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

Claim 18:
19. 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;
generating a first toolpath for the workpiece based on a geometry of the workpiece represented in the virtual model;
assigning a first target force to the first toolpath;
based on the first set of images, detecting a first defect indicator in a first workpiece region of the workpiece; 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; and
based on the sequence of force values, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the workpiece proximal the first target force;

in response to the sanding head approaching the first workpiece region:
pausing navigation of the sanding head along the first toolpath; and
navigating the end effector over the first workpiece region to capture a second set of images of the first workpiece region during the local scan cycle;

based on the second set of images, characterizing the first defect indicator as a first defect reparable via material removal from the workpiece;
generating a repair toolpath for the first defect based on the geometry of the workpiece represented in the virtual model;
via the set of actuators, navigating the sanding head across the first workpiece region according to the repair toolpath; and
in response to the sanding head completing the repair toolpath, resuming navigation of the sanding head along the first toolpath.