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公开(公告)号：US20240033935A1
公开(公告)日：2024-02-01
申请号：US18360751
申请日：2023-07-27
Applicant: Path Robotics, Inc.
Inventor： Alexander James LONSBERRY , Andrew Gordon LONSBERRY , Nima AJAM GARD , Colin BUNKER , Carlos Fabian BENITEZ QUIROZ , Madhavun Candadai VASU
IPC: B25J9/16 , B25J13/08 , B23K37/02 , B25J11/00 , B23K37/04 , G06T7/70 , G06T7/00 , G06V10/764 , G06V10/82 , B25J15/00
CPC classification number: B25J9/1697 , B25J13/08 , B25J9/1666 , B23K37/0229 , B25J11/005 , B23K37/04 , G06T7/70 , G06T7/0004 , G06V10/764 , G06V10/82 , B25J15/0019 , B23K37/0258 , B25J9/161 , B25J9/1671 , G06T2207/20084 , G06T2207/10028 , G06V2201/06
Abstract: In various examples, a computer-implemented method of generating instructions for a welding robot. The computer-implemented method comprises identifying an expected position of a candidate seam on a part to be welded based on a Computer Aided Design (CAD) model of the part, scanning a workspace containing the part to produce a representation of the part, identifying the candidate seam on the part based on the representation of the part and the expected position of the candidate seam, determining an actual position of the candidate seam, and generating welding instructions for the welding robot based at least in part on the actual position of the candidate seam.
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公开(公告)号：US20230123712A1
公开(公告)日：2023-04-20
申请号：US17968150
申请日：2022-10-18
Applicant: Path Robotics, Inc.
Inventor： Alexander James LONSBERRY , Andrew Gordon LONSBERRY , Matthew KLEIN , Surag BALAJEPALLI , Chaojie FENG , Rachit AGGARWAL , Raghav SOOD
IPC: G06F30/20
Abstract: In some examples, a method for determining weldable and unweldable portions of a seam comprises receiving a representation of a part including the seam. The method also includes discretizing a representation of the seam into a plurality of waypoints. The method also includes evaluating each waypoint from the plurality of waypoints for feasibility of welding. The method further includes generating a weld path through at least a subset of the plurality of waypoints in accordance with the feasibility of welding.
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公开(公告)号：US20220305593A1
公开(公告)日：2022-09-29
申请号：US17679983
申请日：2022-02-24
Applicant: Path Robotics Inc.
Inventor： Alexander James LONSBERRY , Andrew Gordon LONSBERRY , Nima Ajam GARD , Colin BUNKER , Carlos Fabian BENITEZ QUIROZ , Madhavun Candadai VASU
Abstract: In various examples, a computer-implemented method of generating instructions for a welding robot. The computer-implemented method comprises identifying an expected position of a candidate seam on a part to be welded based on a Computer Aided Design (CAD) model of the part, scanning a workspace containing the part to produce a representation of the part, identifying the candidate seam on the part based on the representation of the part and the expected position of the candidate seam, determining an actual position of the candidate seam, and generating welding instructions for the welding robot based at least in part on the actual position of the candidate seam.
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公开(公告)号：US20220170736A1
公开(公告)日：2022-06-02
申请号：US17547763
申请日：2021-12-10
Applicant: Path Robotics, Inc.
Inventor： Alexander James LONSBERRY , Andrew Gordon LONSBERRY
IPC: G01B11/25
Abstract: Some embodiments described herein relate to optical systems and methods for determining the shape and/or size of objects that include projecting a pattern of light onto the object. The pattern of light can be configured such that first-order reflections can be distinguished from second- and/or higher-order reflections, which can be rejected. Thus, even in instances in which the pattern of light is reflected onto the object multiple times, the original, or first-order, reflection can be detected, distinguished, and/or used for laser triangulation. In some embodiments, a pattern of light that does not have reflection and/or rotational symmetry is projected onto the object, such that second-order and/or higher-order reflections can be distinguished from the first-order reflection.
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公开(公告)号：US20240025041A1
公开(公告)日：2024-01-25
申请号：US18356708
申请日：2023-07-21
Applicant: Path Robotics, Inc.
CPC classification number: B25J9/1664 , G06T7/70 , G06V20/20 , B23K9/0956 , B23K9/1274 , B23K26/032 , G01B11/25 , G05D3/20 , G06V2201/06 , G06T2207/10028 , G06F18/24
Abstract: Systems and methods for real time feedback and for updating welding instructions for a welding robot in real time is described herein. The data of a workspace that includes a part to be welded can be received via at least one sensor. This data can be transformed into a point cloud data representing a three-dimensional surface of the part. A desired state indicative of a desired position of at least a portion of the welding robot with respect to the part can be identified. An estimated state indicative of an estimated position of at least the portion of the welding robot with respect to the part can be compared to the desired state. The welding instructions can be updated based on the comparison.
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Patent Agency Ranking
公开(公告)号：US20230278224A1
公开(公告)日：2023-09-07
申请号：US18179796
申请日：2023-03-07
Applicant: Path Robotics, Inc.
Inventor： Colin BUNKER , Alexander James LONSBERRY , Andrew Gordon LONSBERRY , Nima Ajam GARD , Milad KHALEDYAN , Carlos Fabian BENITEZ-QUIROZ
CPC classification number: B25J9/1692 , B25J9/1697 , B25J11/005
Abstract: A method for calibrating a tool center point (TCP) of a robotic welding system. The method includes receiving a plurality of images captured from a plurality of image sensors of the robotic welding system, the plurality of images containing at least a portion of a protrusion extending from a tip of a weldhead of the robotic welding system, and identifying by a controller of the robotic welding system the protrusion extending from the weldhead in the plurality of images. The method additionally includes defining by the controller a longitudinal axis of the protrusion based on the protrusion identified in the plurality of images, and identifying by the controller a location in three-dimensional (3D) space of the weldhead based on the protrusion identified in the plurality of images and the defined longitudinal axis of the protrusion.
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公开(公告)号：US20230047632A1
公开(公告)日：2023-02-16
申请号：US17980769
申请日：2022-11-04
Applicant: Path Robotics, Inc.
Inventor： Alexander James LONSBERRY , Andrew Gordon LONSBERRY , Nima Ajam GARD , Colin BUNKER , Carlos Fabian BENITEZ QUIROZ , Madhavun Candadai VASU
IPC: B25J9/16 , B23K37/02 , G06T7/70 , G06V10/82 , B25J11/00 , B23K37/04 , G06T7/00 , G06V10/764 , B25J15/00 , B25J13/08
Abstract: In various examples, a computer-implemented method of generating instructions for a welding robot. The computer-implemented method comprises identifying an expected position of a candidate seam on a part to be welded based on a Computer Aided Design (CAD) model of the part, scanning a workspace containing the part to produce a representation of the part, identifying the candidate seam on the part based on the representation of the part and the expected position of the candidate seam, determining an actual position of the candidate seam, and generating welding instructions for the welding robot based at least in part on the actual position of the candidate seam.
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公开(公告)号：US20220324110A1
公开(公告)日：2022-10-13
申请号：US17853045
申请日：2022-06-29
Applicant: Path Robotics Inc.
Inventor： Alexander James LONSBERRY , Andrew Gordon LONSBERRY , Dylan DESANTIS
Abstract: Systems and methods for real time feedback and for updating welding instructions for a welding robot in real time is described herein. The data of a workspace that includes a part to be welded can be received via at least one sensor. This data can be transformed into a point cloud data representing a three-dimensional surface of the part. A desired state indicative of a desired position of at least a portion of the welding robot with respect to the part can be identified. An estimated state indicative of an estimated position of at least the portion of the welding robot with respect to the part can be compared to the desired state. The welding instructions can be updated based on the comparison.
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公开(公告)号：US20220266453A1
公开(公告)日：2022-08-25
申请号：US17680027
申请日：2022-02-24
Applicant: Path Robotics Inc.
Inventor： Alexander James LONSBERRY , Andrew Gordon LONSBERRY
IPC: B25J9/16 , B25J13/08 , B23K37/02 , B25J11/00 , B23K37/04 , B25J15/00 , G06T7/70 , G06T7/00 , G06V10/764 , G06V10/82
Abstract: In some examples, an autonomous robotic welding system comprises a workspace including a part having a seam, a sensor configured to capture multiple images within the workspace, a robot configured to lay weld along the seam, and a controller. The controller is configured to identify the seam on the part in the workspace based on the multiple images, plan a path for the robot to follow when welding the seam, the path including multiple different configurations of the robot, and instruct the robot to weld the seam according to the planned path.
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公开(公告)号：US20220016776A1
公开(公告)日：2022-01-20
申请号：US17379741
申请日：2021-07-19
Applicant: Path Robotics, Inc.
Inventor： Alexander James LONSBERRY , Andrew Gordon LONSBERRY
Abstract: Systems and methods for real time feedback and for updating welding instructions for a welding robot in real time is described herein. The data of a workspace that includes a part to be welded can be received via at least one sensor. This data can be transformed into a point cloud data representing a three-dimensional surface of the part. A desired state indicative of a desired position of at least a portion of the welding robot with respect to the part can be identified. An estimated state indicative of an estimated position of at least the portion of the welding robot with respect to the part can be compared to the desired state. The welding instructions can be updated based on the comparison.
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