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：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：US20240408763A1

公开(公告)日：2024-12-12

申请号：US18747432

申请日：2024-06-18

Applicant: Path Robotics, Inc.

Inventor： Raghav Sood ,  Colin Bunker ,  Matthew Klein

IPC: B25J9/16 ,  B25J19/02

Abstract: Disclosed are systems, methods, and apparatuses, including computer programs encoded on computer storage media, for operation of a robotic welding system. In one aspect, a method for calibrating a tool center point (TCP) of the robotic welding system includes identifying, based on multiple images, a location of a tip of a protrusion extending from the weldhead. Each image of the multiple images including at least a portion of the protrusion extending from a tip of the weldhead. The tip of the weldhead is associated with a first frame of reference. The method also includes determining, based on the location of the terminal end of the protrusion, a second frame of reference that is offset from the first frame of reference. The method further includes generating one or more TCP calibration values based on the second frame of reference. 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.