US 12,420,419 B2
Motion planning and task execution using potential occupancy envelopes
Scott Denenberg, Newton, MA (US); Clara Vu, Cambridge, MA (US); Patrick Sobalvarro, Harvard, 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. 12, 2021, as Appl. No. 17/400,241.
Application 17/400,241 is a continuation in part of application No. 16/999,668, filed on Aug. 21, 2020, abandoned.
Claims priority of provisional application 63/048,338, filed on Jul. 6, 2020.
Claims priority of provisional application 62/890,718, filed on Aug. 23, 2019.
Prior Publication US 2021/0379762 A1, Dec. 9, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1651 (2013.01); B25J 9/1671 (2013.01); B25J 9/1676 (2013.01)] 26 Claims
OG exemplary drawing
 
1. A safety system for enforcing safe operation of machinery performing an activity in a three-dimensional (3D) workspace, the system comprising:
a computer memory for storing (i) a model of machinery and its permitted movements, (ii) a plurality of different task specifications, and (iii) geometric representations of a plurality of restriction zones within a 3D spatial representation of the workspace, wherein each of the restriction zones is associated with one of the task specifications; and
a processor configured to:
computationally generate the 3D spatial representation of the workspace;
identify a 3D region of the workspace corresponding to space occupied or potentially occupied by a human within the workspace augmented by a 3D envelope around the human corresponding to anticipated movements of the human within the workspace during performance of the specified task, wherein the processor is configured so that the 3D envelope is bounded based on safety standards defining expected human motion in a hazardous setting, and either of
modified to include a workpiece carried by the human, or
truncated based on a physical boundary within the workspace;
computationally generate a constrained motion plan comprising a trajectory of the machinery to perform the specified task without entering the 3D region;
cause the machinery to execute the constrained motion plan and physically perform the specified task; and
during physical performance of the specified task, restrict operation of the machinery to remain within or outside a restriction zone associated with a task specification of the specified task, wherein restricting operation of the machinery does not preclude physical performance of the specified task.