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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:US20240075629A1
公开(公告)日:2024-03-07
申请号:US18469506
申请日:2023-09-18
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 , B23K37/04 , B25J11/00 , B25J13/08 , B25J15/00 , G06T7/00 , G06T7/70 , G06V10/764 , G06V10/82
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:US20240391109A1
公开(公告)日:2024-11-28
申请号:US18790732
申请日:2024-07-31
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 , B23K37/04 , B25J11/00 , B25J13/08 , B25J15/00 , G06T7/00 , G06T7/70 , 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:US20220410402A1
公开(公告)日:2022-12-29
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: B25J9/16 , B23K37/04 , G06T7/00 , G06V10/764 , B23K37/02 , B25J15/00 , G06T7/70 , B25J13/08 , B25J11/00 , 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:US20190331480A1
公开(公告)日:2019-10-31
申请号:US16397428
申请日:2019-04-29
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:US20240230319A9
公开(公告)日:2024-07-11
申请号:US18494497
申请日:2023-10-25
Applicant: Path Robotics, Inc.
Inventor: Alexander James LONSBERRY , Andrew Gordon LONSBERRY
IPC: G01B11/25
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:US20240133678A1
公开(公告)日:2024-04-25
申请号:US18494497
申请日:2023-10-24
Applicant: Path Robotics, Inc.
Inventor: Alexander James LONSBERRY , Andrew Gordon LONSBERRY
IPC: G01B11/25
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: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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