遠距3D量測機器人虛擬監控系統之研究

Abstract

本研究之目的為整合機械手臂和雷射掃描測頭建立遠距3D量測系統（即NC_3DRM2006），使用的雷射掃描測頭為線型3D掃描測頭，無法單獨測得3D座標值，故將它安裝在機械手臂上，配合電腦上自行開發的系統整合之控制軟體，可控制機械手臂之動作，將雷射掃描測頭移到要掃描處，再由程式自動啟動雷射掃描之功能，經運算後取得此條掃描線上之點座標資料。透過程式適當的設計，可方便快速地移動機械手臂與調整適當的量測角度，掃描整個物件外形，再經過座標轉換等電腦運算，將點群資料整理組合，即建立整個物件表面之3D點資料。將此完整物件外形之點資料，再進一步交由逆向工程軟體，及CAD/CAM軟體之處理，可得到被掃描物體完整的立體模型，並可進一步產生NC程式碼，加工出和原物體完全相同的物件，成為逆向工程的實用工具。 此研究架構之特色是可整合機械手臂在移動位置與調整量測角度等較有彈性的優點，不再只是一般常見的將雷射頭架在一XYZ平台上之直線移動。而機械手臂的操作對一般人可能較不熟悉，本研究在電腦上設計較友善方便的使用者介面(user interface)，掃描動作路徑可透過電腦協助規劃設定而完成，使用者也可以由電腦上先模擬看到手臂動作的情況，以確認規劃設定的動作路徑是否有問題，另外透過網路的架構，可以很方便的達到遠端操控與量測的功能。

The purpose of this research is to develop an Internet 3D measurement system (NC_3DRM2006) with integrating robot and laser scanner. A linear laser scanner can't get 3D data individually, so we install scanner on the robot. By the integrated software, we can control robot to carry scanner to appropriate position, and active scanner to get the point data of object surface. The system can move and scan whole surface quickly. Then these point data will be computed and transformed into 3D surface structure. By Reverse Engineering or CAD/CAM software, we can build 3D model and NC code and manufacture an identical object. This is useful for Reverse Engineering. The characteristic of this system is the application of flexible robot motion in the laser scanning. Unlike the traditional XYZ table, that can only move linearly. To handle robot is more difficult, we can develop more friendly user interface on the computer to control the robot. Robot motion simulation can show on the computer and user can check the path first. Through the network, the remote control function makes this system more useful and convenient.