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公开(公告)号：US12059808B2
公开(公告)日：2024-08-13
申请号：US18410557
申请日：2024-01-11
发明人： Avadhoot L. Ahire , Miguel A. Chavez-Garcia , Satyandra K. Gupta , Ariyan M. Kabir , Ashish Kulkarni , Ceasar G. Navarro , Sagarkumar J. Panchal , Martin G Philo , Christian A. Salinas , Brual C. Shah , Achille Verheye , Jeano J. Vincent , Murilo M. Zelic
CPC分类号： B25J9/1653 , B24B51/00 , B25J9/163 , B25J9/1664 , B25J9/1679 , B25J9/1697 , B25J11/0065 , B25J13/085 , G06T1/0014 , G06T7/13 , G06T7/60 , G06T19/00 , G06T2207/10024 , G06T2219/004
摘要： A method includes: accessing a coating thickness range for workpiece coating; triggering an optical sensor to capture scan data representing the workpiece; triggering a depth sensor to capture a first depth value; assembling the scan data into a first virtual model representing the workpiece; defining first spray parameters corresponding to a minimum coating thickness; defining a first toolpath; driving a coating applicator along the first toolpath to spray the coating onto the workpiece; triggering the depth sensor to capture a second depth value; calculating a first coating thickness based on the first depth value and the second depth value; in response to the first coating thickness falling below the target minimum coating thickness defining a second set of spray parameters and a second toolpath; and driving the coating applicator along the second toolpath to spray the coating onto the workpiece according to the second set of spray parameters.
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公开(公告)号：US12049009B2
公开(公告)日：2024-07-30
申请号：US18111470
申请日：2023-02-17
CPC分类号： B25J9/1653 , B24B51/00 , B25J9/163 , B25J9/1664 , B25J9/1679 , B25J9/1697 , B25J11/0065 , B25J13/085 , G06T1/0014 , G06T7/13 , G06T7/60 , G06T19/00 , G06T2207/10024 , G06T2219/004
摘要： One variation of a method for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.
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公开(公告)号：US12109703B2
公开(公告)日：2024-10-08
申请号：US18389166
申请日：2023-11-13
发明人： Avadhoot L. Ahire , Rishav Guha , Satyandra K. Gupta , Ariyan M. Kabir , Sagarkumar J. Panchal , Brual C. Shah
CPC分类号： B25J9/1653 , B24B51/00 , B25J9/163 , B25J9/1664 , B25J9/1679 , B25J9/1697 , B25J11/0065 , B25J13/085 , G06T1/0014 , G06T7/13 , G06T7/60 , G06T19/00 , G06T2207/10024 , G06T2219/004
摘要： A method includes, traversing a laser line scanning sensor over a workpiece to generate a series of scan data according to a first set of scan parameters; assembling the series of scan data into a virtual model; detecting a first hole, defining absence of scan data, in a first region of the virtual model; responsive to the first hole defining a dimension less than a threshold dimension, assigning the first set of scan parameters to the first region; detecting a second hole, in a second region of the virtual model; responsive to the second hole defining a dimension greater than the threshold dimension, defining a second set of scan parameters associated with an increased resolution and assigning the second set of scan parameters to the second workpiece region; and compiling the first and second set of scan parameters into a scan protocol defining a minimum scan cycle duration.
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4.发明公开公开(公告)号：US20240109193A1
公开(公告)日：2024-04-04
申请号：US18537701
申请日：2023-12-12
发明人： Avadhoot L. Ahire , Yi-Wei Chen , Satyandra K Gupta , Ariyan M. Kabir , Ashish Kulkarni , Ceasar G. Navarro, JR. , Martin G. Philo , Brual C. Shah
CPC分类号： B25J9/1653 , B24B51/00 , B25J9/163 , B25J9/1664 , B25J9/1679 , B25J9/1697 , B25J11/0065 , B25J13/085 , G06T1/0014 , G06T7/13 , G06T7/60 , G06T19/00 , G06T2207/10024 , G06T2219/004
摘要： A method includes, during a processing cycle: navigating the sanding head across a region of a workpiece according to a toolpath; and, based on a sequence of force values output by a force sensor coupled to the sanding head, deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece region proximal a target force. The method also includes: detecting a sequence of positions of the sanding head traversing the workpiece region; interpreting a surface contour in the workpiece region based on the sequence of positions; detecting a difference between the surface contour and a corresponding target surface defined in a target model of the workpiece; generating a second toolpath for the workpiece region based on the difference; and, during a second processing cycle, navigating the sanding head across the workpiece region according to the second toolpath to reduce the difference.
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5.发明公开公开(公告)号：US20240091935A1
公开(公告)日：2024-03-21
申请号：US18523712
申请日：2023-11-29
发明人： Avadhoot L. Ahire , Cheng Gong , Rishav Guha , Satyandra K. Gupta , Ariyan M. Kabir , Sagarkumar J. Panchal, JR. , Brual C. Shah
CPC分类号： B25J9/1653 , B24B51/00 , B25J9/163 , B25J9/1664 , B25J9/1679 , B25J9/1697 , B25J11/0065 , B25J13/085 , G06T1/0014 , G06T7/13 , G06T7/60 , G06T19/00 , G06T2207/10024 , G06T2219/004
摘要： A method includes: accessing a virtual model defining a geometry of a workpiece; navigating an optical sensor about the workpiece; accessing an image of the workpiece; detecting a marker, on the workpiece, depicted in the image; defining a first workpiece region of the workpiece bounded by the marker; defining a toolpath within the first workpiece region based on a geometry of the first workpiece region represented in the virtual model; assigning a first target force to the first toolpath; and during a processing cycle accessing a first sequence of force values output by a force sensor coupled to the sanding head, navigating the sanding head across the first workpiece region according to the first toolpath, and based on the first sequence of force values, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the workpiece proximal the first target force.
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公开(公告)号：US20220388115A1
公开(公告)日：2022-12-08
申请号：US17826840
申请日：2022-05-27
摘要： One variation of a method S100 for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.
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公开(公告)号：US20240351202A1
公开(公告)日：2024-10-24
申请号：US18758773
申请日：2024-06-28
发明人： Avadhoot L. Ahire , Miguel A. Chavez-Garcia , Satyandra K. Gupta , Ariyan M. Kabir , Ashish Kulkarni , Ceasar G. Navarro , Sagarkumar J. Panchal , Martin G. Philo , Christian A. Salinas , Brual C. Shah , Achille Verheye , Jeano J. Vincent , Murilo M. Zelic
CPC分类号： B25J9/1653 , B24B51/00 , B25J9/163 , B25J9/1664 , B25J9/1679 , B25J9/1697 , B25J11/0065 , B25J13/085 , G06T1/0014 , G06T7/13 , G06T7/60 , G06T19/00 , G06T2207/10024 , G06T2219/004
摘要： A method includes: accessing a coating thickness range for workpiece coating; triggering an optical sensor to capture scan data representing the workpiece; triggering a depth sensor to capture a first depth value; assembling the scan data into a first virtual model representing the workpiece; defining first spray parameters corresponding to a minimum coating thickness; defining a first toolpath; driving a coating applicator along the first toolpath to spray the coating onto the workpiece; triggering the depth sensor to capture a second depth value; calculating a first coating thickness based on the first depth value and the second depth value; in response to the first coating thickness falling below the target minimum coating thickness defining a second set of spray parameters and a second toolpath; and driving the coating applicator along the second toolpath to spray the coating onto the workpiece according to the second set of spray parameters.
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8.发明公开公开(公告)号：US20240286281A1
公开(公告)日：2024-08-29
申请号：US18624027
申请日：2024-04-01
发明人： Avadhoot L. Ahire , Cheng Gong , Rishav Guha , Satyandra K. Gupta , Ariyan M. Kabir , Sagarkumar J. Panchal , Brual C. Shah
CPC分类号： B25J9/1653 , B24B51/00 , B25J9/163 , B25J9/1664 , B25J9/1679 , B25J9/1697 , B25J11/0065 , B25J13/085 , G06T1/0014 , G06T7/13 , G06T7/60 , G06T19/00 , G06T2207/10024 , G06T2219/004
摘要： A method includes: accessing a virtual model defining a geometry of a workpiece; navigating an optical sensor about the workpiece; accessing an image of the workpiece; detecting a marker, on the workpiece, depicted in the image; defining a first workpiece region of the workpiece bounded by the marker; defining a toolpath within the first workpiece region based on a geometry of the first workpiece region represented in the virtual model; assigning a first target force to the first toolpath; and during a processing cycle accessing a first sequence of force values output by a force sensor coupled to the sanding head, navigating the sanding head across the first workpiece region according to the first toolpath, and based on the first sequence of force values, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the workpiece proximal the first target force.
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9.发明授权公开(公告)号：US11975453B2
公开(公告)日：2024-05-07
申请号：US18523712
申请日：2023-11-29
发明人： Avadhoot L. Ahire , Cheng Gong , Rishav Guha , Satyandra K. Gupta , Ariyan M Kabir , Sagarkumar J. Panchal , Brual C. Shah
CPC分类号： B25J9/1653 , B24B51/00 , B25J9/163 , B25J9/1664 , B25J9/1679 , B25J9/1697 , B25J11/0065 , B25J13/085 , G06T1/0014 , G06T7/13 , G06T7/60 , G06T19/00 , G06T2207/10024 , G06T2219/004
摘要： A method includes: accessing a virtual model defining a geometry of a workpiece; navigating an optical sensor about the workpiece; accessing an image of the workpiece; detecting a marker, on the workpiece, depicted in the image; defining a first workpiece region of the workpiece bounded by the marker; defining a toolpath within the first workpiece region based on a geometry of the first workpiece region represented in the virtual model; assigning a first target force to the first toolpath; and during a processing cycle accessing a first sequence of force values output by a force sensor coupled to the sanding head, navigating the sanding head across the first workpiece region according to the first toolpath, and based on the first sequence of force values, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the workpiece proximal the first target force.
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公开(公告)号：US11613014B2
公开(公告)日：2023-03-28
申请号：US17829193
申请日：2022-05-31
摘要： One variation of a method for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.
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