公开(公告)号：US12070867B2

公开(公告)日：2024-08-27

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: G06K9/00 ,  B23K37/02 ,  B23K37/04 ,  B25J9/16 ,  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.

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.

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

IPC: B25J9/16 ,  B25J17/00

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.

公开(公告)号：US11648683B2

公开(公告)日：2023-05-16

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

IPC: B23K37/02 ,  B25J9/16 ,  B25J11/00 ,  B25J13/08 ,  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 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.

公开(公告)号：US11759958B2

公开(公告)日：2023-09-19

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 ,  B23K37/04 ,  B25J11/00 ,  B25J13/08 ,  B25J15/00 ,  G06T7/00 ,  G06V10/764 ,  G06V10/82 ,  G06T7/70

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 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.