Measurement procedure based on spectrally resolved light and photogrammetric methods for dynamic 6D coordinate measurements in large volumes (Lambda-GPS)

大型部件的装配，例如来自飞机、铁路或船舶工业的大型部件的装配，与较小尺寸部件的装配有很大的不同。特别是，由于组件的尺寸和连接特性（例如重量、刚度），组件的处理具有挑战性。较新的发展目标是大型部件的灵活和自动化装配。静态设备将被处理系统（如协作机器人）和外部测量系统的组合所取代。挑战在于处理系统的同步，这需要知道末端执行器在参考系统中的绝对姿态。与集成到机器人中的测量系统相比，具有低得多的测量不确定性的外部测量系统能够测量机器人的绝对姿态，从而提高机器人的绝对精度。计量系统的要求是覆盖生产线的空间，并以低测量不确定度和高测量速率同时测量多个末端执行器的位姿。这需要专门的计量系统。同时建立的术语大体积计量（LVM）包括一类移动的光学测量系统，专门开发用于满足大型部件（> 1 m3）的制造和装配要求。在研究人员的实验室中，第一个前处理器的测量体积为1m3，测量值为10，测量因子为10，测量值为80Hz（测量iGPS）。我们的目标是调查和进一步开发一个具有成本效益的测量程序的基础上，光谱分辨光和摄影测量方法的动态6D坐标测量在大体积。该测量过程和相应的测量系统能够覆盖生产线的空间，并且能够以低测量不确定性和高测量速率同时测量多个末端执行器的姿态。该研究项目的目标是将测量体积增加到1 m^3，与初始实验相比，将测量变化减少到10倍，并达到80 Hz的测量速率。实现这一目标的方法是：1）测量过程的物理建模和模拟2）以测量系统的形式实现测量过程3）系统研究和优化测量过程和系统，特别是考虑工作体积，测量速率和不确定性。

The assembly of large components, e.g. from aircraft, railway or ship industry, differs significantly from the assembly of components of smaller dimensions. In particular the handling of the components is challenging due to their size and connected properties (e.g. weight, stiffness). Newer developments aim for a flexible and automated assembly of large components. Static devices will be substituted by a combination of handling systems, e.g. collaborative robots, and external measurement systems. The challenge is in the synchronization of the handling systems, which requires the knowledge of the absolute pose of the end-effector in the reference system. External measurement systems with much lower measurement uncertainty than the measurement systems integrated into the robot, enables to measure the absolute robot pose and therefore, to increase the absolute robot accuracy. The metrology system requirements are to cover the space of the production line and to measure the pose of several end-effectors at the same time with a low measurement uncertainty and a high measurement rate. This requires specialized metrology systems. The meanwhile established term Large Volume Metrology (LVM) comprises a class of mobile, optical measurement systems, which are specially developed to fit the requirements of the manufacturing and assembly of large components (>1m3). Im Rahmen des Forschungsvorhabens gilt es als Zielvorgabe, gegenüber der ersten Voruntersuchungen, das Messvolumen auf 1m3 zu vergrößern, die Messwertstreuung um den Faktor 10 zu reduzieren und eine Messrate von 80Hz (Verdopplung gegenüber iGPS) zu erreichen. The goal is to investigate and further develop a cost efficient measurement procedure based on spectrally resolved light and photogrammetric methods for dynamic 6D coordinate measurements in large volumes. This measurement procedure and the respective measurement system enable to cover the space of the production line and to measure the pose of several end-effectors at the same time with a low measurement uncertainty and a high measurement rate. The objectives of this research project are to increase the measurement volume to 1m^3, to reduce the measurement variation of a factor 10 and to reach a measurement rate of 80Hz compared to the initial experiments. The approach to achieve the objective is: 1) Physical modelling and simulation of the measurement procedure 2) Realization of the measurement procedure in form of a measurement system 3) Systematic investigation and optimization of the measurement procedure and system, in particular under consideration of working volume, measurement rate and uncertainty.