US 12,496,739 B2
Systems and methods for performing a task on a material, or locating the position of a device relative to the surface of the material
Alec Rothmyer Rivers, Oakland, CA (US); and Ilan Ellison Moyer, Chapel Hill, NC (US)
Assigned to Shaper Tools, Inc., San Francisco, CA (US)
Filed by SHAPER TOOLS, INC., San Francisco, CA (US)
Filed on Nov. 14, 2023, as Appl. No. 18/508,237.
Application 18/508,237 is a continuation of application No. 17/649,432, filed on Jan. 31, 2022, granted, now 11,820,036.
Application 17/649,432 is a continuation of application No. 16/785,867, filed on Feb. 10, 2020, granted, now 11,267,153, issued on Mar. 8, 2022.
Application 16/785,867 is a continuation of application No. 14/396,291, granted, now 10,556,356, issued on Feb. 11, 2020, previously published as PCT/US2013/038474, filed on Apr. 26, 2013.
Claims priority of provisional application 61/729,247, filed on Nov. 21, 2012.
Claims priority of provisional application 61/639,062, filed on Apr. 26, 2012.
Prior Publication US 2024/0083062 A1, Mar. 14, 2024
Int. Cl. B26D 5/00 (2006.01); B23B 25/06 (2006.01); B23Q 17/22 (2006.01); B25F 5/02 (2006.01); G05B 19/18 (2006.01); G05B 19/19 (2006.01); G05B 19/4069 (2006.01); G05B 19/4093 (2006.01); G05B 19/4097 (2006.01); G06F 3/042 (2006.01); H04N 1/12 (2006.01); H04N 1/192 (2006.01); H04N 9/31 (2006.01)
CPC B26D 5/007 (2013.01) [B23B 25/06 (2013.01); B23Q 17/22 (2013.01); B23Q 17/2233 (2013.01); B25F 5/021 (2013.01); B26D 5/00 (2013.01); B26D 5/005 (2013.01); G05B 19/18 (2013.01); G05B 19/19 (2013.01); G05B 19/4069 (2013.01); G05B 19/4093 (2013.01); G05B 19/4097 (2013.01); G06F 3/0425 (2013.01); H04N 1/12 (2013.01); H04N 1/192 (2013.01); H04N 9/3179 (2013.01); H04N 9/3194 (2013.01); B26D 2005/002 (2013.01); G05B 2219/32001 (2013.01); G05B 2219/36342 (2013.01); G05B 2219/36429 (2013.01); H04N 2201/02439 (2013.01); H04N 2201/0471 (2013.01); H04N 2201/04717 (2013.01); H04N 2201/04758 (2013.01); Y02P 90/02 (2015.11); Y10T 408/03 (2015.01); Y10T 408/172 (2015.01); Y10T 408/175 (2015.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for controlling performance of a task on a surface of a workpiece using a working member, wherein a rig comprises a first actuator operable to move the working member within an adjustment range relative to the rig, the rig comprises a second actuator operable to move a z-position of a tip of the working member relative to the surface, and the working member is configured to cut into the workpiece if the tip extends below the surface of the workpiece, the method comprising:
generating first data based at least in part upon scanning, using a first sensor operatively coupled to a processor, a first portion of the surface;
determining, using a processor, a design path associated with the surface of the workpiece, wherein the design path is based at least in part upon a design plan;
providing, using a processor, first information that causes the first actuator to move the working member to a target point on the design path, wherein second data is determined based at least in part upon scanning a second portion of the surface before generating the first data, and the first information is based at least in part upon the first data, the second data, and the design plan; and
providing, using a processor, second information that causes the second actuator to move the tip of the working member to a first depth below the surface.