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：US11548162B2

公开(公告)日：2023-01-10

申请号：US17680027

申请日：2022-02-24

Applicant: Path Robotics Inc.

Inventor： Alexander James Lonsberry ,  Andrew Gordon Lonsberry

IPC: G06K9/00 ,  B25J9/16 ,  B25J13/08 ,  B23K37/02 ,  B25J11/00 ,  B23K37/04 ,  G06T7/70 ,  G06T7/00 ,  G06V10/764 ,  G06V10/82 ,  B25J15/00

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：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

IPC: G06K9/00 ,  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.

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.

公开(公告)号：US10551179B2

公开(公告)日：2020-02-04

申请号：US16397428

申请日：2019-04-29

Applicant: Path Robotics, Inc.

Inventor： Alexander James Lonsberry ,  Andrew Gordon Lonsberry

IPC: G06K9/00 ,  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.

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

IPC: G06V10/10 ,  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.

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：US11759952B2

公开(公告)日：2023-09-19

申请号：US17853045

申请日：2022-06-29

Applicant: Path Robotics, Inc.

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

IPC: B25J9/16 ,  G06T7/70 ,  G06V20/20 ,  B23K9/095 ,  B23K9/127 ,  B23K26/03 ,  G01B11/25 ,  G05D3/20 ,  G06F18/24

CPC classification number: B25J9/1664 ,  B23K9/0956 ,  B23K9/1274 ,  B23K26/032 ,  G01B11/25 ,  G05D3/20 ,  G06T7/70 ,  G06V20/20 ,  G06F18/24 ,  G06T2207/10028 ,  G06V2201/06

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：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.