公开(公告)号：US20240246232A1

公开(公告)日：2024-07-25

申请号：US18594225

申请日：2024-03-04

Applicant: Veo Robotics, Inc.

Inventor： Lev PERSITS ,  Gene Malkin ,  Scott Denenberg ,  Karia Haiat Sasson

IPC: B25J9/16 ,  G01S7/48 ,  G01S17/04 ,  G01S17/87 ,  G01S17/89 ,  G01V8/20 ,  G06T17/05 ,  G06T17/10

CPC classification number: B25J9/1666 ,  B25J9/1676 ,  B25J9/1697 ,  G01S7/4808 ,  G01S17/04 ,  G01S17/87 ,  G01S17/89 ,  G06T17/10 ,  G01V8/20 ,  G05B2219/40202 ,  G06T17/05 ,  Y10S901/47 ,  Y10S901/49

Abstract: Crosstalk mitigation among cameras in neighboring monitored workcells is achieved by computationally defining a noninterference scheme that respects the independent monitoring and operation of each workcell. The scheme may involve communication between adjacent cells to adjudicate non-interfering camera operation or system-wide mapping of interference risks and mitigation thereof. Mitigation strategies can involve spread-spectrum techniques.

公开(公告)号：US20230410430A1

公开(公告)日：2023-12-21

申请号：US18359981

申请日：2023-07-27

Applicant: VEO ROBOTICS, INC.

Inventor： Iris Kutsyy ,  Ilya A. Kriveshko

IPC: G06T17/20 ,  B25J9/16

CPC classification number: G06T17/205 ,  B25J9/163 ,  B25J9/1676 ,  B25J9/1666

Abstract: Systems and methods for spatially modeling a three-dimensional object are disclosed. In some embodiments, a disclosed method comprises: obtaining a polygon mesh including polygons representing a surface of an object; converting the polygon mesh into a triangle mesh including first triangles; subdividing the triangle mesh into a subdivided triangle mesh including second triangles, wherein the subdivided triangle mesh is overlaid with a voxel grid including a set of voxels; generating a point collection including a plurality of points each corresponding to a voxel in the voxel grid; and generating, based on the point collection and the voxel grid, at least one of: a surface point cloud representation, a surface voxel representation, or a volume voxel representation of the object.

公开(公告)号：US20240369988A1

公开(公告)日：2024-11-07

申请号：US18774716

申请日：2024-07-16

Applicant: VEO ROBOTICS, INC.

Inventor： Ilya A. KRIVESHKO ,  Lev PERSITS ,  Scott DENENBERG ,  Paul Jakob SCHROEDER ,  Robert Craig RANDALL ,  Valentina CHAMORRO ,  Gene MALKIN

IPC: G05B19/406 ,  G06T7/00

Abstract: This Application regards a system for continuously monitoring a workcell during operation of industrial machinery. The system includes a safety system, a monitoring system, and a controller. The safety system includes a sensor and supporting software or hardware for acquiring image data associated with the workcell. The monitoring system is for detecting a parameter value associated with the safety system. And the controller is configured to determine whether the image data is valid based at least in part on the detected parameter value, and cause an alert to be issued responsive to determining that the image data is invalid.

公开(公告)号：US20230359162A1

公开(公告)日：2023-11-09

申请号：US18356631

申请日：2023-07-21

Applicant: VEO ROBOTICS, INC.

Inventor： Ilya A. Kriveshko ,  Audrey Lewis ,  Iris Kutsyy ,  U. Murat Erdem ,  Scott Denenberg

IPC: G05B19/402 ,  G05B19/4061 ,  G06T7/00 ,  G01S17/04 ,  G06T7/30

CPC classification number: G05B19/402 ,  G05B19/4061 ,  G06T7/001 ,  G01S17/04 ,  G06T7/30 ,  G06T2207/10028 ,  G05B2219/37555 ,  G06T2207/30164 ,  G05B2219/40557

Abstract: Systems and methods for sensor registration for a workcell including a floor are disclosed. In some embodiments, a disclosed method comprises: disposing a plurality of three dimensional (3D) image sensors proximate to the workcell; acquiring, with the plurality of 3D image sensors, a plurality of 3D images of the workcell, wherein at least one of the plurality of 3D images includes at least a portion of the floor; determining, based on a first user selection of a region of a first image of the plurality of 3D images of the workcell, a first floor point indicating a first portion of the floor in the first image; computing a first floor plane representing the floor based on the first floor point; and registering the 3D image sensors to each other and to the workcell based at least in part on the plurality of 3D images and the first floor plane.

公开(公告)号：US20230087242A1

公开(公告)日：2023-03-23

申请号：US17991895

申请日：2022-11-22

Applicant: VEO ROBOTICS, INC.

Inventor： Scott DENENBERG ,  Clara VU ,  Patrick SOBALVARRO ,  Lev PERSITS ,  Ilya A. KRIVESHKO ,  Elliot SIMON ,  Alberto MOEL ,  Patrick J. FOY ,  Justin BRONDER

IPC: G05B19/4061 ,  B25J9/16 ,  G06T17/00

Abstract: Control systems for industrial machinery (e.g., robots) or other devices such as medical devices utilize a safety processor (SP) designed for integration into safety applications and computational components that are not necessarily safety-rated. The SP monitors performance of the non-safety computational components, including latency checks and verification of identical outputs. One or more sensors send data to the non-safety computational components for sophisticated processing and analysis that the SP cannot not perform, but the results of this processing are sent to the SP, which then generates safety-rated signals to the machinery or device being controlled by the SP. As a result, the system may qualify for a safety rating despite the ability to perform complex operations beyond the scope of safety-rated components.

公开(公告)号：US11543798B2

公开(公告)日：2023-01-03

申请号：US16800429

申请日：2020-02-25

Applicant: VEO ROBOTICS, INC.

Inventor： Scott Denenberg ,  Clara Vu ,  Patrick Sobalvarro ,  Lev Persits ,  Ilya A. Kriveshko ,  Elliot Simon ,  Alberto Moel ,  Patrick J. Foy ,  Justin Bronder

IPC: G06F17/00 ,  G05B19/4061 ,  B25J9/16 ,  G06T17/00

Abstract: Control systems for industrial machinery (e.g., robots) or other devices such as medical devices utilize a safety processor (SP) designed for integration into safety applications and computational components that are not necessarily safety-rated. The SP monitors performance of the non-safety computational components, including latency checks and verification of identical outputs. One or more sensors send data to the non-safety computational components for sophisticated processing and analysis that the SP cannot not perform, but the results of this processing are sent to the SP, which then generates safety-rated signals to the machinery or device being controlled by the SP. As a result, the system may qualify for a safety rating despite the ability to perform complex operations beyond the scope of safety-rated components.

公开(公告)号：US20240165806A1

公开(公告)日：2024-05-23

申请号：US18422274

申请日：2024-01-25

Applicant: Veo Robotics, Inc.

Inventor： Scott DENENBERG ,  Clara Vu ,  Patrick Sobalvarro ,  Alberto Moel

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/1651 ,  B25J9/1671 ,  B25J9/1676

Abstract: Spatial regions potentially occupied by a robot (or other machinery) or portion thereof and a human operator during performance of all or a defined portion of a task or an application are computationally estimated. These “potential occupancy envelopes” (POEs) may be based on the states (e.g., the current and expected positions, velocities, accelerations, geometry and/or kinematics) of the robot and the human operator. Once the POEs of human operators in the workspace are established, they can be used to guide or revise motion planning for task execution.

公开(公告)号：US11846916B2

公开(公告)日：2023-12-19

申请号：US17991895

申请日：2022-11-22

Applicant: VEO ROBOTICS, INC.

Inventor： Scott Denenberg ,  Clara Vu ,  Patrick Sobalvarro ,  Lev Persits ,  Ilya A. Kriveshko ,  Elliot Simon ,  Alberto Moel ,  Patrick J. Foy ,  Justin Bronder

IPC: G06F17/00 ,  G05B19/4061 ,  B25J9/16 ,  G06T17/00

CPC classification number: G05B19/4061 ,  B25J9/1676 ,  G06T17/00 ,  G05B2219/40339 ,  G05B2219/50193

Abstract: Control systems for industrial machinery (e.g., robots) or other devices such as medical devices utilize a safety processor (SP) designed for integration into safety applications and computational components that are not necessarily safety-rated. The SP monitors performance of the non-safety computational components, including latency checks and verification of identical outputs. One or more sensors send data to the non-safety computational components for sophisticated processing and analysis that the SP cannot not perform, but the results of this processing are sent to the SP, which then generates safety-rated signals to the machinery or device being controlled by the SP. As a result, the system may qualify for a safety rating despite the ability to perform complex operations beyond the scope of safety-rated components.

公开(公告)号：US11097422B2

公开(公告)日：2021-08-24

申请号：US16800427

申请日：2020-02-25

Applicant: VEO ROBOTICS, INC.

Inventor： Scott Denenberg ,  Patrick Sobalvarro ,  Clara Vu ,  Alberto Moel ,  Richard A. Kelsey

IPC: B25J9/16 ,  G06T17/10 ,  G01S17/89 ,  G01S7/48 ,  G01S17/04 ,  G01S17/87 ,  G01V8/20 ,  G06T17/05

Abstract: Safety systems in distributed factory workcells intercommunicate or communicate with a central controller so that when a person, robot or vehicle passes from one workcell or space into another on the same factory floor, the new workcell or space need not repeat the tasks of analysis and classification and can instead immediately integrate the new entrant into the existing workcell or space-monitoring schema. The workcell or space can also communicate attributes such as occlusions, unsafe areas, movement speed, and object trajectories, enabling rapid reaction by the monitoring system of the new workcell or space.

公开(公告)号：US20200206928A1

公开(公告)日：2020-07-02

申请号：US16800427

申请日：2020-02-25

Applicant: VEO ROBOTICS, INC.

Inventor： Scott Denenberg ,  Patrick Sobalvarro ,  Clara Vu ,  Alberto Moel ,  Richard A. Kelsey

IPC: B25J9/16 ,  G06T17/10 ,  G01S17/89 ,  G01S7/48 ,  G01S17/87 ,  G01S17/04

Abstract: Safety systems in distributed factory workcells intercommunicate or communicate with a central controller so that when a person, robot or vehicle passes from one workcell or space into another on the same factory floor, the new workcell or space need not repeat the tasks of analysis and classification and can instead immediately integrate the new entrant into the existing workcell or space-monitoring schema. The workcell or space can also communicate attributes such as occlusions, unsafe areas, movement speed, and object trajectories, enabling rapid reaction by the monitoring system of the new workcell or space.