Large-scale components with complex curved surfaces are the foundation of aerospace, energy, and transportation fields, while full-field 3D measurements along with accuracy analyses are critical to control manufacturing quality. Most of the existing measurement methodologies rely on manual inspection, and the accuracy and efficiency are unsatisfactory. This paper introduces an integrated mobile robotic measurement system for the accurate and automatic 3D measurement of large-scale components with complex curved surfaces. The measurement system is composed of a mobile manipulator, a fringe projection scanner and a stereo vision system, and it can provide accurate noncontact 3D measurements of large-scale complex components. By proposing a hand-eye calibration method and scanning pose tracking method based on a stereo vision system, the local point clouds obtained by scanning along with the movement of the mobile robot around the component can be accurately unified into a common reference frame. The proposed measuring system and method are verified by measuring and reconstructing the whole surface of a wind turbine blade model with a length of 2.8 m. The accuracy evaluation proves the effectiveness of the proposed system and method.

具有复杂曲面的大型零件是航空，能源和运输领域的基础，而全场3D测量以及精度分析对于控制制造质量至关重要。现有的大多数测量方法都依靠人工检查，并且准确性和效率都不令人满意。本文介绍了一种集成的移动机器人测量系统，用于对具有复杂曲面的大型组件进行精确和自动的3D测量。该测量系统由移动机械手，条纹投影扫描仪和立体视觉系统组成，可以为大型复杂组件提供准确的非接触式3D测量。通过提出基于立体视觉系统的手眼校准方法和扫描姿势跟踪方法，通过扫描以及随着移动机器人围绕组件的移动而获得的局部点云可以准确地统一到一个公共参考系中。通过测量和重建长度为2.8 m的风力涡轮机叶片模型的整个表面，验证了所提出的测量系统和方法。精度评估证明了所提系统和方法的有效性。