Patent ID: 11938632
Assignee: GRAYMATTER ROBOTICS INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 15:
16. A method comprising:
accessing a first set of images captured by an end effector while traversing a global scan path over a workpiece during a global scan cycle, the first set of images characterized by a first resolution;
compiling the first set of images into a virtual model of the workpiece;
based on the first set of images, detecting a first defect indicator in a first workpiece region of the workpiece;
based on the first defect indicator, accessing a second set of images captured by the end effector while traversing a local scan path over the first workpiece region during a local scan cycle, the second set of images characterized by a second resolution greater than the first resolution;
based on the second set of images, characterizing the first defect indicator as a first defect reparable via material removal from the workpiece;
based on a geometry of the workpiece represented in the virtual model:
generating a first toolpath for the first workpiece region; and
generating a second toolpath for a second workpiece region, adjacent the first workpiece region, of the workpiece;

assigning a first target force, corresponding to a first material removal depth, to the first toolpath based on the first defect;
assigning a second target force, corresponding to a second material removal depth, to the second toolpath; and
during a processing cycle:
accessing a sequence of force values output by a force sensor coupled to the sanding head; and
via a set of actuators coupled to the end effector:
navigating a sanding head, coupled to the end effector, across the workpiece according to the first toolpath;
based on the sequence of force values, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the first workpiece region proximal the first target force;
navigating the sanding head across the second workpiece region according to the second toolpath; and
based on the sequence of force values, deviating the sanding head from the second toolpath to maintain forces of the sanding head on the second workpiece region proximal the second target force.