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US 11,724,404 B2Granted
Surface finish quality evaluation system and method
AssigneeCanvas Construction, Inc.
InventorsMaria J. Telleria, Kevin B. Albert, Irene M. Davis, Henry Tonoyan, Gabriel F. Hein, Zelda Othenin-Girard, Jason De Alba
Life of this patent
Estimating the term…
Abstract
A surface evaluation system that includes one or more vision systems that generate target surface data during evaluation of a surface, the one or more vision systems comprising two or more of: at least one light, a camera, a structured light camera, a laser scanner and a 3D scanner.
Claims20
An automated drywall finishing system comprising:
- a mobile base unit;
- a robotic arm that extends between a base end and a distal end, the robotic arm coupled to the mobile base unit at the base end of the robotic arm;
- an end effector coupled at the distal end of the robotic arm;
- a surface evaluation system comprising at least one light and one or more vision systems that generate target surface data to evaluate quality of a surface of a wall assembly, wherein the one or more vision systems take one or more surface evaluation images or surface evaluation measurements of the surfaces;
- and
- a computing device executing a computational planner that:
- obtains the target surface data from the one or more vision systems;
- determines based on the target surface data that a portion of the surface of the wall assembly is below a finish quality threshold;
- determines a position error of the automated drywall finishing system based at least in part on position data, wherein the position data, corresponding to a previous position of the automated drywall finishing system when the one or more surface evaluation images or surface evaluation measurements were taken, is generated based at least in part on the one or more surface evaluation images or surface evaluation measurements;
- generates instructions for driving the end effector, the robotic arm, and the mobile base unit to perform one or more drywalling tasks via the end effector based at least in part on the target surface data, the instructions including tuning parameters of at least one of the end effector, the robotic arm, and the mobile base unit to improve quality of the surface of the wall assembly based at least in part on the target surface data, and wherein the one or more drywalling tasks include finishing the portion of the surface of the wall assembly that is below the finish quality threshold, wherein the finishing improves the portion of the surface to be at or above the finish quality threshold;
- and
- drives, the end effector, the robotic arm, and the mobile base unit to perform the one or more drywalling based on the generated instructions.
9 more elements
A method comprising:
- obtaining, by a computational planner executing on a computing device of an automated drywall finishing system, target surface data from one or more vision systems of a surface evaluation system of the automated drywall finishing system, wherein:
- the automated drywall finishing system comprises the surface evaluation system, a computing device excuting a computational planner, a mobile base unit, a robotic arm, and an end effector,
- the robotic arm extends between a base end and a distal end,
- the robotic arm is coupled to the mobile base unit at the base end of the robotic arm,
- the end effector is coupled at the distal end of the robotic arm, and
- the surface evaluation system comprises at least one light and the one or more vision systems that generate the target surface data to evaluate quality of a surface of a wall assembly, and the one or more vision systems take one or more surface evaluation images or surface evaluation measurements of the surface;
- determining, by the computational planner, based on the target surface data that a portion of the surface of the wall assembly is below a finish quality threshold;
- determining, by the computational planner, a position error of an automated drywall finishing system, based at least in part on position data, wherein the position data, corresponding to a previous position of the automated drywall finishing system when the one or more surface evaluation images or surface evaluation measurements were taken, is generated based at least in part on the one or more surface evaluation images or surface evaluation measurements;
- generating, by the computational planner, instructions for driving one or more of the end effector, the robotic arm, and the mobile base unit to perform one or more drywalling tasks based at least in part on the target surface data, the instructions including ming parameters of at least one of the end effector, the robotic arm, and the mobile base unit to improve quality of the surface of the wall assembly based at least in part on the target surface data, and wherein the one or more drywalling tasks includes finishing the portion of the surface of the wall assembly that is below the finish quality threshold, and the finishing improves the portion of the surface to be at or above the finish quality threshold;
- and
- driving, by the computational planner, one or more of the end effector, the robotic arm, and the mobile base unit to perform the one or more drywalling tasks based on the instructions.
8 more elements
Dependencies are inferred from the claim text.