Systems and methods for machine control
A region of space may be monitored for the presence or absence of one or more control objects, and object attributes and changes thereto may be interpreted as control information provided as input to a machine or application. In some embodiments, the region is monitored using a combination of scanning and image-based sensing.
1. A computer implemented method comprising:
detecting a reflectance from at least two scan patterns formed from at least two sequential emission cycles directed at a region of space, wherein a first scan pattern of the at least two scan patterns is emitted at a time that is different from a time at which a second scan pattern of the at least two scan patterns is emitted;
determining, in dependence on the first scan pattern, a first object attribute of one or more object attributes of an object in the region of space;
determining, in dependence on the second scan pattern, a second object attribute of the one or more object attributes of the object;
analyzing at least one of the first object attribute and the second object attribute to determine a control portion of the object, wherein a subsequent scan pattern of the directly next emission cycle is limited to a subregion, of the region of space, containing the determined control portion;
analyzing at least one of the first object attribute and the second object attribute to determine control information; and
responding to the determined control information according to response criteria.
2. The computer implemented method according to claim 1 ,
wherein at least one of the first object attribute and the second object attribute is related to the control portion of the object, and
wherein the control information is determined by comparing the first object attribute and the second object attribute.
3. The computer implemented method according to claim 2 , wherein at least one of the determining of the first object attribute and the determining of the second object attribute includes considering a third scan pattern that is different from the first scan pattern and the second scan pattern.
4. The computer implemented method according to claim 3 , wherein the third scan pattern is more refined than the first scan pattern.
5. The computer implemented method according to claim 4 , wherein the third scan pattern captures surface detail about the object.
6. The computer implemented method according to claim 5 , wherein at least one of the determining of the first object attribute and the determining of the second object attribute includes determining control-portion attributes based at least in part on captured surface detail about the object.
7. The computer implemented method according to claim 6 , further comprising comparing differences in captured surface detail of the control portion of the object from control portion attributes of the first scan pattern and the second scan pattern to determine a change indicating the control information.
8. The computer implemented method according to claim 7 , wherein the comparing of the differences includes determining whether an engagement gesture has occurred.
9. The computer implemented method according to claim 7 , wherein the comparing of the differences includes determining whether a prospective user has come into a vicinity of a machine under control.
10. The computer implemented method according to claim 7 , wherein the comparing of the differences includes determining whether or not an object is present.
11. The computer implemented method according to claim 7 , wherein the comparing of the differences includes determining a correction to the control information by comparing the control information to a prior determined control information.
12. The computer implemented method according to claim 3 , wherein the detecting of the reflectance includes detecting a reflectance of the first scan pattern using at least one photo-sensitive element.
13. The computer implemented method according to claim 3 , wherein the detecting of the reflectance includes capturing an image of a reflectance of the first scan pattern using at least one suitable photo-sensitive array element.
14. The computer implemented method of claim 1 , wherein the directing of the at least two sequential emission cycles includes varying a first power state of a first light emitter at least partially in concurrence with varying a second power state of a second light emitter.
15. The computer implemented method of claim 1 ,
wherein the first scan pattern is configured to provide sequential emissions from emitters in a binary manner such that each of the emitters is turned on and off one at a time, and
wherein the second scan pattern is configured to provide simultaneously overlapping emissions from the emitters.
16. The computer implemented method of claim 1 , wherein the first scan pattern and the second scan pattern are configured to provide emissions from a same emitter, such that the same emitter provides emissions of different patterns.
17. The computer implemented method of claim 1 ,
wherein the first scan pattern is configured to provide emissions from emitters in a first order, and
wherein the second scan pattern is configured to provide emissions from the emitters in a second order, which is different from the first order.
18. The computer implemented method of claim 1 ,
wherein the first scan pattern is configured to provide emissions from emitters at a first rate, and
wherein the second scan pattern is configured to provide emissions from the emitters at a second rate, which is different from the first rate.
19. A non-transitory computer-readable recording medium having computer instructions recorded thereon, the computer instructions, when executed on one or more processors, causing the one or more processors to implement operations comprising:
detecting a reflectance from at least two scan patterns formed from at least two sequential emission cycles directed at a region of space, wherein a first scan pattern of the at least two scan patterns is emitted at a time that is different from a time at which a second scan pattern of the at least two scan patterns is emitted;
determining, in dependence on the first scan pattern, a first object attribute of one or more object attributes of an object in the region of space;
determining, in dependence on the second scan pattern, a second object attribute of the one or more object attributes of the object;
analyzing at least one of the first object attribute and the second object attribute to determine a control portion of the object, wherein a subsequent scan pattern of the directly next emission cycle is limited to a subregion, of the region of space, containing the determined control portion;
analyzing at least one of the first object attribute and the second object attribute to determine control information; and
responding to the determined control information according to response criteria.
20. A system including one or more processors coupled to memory, the memory being loaded with computer instructions, the computer instructions, when executed on the one or more processors, causing the one or more processors to implement operations comprising:
detecting a reflectance from at least two scan patterns formed from at least two sequential emission cycles directed at a region of space, wherein a first scan pattern of the at least two scan patterns is emitted at a time that is different from a time at which from a second scan pattern of the at least two scan patterns is emitted;
determining, in dependence on the first scan pattern, a first object attribute of one or more object attributes of an object in the region of space;
determining, in dependence on the second scan pattern, a second object attribute of the one or more object attributes of the object;
analyzing at least one of the first object attribute and the second object attribute to determine a control portion of the object, wherein a subsequent scan pattern of the directly next emission cycle is limited to a subregion, of the region of space, containing the determined control portion;
analyzing at least one of the first object attribute and the second object attribute to determine control information; and
responding to the determined control information according to response criteria.