Patent ID: 11883961
Assignee: GRAYMATTER ROBOTICS INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 14:
15. The method of claim 4:
wherein accessing the target model comprises accessing the target model representing a first dimensional tolerance of a first target dimension of the first surface contour within the first workpiece region;
further comprising:
during a scan cycle prior to the first processing cycle:
traversing the end effector along a scan path offset from the workpiece; and
accessing a set of depth maps captured by a depth sensor arranged on the end effector; and

assembling the set of scan images into a virtual model:
within a virtual three-dimensional space; and
characterized by a dimensional accuracy, relative to the workpiece, less than the first dimensional tolerance;

wherein detecting the first sequence of positions comprises recording the first sequence of positions of a reference point, on the sanding head, in contact with the first workpiece region during the first processing cycle and representing actual three-dimensional points on the first workpiece region;
wherein interpreting the first surface contour in the first workpiece region comprises:
projecting the first sequence of positions into the virtual three-dimensional space; and
deforming the virtual model into alignment with the first sequence of positions projected into the virtual three-dimensional space to increase the dimensional accuracy of the virtual model, relative to the first workpiece region, to greater than the first dimensional tolerance; and

wherein detecting the first difference between the first surface contour and the first target surface defined in the target model comprises characterizing a maximum distance between:
the first surface contour represented in the virtual model; and
the first target surface defined in the target model.