公开(公告)号：US20230288914A1

公开(公告)日：2023-09-14

申请号：US18119547

申请日：2023-03-09

Applicant: Worcester Polytechnic Institute

Inventor： James Akl ,  Fadi Alladkani ,  Berk Calli ,  Roger Morton

IPC: G05B19/4103 ,  G06T7/11 ,  G06V10/26

CPC classification number: G05B19/4103 ,  G06T7/11 ,  G06V10/26 ,  G06T2207/10028

Abstract: A robotic cutting device includes a cutting tool responsive to a mobile actuator adapted to apply a cutting force in a 3-dimensional (3D) space, and scanning logic configured to identify a cutting path denoted on an article for cutting. Using the cutting path, a mobile actuator is responsive to positioning logic for disposing the cutting tool along the cutting path for performing a prescribed cut on the article. The mobile actuator is a robotic arm responsive to an independent coordinate frame based on a position and orientation of a mobility vehicle supporting the mobile actuator. Cutting is based on traversal of a prescribed path formed from marking or painting optically distinct features. Pixel based analysis reconstructs the path for cutting using a probabilistic evaluation of only the cutting region based on a prediction of path progression, and avoids exhaustive mapping, analysis or reconstruction of the entire article.

公开(公告)号：US20220332003A1

公开(公告)日：2022-10-20

申请号：US17721553

申请日：2022-04-15

Applicant: Worcester Polytechnic Institute

Inventor： Berk Calli

IPC: B26D3/10

Abstract: A robotic cutting device includes a cutting tool responsive to a mobile actuator adapted to apply a cutting force in a 3-dimensional (3D) space, and scanning logic configured to identify a cutting path denoted on an article for cutting. Using the cutting path, a mobile actuator is responsive to positioning logic for disposing the cutting tool along the cutting path for performing a prescribed cut on the article. The mobile actuator is a robotic arm responsive to an independent coordinate frame based on a position and orientation of a mobility vehicle supporting the mobile actuator. The mobility vehicle is typically a tracked or all-terrain capable chassis adapted to be disposed adjacent to the article such that the article is within range of the actuator. The mobility vehicle transports the robotic cutting device adjacent to the article to be cut, such that the cutting path is within reach.