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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 馬劍清(Chien-Ching Ma) | |
dc.contributor.author | Jiun-Shian Wu | en |
dc.contributor.author | 吳俊賢 | zh_TW |
dc.date.accessioned | 2021-06-15T16:34:04Z | - |
dc.date.available | 2020-08-21 | |
dc.date.copyright | 2020-08-21 | |
dc.date.issued | 2020 | |
dc.date.submitted | 2020-08-11 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/52920 | - |
dc.description.abstract | 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。 | zh_TW |
dc.description.abstract | 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. | en |
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dc.description.tableofcontents | 摘要 I Abstract III 目錄 V 表目錄 XI 圖目錄 XIII 第一章 前言 1 1.1研究動機 1 1.2文獻回顧 2 1.2.1數位結構光文獻回顧 2 1.2.2數位影像相關法文獻回顧 4 1.3內容簡介 6 第二章 基本原理與實驗儀器介紹 9 2.1數位結構光簡介 9 2.1.1基本原理 9 2.1.2相位校正線性模型 11 2.1.3相位校正非線性模型 12 2.2數位結構光演算法 14 2.2.1相移法 14 2.2.2二位元編碼法 16 2.2.3混合法 18 2.3數位結構光訊號處理 18 2.3.1尖刺雜訊(Spiking noise) 18 2.3.2低對比度訊號 19 2.4數位影像相關法簡介 20 2.4.1基本原理 20 2.4.2相關係數 21 2.5實驗儀器介紹 22 2.5.1數位工業相機 22 2.5.2鏡頭 22 2.5.3DLP投影機 23 2.5.4機械手臂 23 2.5.5電動夾爪 23 2.5.6雷射位移計 24 2.5.7飛行時間測距感測器 24 第三章 建立數位結構光量測系統及其精度驗證 59 3.1建立數位結構光 59 3.1.1編碼數位結構光 59 3.1.2建立量測系統與程式運作流程 60 3.2數位結構光高度解析度 61 3.2.1相位校正線性模型下高度解析度 63 3.2.2相位校正非線性模型下高度解析度 65 3.3曲面精度驗證與體心計算 66 3.3.1案例分析:R50標準半圓球模型 67 3.3.2案例分析:R20標準半圓球模型 68 3.3.3案例分析:R10標準半圓球模型 70 3.5複雜曲面三維形貌重建 71 3.6數位結構光量測系統效能 72 3.7小節 73 第四章 建立數位結構光相機與投影機校正方法並 應用於量測空間中距離 123 4.1建立相機座標與投影機座標 123 4.1.1相機針孔成像模型 123 4.1.2投影機針孔成像模型 127 4.1.3數位結構光世界座標轉換 128 4.2數位結構光相機與投影機校正方法 131 4.2.1建立投影機DMD座標與投影機校正方法 131 4.2.2建立校正方法與程式運作流程 132 4.3世界座標中建立半圓球模型 133 4.3.1單一標準半圓球模型 135 4.3.2雙標準半圓球距離量測 136 4.3.3雙標準半圓球體心距離量測 137 第五章 建立結構光數位影像相關法於懸臂薄板全場面內與面外變形量測 177 5.1變形形狀函數 177 5.2數位影像相關法之搜尋演算法 179 5.2.1相關係數及值搜尋法 179 5.2.2牛頓拉福森法 181 5.2.3正向疊加牛頓拉福森法 183 5.2.4反向合成高斯牛頓法 186 5.3量測系統簡介 188 5.4建立結構光數位影像相關法量測系統與程式運作流程 189 5.5量測懸臂薄板全場面內與面外變形 190 5.5.1彎曲變形場量測 190 5.5.2彎曲與扭矩變形場量測 193 5.6小結 194 第六章 機械手臂與單相機手眼校正方法並 應用於取放任務 247 6.1 影像矩簡介 247 6.1.1影像矩平移不變量 248 6.1.2影像矩縮放不變量 249 6.1.3Hu影像矩不變量 250 6.1.4Hu影像矩不變量實驗 251 6.2手眼校正方法 251 6.2.1手眼校正系統介紹 251 6.2.2相機與工作平面座標校正 252 6.2.3機械手臂與工作平面座標校正 255 6.3物件搜尋演算法 258 6.4工程案例應用 259 6.4.1工程案例背景 259 6.4.2實驗設計與架設 260 6.4.3系統校正 261 6.4.4程式執行過程 263 6.4.5實驗結果 266 第七章 機械手臂與三維感測器手眼校正方法 並應用於取放任務 327 7.1手眼校正方法 327 7.1.1機械手臂與飛行時間感測器手眼校正操作流程 330 7.1.2機械手臂與數位結構光系統手眼校正操作流程 330 7.2物件搜尋演算法 331 7.2.1應用飛行時間感測器之物件搜尋演算法 331 7.2.2應用數位結構光之物件搜尋演算法 332 7.3機械手臂與飛行時間感測器手眼校正方法於取放任務 333 7.3.1實驗設計與架設 333 7.3.2系統校正 333 7.3.3程式執行過程 335 7.3.4實驗結果 336 7.3.5小結 337 7.4機械手臂與數位結構光手眼校正方法於取放任務 337 7.4.1實驗設計與架設 337 7.4.2系統校正 338 7.4.3程式執行過程 339 7.4.4實驗結果 341 7.4.5小結 342 第八章 結論與未來展望 413 8.1結論 413 8.2未來展望 417 參考文獻 423 | |
dc.language.iso | zh-TW | |
dc.title | 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 | zh_TW |
dc.title | Development of Digital Structured Light for Measurement of 3-dimensional Profilometry, Deformation and Robotic Arm Hand-eye Calibration for Pick-and-place | en |
dc.type | Thesis | |
dc.date.schoolyear | 108-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 陳亮嘉(Liang-Chia Chen),蔡孟勳(Meng-Shiun Tsai),林沛群(Pei-Chun Lin),林志哲(Chih-Jer Lin) | |
dc.subject.keyword | 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, | zh_TW |
dc.subject.keyword | Digital structured light,Digital image correlation,Three-dimensional measurement,Robotic arm,Hand-eye calibration,Image moment invariant, | en |
dc.relation.page | 429 | |
dc.identifier.doi | 10.6342/NTU202002490 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2020-08-11 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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U0001-0508202018113500.pdf 目前未授權公開取用 | 63.81 MB | Adobe PDF |
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