Intelligent monitoring of entry points in multi-cell workspaces
One or more computational strategies is used to reduce the complexity of handling detected point clusters appearing at a portal of a monitored workcell. If the other side of the portal is a second, adjacent workcell, the monitoring system for a first workcell predicts when a human in that workcell may pass through the portal to a second workcell and alerts the monitoring system for the second workcell. The prediction may be based on absolute proximity of a human to the portal or movement toward it. Other strategies are employed if the workcells overlap, or if the portal leads to an unmonitored space.
1. A method of monitoring a portal between adjacent first and second three-dimensional workcells each of which includes controlled machinery, the portal being traversable by humans from either of the workcells into the other workcell, at least the second workcell including a monitoring system comprising a plurality of cameras distributed thereabout, the method comprising the steps of:
computationally predicting that a human will cross the portal from the first workcell into the second workcell; and
electronically signaling the monitoring system of the second workcell of expected entry of the identified first human into the second workcell,
wherein the monitoring system of the second workcell does not analyze detected features at the portal to determine whether they are associated with a human except following receipt of the signal indicating expected entry of a human into the second workcell through the portal.
2. The method of claim 1 , further comprising the steps of:
computationally identifying, by the monitoring system of the second workcell, a second human in the second workcell based on images of the second workcell recorded by at least one of the cameras therein;
computationally predicting, based at least in part on the recorded images, that the identified second human will cross the portal into the first workcell; and
electronically signaling, by the monitoring system of the second workcell, a monitoring system of the first workcell of expected entry of the identified second human into the first workcell,
wherein neither of the monitoring systems analyzes detected features at the portal to determine whether they are associated with a human except following receipt of a signal from the other monitoring system indicating expected entry of a human through the portal.
3. The method of claim 1 , wherein predicting that an identified human will cross the portal into an adjacent workcell is based on proximity of the identified human to the portal.
4. The method of claim 1 , wherein predicting that an identified human will cross the portal into an adjacent workcell is based on computationally projected motion of the identified human.
5. The method of claim 1 , wherein the first and second workcells do not overlap.
6. The method of claim 1 , wherein the second three-dimensional workcell is a monitored workcell and the first three-dimensional workcell is an unmonitored workcell, the method further comprising the steps of:
computationally identifying, by the monitoring system of the monitored workcell, a human in the monitored workcell based on images recorded by at least one of the cameras therein;
computationally predicting, based at least in part on the recorded images, that the identified human will cross the portal into the unmonitored workcell; and
based on the computational prediction, electronically signaling a control system of the machinery to put the machinery into a safe state.
7. The method of claim 6 , wherein putting the machinery into a safe state comprises shutting down the machinery.
8. The method of claim 6 , wherein predicting that the identified human will cross the portal is based on proximity of the identified human to the portal.
9. The method of claim 6 , wherein predicting that an identified human will cross the portal is based on computationally projected motion of the identified human.
10. A method of monitoring adjacent first and second three-dimensional workcells each of which includes controlled machinery, the first and second workcells overlapping along a shared region, at least the second workcell including a monitoring system comprising plurality of cameras distributed thereabout, the method comprising the steps of:
computationally predicting that a human will cross a first portal in the shared region into the second workcell; and
electronically signaling the monitoring system of the second workcell of expected crossing of the first portal by the identified first human,
wherein the second workcell does not analyze detected features in the shared region to determine whether they are associated with a human except following receipt of the signal indicating expected entry of a human into the second workcell through the portal.
11. The method of claim 10 , further comprising the steps of:
computationally identifying, by the monitoring system of the second workcell, a second human in the second workcell based on images of the second workcell recorded by at least one of the cameras therein;
computationally predicting, based at least in part on the recorded images, that the identified second human will cross a second portal in the shared region; and
electronically signaling, by the monitoring system of the second workcell, a monitoring system of the first workcell of expected crossing of the second portal by the identified second human,
wherein neither of the monitoring systems analyzes detected features in the shared region to determine whether they are associated with a human except following receipt of a signal from the other monitoring system indicating expected entry of a human through a portal.
12. The method of claim 11 , wherein the first and second portals are the same portal located within the shared region.
13. The method of claim 11 , wherein the first and second portals are the same portal located midway within the shared region.
14. The method of claim 11 , wherein the first portal is a boundary of the second workcell and the second portal is a boundary of the first workcell.
15. The method of claim 11 , wherein predicting that an identified human will cross a portal is based on proximity of the identified human to the portal.
16. The method of claim 11 , wherein predicting that an identified human will cross a portal is based on computationally projected motion of the identified human.
17. The method of claim 11 , further comprising the step of preventing crosstalk between cameras of the first and second workcells by causing otherwise interfering cameras to operate simultaneously in accordance with a noninterference scheme.
18. The method of claim 17 , wherein the noninterference scheme comprises time-division multiplexing at least some interfering light sources.
19. The method of claim 17 , wherein the noninterference scheme comprises wavelength-division multiplexing at least some interfering light sources.
20. The method of claim 17 , 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.
21. The method of claim 17 , wherein the noninterference scheme comprises a background interference map and the step of causing the cameras of the first and second workcells to operate simultaneously in accordance with the noninterference scheme comprises subtracting background illumination specified in the map.