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

Claim 8:
9. The method of claim 1:
wherein accessing the first set of images comprises accessing the first set of images comprising:
a first set of depth maps captured by a depth sensor arranged on the end effector while traversing the global scan path during the global scan cycle; and
a first set of photographic images, of a first resolution, captured by a color camera arranged on the end effector while traversing the global scan path during the global scan cycle;

wherein compiling the first set of images into the virtual model of the workpiece comprises compiling the first set of depth maps into the virtual model of the workpiece;
wherein detecting the first defect indicator comprises detecting the first defect indicator based on a first two-dimensional discontinuity in a photographic image in the first set of photographic images;
wherein accessing the second set of images comprises, in response to detecting the first defect indicator, accessing the second set of images comprising a second set of photographic images, of a second resolution greater than the first resolution, captured by the color camera during the local scan cycle; and
wherein characterizing the first defect indicator as the first defect reparable via material removal comprises:
detecting a set of features, in the second set of photographic images, cospatial with the first defect indicator;
accessing a first defect template, corresponding to a first defect type repairable via material removal, from a defect database;
calculating a first similarity score representing similarity between the set of features and the first defect template; and
characterizing the first defect indicator as the first defect of the first defect type in response to the first similarity score exceeding a threshold score.