AUTOMATED DRYWALL PAINTING SYSTEM AND METHOD
An automated painting system that includes a robotic arm and a painting end effector coupled at a distal end of the robotic arm, with the painting end effector configured to apply paint to a target surface. The painting system can also include a computing device executing a computational planner that: generates instructions for driving the painting end effector and robotic arm to perform at least one painting task that includes applying paint, via the painting the end effector, to a plurality of drywall pieces, the generating based at least in part on obtained target surface data; and drives the end effector and robotic arm to perform the at least one painting task.
1 . One or more non-transitory computer-readable memories storing instructions for a computational planner, that when executed by one or more processors, cause the one or more processors to:
transmit a first signal to instruct a perception system of a painting system to scan one or more surfaces of a wall assembly;
determine a relative position of the painting system and the one or more surfaces of the wall assembly based on the scanning;
transmit a second signal to instruct a robotic arm of the painting system to move the robotic arm and apply a spray of paint from a painting end effector of the painting system to the one or more surfaces of the wall assembly based at least in part on the relative position;
receive sensor data comprising paint flow rate data; and
detect a clog or an issue with the painting end effector based on detecting a change in the sensor data.
2 . The one or more non-transitory computer-readable memories of claim 1 , wherein the paint flow rate data is received from a pressure sensor.
3 . The one or more non-transitory computer-readable memories of claim 1 , wherein the paint flow rate data is received from a flow meter.
4 . The one or more non-transitory computer-readable memories of claim 1 , wherein the paint flow rate data is received from a flow rate sensor measuring flow rate before and/or after a filter in a paint line supplying the paint to the painting end effector.
5 . The one or more non-transitory computer-readable memories of claim 1 , wherein the paint flow rate data is received from a pressure sensor measuring pressure before and/or after a filter in a paint line supplying the paint to the painting end effector.
6 . The one or more non-transitory computer-readable memories of claim 1 , wherein the instructions cause the one or more processors to:
transmit a third signal to an electromechanical system to rotate a nozzle cassette system of the painting end effector based on detecting the clog or the issue.
7 . The one or more non-transitory computer-readable memories of claim 1 , wherein the instructions cause the one or more processors to:
generate a user interface display to display a wear of a nozzle of the painting end effector based on detecting the clog or the issue.
8 . The one or more non-transitory computer-readable memories of claim 1 , wherein the instructions cause the one or more processors to:
transmit a third signal to change a material flow rate based on detecting the clog or the issue.
9 . The one or more non-transitory computer-readable memories of claim 1 , wherein the instructions cause the one or more processors to:
transmit a third signal to change a speed of the painting end effector based on detecting the change or the issue.
10 . One or more non-transitory computer-readable memories storing instructions for a computational planner, that when executed by one or more processors, cause the one or more processors to:
transmit a first signal to instruct a perception system of a painting system to scan one or more surfaces of a wall assembly;
determine a relative position of the painting system and the one or more surfaces of the wall assembly based on the scanning;
transmit a second signal to instruct a robotic arm of the painting system to move the robotic arm and apply a spray of paint from a painting end effector of the painting system to the one or more surfaces of the wall assembly based at least in part on the relative position;
receive sensor data from a vision system; and
detect a clog or an issue with the painting end effector based on detecting a change in the sensor data.
11 . The one or more non-transitory computer-readable memories of claim 10 , wherein the sensor data from the vision system comprises data associated with a pattern of the spray of the paint.
12 . The one or more non-transitory computer-readable memories of claim 10 , wherein the sensor data from the vision system comprises data associated with a stream of the spray of the paint.
13 . The one or more non-transitory computer-readable memories of claim 10 , wherein the instructions cause the one or more processors to:
perform image processing on the sensor data to identify a shape of a stream of the spray of the paint.
14 . The one or more non-transitory computer-readable memories of claim 10 , wherein the vision system comprises one or more of: a thermal camera or an infrared camera.
15 . The one or more non-transitory computer-readable memories of claim 10 , wherein the vision system comprises a visible spectrum camera.
16 . The one or more non-transitory computer-readable memories of claim 10 , wherein the vision system comprises a laser scanner.
17 . The one or more non-transitory computer-readable memories of claim 10 , wherein the instructions cause the one or more processors to:
generate a user interface display to display a wear of a nozzle of the painting end effector based on detecting the clog or the issue.
18 . The one or more non-transitory computer-readable memories of claim 10 , wherein the instructions cause the one or more processors to:
transmit a third signal to change a distance of the painting end effector from the one or more surfaces of the wall assembly based on detecting the clog or the issue.
19 . The one or more non-transitory computer-readable memories of claim 10 , wherein the instructions cause the one or more processors to:
transmit a third signal to change a speed of the painting end effector based on detecting the clog or the issue.
20 . One or more non-transitory computer-readable memories storing instructions for a computational planner, that when executed by one or more processors, cause the one or more processors to:
transmit a first signal to instruct a perception system of a painting system to scan one or more surfaces of a wall assembly;
determine a relative position of the painting system and the one or more surfaces of the wall assembly based on the scanning;
transmit a second signal to instruct a robotic arm of the painting system to move the robotic arm and apply a spray of paint from a painting end effector of the painting system to the one or more surfaces of the wall assembly based at least in part on the relative position;
receive reaction force data at the painting end effector; and
transmit a third signal to reverse a flow of the paint through the painting end effector to clear a clog based on detecting a change in the reaction force data.