公开(公告)号：US20250153261A1

公开(公告)日：2025-05-15

申请号：US18506113

申请日：2023-11-09

Applicant: Path Robotics, Inc.

Inventor： Madhavun Candadai VASU ,  Siqi HUANG ,  Amrish BASKARAN ,  Colin BUNKER ,  Alexander James LONSBERRY

IPC: B23K9/095 ,  B25J9/16 ,  B25J11/00 ,  B25J19/02 ,  G06F30/10 ,  G06T7/00 ,  G06T7/70 ,  G06V10/141

Abstract: This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, which provide for welding techniques for manufacturing robots, such as seam localization, gap measurement, or both. For example, the welding techniques may include, during illumination of one or more objects by a light source, controlling a camera to capture images of the one or more objects along at least a portion of a length of a seam formed by the one or more objects. The techniques further include differentiating, in the images, the seam from the one or more objects. In a first aspect, the techniques also include triangulating the differentiated seam to identify a position of the seam relative to a reference point. In a second aspect, the techniques also include determining, based on the differentiated seam, gap information along a portion of the seam. Other aspects and features are also claimed and described.

公开(公告)号：US20240246179A1

公开(公告)日：2024-07-25

申请号：US18419458

申请日：2024-01-22

Applicant: Path Robotics, Inc.

Inventor： Madhavun CANDADAI VASU ,  Nima AJAM GARD ,  Sabhari NATARAJAN ,  Amrish BASKARAN ,  Gautham Narayan NARASIMHAN

IPC: B23K37/02 ,  G05B19/4155

CPC classification number: B23K37/0258 ,  G05B19/4155 ,  G05B2219/45104

Abstract: Disclosed are systems, methods, and apparatuses, including computer programs encoded on computer storage media, for operation of an assembly robotic system. In one aspect, the assembly robotic system performs at least one of a first or second scan operation. In the first scan operation, one or more scan poses is selected from among a plurality of generated candidate poses. For each scan pose of the one or more scan poses, the controller initiates a scan operation associated with a region identified to include a seam associated with a feature of the object. As part of the second scan operation, for each candidate scan pose, a scan operation is simulated. Based on the generated simulated scan data, multiple scan poses are selected and a scan trajectory is generated for a scan operation. Other aspects and features are also claimed and described.