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研究生： 唐瑋澧
Wei-Li Tang
論文名稱： 應用嵌入式視覺系統辨識及定位工具機之夾具以監控動態碰撞
Using an Embedded Vision System to Identify and Locate the Fixture for Monitoring Dynamic Collision on-Machine
指導教授： 李維楨
Wei-Chen Lee
口試委員: 周昀佑
YUN-YOU JOU
陳怡永
YI-YUNG CHEN
學位類別： 碩士
Master
系所名稱： 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年： 2020
畢業學年度： 108
語文別： 中文
論文頁數： 97
中文關鍵詞： 機器視覺 、海德漢控制器 、防碰撞 、夾具辨識 、夾具定位
外文關鍵詞： machine vision, HEIDENHAIN controller, anti-collision, fixture identification, fixture positioning
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    • 摘要 I Abstract II 誌謝 III 目錄 IV 圖目錄 VI 表目錄 IX 第一章 緒論 1 1.1 研究動機 1 1.2 文獻回顧 2 1.3 研究目的 4 第二章 軟硬體及設備介紹 5 2.1 UX 300五軸數值控制銑床 5 2.1.1 設備介紹 5 2.1.2 實驗用刀把 6 2.1.3 校正用量表與磁性座 6 2.2 虎鉗介紹 8 2.2.1 五軸精密機械增壓虎鉗－FAS–100Q 8 2.2.2 強力超薄型夾盤－NBK–08 8 2.2.3 同動求心虎鉗－SCV–100 9 2.3 觸發式探頭系統－HEIDENHAIN TS 460 10 2.4 視覺系統 11 2.4.1 樹莓派－Raspberry Pi 3 Model B+ 12 2.4.2 鏡頭模組－Raspberry Pi Camera 13 2.4.3 Raspberry Pi 樹莓派鋰電池 14 2.5 動態碰撞監控介紹 15 2.5.1 FixtureWizard 16 2.5.2 KinematicsDesign 17 2.6 個人電腦 18 2.7 使用軟體介紹 18 2.7.1 視覺系統外殼設計 18 2.7.2 MATLAB 21 2.7.3 RealVNC 21 第三章 方法 22 3.1 方向梯度直方圖 22 3.1.1 統一影像大小 23 3.1.2 計算梯度及梯度方向 23 3.1.3 繪製方向梯度直方圖 25 3.1.4 區塊正規化與蒐集特徵 26 3.2 支援向量機 28 3.2.1 支援向量機分類基本理論 28 3.2.2 支援向量機多分類方法 29 3.3 影像處理技術 30 3.3.1 灰階影像 30 3.3.2 二值化 31 3.3.3 高斯濾波 31 3.3.4 霍夫轉換 31 第四章 機器視覺辨識與檢測流程設計 32 4.1 視覺設備與系統環境建立 32 4.2 視覺辨識與檢測流程 34 4.2.1 使用探針進行動態碰撞監控功能流程 34 4.2.2 使用視覺系統進行動態碰撞監控功能流程 39 4.3 影像檢測前置作業 43 4.3.1 攝影機校正 43 4.3.2 影像中心與床台中心偏離值 45 4.3.3 尋找虎鉗特徵中心點 46 4.3.4 影像與尺寸單位換算 48 4.4 量測虎鉗角點流程 49 4.5 量測夾爪角度流程 57 4.6 匯入動態碰撞監控模型 59 第五章 實驗結果與討論 61 5.1 虎鉗辨識結果 61 5.2 實例驗證一 64 5.3 實例驗證二 70 5.4 實例驗證三 73 5.5 實例驗證四 76 5.6 探討動態碰撞監控範圍 79 5.7 實例結果探討 81 第六章 結論與未來展望 82 6.1 結論 82 6.2 未來展望 82 參考文獻 83 附錄 85

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