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

基于光谱分辨光和摄影测量方法的测量程序，用于大体积动态 6D 坐标测量 (Lambda-GPS)

• 批准号: 322750896
• 负责人: Professor Dr.-Ing. Robert Schmitt
• 金额: --
• 依托单位: Forschungsbereich Fertigungsmeßtechnik und Qualitätsmanagement
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2016
• 资助国家: 德国
• 起止时间: 2015-12-31 至 2019-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/322750896?language=en
• 关键词: Measurement; procedure; based; spectrally; resolved

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.

大型组件的组装，例如飞机，铁路或船舶行业与较小尺寸组件的组装有很大不同。特别是，由于组件的大小和连接的特性（例如重量，刚度），对组件的处理受到挑战。较新的发展旨在灵活，自动化的大型组件。静态设备将通过处理系统的组合来进行，例如协作机器人和外部测量系统。挑战在于处理系统的同步，这需要了解参考系统中最终效果的绝对姿势。测量不确定性的外部测量系统比集成到机器人的测量系统要低得多，因此可以测量绝对机器人姿势，因此可以提高绝对机器人的准确性。计量系统要求涵盖生产线的空间，并以低测量不确定性和高测量率同时测量几个最终效应的姿势。这需要专门的计量系统。同时，已建立的大量计量学术语（LVM）包括一类移动，光学测量系统，这些系统是专门为满足大型组件的制造和组装（> 1M3）的要求而开发的。 Im Rahmen des forschungsvorhabens gilt es als Zielvorgabe，GegenüberDer-gegenüberDer的目标是研究并进一步开发基于频谱分辨的光和光学测量方法，用于大量的动态6D坐标测量。该测量程序和相关的测量系统可以覆盖生产线的空间，并同时测量几个最终效应的姿势，并具有低测量不确定性和高测量率。该研究项目的目标是将测量量增加到1m^3，以减少因子10的测量变化，并与初始实验相比达到80Hz的测量率。实现目标的方法是：1）测量程序的物理建模和模拟2）以测量系统的形式实现测量程序的实现3）系统投资和测量程序和系统的优化，特别是在考虑工作量，测量率和不确定性。