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公开(公告)号：US20230403475A1
公开(公告)日：2023-12-14
申请号：US18331604
申请日：2023-08-29
Applicant: Path Robotics, Inc.
Inventor： William HUANG , Animesh DHAGAT , Tarushree GANDHI , Jason ROBINSON , Alexander James LONSBERRY
CPC classification number: H04N23/75 , H04N23/56 , H04N23/71 , G01S17/89 , G01S7/4814
Abstract: This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, that provide for optical techniques for manufacturing robots, such as for filtering certain reflections when scanning an object. For example, the techniques may include receiving, from a detector, sensor data based on detected light, the detected light including reflections of light projected by one or more emitters and reflected off of an object. The techniques may further include determining, based on the sensor data, a first-order reflection and a second-order reflection. The techniques may also include determining, based on the first-order reflection and a second-order reflection, a difference, the difference includes a polarity difference, an intensity difference, or a combination thereof. The techniques may include filtering the second-order reflection based on the difference Other aspects and features are also claimed and described.
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公开(公告)号：US11801606B2
公开(公告)日：2023-10-31
申请号：US17902748
申请日：2022-09-02
Applicant: Path Robotics, Inc.
Inventor： Alexander James Lonsberry , Andrew Gordon Lonsberry , Nima Ajam Gard , Colin Bunker , Carlos Fabian Benitez Quiroz , Madhavun Candadai Vasu
IPC: G06K9/00 , 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 , B23K37/0229 , B23K37/0258 , B23K37/04 , B25J9/161 , B25J9/1666 , B25J9/1671 , B25J11/005 , B25J13/08 , B25J15/0019 , G06T7/0004 , G06T7/70 , G06V10/764 , G06V10/82 , G06T2207/10028 , G06T2207/20084 , G06V2201/06
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：US11209264B2
公开(公告)日：2021-12-28
申请号：US16778649
申请日：2020-01-31
Applicant: Path Robotics, Inc.
Inventor： Alexander James Lonsberry , Andrew Gordon Lonsberry
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：US20200240772A1
公开(公告)日：2020-07-30
申请号：US16778649
申请日：2020-01-31
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：US20250018571A1
公开(公告)日：2025-01-16
申请号：US18747421
申请日：2024-06-18
Applicant: Path Robotics, Inc.
Inventor： Raghav Sood , Chaojie Feng , Surag Balajepalli , Katsu Yamane , Matthew Klein , Sneha Nayak , Andong Dai , Nima Ajam Gard
Abstract: This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, that provide for techniques for manufacturing robots, such as path clearance planning techniques for manufacturing robots. For example, the techniques may generating, based on an end effectuator (EE), a joint, or a combination thereof of a robot arm of the robot for the robot arm in a first state, a plurality of candidate states. The techniques also include, based on the plurality of candidate states, determining a set of verified states. Each verified state may be included in the set of verified states satisfies a clearance threshold value with respect to an object. The techniques further include determining, based on a cost function, a trajectory between the first state and a second state, the second state included in the set of verified states. Other aspects and features are also claimed and described.
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Patent Agency Ranking
公开(公告)号：US20240408763A1
公开(公告)日：2024-12-12
申请号：US18747432
申请日：2024-06-18
Applicant: Path Robotics, Inc.
Inventor： Raghav Sood , Colin Bunker , Matthew Klein
Abstract: Disclosed are systems, methods, and apparatuses, including computer programs encoded on computer storage media, for operation of a robotic welding system. In one aspect, a method for calibrating a tool center point (TCP) of the robotic welding system includes identifying, based on multiple images, a location of a tip of a protrusion extending from the weldhead. Each image of the multiple images including at least a portion of the protrusion extending from a tip of the weldhead. The tip of the weldhead is associated with a first frame of reference. The method also includes determining, based on the location of the terminal end of the protrusion, a second frame of reference that is offset from the first frame of reference. The method further includes generating one or more TCP calibration values based on the second frame of reference. Other aspects and features are also claimed and described.
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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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公开(公告)号：US11859964B2
公开(公告)日：2024-01-02
申请号：US17547763
申请日：2021-12-10
Applicant: Path Robotics, Inc.
Inventor： Alexander James Lonsberry , Andrew Gordon Lonsberry
CPC classification number: G01B11/2513 , G01B11/2518
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：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：US20230173676A1
公开(公告)日：2023-06-08
申请号：US18056443
申请日：2022-11-17
Applicant: PATH ROBOTICS, INC.
Inventor： Alexander LONSBERRY , Andrew LONSBERRY , Nima Ajam GARD , Madhavun Candadai VASU , Eric SCHWENKER
CPC classification number: B25J9/1664 , B25J9/163 , B25J9/161 , B25J11/005 , B25J19/021
Abstract: This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, that provide for training, implementing, or updated machine learning logic, such as an artificial neural network, to model a manufacturing process performed in a manufacturing robot environment. For example, the machine learning logic may be trained and implemented to learn from or make adjustments based on one or more operational characteristics associated with the manufacturing robot environment. As another example, the machine learning logic, such as a trained neural network, may be implemented in a semi-autonomous or autonomous manufacturing robot environment to model a manufacturing process and to generate a manufacturing result. As another example, the machine learning logic, such as the trained neural network, may be updated based on data that is captured and associated with a manufacturing result. Other aspects and features are also claimed and described.
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