US 12,172,266 B1
System and method for media blasting a workpiece
Avadhoot L. Ahire, Gardena, CA (US); Miguel A. Chavez-Garcia, Long Beach, CA (US); Satyandra K. Gupta, Los Angeles, CA (US); Ariyan M. Kabir, Los Angeles, CA (US); Vihan Krishnan, Los Angeles, CA (US); Ashish Kulkarni, Long Beach, CA (US); Sagarkumar J. Panchal, Los Angeles, CA (US); Christian A. Salinas, Los Angeles, CA (US); Brual C. Shah, San Pedro, CA (US); Rahul S. Thorat, Los Angeles, CA (US); Jeano J. Vincent, Los Angeles, CA (US); and Murilo M. Zelic, Long Beach, CA (US)
Assigned to GrayMatter Robotics Inc., Gardena, CA (US)
Filed by GrayMatter Robotics Inc., Gardena, CA (US)
Filed on Mar. 18, 2024, as Appl. No. 18/608,533.
Int. Cl. B24C 7/00 (2006.01); B24C 1/06 (2006.01); B24C 1/08 (2006.01); B24C 3/06 (2006.01); G06T 7/00 (2017.01); G06T 17/00 (2006.01); G06V 10/40 (2022.01)
CPC B24C 7/0053 (2013.01) [B24C 1/06 (2013.01); B24C 1/086 (2013.01); B24C 3/06 (2013.01); G06T 7/001 (2013.01); G06T 17/00 (2013.01); G06V 10/40 (2022.01); G06T 2200/24 (2013.01); G06T 2207/30164 (2013.01); G06V 2201/06 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method for media blasting a workpiece comprising:
during a scan cycle:
accessing a first set of images captured by an optical sensor traversing a scan path over the workpiece; and
compiling the first set of images into a virtual model of the workpiece;
during a test cycle:
accessing a nominal set of blast parameters;
based on the virtual model, receiving a selection of a first test location on the the workpiece;
via a set of actuators, navigating a blast nozzle proximal the first test location on the workpiece;
dispensing blast media toward the workpiece at the first test location according to the nominal set of blast parameters;
accessing a first image from the optical sensor defining a field of view intersecting the first test location on the workpiece;
detecting a first scope of coating removal from the first test location on the workpiece based on the first image;
setting a first set of blast parameters based on the nominal set of blast parameters and the first scope of coating removal;
based on the virtual model, receiving a selection of a second test location on the workpiece;
via the set of actuators, navigating the blast nozzle proximal the second test location on the workpiece;
dispensing blast media toward the workpiece at the second test location according to the nominal set of blast parameters;
accessing a second image from the optical sensor defining a field of view intersecting the second test location on the workpiece;
detecting a second scope of coating removal from the second test location on the workpiece based on the second image;
setting a second set of blast parameters based on the nominal set of blast parameters and the second scope of coating removal;
based on the first set of blast parameters and the second set of blast parameters, interpolating blast parameters from the first test location to the second test location to generate a set of interpolated blast parameters; and
generating a first tool path for a first workpiece region of the workpiece based on a geometry of the workpiece represented in the virtual model and the set of interpolated blast parameters; and
during a processing cycle:
via the set of actuators, navigating the blast nozzle over the first workpiece region according to the first tool path; and
dispensing blast media toward the workpiece according to the set of interpolated blast parameters.