Crosstalk mitigation for multi-cell workspace monitoring
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 time-division and/or frequency-division multiplexing.
1. A method of identifying safe regions in a three-dimensional workspace that includes controlled machinery and a plurality of workcells distributed about the workspace, each of the workcells including a plurality of 3D cameras distributed about the workcell, each of the cameras being associated with a sensor grid of pixels for recording images of a portion of the associated workcell within a camera field of view and configured to sense distance by emitting radiation and sensing reflections of the emitted radiation, the method comprising the steps of:
determining, for a first workcell, which neighboring workcells include light sources whose operation causes crosstalk with the cameras in the first workcell;
computationally generating a noninterference scheme for simultaneously operating the cameras of the first workcell and the light sources of neighboring workcells substantially without crosstalk; and
causing the cameras of the first workcell and the neighboring workcells to operate simultaneously in accordance with the noninterference scheme.
2. The method of claim 1 , further comprising repeating the determining and computationally generating steps for other first workcells and causing all of the workcells in the workspace to operate simultaneously in accordance with the noninterference scheme.
3. The method of claim 1 , wherein the noninterference scheme comprises time-division multiplexing at least some interfering light sources.
4. The method of claim 1 , wherein the noninterference scheme comprises wavelength-division multiplexing at least some interfering light sources.
5. The method of claim 1 , wherein the cameras have light sources that emit radiation having a modulation frequency and the noninterference scheme comprises multiplexing the modulation frequencies of at least some interfering camera light sources.
6. The method of claim 1 , wherein the noninterference scheme comprises a background interference map and the step of causing the cameras of the first workcell and the light sources of the neighboring workcells to operate simultaneously in accordance with the noninterference scheme comprises subtracting background illumination specified in the map.
7. The method of claim 6 , wherein the background illumination corresponds to emitted radiation from camera light sources in the neighboring workcells.
8. The method of claim 7 , wherein the background illumination has different frequencies associated with different levels of amplitude reduction.
9. The method of claim 1 , wherein the noninterference scheme comprises, for each of the light sources whose operation causes crosstalk with the cameras in the first workcell, an angular distribution of emitted radiation that avoids the crosstalk.
10. The method of claim 1 , wherein the determining and computationally generating steps are performed by a central control system.
11. The method of claim 1 , wherein at least some of the light sources are in cameras.
12. The method of claim 11 , wherein the determining and computationally generating steps are performed by a plurality of control systems each controlling the cameras of a workcell, the control systems being configured to intercommunicate with the control systems of neighboring workcells.
13. A system for safely operating machinery in a first workcell adjacent to other workcells, each of the workcells including a plurality of 3D cameras distributed about the workcell, each of the cameras being associated with a sensor grid of pixels for recording images of a portion of the associated workcell within a camera field of view and configured to sense distance by emitting radiation and sensing reflections of the emitted radiation, the system comprising a controller configured to:
determine, for the first workcell, which neighboring workcells include light sources whose operation causes crosstalk with the cameras in the first workcell;
computationally generate a noninterference scheme for simultaneously operating the light sources of the first workcell and the neighboring workcells substantially without crosstalk; and
cause the cameras of the first workcell and the light sources of neighboring workcells to operate simultaneously in accordance with the noninterference scheme.
14. The system of claim 13 , wherein the controller is configured to cause the light sources of the neighboring workcells to operate in accordance with the noninterference scheme by signaling controllers of the neighboring workcells.
15. The system of claim 13 , wherein the controller is configured to operate the light sources of all of the workcells.
16. The system of claim 13 , wherein the noninterference scheme comprises time-division multiplexing at least some interfering light sources.
17. The system of claim 13 , wherein the noninterference scheme comprises wavelength-division multiplexing at least some interfering light sources.
18. The system of claim 13 , wherein the cameras include light sources that emit radiation having a modulation frequency and the noninterference scheme comprises multiplexing the modulation frequencies of at least some interfering camera light sources.
19. The system of claim 13 , wherein the noninterference scheme comprises a background interference map and the controller is configured to cause the cameras of the first workcell and the light sources of the neighboring workcells to operate simultaneously in accordance with the noninterference scheme by subtracting background illumination specified in the map.
20. The system of claim 19 , wherein the background illumination corresponds to emitted radiation from camera light sources in the neighboring workcells.
21. The system of claim 20 , wherein the background illumination has different frequencies associated with different levels of amplitude reduction.
22. The system of claim 13 , wherein the noninterference scheme comprises, for each of the camera light sources whose operation causes crosstalk with the cameras in the first workcell, an angular distribution of emitted radiation that avoids the crosstalk.