公开(公告)号：US11407110B2

公开(公告)日：2022-08-09

申请号：US17379741

申请日：2021-07-19

Applicant: Path Robotics, Inc.

Inventor： Alexander James Lonsberry ,  Andrew Gordon Lonsberry ,  Surag Balajepalli ,  Dylan Desantis

IPC: B25J9/16 ,  G06T7/70 ,  G06V20/20 ,  B23K9/095 ,  B23K9/127 ,  B23K26/03 ,  G01B11/25 ,  G05D3/20 ,  G06K9/62

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.

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.