Patents by Inventor Avadhoot L. Ahire
Avadhoot L. Ahire has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240149445Abstract: A method includes, traversing a laser line scanning sensor over a workpiece to generate a series of scan data according to a first set of scan parameters; assembling the series of scan data into a virtual model; detecting a first hole, defining absence of scan data, in a first region of the virtual model; responsive to the first hole defining a dimension less than a threshold dimension, assigning the first set of scan parameters to the first region; detecting a second hole, in a second region of the virtual model; responsive to the second hole defining a dimension greater than the threshold dimension, defining a second set of scan parameters associated with an increased resolution and assigning the second set of scan parameters to the second workpiece region; and compiling the first and second set of scan parameters into a scan protocol defining a minimum scan cycle duration.Type: ApplicationFiled: November 13, 2023Publication date: May 9, 2024Inventors: Avadhoot L. Ahire, Rishav Guha, Satyandra K. Gupta, Ariyan M. Kabir, Sagarkumar J. Panchal, Brual C. Shah
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Patent number: 11975453Abstract: A method includes: accessing a virtual model defining a geometry of a workpiece; navigating an optical sensor about the workpiece; accessing an image of the workpiece; detecting a marker, on the workpiece, depicted in the image; defining a first workpiece region of the workpiece bounded by the marker; defining a toolpath within the first workpiece region based on a geometry of the first workpiece region represented in the virtual model; assigning a first target force to the first toolpath; and during a processing cycle accessing a first sequence of force values output by a force sensor coupled to the sanding head, navigating the sanding head across the first workpiece region according to the first toolpath, and based on the first sequence of force values, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the workpiece proximal the first target force.Type: GrantFiled: November 29, 2023Date of Patent: May 7, 2024Assignee: GrayMatter Robotics Inc.Inventors: Avadhoot L. Ahire, Cheng Gong, Rishav Guha, Satyandra K. Gupta, Ariyan M Kabir, Sagarkumar J. Panchal, Brual C. Shah
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Publication number: 20240109193Abstract: A method includes, during a processing cycle: navigating the sanding head across a region of a workpiece according to a toolpath; and, based on a sequence of force values output by a force sensor coupled to the sanding head, deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece region proximal a target force. The method also includes: detecting a sequence of positions of the sanding head traversing the workpiece region; interpreting a surface contour in the workpiece region based on the sequence of positions; detecting a difference between the surface contour and a corresponding target surface defined in a target model of the workpiece; generating a second toolpath for the workpiece region based on the difference; and, during a second processing cycle, navigating the sanding head across the workpiece region according to the second toolpath to reduce the difference.Type: ApplicationFiled: December 12, 2023Publication date: April 4, 2024Inventors: Avadhoot L. Ahire, Yi-Wei Chen, Satyandra K Gupta, Ariyan M. Kabir, Ashish Kulkarni, Ceasar G. Navarro, JR., Martin G. Philo, Brual C. Shah
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Publication number: 20240091935Abstract: A method includes: accessing a virtual model defining a geometry of a workpiece; navigating an optical sensor about the workpiece; accessing an image of the workpiece; detecting a marker, on the workpiece, depicted in the image; defining a first workpiece region of the workpiece bounded by the marker; defining a toolpath within the first workpiece region based on a geometry of the first workpiece region represented in the virtual model; assigning a first target force to the first toolpath; and during a processing cycle accessing a first sequence of force values output by a force sensor coupled to the sanding head, navigating the sanding head across the first workpiece region according to the first toolpath, and based on the first sequence of force values, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the workpiece proximal the first target force.Type: ApplicationFiled: November 29, 2023Publication date: March 21, 2024Inventors: Avadhoot L. Ahire, Cheng Gong, Rishav Guha, Satyandra K. Gupta, Ariyan M. Kabir, Sagarkumar J. Panchal, JR., Brual C. Shah
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Patent number: 11883961Abstract: A method includes, during a processing cycle: navigating the sanding head across a region of a workpiece according to a toolpath; and, based on a sequence of force values output by a force sensor coupled to the sanding head, deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece region proximal a target force. The method also includes: detecting a sequence of positions of the sanding head traversing the workpiece region; interpreting a surface contour in the workpiece region based on the sequence of positions; detecting a difference between the surface contour and a corresponding target surface defined in a target model of the workpiece; generating a second toolpath for the workpiece region based on the difference; and, during a second processing cycle, navigating the sanding head across the workpiece region according to the second toolpath to reduce the difference.Type: GrantFiled: August 9, 2023Date of Patent: January 30, 2024Assignee: GrayMatter Robotics Inc.Inventors: Avadhoot L. Ahire, Yi-Wei Chen, Satyandra K Gupta, Ariyan M. Kabir, Ashish Kulkarni, Ceasar G. Navarro, Jr., Martin G. Philo, Brual C. Shah
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METHOD FOR AUTONOMOUSLY INCREASING DIMENSIONAL ACCURACY OF A WORKPIECE VIA THREE-DIMENSIONAL SANDING
Publication number: 20230381961Abstract: A method includes, during a processing cycle: navigating the sanding head across a region of a workpiece according to a toolpath; and, based on a sequence of force values output by a force sensor coupled to the sanding head, deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece region proximal a target force. The method also includes: detecting a sequence of positions of the sanding head traversing the workpiece region; interpreting a surface contour in the workpiece region based on the sequence of positions; detecting a difference between the surface contour and a corresponding target surface defined in a target model of the workpiece; generating a second toolpath for the workpiece region based on the difference; and, during a second processing cycle, navigating the sanding head across the workpiece region according to the second toolpath to reduce the difference.Type: ApplicationFiled: August 9, 2023Publication date: November 30, 2023Inventors: Avadhoot L. Ahire, Yi-Wei Chen, Satyandra K Gupta, Ariyan M. Kabir, Ashish Kulkarni, Ceasar G. Navarro, JR., Martin G. Philo, Brual C. Shah -
Publication number: 20230278207Abstract: One variation of a method for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.Type: ApplicationFiled: February 17, 2023Publication date: September 7, 2023Inventors: Avadhoot L. Ahire, Rishav Guha, Satyandra K. Gupta, Ariyan M. Kabir, Brual C Shah
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Patent number: 11613014Abstract: One variation of a method for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.Type: GrantFiled: May 31, 2022Date of Patent: March 28, 2023Assignee: GrayMatter Robotics Inc.Inventors: Avadhoot L. Ahire, Rishav Guha, Satyandra K. Gupta, Ariyan M. Kabir, Brual C Shah
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Publication number: 20220388115Abstract: One variation of a method S100 for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.Type: ApplicationFiled: May 27, 2022Publication date: December 8, 2022Inventors: Avadhoot L. Ahire, Rishav Guha, Satyandra K. Gupta, Ariyan M. Kabir, Brual C Shah
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Publication number: 20220347843Abstract: One variation of a method for autonomously scanning and processing a part includes: collecting a set of images depicting a part positioned within a work zone adjacent a robotic system; assembling the set of images into a part model representing the part. The method includes segmenting areas of the part model—delineated by local radii of curvature, edges, or color boundaries—into target zones for processing by the robotic system and exclusion zones avoided by the robotic system. The method includes: projecting a set of keypoints onto the target zone of part model defining positions, orientations, and target forces of a sanding head applied at locations on the part model; assembling the set of keypoints into a toolpath and projecting the toolpath onto the target zone of the part model; and transmitting the toolpath to a robotic system to execute the toolpath on the part within the work zone.Type: ApplicationFiled: May 31, 2022Publication date: November 3, 2022Inventors: Avadhoot L. Ahire, Rishav Guha, Satyandra K. Gupta, Ariyan M. Kabir, Brual C. Shah