Aligning parts using multi-part scanning and feature based coordinate systems
First Claim
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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Abstract
Provided are methods and systems for aligning multiple parts using simultaneous scanning of features of different parts and using feature-based coordinate systems for determining relative positions of these. Specifically, a feature-based coordinate system may be constructed using one or more critical dimensions between features of different parts. The scanner may be specifically positioned to capture each of these critical dimensions precisely. The feature-based coordinate system is used to compare the critical dimensions to specified ranges. The position of at least one part may be adjusted based on results of this comparison using, for example, a robotic manipulator. The process may be repeated until all critical dimensions are within their specified ranges. In some embodiments, multiple sets of features from different parts are used such that each set uses its own feature-based coordinate system. The part adjustment may be performed based on the collective output from these multiple sets.
13 Citations
20 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification