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.