3D Free Space Modeling for Safe Motion in Dynamic Healthcare Rooms

The patent replaces traditional mechanical collision sensors with a camera-based vision system that uses image processing and depth information to detect potential collisions. This substitution allows the system to maintain high movement speeds while improving adaptability, as the camera system can process visual information in real-time without physically contacting or restricting the movement of medical equipment.

The patent introduces an intermediary processing system that includes a depth map generator, potential collision point identifier, and look-up table generator. This intermediary layer processes camera images to create depth maps and identify potential collision points before the actual movement occurs, enabling the system to predict and prevent collisions without limiting movement speed or requiring physical sensors on the moving equipment.

The patent creates a universal collision detection system based on camera imaging that can be applied across different healthcare environments without requiring environment-specific sensor installations. The look-up table generator stores pre-calculated safe movement paths that can be adapted to various scenarios, making the system universally applicable while reducing the need for cumbersome adaptations.

The patent performs preliminary actions by generating depth maps and identifying potential collision points before actual movement occurs. The look-up table is pre-generated with safe movement paths based on environmental geometry, allowing the system to quickly reference safe paths during operation without requiring real-time complex calculations or environmental reconfiguration.

The patent implements a dynamic collision prevention system that continuously updates safe movement paths based on real-time camera input and environmental changes. Rather than imposing fixed speed limits, the system dynamically adjusts movement constraints based on the current situation, allowing high speeds in safe zones while providing protection in potential collision areas.

The patent transitions from traditional 2D sensor-based collision detection to 3D depth map-based detection, adding a dimensional aspect that enables more accurate spatial understanding. This three-dimensional approach allows the system to identify safe volumetric paths through the environment, maintaining movement freedom while ensuring safety.