US 12,304,080 B2
Method for autonomously repairing surface defects in a workpiece through surface modifications
Avadhoot Ahire, Gardena, CA (US); YiWei Chen, Gardena, CA (US); Rishav Guha, Gardena, CA (US); Satyandra K. Gupta, Gardena, CA (US); Ariyan M. Kabir, Gardena, CA (US); Ashish Kulkarni, Gardena, CA (US); Ceasar Navarro, Gardena, CA (US); Sagar Panchal, Gardena, CA (US); and Brual C. Shah, 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. 18/379,130.
Application 18/379,130 is a continuation of application No. 18/142,480, filed on May 2, 2023, granted, now 11,938,632.
Application 18/142,480 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 63/059,932, filed on Jul. 31, 2020.
Prior Publication US 2024/0033915 A1, Feb. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B24B 51/00 (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)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
accessing a virtual model of a workpiece;
accessing a nominal toolpath for the workpiece;
accessing a nominal target force assigned to the nominal toolpath;
accessing a first set of images depicting the workpiece;
based on the first set of images, detecting a first defect in a first workpiece region of the workpiece;
in response to characterizing the first defect as repairable via material removal from the workpiece, generating a repair toolpath for the first workpiece region based on a first geometry of the first workpiece region represented in the virtual model;
during a repair cycle, via a set of actuators coupled to a sanding head, navigating the sanding head across the first workpiece region according to the repair toolpath; and
during a processing cycle:
accessing a first sequence of force values output by a force sensor coupled to the sanding head; and
via the set of actuators:
navigating the sanding head across the workpiece according to the nominal toolpath; and
based on the first sequence of force values, deviating the sanding head from the nominal toolpath to maintain forces, applied by the sanding head to the workpiece, proximal the nominal target force.