Methods for tracking and replacement of a sanding pad

US11820017B1 · kind B1 · utility

Assignee

• GrayMatter Robotics Inc. · US

Inventors

• Miguel Chavez · Gardena, US
• Satyandra K. Gupta · Gardena, US
• Ariyan M. Kabir · Los Angeles, US
• Vihan Krishnan · Gardena, US
• Ashish Kulkarni · Redmond, US
• Ceasar G. Navarro · Los Angeles, US
• Husein Noble · Gardena, US
• Brual C. Shah · Gardena, US
• Jeano J. Vincent · Los Angeles, US

Key dates

• Filing date: Apr 18, 2023
• Grant date: Nov 21, 2023
• Expiry date: Apr 18, 2043

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2219/004
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method includes: accessing a toolpath and processing parameters—including a target force and feed rate—assigned to a region of a workpiece; and accessing a wear model representing abrasive degradation of a sanding pad arranged on a sanding head. The method also includes, during a processing cycle: accessing force values output by a force sensor coupled to the sanding head; navigating the sanding head across the workpiece region according to the toolpath and, based on the 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 contact characteristics representing contact between the sanding pad and the workpiece; estimating abrasive degradation of the sanding pad based on the wear model and the sequence of contact characteristics; and modifying the set of processing parameters based on the abrasive degradation.