Robotic repair control systems and methods
An imaging and repair system ( 100 ) is presented that includes a first imaging system ( 110 ) configured to image and detect a defect on a worksurface. The first imaging system comprises a first camera configured to capture a plurality of first images of the worksurface. The plurality of first images are stored in a data source. The system also includes a second imaging system ( 110 ) configured to image and characterize an orange peel of the worksurface in an area proximate the defect. Characterizing the worksurface comprises identifying a delta value of orange peel. The system also includes a defect repair processor configured to select a repair strategy based on a defect type. The system also includes a defect modifier configured to modify the selected repair strategy based on the orange peel characterization of the worksurface. The system also includes a defect repair tool ( 120 ) configured to automatically effect the modified repair strategy.
1 . An imaging and repair system, comprising:
a first imaging system configured to image and detect a defect on a worksurface wherein the first imaging system comprises a first camera configured to capture a plurality of first images of the worksurface, wherein the plurality of first images are stored in a data source;
a motive robotic arm;
a second imaging system, mounted to the motive robotic arm, configured to image and characterize an orange peel of the worksurface in an area proximate the defect, wherein characterizing the worksurface comprises identifying a delta value of orange peel;
a defect repair processor configured to select a repair strategy template based on a defect type;
a strategy modifier configured to modify the selected repair strategy template based on the orange peel characterization of the worksurface; and
a defect repair tool, mounted to the motive robotic arm, configured to contact the worksurface and execute the modified repair strategy.
2 . The system of claim 1 , wherein the second imaging system comprises a second camera configured to capture a plurality of second images of the worksurface, wherein the plurality of second images are stored in the database, wherein the second camera is separate from the first camera.
3 . The system of claim 2 , wherein the second plurality of images comprise images of the worksurface proximate the defect.
4 . The system of claim 1 , and further comprising a structured light source.
5 . The system of claim 1 , wherein the second imaging system is directed to image the worksurface based on a location of the detected defect received from the first imaging system.
6 . The system of claim 1 , and further comprising an orange peel processor configured to:
sample pixels from an image in the plurality of second images; and
calculate a delta value based on the sampled pixels.
7 . The system of claim 1 , and further comprising an orange peel processor configured to:
smear an image in the plurality of second images; and
calculate a delta value based on the sampled images.
8 . The system of claim 1 , wherein the worksurface is a vehicle, and wherein the characterization of the worksurface comprises a flat surface and wherein, based on the characterized flat surface, the modified repair strategy comprises a shorter process time than the selected repair strategy.