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

Claim 13:
14. The method of claim 4:
wherein accessing the target model comprises accessing the target model comprising a three-dimensional computer-aided drafting model representing target dimensions of surfaces of the workpiece;
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 scan images captured by an optical sensor arranged on the end effector; and

assembling the set of scan images into a three-dimensional mesh representing the workpiece within a virtual three-dimensional space;

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
snapping a first set of vertices in the three-dimensional mesh to the first sequence of positions projected into the virtual three-dimensional space; 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 three-dimensional mesh; and
the first target surface defined in the target model.