
Ilya A. Kriveshko, Boxborough, MA (US); Lev Persits, Cambridge, MA (US); Scott Denenberg, Newton, MA (US); Paul Jakob Schroeder, Brookline, MA (US); Robert Craig Randall, Newton, MA (US); Valentina Chamorro, Somerville, MA (US); and Gene Malkin, Brookline, MA (US)
Assigned to VEO ROBOTICS, INC., Waltham, MA (US)
Filed by VEO ROBOTICS, INC., Waltham, MA (US)
Filed on Jun. 25, 2021, as Appl. No. 17/358,108.
Claims priority of provisional application 63/048,349, filed on Jul. 6, 2020.
Prior Publication US 2022/0004162 A1, Jan. 6, 2022
Int. Cl. G02B 27/10 (2006.01); G05B 19/406 (2006.01); G06T 7/00 (2017.01)
CPC G05B 19/406 (2013.01) [G06T 7/0008 (2013.01); G05B 2219/50193 (2013.01); G06T 2207/30164 (2013.01)] 45 Claims
OG exemplary drawing
 
1. A system for continuously monitoring a workcell during operation of industrial machinery, the system comprising:
a safety system comprising at least one sensor and supporting software and/or hardware for acquiring image data associated with the workcell;
a monitoring system for detecting a parameter value associated with the safety system; and
a controller configured to:
determine a status of the safety system based at least in part on the detected parameter value; and
cause an alert to be issued if the status of the safety system does not satisfy a target objective,
wherein the acquired image data comprises a plurality of voxels, the controller being further configured to (i) classify the voxels into moving voxels corresponding to moving elements in the workcell and static voxels corresponding to static elements in the workcell, and (ii) compare the static voxels acquired during operation of the industrial machinery against the static voxels acquired prior to operating the industrial machinery and, based thereon, determine a position shift associated with each of the static voxels.