Robot Coordinate Alignment Using 3D Light Sectioning

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Solution Overview

Problem

Existing methods for aligning robot coordinate systems with three-dimensional measuring instrument coordinate systems are complex and require skilled workers to perform matrix operations, making it difficult for non-skilled workers to achieve accurate alignment.

Innovation Solution

A method that aligns a robot coordinate system with a measuring instrument coordinate system by determining the relationship between the operating space coordinate system and the robot coordinate system, and then adjusting the attitude of the three-dimensional measuring instrument to fall within a predetermined standard attitude range, without requiring matrix operations.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If affine transformation with matrix operations is used to align coordinate systems, then alignment accuracy is achieved, but operation complexity increases and requires skilled workers

Engineering Contradiction:

Improvealignment accuracyVSAvoidoperation complexity

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The patent replaces the mechanical/mathematical system of matrix operations with an optical system. The light sectioning method uses projected light patterns and camera imaging to directly determine coordinate transformations, eliminating the need for complex matrix calculations while maintaining alignment accuracy.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces a light sectioning instrument as an intermediary device between the robot and the measurement system. This intermediary uses optical projection and imaging to establish coordinate relationships, serving as a mediator that simplifies the alignment process without requiring direct matrix operations.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Manufacturing precision

If multiple reference points and matrix equations are used for alignment, then coordinate system accuracy is improved, but the alignment process becomes difficult for non-skilled workers

Engineering Contradiction:

Improvecoordinate system alignment precisionVSAvoidalignment process complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The patent substitutes the complex mathematical process of solving matrix equations with an optical measurement process. The light sectioning method automatically captures spatial relationships through projected light patterns, eliminating the need for manual matrix operations while preserving measurement precision.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The alignment system performs self-calibration through the light sectioning process. The projected light patterns and camera images automatically provide the necessary spatial information, allowing the system to determine coordinate transformations without requiring external mathematical computation or skilled operator intervention.

Inventive Principle:

Principle #25Self-service

3Reliability

If conventional alignment methods are used, then coordinate systems can be aligned, but the process requires specialized knowledge of programming languages and matrix operations

Engineering Contradiction:

Improvealignment reliabilityVSAvoidoperator skill requirement

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The patent replaces the knowledge-intensive mathematical process with an optical measurement system. The light sectioning method inherently captures coordinate relationships through light projection and imaging, making the alignment process reliable without requiring operators to understand programming languages or matrix operations.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This method allows for easy alignment of robot coordinate systems, even by non-skilled workers, ensuring accurate alignment and enabling three-dimensional measurement data to be acquired without parts in shadow, regardless of the target object's size.

Implementation Method 1

a three-dimensional measuring instrument which is capable of executing a light sectioning method

Methodology Applied

Scientific EffectLight sectioning method: Light

Data Source

PatentUS12290924B2Coordinate system alignment method, alignment system, and alignment device for robot

Publication Date: 2025.05.06 SICK KK

AI summary

A device and method for aligning a robot coordinate system, being a coordinate system of a robot for moving an operating point three-dimensionally, and a measuring instrument coordinate system, being a coordinate system of a three-dimensional measuring instrument which is capable of executing a light sectioning method and of which a position and attitude with respect to the operating point are unchanging, characterized by including the steps of:determining a relationship between the coordinate systems;radiating sheet-like slit light from the three-dimensional measuring instrument onto a reference object in the shape of a rectangular cuboid which is fixed;finding the attitude of the three-dimensional measuring instrument relative to the reference object; andmoving the three-dimensional measuring instrument such that the attitude of the three-dimensional measuring instrument falls within a predetermined standard attitude range.