روش های اتوماسیون اندازه گیری های فتوگرامتری با استفاده از سیستم TRITOP و ربات های صنعتی

This paper deals with a method of TRITOP photogrammetric system automation. Unlike the methods of optical scanning systems automation, this area has not been studied well yet. The method of photogrammetric measurement automation via the TRITOP system and an industrial robot is presented. The work is focused on the communication between the main parts of the measurement chain ⿿ camera, control computer, industrial robot and robot controller. The crucial part of the communication is based on the gPhoto2 utility, which enables a remote operation of the camera. Programs for the automation are written in Python programming language in the TRITOP software environment. Hardware communication is carried out via USB and Wi-Fi. To verify the measurement system and its repeatability, test measurements have been performed and compared to manual measurements of the same object.

The use of photogrammetric methods has been a current topic for several decades already. Theoretical photogrammetric methods have been known for more than a hundred years. In the last thirty years the main research has been focused on digital photographs and methods of image processing for obtaining the photogrammetric information [1]. At the same time (mid-1980s) the photogrammetric methods are becoming economically and technically efficient for industrial use [2]. Current commercial photogrammetric measurement systems (such as GSI, AICON, GOM) are automated to such a level that even a non-specialized worker is able to carry out such measurements [2]. The present research is primarily focused on the full automation of optical measurements (with the use of triangular laser scanners or structured light scanners). These systems are either based on the robotized movement of the scanned part and a fixed scanner [3] and [4] or on the robotized movement of the sensor and fixed part [5] and [6].