Method for autonomously scanning, processing, and creating a digital twin of a workpiece

US11820018B1 · kind B1 · utility

Assignee

• GrayMatter Robotics Inc. · US

Inventors

• Avadhoot L. Ahire · Gardena, US
• Cheng Gong · Los Angeles, US
• Rishav Guha · Los Angeles, US
• Satyandra K. Gupta · Gardena, US
• Ariyan M. Kabir · Los Angeles, US
• Michael Marsh · Dryden, US
• Brual C. Shah · Gardena, 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: compiling images, captured by an end effector traversing a scan path over a workpiece, into a virtual model of the workpiece; generating a toolpath based on a geometry of the workpiece represented in the virtual model; and assigning a target force to the workpiece. The method also includes, during a processing cycle: navigating a sanding head, arranged on the end effector, across the workpiece according to the toolpath; based on force values output by a force sensor coupled to the sanding head, deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece proximal the target force; and tracking a sequence of positions of a reference point on the sanding head, traversing the workpiece, in contact with the workpiece. The method also includes transforming the virtual model into alignment with the sequence of positions of the reference point.