Coordinate Frame Alignment Using Offset Estimation and Iterative Correction
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Solution Overview
Problem
Aligning coordinate frames from different and independent coordinate measurement systems is challenging due to inherent errors in translational and rotational positions of components during repair work, especially when using CNC machines, leading to inefficient and time-consuming alignment processes.
Innovation Solution
A method and system for aligning coordinate frames by initializing and determining angular and translational offsets between different coordinate measurement systems, applying corrections as needed until alignment is achieved, using a weighted least squares method to prioritize error minimization based on error direction and significance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If coordinate frames from different measurement systems are aligned using traditional methods, then alignment can be achieved, but the process is time-consuming and laborious
Solution Approach 1:
The patent applies preliminary action by pre-initializing both the first and second part coordinate systems using the same measurement technique (CMM) before the actual alignment process. This preliminary setup creates a common reference basis that accelerates the subsequent alignment operation, transforming a complex iterative process into a more efficient transformation task.
Solution Approach 2:
The patent introduces an intermediary coordinate system (the first part coordinate system initialized by CMM) that serves as a common reference for both measurement systems. This intermediary framework enables the second measurement system to align with the first system's coordinate frame more efficiently, reducing the time and complexity of direct alignment between disparate systems.
2Ease of operation
If coordinate frames are aligned without proper transformation, then the process is simpler, but inherent errors in translational and rotational positions occur
Solution Approach 1:
The patent implements feedback by using the initially measured control points from the first coordinate system to evaluate and refine the transformation parameters of the second coordinate system. The alignment process continuously compares the transformed second coordinate system against the reference first coordinate system, adjusting transformation parameters until alignment criteria are met, thereby eliminating inherent positioning errors.
Solution Approach 2:
The patent applies parameter changes by transforming the second coordinate system's parameters (translation vectors and rotation matrices) based on the measured control points from the first system. This parameter transformation converts the second measurement system's data into the first system's coordinate frame, ensuring accurate positional and orientational correspondence while maintaining operational simplicity.
3Adaptability or versatility
If different measurement techniques are used for coordinate frames, then measurement flexibility is improved, but alignment difficulty increases
Solution Approach 1:
The patent applies universality by enabling the first coordinate system (initialized by CMM) to serve as a universal reference frame that can accommodate and transform data from multiple different measurement techniques. This universal reference framework allows diverse measurement systems to be aligned through a common transformation process, maintaining flexibility while reducing alignment complexity.
Solution Approach 2:
The patent uses the first part coordinate system as an intermediary mediator that bridges different measurement techniques. By transforming the second coordinate system's data into this common intermediary frame, the patent enables alignment between disparate measurement systems without requiring direct compatibility between them, thus maintaining measurement flexibility while simplifying the alignment process.
Data Source
AI summary
A method of aligning coordinate frame obtained from at least two different coordinate measurement systems is disclosed. The method includes: initializing a second coordinate frame and a second part coordinate system of a component positioned in a second system; generating a second data pointset associated with the second system; receiving a first data pointset associated with a first system; determining an alignment of the second part coordinate system with the first part coordinate system by estimating an angular offset or a translational offset between the second part coordinate system and the first part coordinate system. The method includes, if the determined alignment indicates no alignment of the second part coordinate system with the first part coordinate system, repeatedly applying an angular rotation or a translational displacement to the component positioned in the second system; and determining the alignment of the second part coordinate system with the first part coordinate system.