US 12,070,867 B2
Autonomous welding robots
Alexander James Lonsberry, Gahanna, OH (US); Andrew Gordon Lonsberry, Columbus, OH (US); Nima Ajam Gard, Columbus, OH (US); Colin Bunker, Columbus, OH (US); Carlos Fabian Benitez Quiroz, Columbus, OH (US); and Madhavun Candadai Vasu, Columbus, OH (US)
Assigned to Path Robotics, Inc., Columbus, OH (US)
Filed by Path Robotics, Inc., Columbus, OH (US)
Filed on Sep. 18, 2023, as Appl. No. 18/469,506.
Application 18/469,506 is a continuation of application No. 17/902,748, filed on Sep. 2, 2022, granted, now 11,801,606.
Application 17/902,748 is a continuation of application No. 17/680,027, filed on Feb. 24, 2022, granted, now 11,548,162, issued on Jan. 10, 2023.
Claims priority of provisional application 63/282,827, filed on Nov. 24, 2021.
Claims priority of provisional application 63/153,109, filed on Feb. 24, 2021.
Prior Publication US 2024/0075629 A1, Mar. 7, 2024
Int. Cl. G06K 9/00 (2022.01); B23K 37/02 (2006.01); B23K 37/04 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); G06T 7/00 (2017.01); G06T 7/70 (2017.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01)
CPC B25J 9/1697 (2013.01) [B23K 37/0229 (2013.01); B23K 37/0258 (2013.01); B23K 37/04 (2013.01); B25J 9/161 (2013.01); B25J 9/1666 (2013.01); B25J 9/1671 (2013.01); B25J 11/005 (2013.01); B25J 13/08 (2013.01); B25J 15/0019 (2013.01); G06T 7/0004 (2013.01); G06T 7/70 (2017.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01); G06V 2201/06 (2022.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous robotic welding system comprising:
a controller configured to:
instruct one or more sensors to capture multiple images of a workspace, the workspace including:
one or more fixtures configured to temporarily secure first and second weldable objects on a positioner in a way that aligns the first and second weldable objects to form a seam; and
a robotic arm coupled to a welding tool, the welding tool configured to perform a welding operation along the seam;
identify at least the one or more fixtures and the seam based on one or more images of the multiple images;
generate a welding path for a robot to follow when welding the seam, wherein the welding path is planned considering whether the welding tool or the robotic arm is predicted to collide with the one or more fixtures; and
instruct the robot to weld the seam according to the generated welding path.