基於力量與影像感測的加工機自動尋邊系統之開發

Abstract

本研究開發一套加工機自動尋邊系統，結合影像以及力量感測的技術來達到自動尋邊的目的。整個研究主要分為兩個部分，分別為影像偵測系統以及力量偵測系統。影像偵測系統利用影像處理的技術，將目標物的特徵點萃取出來；萃取出特徵點後利用雙眼攝影機座標估測的方法，對特徵點進行座標估測，進而計算出目標物的尺寸以及相對位置；完成影像的偵測後，系統切換至力量控制模式，利用阻抗控制的方法，與目標物進行順應性的觸碰，在整個接觸式互動的過程，紀錄馬達編碼器的值，即可計算實際物件尺寸以及訂定加工原點。本研究結果顯示，本系統可以利用影像系統，對於未知尺寸的方形工件進行初步的尺寸偵測，而再利用力量控制可以確定目標物精確尺寸以及成功訂定加工原點。

The research develop a processing of automatic edge finding system used in CNC milling machine. The system combines the image and force sensing technologies to achieve the purpose of edge finding. Throughout the study is divided into two parts, the image detection system and the force detection system. Image detection system uses image processing technology to extract the feature point of the object. After the extraction of feature points, the system calculates the size of the object and relative position by stereo camera coordinate estimation method. Currently, the image detection completed, the system switches to the force control mode. Using the method of impedance control to interact with target object. Record the value of the motor encoder between the contact interaction, the system can calculate the actual object size and set initial point of machining. The results of this study show that the system can use the imaging system to find out the size of unknown size workpiece. And then use the force control could detect precise dimensions and successfully set the initial point of machining.