JPWO2021105865A5 - - Google Patents

Claims (10)

a repaired area on a workpiece surface, the area of the repaired defect comprising:
a repair boundary, the workpiece surface having a repair texture inside the repair boundary, and the workpiece surface having a workpiece surface texture outside the repair boundary;
a repair depth distribution inside the repair boundary;
a concealing feature;
The repaired area is the result of a robotic repair performed on the workpiece surface to remove defects . 2. The repaired area of claim 1 , wherein a polishing operation removes the workpiece surface texture from a portion of the repaired area . 2. The repaired area of claim 1 , wherein the repair boundary can have n-fold rotational symmetry, where n is finite and greater than or equal to 2 . A repaired area according to any one of claims 1 to 3 , wherein the repair boundary is an external trochoid or an internal trochoid . A repaired area according to any one of claims 1 to 4 , wherein the repair boundary is asymmetric. A repaired area according to any one of claims 1 to 5 , wherein the repair boundary is smaller than six times the effective tool radius . The repaired area according to any one of claims 1 to 6 , wherein the repaired area includes a blurring process . A repaired area according to any one of the preceding claims, wherein the repair boundary has a convex portion or a concave portion . A repair depth profile has a first depth relative to the workpiece surface at a first point, a second depth at a second point, and a repair depth profile between the first point and the second point. A repaired area according to any one of claims 1 to 8 , wherein points lie inside the repair boundary . A method for robotically repairing defects on a workpiece surface, the method comprising:
receiving a surface mesh of the workpiece surface;
receiving a location of the defect, the location being a coordinate location corresponding to a point on the surface mesh;
generating a repair map for repairing the defect, the repair map including a repair position and a repair force at the repair position;
generating a temporal parameterization of the repair map;
sending a repair command to a repair robot, the repair command including the repair map and time parameterization;
the repair robot comprises a tool configured to contact the defect and polish the workpiece surface at the location of the defect, the repair position includes a position of the tool, and the force is applied to the A method comprising a force applied by said tool on a workpiece surface .