METHOD AND SYSTEM FOR PREDICTIVE AVOIDANCE OF MANIPULATOR COLLISION WITH HUMAN BEING Russian patent published in 2019 - IPC G06T1/40 

FIELD: calculating; counting.

SUBSTANCE: invention relates to computer engineering. Technical result is achieved by forming a virtual graph of patency of industrial manipulator; obtaining an RGB image and a depth map from a camera directed to the working area of the industrial manipulator; segmenting each obtained RGB image using a deep convolutional neural network which determines which pixel image relates to a human; forming a cloud of human points by converting each pixel associated with a human, and the distance of said pixel in the depth map; determining the distance of each three-dimensional point from the formed cloud of points to each vertex of the virtual graph of the passability of the industrial manipulator; obtaining distance between a person and industrial manipulator operating points; comparison of certain distance of each three-dimensional point of cloud of points and threshold value.

EFFECT: technical result consists in improvement of safety level of personnel near industrial manipulator.

7 cl, 6 dwg