本論文提出一套輸送帶上移動物件的追蹤系統，係基於工業手臂自動操作及二維影像處理之整合技術，具有物件追蹤和循線追蹤之功能，可讓機器手臂自動完成物件在三維空間的組裝任務。本系統利用二維影像所擷取的影像特徵判斷物件在輸送帶上的位置及角度，再藉由已知的物件CAD模型計算出空間組裝位置，再將以上資訊再利用反運動學計算出機械手臂各軸旋轉角度，即可操作工業機械手臂完成組裝任務。在循線追蹤上可使用影像處理得到平面物件所有的輪廓點位，接著利用輸送帶上的編碼器計算移動中所有點位的位置；也可求出三維物件的位置，再利用CAD模型計算出輪廓點位，再使用輸送帶上的編碼器計算移動中所有點位的位置。本系統僅需使用二維影像資訊，所以適用彈性高，且具有高度產業價值。

This thesis proposes an object-on-conveyer tracking system, integrating industrial robot operation and 2D image processing techniques, to perform moving object tracking and line-following functions. The proposed system uses 2D image features to localize the position of the object on conveyer, and calculate the 3D assembly positions by the use of object CAD model information. The 3D assembly positions are then used to calculate robot joint angle sets through inverse kinematics and the robot can start to perform the 3D assembly tasks on the moving object. For the line or contour following function, the image processing technique is used to detect the 2D object on conveyer and thus obtain the contour point positions. The encoder information of the conveyer will be fed to the robot so as to perform the contour following action. If a 3D object is to be followed, the image processing technique will localize the object first. Then, through the CAD model, all positions of the contour will be calculated. These positions are finally transformed to contour positions of robot following by using again the conveyer encoder information. This proposed system requires only 2D image processing techniques so that it is flexible, low cost and with a high commercial value.

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