- 學位論文
多自由度視覺定位機構之開發
Development of a Multi Degrees of Freedom Visual Positioning Mechanism
摘要
本研究是利用雙眼視覺來模擬人體頭部的動作，利用雙眼的焦點對正再利用影像距離的演算法來套用計算出系統平台與目標物的實際距離，利用伺服馬達補正影像的誤差值，將目標物放置於雙眼視覺影像的中央，而目標物如果置放於只能利用單眼影像視覺系統觀察亦可利用單眼影像判斷距離法則來做判斷的動作。 在無法使用雙眼視覺的狀態下利用單眼系統之架構及方式，藉由視覺演算法將影像處理之資料計算後，能夠即時計算出目標物與影像鏡頭之間的距離。而雙眼影像視覺系統部分可以在一般環境中追蹤目標物移動，利用單眼影像視覺系統距離判斷及雙眼影像視覺系統距離判斷比較兩者的量測距離判斷誤差。 本文另一探討在控制系統中履行多執行緖之控制方式可提昇系統之性能，其方法是藉由程式語言來即時規劃、處理電腦進出的資訊，使電腦處理資訊時之效率提升。多執行緒應用於電腦控制系統中，可以讓多個程式同時執行，並減少以往單執行緖要排隊等待執行的時間，本文提出一個研究方法，在多軸伺服機構追蹤系統控制流程中採用多執行緖之控制，在追蹤系統應用多執行緖之控制於影像擷取及控制輸出上，並顯示出多執行緒之即時規劃有助於改善追蹤系統之速度，特別是回授控制時會有大量資料流動，更需以此法來改善系統之執行速度，來達成本研究之目的。
並列摘要
The binocular vision effect is used to modify the motion of a stereo vision manipulator. The exact distance between the system platform and the object determined by aligning the binocular focus and applying an algorithm that is derived to find the distance of the monocular image. This method shows that a servomotor can be applied to correct the image error while the object is set at the center of the image. If the object can be observed only at one single location, the monocular method can be also used to estimate its action. The distance between the object and the image lens can be instantaneously determined by adopting the structure of this monocular system and trusting the image data by a vision algorithm. However, for binocular measurement, we can trace the object under a general environment and compare the monocular measurement error and the binocular one. This second purpose of this thesis is to improve the efficiency of a control system using a multithread digital control design. In this system, the management of a computer’s input and output information is handled appropriately by using a program language. Multithread digital control design is used in the robotic arm’s tracking system. The advantage of this multithread digital control design is to that it activates each procedure running simultaneously when transient overload of the information’s input and output in the control system occurs. Therefore, the time required in the multithread system is shorter than that in a traditional non-thread system in which each procedure is queued for running. In this thesis, case studies of multithread applications used in image tracking and robot control are presented. The results reveal that the speed of the tracking system can be improved by using the multithread technique under an immediate procedure plan. Recently, the multithread technique, which is superior in improving tracking speed, has become essential for feedback control systems in which many signals are transmitted, resulting in a time lag in the system’s response.