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標題: | 建立數位結構光量測系統並應用於三維形貌與變形量測和機械手臂手眼校正及取放任務 Development of Digital Structured Light for Measurement of 3-dimensional Profilometry, Deformation and Robotic Arm Hand-eye Calibration for Pick-and-place |
作者: | Jiun-Shian Wu 吳俊賢 |
指導教授: | 馬劍清(Chien-Ching Ma) |
關鍵字: | 數位結構光,數位影像相關法,三維量測,機械手臂,手眼校正,影像矩不變量, Digital structured light,Digital image correlation,Three-dimensional measurement,Robotic arm,Hand-eye calibration,Image moment invariant, |
出版年 : | 2020 |
學位: | 碩士 |
摘要: | 數位結構光(Digital structured light, DSL)是一種建立於三角量測法的三維量測方法,具有跨尺度、全場、非接觸式的量測特性,量測獲得的三維點雲可用於物體深度資訊量測、逆向工程物體重建或是三維瑕疵檢測等應用。本文的研究主軸為建立數位結構光量測系統,經由實驗驗證本系統在相位校正線性與非線性模型下量測精度,且驗證本量測系統重建複雜曲面的能力,並將三維點雲進行數值積分,應用於量測待測物體心位置,同時評估本量測系統的效能。本文中亦建立數位結構光相機與投影機校正方法,並以相機座標原點為世界座標原點,將待測物的三維點雲建構於世界座標中,同時應用此法於量測空間中距離。 本文提出結構光數位影像相關法,結合數位結構光在深度方向上具有高解析度的特性,與數位影像相關法在二維量測上靈敏與可追蹤性的優點,建立結構光數位影像相關法,是具追蹤性且能量測三維方向微小位移的量測方法,並應用於量測懸臂薄板全場面內與面外變形;與Stereo DIC和FEM比較全場位移,並使用雷射位移計比較單點位移,三者的位移趨勢與量測值皆能相互對應。 本論文最後發展機械手臂與單相機的手眼校正方法,將相機座標轉換至工作平面座標,再轉換至機械手臂座標,可以適用於一般的相機架設,並開發物體搜尋演算法,以影像矩不變量為基礎,最少僅需要一張待夾取物體的影像,就能在工作平面上從多個物體中尋找夾持目標的物體,並執行取放任務。對於系統未知幾何尺寸的物體,結合本論文所開發的數位結構光,整合機系手臂建立手眼系統,能量測出工作平面上的所有物體的三維點雲,並計算得到三維體心位置,使機械手臂執行取放任務,並使用飛行時間感測器做為開發階段的設備,建立兩種三維感測器的手眼校正方法與物件搜尋演算法。 Digital structured light is a three-dimensional measurement method which established on triangulation. The advantage include multiscale, full-field and non-contact. The point cloud can be used on depth information measurement, reverse engineering and defect inspection. This thesis mainly contributes to develop digital structured light measurement system. The measurement accuracy and capability of measuring complex surface under linear and nonlinear phase calibration model are verified by experiments. Furthermore, numerical integration is used for 3D point cloud to get the position of center of a three-dimensional solid. Moreover, the efficiency of this measurement system is evaluated and discussed. I also develop the process of calibration for camera and projector to build the relationship for camera coordinate and the world coordinate. The point cloud of object in world coordinate is established to construct the distance of top point and volume center between two standard ball models. The structured light digital image correlation combine the advantage of digital structured light and digital image correlation method. This method can be used for tracking characteristics of an object and for measuring small displacement in three dimension. This method is utilized to measure in-plane and out-of-plane deformation of a cantilever plate subjected to apply force. Comparison with Stereo DIC and FEM, the displacement evaluated by three methods is found to be consistent correspond with each other. The displacement is also compared with laser displacement sensor for a single point. This thesis also develops the hand-eye calibration of robotic arm and single camera for general camera setting. The transformation relation is built for camera coordinate to work plane and to robotic arm coordinate. According to image moment invariant properties, the searching algorithm only need a target image as the template and then find targets in many objects to perform the action of pick-and-place. For the detection of objects that have unknown geometric dimensions, this thesis integrates digital structured light to develop hand-eye system. This system can select objects on the work plane and calculate their position of volume center to perform pick-and-place. The time-of-flight sensor is also implemented as the equipment for developing new technique for pick-and-place. Therefore, this thesis develops hand-eye calibration method and searching algorithm for two 3D sensor. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/52920 |
DOI: | 10.6342/NTU202002490 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
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