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| 研究生： |
LE THAI SON LE - THAI SON |
|---|---|
| 論文名稱： |
Non-contacting 3D Measurement System Integrating Webcam Camera and Laser Projector for Fast Industrial Robot Assembly Implementations Non-contacting 3D Measurement System Integrating Webcam Camera and Laser Projector for Fast Industrial Robot Assembly Implementations |
| 指導教授： |
林其禹
Chyi-Yeu Lin |
| 口試委員: |
郭重顯
Chung-Hsien Kuo 邱士軒 Shih-Hsuan Chiu |
| 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： | 2016 |
| 畢業學年度： | 104 |
| 語文別： | 英文 |
| 論文頁數： | 62 |
| 中文關鍵詞： | 關鍵字 、非接觸3D量測系統 、組裝 、自動化機械手臂 、影像投影 、形狀偵測 、雷射過濾。 |
| 外文關鍵詞： | Non-contacting 3D measurement system, part assembly, automated robot arm operation, back projecting, shape-based matching, laser segmentation |
| 相關次數： | 點閱：172 下載：2 |
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本論文提出一套結合相機與雷射投影之非接觸3D測量系統，藉由追蹤以點雷射和線雷射在平面影像中的雷射投影，來獲取3D空間中的資訊，並利用手眼校正將相機的座標系轉為機械手臂座標系，供工業六軸機械手臂使用。本論文將系統運用在需要高精準度的電腦主機板記憶體插入任務上。測試結果顯示系統精準度 ±0.35mm，適用於現今大多數機械手臂的組裝任務。
This thesis presents a 3D measurement system combining webcam camera and laser projectors as a non-contacting method for fast robot operations. Two types of laser projector comprising the pointer laser and the line laser are used to obtain 3D information by tracking laser projection on image plane and then calculating its 3D positions in camera coordinate. The system is integrated to an industrial 6-axis robot arm with implementing the hand-eye calibration method so that the scanned 3D points from the camera coordinate can be transformed to the robot coordinate. The whole integration system has been tested on the socket insertion task that demands a high precision requirement. The result from exemplification indicated that system’s precision is and can satisfy many robot arm operated assembly tasks.
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[2] Lopez-Escogido, Daniel, and Adriano De Luca. "2-D high precision laser sensor for detecting small defects in PCBs." Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on. IEEE, 2012.
[3] Daniilidis, Konstantinos. "Hand-eye calibration using dual quaternions." The International Journal of Robotics Research 18.3 (1999): 286-298. [4] R. Gonzalez and R. Woods, “Digital Image Processing”, in Addison-Wesley Publishing Company, 1992, pp. 518 – 548.
[5] Shapiro, Linda, and R. Haralick. "Computer and robot vision." Reading: Addison Wesley 8 (1992).
[6] Davis, James, and Xing Chen. "A laser range scanner designed for minimum calibration complexity." 3-D Digital Imaging and Modeling, 2001. Proceedings. Third International Conference on. IEEE, 2001.
[7] Fernandez, J. C., et al. "An overview of lidar point cloud processing software." GEM Center Report No. Rep_2007-12-001, University of Florida(2007).
[8]Hiremagalur, Jagannath, et al. Creating standards and specifications for the use of laser scanning in caltrans projects. No. CA07-0964. 2007.
[9]Abdelmajid, Yezeed. "Investigation and comparison of 3D laser scanning software packages." (2012).
[10] Jean-Yves Bouguet, “Camera calibration toolbox for Matlab”:
http://www.vision.caltech.edu/bouguetj/calib_doc/
[11] Camera calibration OpenCV:
http://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
[12] Halconn Shape-Based Matching:
http://download.mvtec.com/halcon-9.0-solution-guide-ii-b-shape-based-matching.pdf
