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Aligning parts using multi-part scanning and feature based coordinate systems

  • US 10,556,305 B2
  • Filed: 02/03/2016
  • Issued: 02/11/2020
  • Est. Priority Date: 02/03/2016
  • Status: Active Grant
First Claim
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1. A method of locally aligning a portion of a first part relative to a portion of a second part, the method comprising:

  • selecting a first feature of the first part within the portion of the first part and selecting a second feature of the second part within a portion of the second part, wherein the first feature and the second feature are selected based on simultaneous detectability of the first feature and the second feature with a scanner;

    constructing a feature-based local coordinate system based on selection of the first feature and the second feature, wherein the feature-based local coordinate system is different from a global coordinate system, and wherein first feature is a datum in the feature-based local coordinate system;

    determining one or more specified dimensions between the first feature and the second feature in the feature-based local coordinate system based on a design model;

    positioning the first part relative to the second part such that the first feature of the first part and the second feature of the second part are within a field of view of the scanner;

    simultaneously scanning the first feature and the second feature using the scanner and, from scanning, determining one or more identified dimensions corresponding to the one or more specified dimensions;

    comparing the one or more specified dimensions to the one or more identified dimensions; and

    using a robotic manipulator, controlled in accordance with the feature-based local coordinate system, adjusting a position of the first part relative to the second part until a difference between any one of the one or more specified dimensions and a corresponding one of the one or more identified dimensions is within a corresponding range.

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