打蠟能夠防止板金表面生鏽及退色並提升汽車的商業價值，是現今汽車美容產業中不可或缺的重要步驟。然而目前用於汽車美容的打蠟作業尚需耗費大量人力與時間方能完成，故本研究開發首套用於汽車美容之自動打蠟系統以提升打蠟效率與品質。系統運作方式為藉由深度攝影機建立汽車板金的點雲資料並規劃系統的打蠟軌跡，接著使用機械手臂搭配多軸力量感測器迴授資訊進行打蠟力道控制。為了評估自動化打蠟品質的良窳，本研究透過外在點光源的照射，事先對汽車美容師傅人工打蠟結果進行影像分析，包括影像灰階處理、Canny邊緣偵測以及霍夫圓形轉換；並計算打蠟後影像的高斯分布函數，在分析該函數平均指與標準差之分布機率後，則可建立一套檢測打蠟品質好壞的評量指標。本研究以此評量指標為基準，將實驗結果進行影像分析並與評量指標做比較，探討影響打蠟品質的因素。最後以手臂打蠟力道與移動速度作為影響因子，透過建立系統的數學模型與最佳化分析求得最理想的實驗參數組合，並以此組合進行打蠟實驗，證實本系統可有效改善人工打蠟施力不均與品質不佳的問題，驗證本系統的可行性。

In car detailing, waxing is an important procedure which can protect car paint, prevent car rust and further increase the economic benefits of automobile industries by preserving the oils in the paint. Nowadays, this delicate work is still finished by a sequence of careful manual operations and requires iterative fine adjustments to achieve an acceptable waxing quality. The purpose of this study is to present an automatic waxing system and an image-based evaluation criteria to improve the efficiency and quality in the process of car waxing. We use an RGB-D camera to build the point cloud data of a workpiece of sheet metal and plan the waxing path of a robot manipulator equipped with a multi-axis force sensor for waxing force measurement and control. The images of the waxed surfaces of sheet metal conducted by an experience car detailer are first captured and analyzed by implementing image processing algorithms including gray-level transformation, Canny edge detection, and Hough circle transform. A Gaussian distribution function and its parameterized values are obtained from these images and treated as a performance index to evaluate the quality of this robotic waxing system. Based on this imaged-based performance index, the waxing quality is evaluated considering the parameters of waxing force and moving speed and a mathematical model is found to optimize the values of these parameters. Finally, the experiments justify the feasibility of the proposed robotic waxing system.

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