US 12,452,396 B2
Sensor for safe detection of intrusions in a 3D volume
Clara Vu, Cambridge, MA (US); Alberto Moel, Cambridge, MA (US); Scott Denenberg, Newton, MA (US); Marek Wartenberg, Chelsea, MA (US); and Eric Cobane, North Grafton, MA (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on Dec. 15, 2023, as Appl. No. 18/541,204.
Application 18/541,204 is a continuation in part of application No. 17/103,427, filed on Nov. 24, 2020.
Application 17/103,427 is a continuation of application No. 16/553,724, filed on Aug. 28, 2019, granted, now 10,887,578, issued on Jan. 5, 2021.
Claims priority of provisional application 63/438,022, filed on Jan. 10, 2023.
Claims priority of provisional application 62/724,941, filed on Aug. 30, 2018.
Prior Publication US 2024/0163415 A1, May 16, 2024
Int. Cl. H04N 13/271 (2018.01); G01K 13/00 (2021.01); G06T 7/80 (2017.01); H04N 13/00 (2018.01); H04N 13/194 (2018.01); H04N 13/204 (2018.01); H04N 13/246 (2018.01); H04N 13/254 (2018.01); H04N 25/60 (2023.01)
CPC H04N 13/246 (2018.05) [G06T 7/85 (2017.01); H04N 13/194 (2018.05); H04N 13/204 (2018.05); H04N 13/254 (2018.05); H04N 13/271 (2018.05); H04N 25/60 (2023.01); G01K 13/00 (2013.01); H04N 2013/0081 (2013.01)] 34 Claims
OG exemplary drawing
 
1. A method of safely operating machinery in a three-dimensional workspace, the method comprising:
providing a sensor associated with a grid of pixels for recording images of the workspace within a field of view of the sensor, each pixel (i) having a pixel field of view extending therefrom and (ii) being configured to generate a depth value indicative of an estimated distance from the pixel to an object within the pixel field of view thereof;
computationally defining within the field of view of the sensor a three-dimensional safeguarded volume having an outer boundary by, at least in part, storing for each pixel (i) an entry point corresponding to a first distance from the pixel at which the pixel field of view enters the safeguarded volume, and (ii) an exit point corresponding to a second distance from the pixel at which the pixel field of view exits the safeguarded volume;
monitoring the workspace with the sensor; and
signaling an intrusion into the safeguarded volume when, for at least one of the pixels, a reported depth value registered by a processor is greater than the entry point of the pixel and less than the exit point of the pixel.