Cobot Cell Witness Shared-family mapped

Threshold Truth

Cell Threshold Truth: The Aimed Cone at the Line

Timestamps every person stepping into or out of the robot cell, on a sensor the robot's own computers do not control.

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Readiness Shared-family mapped

Mapped to a shared offline runtime family and usable with a recording or compatible ESP32 CSI stream.

Evidence Supported hypothesis

Published physics or adjacent results support the hypothesis; capability-specific product and site validation are still required.

Runtime family Intrusion event

Entry or unexpected-presence event relative to a learned empty-space baseline.

When no ESP32 is connected

No compatible ESP32 stream is connected. Use the bundled Cobot recording; it demonstrates the shared Intrusion event runtime, not independent proof of this capability.

Intended capability

Pilot this intended outcome through the shared Intrusion event family, then validate it against site-specific ground truth: Range-gated, millisecond-latency record of every body crossing the cell boundary — entries and exits at the opening where the cell meets the floor, timestamped on a channel the robot stack does not own and the 2.4 GHz field does not carry. The boundary event every other row in this vertical builds on. Evidence recorder only: not a protective device, no muting and no presence-sensing safeguard function, IEC 61496 and ISO 13849 out of scope — the certified safeguards remain authoritative. Sibling declared: cobot-still-presence-hold owns the interior; this row owns the doorway.

This describes the intended outcome. Readiness is shared-family mapped, evidence is class B, and a catalog mapping or recording is not proof of this outcome at a real site.

Solution blueprint

See the environment before installing it.

This exact kit is one of 191 first-class designs. It includes geometry, objects, nodes, wording, scenarios, installation, limitations, and catalog-bound readiness.

Shared-family mapped

No rendered revision is available yet.

Bundled recording

A related Cobot scene

This is one recorded vertical scenario. It is not separate validation of every capability in the catalog.

01 The physics

An LD2410C cone aimed across the cell opening reads a crossing as a moving target sweeping its range gates, and holds a person who stops in the threshold by breathing micro-motion. 24 GHz shares no medium with the WiFi mesh, so a jammed or silent mesh does not blind the doorway. The claim is exactly one composite target: no azimuth within the cone, no count of simultaneous crossers, no sensing through the cell's metal walls — the cone covers the opening it faces and nothing more.

02 Shared processing path

LD2410 per-gate energy stream over UART -> gate-transition sequencer (range trend orders entry vs exit relative to the mount) -> crossing event with direction, range, timestamp -> static-hold check for a body stopped in the threshold -> CSI zone cross-check on the adjacent floor zone -> append to the cell's boundary ledger.

This is a capability design path. Components may be shared with other catalog entries; it is not presented as a unique algorithm.

03 Validation plan

Own-hardware doorway rig: 300+ scripted crossings at varied speeds and lateral offsets, hand-logged against video; miss and double-count rates reported per speed band; stop-in-threshold holds of 5 minutes; simultaneous two-person crossings documented as the known merge failure; robot-proxy transits confirmed to mask the person and to be flagged as no-assessment.

04 Commercial hypothesis

'Threshold Truth' — for the cell integrator and plant compliance owner: every crossing of the line, timestamped on a channel the robot stack does not own.