Office Action 1: Notice of Allowance (2025-03-18)

CLAIMS:
CLAIMS

What is claimed is:

1\. A method of determining a collision-free space for a robotic welding system, the method comprising:
fixing a location of a part to be welded in a 3D coordinate space of a robotic welding system;
moving an arm of the robotic welding system around the part within the 3D coordinate space;
recording data corresponding to positions and orientations of the arm in the 3D coordinate space as the arm is moved within the 3D coordinate space around the part;
translating the data to swept volumes of data within the 3D coordinate space; and
merging the swept volumes of data to generate 3D geometry data representing a continuous collision-free space within the 3D coordinate space.

2\. The method of claim 1, further comprising planning a collision-free motion path of the arm through the 3D coordinate space using at least the 3D geometry data representing the continuous collision-free space.

3\. The method of claim 1, further comprising planning a collision-free air motion path within the 3D coordinate space from an end point of a first weld seam of the part to a start point of a second weld seam of the part using position data of the end point, position data of the start point, and the 3D geometry data representing the continuous collision-free space.

4\. The method of claim 1, further comprising planning a collision-free welding path within the 3D coordinate space from a start point of a weld seam of the part to an end point of the weld seam of the part using at least position data of the start point, position data of the end point, and the 3D geometry data representing the continuous collision-free space.

5\. The method of claim 1, wherein the arm of the robotic welding system is represented by the robotic welding system as data of 3D geometric volumes that occupy space within the 3D coordinate space.
6\. The method of claim 1, wherein moving the arm of the robotic welding system around the part within the 3D coordinate space is accomplished manually by a user.

7\. The method of claim 1, wherein moving the arm of the robotic welding system around the part within the 3D coordinate space is accomplished automatically by a controller of the robotic welding system running a collision-free space search algorithm.

8\. The method of claim 1, wherein the recording, translating, and merging are accomplished by a controller of the robotic welding system running a collision-free space determination algorithm.

9\. The method of claim 1, wherein the data corresponding to the positions and the orientations of the arm in the 3D coordinate space are represented by x, y, z location data and roll, pitch, yaw orientation data corresponding to joints of the arm.

10\. The method of claim 1, wherein coordinate transformation mathematics is performed by a controller of the robotic welding system to accomplish the translating and the merging.

11\. A method of determining a collision-free space for a robotic welding system, the method comprising:
moving a positioner mechanism in coordination with moving an arm of a robotic welding system through a 3D space of a welding environment, wherein the robotic welding system has coordinated kinematic control of the arm and the positioner mechanism;
recording higher-dimensional joint space data corresponding to combined positions and orientations of joints of the arm and joints of the positioner mechanism as the arm and the positioner mechanism are moved in coordination through the 3D space; and
mapping the higher-dimensional joint space data to a continuous higher-dimensional volume space data that represents 3D volumes occupied by at least the arm and the positioner mechanism, during the moving, wherein the continuous higher-dimensional volume space data represents collision-free configurations of at least the arm and the positioner mechanism.
12\. The method of claim 11, further comprising planning a collision-free motion path of the arm and the positioner mechanism through the 3D space using at least the continuous higher-dimensional volume space data representing the collision-free configurations.

13\. The method of claim 11, further comprising planning a collision-free air motion path within the 3D space from an end point of a first weld seam of a part, being held by the positioner mechanism, to a start point of a second weld seam of the part using position data of the end point, position data of the start point, and the continuous higher-dimensional volume space data representing the collision-free configurations.

14\. The method of claim 11, further comprising planning a collision-free welding path within the 3D space from a start point of a weld seam of a part, being held by the positioner mechanism, to an end point of the weld seam of the part using at least position data of the start point, position data of the end point, and the continuous higher-dimensional volume space data representing the collision-free configurations.

15\. The method of claim 11, wherein the arm of the robotic welding system and the positioner mechanism are represented within the robotic welding system as data of 3D geometric volumes that occupy the 3D space.

16\. The method of claim 11, wherein moving the arm of the robotic welding system in coordination with the positioner mechanism within the 3D space is accomplished automatically by a controller of the robotic welding system running a collision-free space search algorithm.

17\. The method of claim 11, wherein the recording and mapping are accomplished by a controller of the robotic welding system running a collision-free space determination algorithm.

18\. The method of claim 11, wherein the higher-dimensional joint space data corresponding to combined positions and orientations of joints of the arm and joints of the positioner mechanism are represented by x, y, z location data and roll, pitch, yaw orientation data.
19\. The method of claim 11, wherein coordinate transformation mathematics is performed by a controller of the robotic welding system to accomplish the mapping.

20\. The method of claim 11, wherein the arm is holding a welding tool and the positioner mechanism is holding a part to be welded. 24 25 26 27

OFFICE ACTION:
DETAILED ACTION
Notice of Pre-AIA  or AIA  Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Allowable Subject Matter
Claims 1-20 are allowed.
The following is an examiner’s statement of reasons for allowance: Regarding claims 1-20 where applicant claims in claim 1; “A method of determining a collision-free space for a robotic welding system, the method comprising: fixing a location of a part to be welded in a 3D coordinate space of a robotic welding system; moving an arm of the robotic welding system around the part within the 3D coordinate space; recording data corresponding to positions and orientations of the arm in the 3D coordinate space as the arm is moved within the 3D coordinate space around the part; translating the data to swept volumes of data within the 3D coordinate space; and merging the swept volumes of data to generate 3D geometry data representing a continuous collision-free space within the 3D coordinate space.”  Also in claim 11, “A method of determining a collision-free space for a robotic welding system, the method comprising: moving a positioner mechanism in coordination with moving an arm of a robotic welding system through a 3D space of a welding environment, wherein the robotic welding system has coordinated kinematic control of the arm and the positioner mechanism; recording higher-dimensional joint space data corresponding to combined positions and orientations of joints of the arm and joints of the positioner mechanism as the arm and the positioner mechanism are moved in coordination through the 3D space; and mapping the higher-dimensional joint space data to a continuous higher-dimensional volume space data that represents 3D volumes occupied by at least the arm and the positioner mechanism, during the moving, wherein the continuous higher-dimensional volume space data represents collision-free configurations of at least the arm and the positioner mechanism.”.
Regarding claims 1-20 which have been found to be allowable, as after a comprehensive search no individual or combination of art was found to teach the claimed subject matter in either Patents nor NPL (Non-Patent Literature).  The closest art that was found has been cited in the reference cited document (PTO-892).
Any comments considered necessary by applicant must be submitted no later than the payment of the issue fee and, to avoid processing delays, should preferably accompany the issue fee.  Such submissions should be clearly labeled “Comments on Statement of Reasons for Allowance.”
Conclusion



CITED REFERENCE SUMMARIES: Ref US20230234230A1: Claims:
A method of determining a collision-free space for a robotic welding system, the method comprising: fixing a location of a part to be welded in a 3D coordinate space of a robotic welding system; moving an arm of the robotic welding system around the part within the 3D coordinate space; recording data corresponding to positions and orientations of the arm in the 3D coordinate space as the arm is moved within the 3D coordinate space around the part; translating the data to swept volumes of data within the 3D coordinate space; and merging the swept volumes of data to generate 3D geometry data representing a continuous collision-free space within the 3D coordinate space.
fixing a location of a part to be welded in a 3D coordinate space of a robotic welding system;
moving an arm of the robotic welding system around the part within the 3D coordinate space;
recording data corresponding to positions and orientations of the arm in the 3D coordinate space as the arm is moved within the 3D coordinate space around the part;
translating the data to swept volumes of data within the 3D coordinate space; and
merging the swept volumes of data to generate 3D geometry data representing a continuous collision-free space within the 3D coordinate space.
The method of claim 1 , further comprising planning a collision-free motion path of the arm through the 3D coordinate space using at least the 3D geometry data representing the continuous collision-free space.
The method of claim 1 , further comprising planning a collision-free air motion path within the 3D coordinate space from an end point of a first weld seam of the part to a start point of a second weld seam of the part using position data of the end point, position data of the start point, and the 3D geometry data representing the continuous collision-free space.
The method of claim 1 , further comprising planning a collision-free welding path within the 3D coordinate space from a start point of a weld seam of the part to an end point of the weld seam of the part using at least position data of the start point, position data of the end point, and the 3D geometry data representing the continuous collision-free space.
The method of claim 1 , wherein the arm of the robotic welding system is represented by the robotic welding system as data of 3D geometric volumes that occupy space within the 3D coordinate space.
The method of claim 1 , wherein moving the arm of the robotic welding system around the part within the 3D coordinate space is accomplished manually by a user.
The method of claim 1 , wherein moving the arm of the robotic welding system around the part within the 3D coordinate space is accomplished automatically by a controller of the robotic welding system running a collision-free space search algorithm.
The method of claim 1 , wherein the recording, translating, and merging are accomplished by a controller of the robotic welding system running a collision-free space determination algorithm.
The method of claim 1 , wherein the data corresponding to the positions and the orientations of the arm in the 3D coordinate space are represented by x, y, z location data and roll, pitch, yaw orientation data corresponding to joints of the arm.
The method of claim 1 , wherein coordinate transformation mathematics is performed by a controller of the robotic welding system to accomplish the translating and the merging.
A method of determining a collision-free space for a robotic welding system, the method comprising: moving a positioner mechanism in coordination with moving an arm of a robotic welding system through a 3D space of a welding environment, wherein the robotic welding system has coordinated kinematic control of the arm and the positioner mechanism; recording higher-dimensional joint space data corresponding to combined positions and orientations of joints of the arm and joints of the positioner mechanism as the arm and the positioner mechanism are moved in coordination through the 3D space; and mapping the higher-dimensional joint space data to a continuous higher-dimensional volume space data that represents 3D volumes occupied by at least the arm and the positioner mechanism, during the moving, wherein the continuous higher-dimensional volume space data represents collision-free configurations of at least the arm and the positioner mechanism.
moving a positioner mechanism in coordination with moving an arm of a robotic welding system through a 3D space of a welding environment, wherein the robotic welding system has coordinated kinematic control of the arm and the positioner mechanism;
recording higher-dimensional joint space data corresponding to combined positions and orientations of joints of the arm and joints of the positioner mechanism as the arm and the positioner mechanism are moved in coordination through the 3D space; and
mapping the higher-dimensional joint space data to a continuous higher-dimensional volume space data that represents 3D volumes occupied by at least the arm and the positioner mechanism, during the moving, wherein the continuous higher-dimensional volume space data represents collision-free configurations of at least the arm and the positioner mechanism.
The method of claim 11 , further comprising planning a collision-free motion path of the arm and the positioner mechanism through the 3D space using at least the continuous higher-dimensional volume space data representing the collision-free configurations.
The method of claim 11 , further comprising planning a collision-free air motion path within the 3D space from an end point of a first weld seam of a part, being held by the positioner mechanism, to a start point of a second weld seam of the part using position data of the end point, position data of the start point, and the continuous higher-dimensional volume space data representing the collision-free configurations.
The method of claim 11 , further comprising planning a collision-free welding path within the 3D space from a start point of a weld seam of a part, being held by the positioner mechanism, to an end point of the weld seam of the part using at least position data of the start point, position data of the end point, and the continuous higher-dimensional volume space data representing the collision-free configurations.
The method of claim 11 , wherein the arm of the robotic welding system and the positioner mechanism are represented within the robotic welding system as data of 3D geometric volumes that occupy the 3D space.
The method of claim 11 , wherein moving the arm of the robotic welding system in coordination with the positioner mechanism within the 3D space is accomplished automatically by a controller of the robotic welding system running a collision-free space search algorithm.
The method of claim 11 , wherein the recording and mapping are accomplished by a controller of the robotic welding system running a collision-free space determination algorithm.
The method of claim 11 , wherein the higher-dimensional joint space data corresponding to combined positions and orientations of joints of the arm and joints of the positioner mechanism are represented by x, y, z location data and roll, pitch, yaw orientation data.
The method of claim 11 , wherein coordinate transformation mathematics is performed by a controller of the robotic welding system to accomplish the mapping.
The method of claim 11 , wherein the arm is holding a welding tool and the positioner mechanism is holding a part to be welded.
Ref US20220234775A1: Claims:
- 99 . (canceled)
Procedure for transforming flexible plastic or plastic-plus-paper pre-container or container: to a form of greater or lesser three-dimensionality or/and of different geometric body shape or of mixed geometric body shape. The containers or pre-containers ( 6 a ; 6 b ; 7 ) are made of a flexible plastic material of film type in coil, sheet, tube or semi-tube, which may not hold anything inside or, on the contrary, hold at least one fluid, as well as additionally may additionally hold solid. The pre-containers or containers are elaborated in manual or automatic vertical, horizontal or oblique machines for forming, filling and/or sealing of flexible heat-sealable containers, being the containers elaborated by these machines as the Pillow type, Pillow type, Suchet type, Pouch type, English fold type, Stable bottom type, Stabilo type, Stable bottom type, Pouch type or Gusset type, where the machines comprise: at least one support to hold the film, foil, sheet, tube or half-tube type wrapper. means of mobility, driving or/and dragging to move forward or backward the wrapping with which the containers are formed, using alternatively and combined in an indistinct order between one or more of the following options: manually, by means of the gripper of a robot, using at least one motorized roller where the wrapping is placed or/and the at least one rotating roller with belt transmission. optionally or in addition, a forming tube ( 5 ) or/and forming neck with which the film, sheet, tube or half-tube is folded or/and formed into a film, sheet, tube or half-tube. optionally or additionally, a sealing means, by means of a heat source such as that of a resistor or by ultrasound, to realize the longitudinal sealing line of the left and/or right longitudinal end of the pre-containers ( 6 a ; 6 b ) or containers ( 7 ) such as those of suchet, pouch, pillow or Pillow type with three or four seals or welds. optionally or in addition, a sealing means, by means of a heat source such as that of a heating element or by ultrasound, for longitudinal sealing in the middle area or on the sides of the wrapper, these longitudinal seals being those in the middle of the rear face and on the left and right of the pre-containers ( 6 a ; 6 b ) or container ( 7 ) such as those of pad type, English fold or stable bottom of three, four or five seals or welds. optionally or additionally, a means for generating and sealing at least one continuous or discontinuous vertical edge flap ( 16 ): on at least one side or on the left or/and right side of the pre-container or container, as well as the most optimal way to generate the vertical edge flaps ( 16 ) is when, by means of the forming neck or/and forming tube, the wrapper acquires or takes the shape of a quadrangular tube when being coupled around the forming tube ( 5 ), generating in the wrapper four vertical edges ( 16 ) in the area just of the four longitudinal edges that the forming tube ( 5 ) has; so that at least part of the wrapper on one of the sides or areas adjacent to an edge ( 16 ): is to be folded and sealed on at least part of the other side or zone contiguous to the same edge ( 16 ), so that the pre-container or container is to contain at least one vertical edge flap ( 16 ), which endows the pre-container or container with greater firmness and consistency. at least one sealing and/or cutting jaw ( 1 a ) with which the top and/or bottom cross-section of the pre-containers ( 6 a , 6 b ) or containers ( 7 ) is sealed and/or cut. optionally or in addition, at least one way of generating an English fold, Stable bottom fold, Stable bottom fold or Stabilo fold, which are generated when the sealing and/or cutting jaw ( 1 a , 1 b ) is simultaneously actuated at the same time as the sealing and/or cutting jaw ( 1 a , 1 b ) is closed, by means of a mechanical means such as pneumatic cylinders or servos, an impact body ( 18 a ) such as that of a triangular-shaped plate arranged in a horizontal plane or/and at least one impact body ( 18 b ) such as that of a quadrangular or trapezoidal-shaped plate arranged in a vertical plane. a way or means of forming a three-dimensional shape or geometric body, such as: the upstream pre-container ( 6 a ), located just above the sealing and/or cutting jaw ( 1 a ), wherein the lower part of the pre-container ( 6 a ) is held by the sealing and/or cutting jaw ( 1 a ) which is actuated in the closed position, as well as the wrapper forming the pre-container ( 6 a ) is open at least at the top in order to thus introduce inside it the contents to be packaged, or it can also be closed since nothing is to be packaged inside it. Likewise, the pre-container ( 6 a ) houses at least one fluid inside, as well as optionally it can house solid, and/or the rear pre-container ( 6 b ), located just below the sealing and/or cutting jaw ( 1 a ), wherein the top of the pre-container ( 6 b ) is held by the sealing and/or cutting jaw ( 1 a ) which is actuated in the closed position, as well as the top of the wrapper forming the pre-container ( 6 b ) is closed, Likewise, the pre-container ( 6 b ) houses at least one fluid inside, as well as optionally it can house solid, and/or the unitary pre-container ( 7 ), is an independent container unit such as English Fold, Stable Bottom, Stabilo, Stable Bottom, Pillow, Pillow, Suchet, Pouch or gusset type packaging, which is to be supported or located just above or below the sealing and/or cutting jaw ( 1 ), therefore it is not attached to the wrapper or the pre-container ( 6 a ; 6 b ) and neither is it being held or trapped by the jaw ( 1 a ; 1 b ). The unitary pre-container ( 7 ) is either the pre-container ( 6 a ; 6 b ) which at the top and bottom has been cut, or sealed and cut, or cut and sealed by the jaw ( 1 a ), or jaw ( 1 a ) and jaw ( 1 b ), or is a pre-made container and is subsequently placed, by means of a mechanical mode, above or below the jaw ( 1 a ) or jaw ( 1 b ). The containers or unitary pre-containers ( 7 ) are closed, or are also open on part or all of one or more of their sides or areas, or may be or be totally closed, as well as may also not house anything inside, or house at least one fluid, or house a fluid and additionally solid. optionally or in addition, means of introduction and dosing of the product to be packaged inside the pre-container or container, such as a linear or multi-head weigher and/or a hopper. optionally or in addition, means of generating at least any one of the type flaps such as English fold, stable bottom, flat bottom, Stabilo or gusette; or wherein the procedure is characterized in that it comprises the following steps: A first stage, wherein the wrapper with which the pre-container ( 6 a ; 6 b ) is made is to be positioned or is positioned between the sealing and/or cutting jaw ( 1 a ), such that, in a first option, it will be between the sealing and/or cutting jaw ( 1 a ) or also passing through the sealing and/or cutting jaw ( 1 a ), or in a second option, it will be exceeding through the sealing and/or cutting jaw ( 1 a ) a distance in which at least one pre-container ( 6 b ) is formed. A second stage, in which the sealing and/or cutting jaw ( 1 a ) is to be actuated in the closed position, so that: in the first option of the first stage, the pre-container ( 6 a ), closed at the bottom and placed on the sealing and/or cutting jaw ( 1 a ), is to be obtained; and in the second option of the first stage or second processing cycle of the pre-container, the pre-container ( 6 a ), closed at the bottom and located above the sealing and/or cutting jaw ( 1 a ), and the subsequent pre-container ( 6 b ), closed at the top and located below the sealing and/or cutting jaw ( 1 a ), are going to be obtained. Optionally or in addition, one or more English fold, stable bottom fold, stable bottom fold, stable bottom fold or stable fold flaps are also generated simultaneously when the sealing and/or cutting jaw ( 1 a ) closes and are actuated by means of a mechanical means such as pneumatic cylinders or servos, an impact body ( 18 a ) such as that of a triangular-shaped plate arranged in a horizontal plane or/and at least one impact body ( 18 b ) such as that of a quadrangular-shaped plate arranged in a vertical plane, in such a way as to impact and move towards the inside of the side face of the pre-container profile ( 6 a ), wherein both impact bodies ( 18 a ; 18 b ) are aligned in the longitudinal half with respect to the side face of the left or/and right profile of the pre-container, wherein the impact body ( 18 a ) is to impact at the height of the bottom area of the pre-container ( 6 a ) and in an area close to and above the sealing and/or cutting jaw ( 1 a ), and the impact body ( 18 b ) is to impact at the height of the top zone of the pre-container ( 6 b ) and in an area near and below the sealing and/or cutting jaw ( 1 a ): causing at least part of the film or foil on the side face of the profile of the pre-container ( 6 a ) and also of the pre-container ( 6 b ) to be folded and pushed inward. A third stage, comprising pressing one or more side faces of the pre-container ( 6 a ) or/and pre-container ( 6 b ), being most optimally pressing the area or the zone of the side faces of the pre-container that is close and/or contiguous to the top or/and bottom surface of the sealing and cutting jaw ( 1 a ; 1 b ), as optimally pressed towards the inner enclosure and/or towards the surface above or/and below the sealing and/or cutting jaw ( 1 a ; 1 b ), employing a pushing mode such as blowing pressurized air or by means of one or more impact plus bodies or/and sealing and/or cutting impact plus body ( 2 , 3 ), driven by means of a mechanical mode such as one or more pneumatic or electric cylinders such as the linear cylinder ( 9 ) and/or turning cylinder ( 8 ), as well as the cylinders are to be fixed to an element or part of the machine, being most optimal when they are fixed to the sealing and/or cutting jaw ( 1 a ; 1 b ) or/and to the English fold impact body or stable bottom ( 18 a ; 18 b ), in such a way that at least part of the foil or film of at least one side face of the pre-container ( 6 a ) or/and pre-container ( 6 b ) which is close to or/and contiguous to the top or/and bottom face of the sealing and/or cutting jaw ( 1 a ) is to be gathered or folded: on at least part of the contiguous area of the top or bottom face of the pre-container ( 6 a ; 6 b ) which is situated just above or below the sealing and/or cutting jaw ( 1 a ); obtaining, when pressed above and/or below the left or/and right side of the pre-container: at least one flap, such as at least one plus flap ( 11 a ; 11 b ; 12 a ; 12 b ) or/and at least one triangular body flap ( 14 ), and a greater three-dimensionality of the pre-container, wherein at least part of at least one side face of at least one side face of the pre-container profile and at least part of the bottom or/and top face of the pre-container is wider, flatter and more consistent. This is due to the fact that a widening of the depth in the zone or area at the top or/and bottom of the side face of the left or/and right profile that has been pressed into the pre-container by at least one impact plus body ( 2 ), as well as widening in the contiguous zone or area of the top and/or bottom face of the pre-container with which it has been folded, and a decrease in the height of the zone or area above or/and below the lateral face of the left or/and right side of the pre-container profile that has been pressed inward, as well as in the contiguous zone or area above or/and below the front and rear face; and/or when pressing up or/and down on the front or/and back side of the pre-container: at least one flap ( 13 a ; 13 b ; 13 c ; 13 d ; 13 e ), and a reduced three-dimensionality of the pre-container, wherein at least part of at least one side face of the profile of the pre-container is less wide. This is due to the fact that a narrowing of the depth of the zone or area above or/and below the side face of the left or/and right profile of the pre-container: which is contiguous of the zone or area above or/and below the front or/and rear face of the pre-container which has been pressed inward with at least one impact plus body ( 3 ), and a decrease in the height of the zone or area above or/and below the front and rear face of the pre-c
[Truncated to input limit]