US 12,257,712 B2
Methods for tracking abrasiveness of a sanding pad
Miguel Chavez, Gardena, CA (US); Satyandra K. Gupta, Gardena, CA (US); Ariyan M. Kabir, Gardena, CA (US); Vihan Krishnan, Gardena, CA (US); Ashish Kulkarni, Gardena, CA (US); Ceasar Navarro, Gardena, CA (US); Husein Noble, Gardena, CA (US); Brual C. Shah, Gardena, CA (US); and Jeano Vincent, Gardena, CA (US)
Assigned to GrayMatter Robotics Inc., Gardena, CA (US)
Filed by GrayMatter Robotics Inc., Gardena, CA (US)
Filed on Oct. 11, 2023, as Appl. No. 18/379,114.
Application 18/379,114 is a continuation of application No. 18/136,241, filed on Apr. 18, 2023, granted, now 11,820,017.
Application 18/136,241 is a continuation in part of application No. 18/111,470, filed on Feb. 17, 2023, granted, now 12,049,009.
Application 18/111,470 is a continuation of application No. 17/829,193, filed on May 31, 2022, granted, now 11,613,014, issued on Mar. 28, 2023.
Application 17/829,193 is a continuation of application No. 17/826,840, filed on May 27, 2022.
Application 17/826,840 is a continuation in part of application No. 17/390,885, filed on Jul. 31, 2021, abandoned.
Claims priority of provisional application 63/431,634, filed on Dec. 9, 2022.
Claims priority of provisional application 63/059,932, filed on Jul. 31, 2020.
Prior Publication US 2024/0033912 A1, Feb. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B24B 51/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); G06T 1/00 (2006.01); G06T 7/13 (2017.01); G06T 7/60 (2017.01); G06T 19/00 (2011.01)
CPC B25J 9/1653 (2013.01) [B24B 51/00 (2013.01); B25J 9/163 (2013.01); B25J 9/1664 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 11/0065 (2013.01); B25J 13/085 (2013.01); G06T 1/0014 (2013.01); G06T 7/13 (2017.01); G06T 7/60 (2013.01); G06T 19/00 (2013.01); G06T 2207/10024 (2013.01); G06T 2219/004 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
accessing a toolpath defined for a workpiece region of a workpiece;
accessing an abrasive specification of the sanding pad; and
accessing a target material removal depth from the workpiece;
calculating a target force for the workpiece based on the abrasive specification and proportional to the target material removal depth; and
during a processing cycle:
accessing a sequence of force values output by a force sensor coupled to a sanding head;
via a set of actuators coupled to the sanding head:
navigating the sanding head across the workpiece region according to the toolpath; and
based on the sequence of force values, deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece region proximal the target force;
accessing a sequence of contact characteristics representing contact between the workpiece and an abrasive area on a sanding pad arranged on the sanding head;
calculating an abrasive degradation of the abrasive area based on the sequence of contact characteristics; and
in response to the abrasive degradation exceeding a threshold degradation, pausing the processing cycle for replacement of the sanding head.