本文研究目的是研發一套空間路徑追蹤機構,整體架構分為四個系統,分別為:(1)人機控制介面系統;(2)影像處理系統;(3)雷射量測系統;(4)馬達控制系統。其中利用幾種相關理論;含有(1)光學影像的擷取理論;(2)數值演算原理;及(3)雷射量測的理論。 本研究自行建構影像擷取程式並配合CCD鏡頭,具空間循跡功能,可將空間三維之座高度藉由雷射取得座標位置。整個機構是以非接觸量測以取代接觸式量測系統,其中影像處理系統負責取得投影路徑位置資訊。再利用影像取得之空間平面座標傳送至馬達控制系統,並再次使用雷射依馬達之所行走之路徑取得高度資訊。 綜合影像及雷射取得之 3D之加工路徑傳送至加工機,使其加工機依照空間路徑資訊加工完成加工任務。本論文將加工路徑軌跡跟加工後路徑軌跡經影像處理系統計算其誤差值,並做位置補償,以達0.029mm以下之誤差值。
The purpose of this study is to develop a tracking system for space path. The whole system’s structure is divided into four modules (1) control system for human-machine interface, (2) image processing system, (3) laser measurement system and (4 ) motor control system. Several theories have been applied, including (1) capture theory of optical image, (2) the principle of numerical calculation and (3) the theory of laser measurement. In this study, self-constructed image capture program with the CCD can achieve the space tracking feature. By the aid of laser measurement, the height of three-dimensional coordinates can be obtained. The entire system realizes the function of non-contact measurement which can replace that of the contact measurement system. By image processing system, the location information of the projected path can be determined. The planar coordinates obtained by images will be transmitted to motor control system. The height data will be decided by laser. The 3D image path obtained from image system and laser measurement will be transmitted to the processing machine such that processing machine can perform the corresponding machining. By position compensation resulting from the comparison between theoretical path and image measurement tracking path, the error will be less than 0.029mm.