System and method for autonomously scanning and processing a workpiece

A method comprising:

• at a robotic system, navigating an optical sensor along a scan path over a part occupying a work zone;
• accessing a set of images, captured by the optical sensor traversing the scan path, depicting the part within the work zone;
• assembling the set of images into a part model representing surface contours of the part;
• defining an exclusion zone, on the part model, inaccessible by a sanding head coupled to the robotic system;
• annotating the part model with a virtual representation of the exclusion zone;
• generating a prompt to confirm the exclusion zone represented in the part model;
• serving the prompt and the part model to an operator;
• based on receiving confirmation of the exclusion zone, detecting a workpiece region outside of the exclusion zone;
• generating a toolpath for traversing the sanding head across the workpiece region of the part based on a geometry of the workpiece region represented in part model;
• and
• at the robotic system, executing the toolpath.

A method comprising:

• at a robotic system, navigating an optical sensor along a scan path over a part occupying a work zone;
• accessing a set of images, captured by the optical sensor traversing the scan path, depicting the part within the work zone;
• assembling the set of images into a part model representing surface contours of the part;
• detecting a set of edges of on the part model;
• defining an exclusion zone on the part model bounded relative to the set of edges and inaccessible by a sanding head arranged on the robotic system;
• selecting a set of workpiece regions outside of the exclusion zone and exhibiting surface contours accessible by the sanding head arranged on the robotic system;
• detecting a geometry of a workpiece region, in the set of workpiece regions, in the part model;
• based on the geometry of the workpiece region, defining a toolpath, in a set of toolpaths, for traversing the sanding head across the workpiece region;
• and
• at the robotic system, executing a toolpath in the set of toolpaths.