US 12,409,539 B2
System and method for autonomously removing fasteners embedded in wood products
Alexander Thiele, Oakland, CA (US); Eric Law, Lafayette, CA (US); Maxwell Micali, Oakland, CA (US); Andrew Gillies, Lafayette, CA (US); Tyler Compton, Oakland, CA (US); and Alexander Galitskiy, San Francisco, CA (US)
Assigned to Urban Machine, Inc., Oakland, CA (US)
Filed by Urban Machine, Inc., Oakland, CA (US)
Filed on Mar. 3, 2023, as Appl. No. 18/117,214.
Claims priority of provisional application 63/419,244, filed on Oct. 25, 2022.
Claims priority of provisional application 63/316,933, filed on Mar. 4, 2022.
Claims priority of provisional application 63/316,935, filed on Mar. 4, 2022.
Prior Publication US 2023/0281793 A1, Sep. 7, 2023
Int. Cl. B25C 11/00 (2006.01); B23P 19/06 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 15/00 (2006.01); B27G 3/00 (2006.01); G01N 23/04 (2018.01); G06T 7/00 (2017.01); G06T 7/50 (2017.01); G06T 7/60 (2017.01); G06T 7/73 (2017.01); G06T 17/00 (2006.01); G06T 19/00 (2011.01)
CPC B25C 11/00 (2013.01) [B23P 19/06 (2013.01); B25J 9/0093 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 11/005 (2013.01); B27G 3/00 (2013.01); G01N 23/04 (2013.01); G06T 7/001 (2013.01); G06T 7/50 (2017.01); G06T 7/60 (2013.01); G06T 7/75 (2017.01); G06T 17/00 (2013.01); G06T 19/00 (2013.01); B25J 15/00 (2013.01); G01N 2223/401 (2013.01); G01N 2223/421 (2013.01); G01N 2223/619 (2013.01); G01N 2223/652 (2013.01); G06T 2207/10116 (2013.01); G06T 2207/30136 (2013.01); G06T 2207/30161 (2013.01); G06T 2207/30164 (2013.01); G06T 2219/004 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for removing fasteners from a recycled wood workpiece comprising:
receiving the recycled wood workpiece in a scan volume;
accessing a first set of X-ray scans captured by an X-ray sensor facing the scan volume occupied by the recycled wood workpiece;
detecting a set of internal features representing metallic objects in the first set of X-ray scans;
compiling the first set of X-ray scans into a virtual model of the recycled wood workpiece, the virtual model annotated with the set of internal features;
receiving a section of the recycled wood workpiece in a work volume of a fastener extractor module;
accessing a first image captured by an optical sensor facing the work volume;
detecting an external feature extending from the section of the recycled wood workpiece in the first image;
scanning the virtual model for a first internal feature, in the set of internal features, analogous to the external feature of the section of the recycled wood workpiece;
in response to identifying the first internal feature, in the set of internal features, analogous to the external feature of the section of the recycled wood workpiece in the virtual model:
identifying the external feature as a first metal fastener embedded in the section of the recycled wood workpiece;
extracting a first position and a first orientation of the first metal fastener from the virtual model; and
defining a target engagement position for an extractor end effector, associated with the fastener extractor module, to engage the first metal fastener embedded in the section of the recycled wood workpiece based on the first position and the first orientation of the first metal fastener; and
generating a fastener removal schedule for removal of the first metal fastener from the section of the recycled wood workpiece at the first target engagement position by the extractor end effector.