METHOD AND APPARATUS FOR ASSEMBLY OF CAR BODIES AND OTHER 3-DIMENSIONAL OBJECTS

In the manufacture of car bodies--particularly what is called the "body-in-white" (BIW), the as-welded body without the doors, engine, transmission, etc., and major sub-assemblies thereof. or other "3-D" structures, such as planes, ships, trucks, buildings and the like there is used optically visible datums (in UV, visible, and IR wavelengths) on the part which are either functional (that is used for assembly or other purposes, such as a hole) or simply for the purpose of optically guided positioning, either manually or automatically. These datums, typically holes, painted, engraved, or retroreflective targets, either by themselves, or in combination with other features of the part such as edges, are observed by optical sensor/camera systems in and/or surrounding the work area. One or more positioning means either automatic, semi-auto, or manual, are guided by the signals from the cameras to cause the requisite parts to be positioned in the proper location. The parts are then joined, such as by laser welders. Adaptive control of position can include many variables such as forces, previous history ("learning"), etc.