TY - BOOK

T1 - Entwicklung eines kinematischen Profilvermessungssystems am Beispiel Kranbahnvermessung

AU - Dennig, Dirk

PY - 2024

Y1 - 2024

N2 - The high-precision, geometric capture of objects and their surroundings with geodetic measurement systems such as laser trackers and 3D laser scanners has already been carried out for several years. In the case of elongated profiles, e.g. guide rails, carriage rails and guard rails, with lengths of up to several hundred meters, such as those found in crane runways or high-bay warehouses, apoint-by-point, line-by-line recording has been common practice up to now. Condition variables are derived from the measurement data, which are described in guidelines such as VDI 3576. To reduce the risk of falling when signaling high-lying profiles and to speed up the measurement process,motorized platforms can be used to transport reflectors. The condition of the remaining areas of a crane system is evaluated annually by an expert. Thisincludes the wear of the profile as well as the condition of the rail fastening and, if necessary, thewelds. The dependence on experience and level of training of the expert, as well as the scope to beinspected, suggest a certain subjectivity of the inspection results.In order to be able to kinematically record elongated profiles of different geometries and theirimmediate surroundings with high precision, a modular measuring system equipped with line laser scanners and cameras is being developed within the scope of this work. The modularity results from the fact that the pose of the vehicle is referenced by an external sensor, that the vehicle can be equipped with different sensors and that it can also be used without an external referencing sensor. The system can make a decisive contribution to transparency, real-time capability, reproducibility and documentation As a result, previous subjective assessments are replaced or confirmed.A motion and evaluation model for a kinematic system measuring at a high sampling rate will be developed, so that the actual position of guide rails can be determined with an uncertainty in the submillimeter range. To make the measurement relevant for practical applications, the results canbe evaluated immediately. The following condition parameters can be derived from the measurement data for an objective assessment of the condition of profiles and fastenings: Position, Z-value and condition of the rail and its fastening. The quality of the measurements and condition parameters can be verified in a quality-assured manner by means of resolution and standard deviation.Sensors on the multisensor platform provide a large number of measured values that are combined in real time. High demands are placed on the system in terms of measurement quality, which are in the lower submillimeter range. At the same time, the data is acquired at a speed of approx. 1 m/s. From these requirements arises the necessity of a mathematically stochastically based nonlinear filter model that describes the kinematics sufficiently accurately.To ensure the correct assignment of all measurement results, a suitable calibration model has been developed that includes all sensors.Two test measurements were performed to validate the hardware and the evaluation algorithms. In the second measurement, the measurement results of the multi-sensor system were compared with the results of a high-precision reference measurement to verify the reproducibility. The multisensor system consisting of the hardware and the evaluation algorithms for the geometricacquisition of elongated profiles was able to demonstrate its added value compared to known systems. A significant added value is the possibility to distinguish between the theoretical and practical rail axis. The state variables identified and determinable by this work shall be considered in the newversion of VDI 3576.

AB - The high-precision, geometric capture of objects and their surroundings with geodetic measurement systems such as laser trackers and 3D laser scanners has already been carried out for several years. In the case of elongated profiles, e.g. guide rails, carriage rails and guard rails, with lengths of up to several hundred meters, such as those found in crane runways or high-bay warehouses, apoint-by-point, line-by-line recording has been common practice up to now. Condition variables are derived from the measurement data, which are described in guidelines such as VDI 3576. To reduce the risk of falling when signaling high-lying profiles and to speed up the measurement process,motorized platforms can be used to transport reflectors. The condition of the remaining areas of a crane system is evaluated annually by an expert. Thisincludes the wear of the profile as well as the condition of the rail fastening and, if necessary, thewelds. The dependence on experience and level of training of the expert, as well as the scope to beinspected, suggest a certain subjectivity of the inspection results.In order to be able to kinematically record elongated profiles of different geometries and theirimmediate surroundings with high precision, a modular measuring system equipped with line laser scanners and cameras is being developed within the scope of this work. The modularity results from the fact that the pose of the vehicle is referenced by an external sensor, that the vehicle can be equipped with different sensors and that it can also be used without an external referencing sensor. The system can make a decisive contribution to transparency, real-time capability, reproducibility and documentation As a result, previous subjective assessments are replaced or confirmed.A motion and evaluation model for a kinematic system measuring at a high sampling rate will be developed, so that the actual position of guide rails can be determined with an uncertainty in the submillimeter range. To make the measurement relevant for practical applications, the results canbe evaluated immediately. The following condition parameters can be derived from the measurement data for an objective assessment of the condition of profiles and fastenings: Position, Z-value and condition of the rail and its fastening. The quality of the measurements and condition parameters can be verified in a quality-assured manner by means of resolution and standard deviation.Sensors on the multisensor platform provide a large number of measured values that are combined in real time. High demands are placed on the system in terms of measurement quality, which are in the lower submillimeter range. At the same time, the data is acquired at a speed of approx. 1 m/s. From these requirements arises the necessity of a mathematically stochastically based nonlinear filter model that describes the kinematics sufficiently accurately.To ensure the correct assignment of all measurement results, a suitable calibration model has been developed that includes all sensors.Two test measurements were performed to validate the hardware and the evaluation algorithms. In the second measurement, the measurement results of the multi-sensor system were compared with the results of a high-precision reference measurement to verify the reproducibility. The multisensor system consisting of the hardware and the evaluation algorithms for the geometricacquisition of elongated profiles was able to demonstrate its added value compared to known systems. A significant added value is the possibility to distinguish between the theoretical and practical rail axis. The state variables identified and determinable by this work shall be considered in the newversion of VDI 3576.

M3 - Dissertation

SN - 978‑3‑7696‑5346-5

T3 - Wissenschaftliche Arbeiten der Fachrichtung Geodäsie und Geoinformatik der Leibniz-Universität Hannover

CY - Hannover

ER -