機器人輔助影像式3D曲面量測系統的創新與實作

Abstract

機器人產業在近幾年發展的越來越茁壯，從一開始的工業機器人，到醫療用途的手術機器人、輔具甚至是一般娛樂或看護機器人等，用途越來越廣泛而且藉由半導體產業的蓬勃發展之下，元件成本下降，所需成本也下降，使一般人使用機器人的意願提高，使機器人變得更親民普及化。 現今環保意識抬頭，再生能源的開發與使用也增加，例如風力發電，而大型風力發電機的檢測與維修困難，因此本篇提出了一套檢測機器人系統，結合影像量測系統，以對大型風力發電機的葉片作定期的檢查，確保其運作正常。 影像系統的晶片電路元件因為現在的半導體製程技術的進步而能功能增強且大量生產，近年來已被普遍運用在智慧型手機上。因此我們希望能透過一普遍適用的影像裝置，建立一套對於機器人的量測校正系統，只需要利用兩張已知的影像的資訊，通過影像處理的方法以及座標轉換， 即可計算校正方格¬所在的位置座標以及其平面法向量，再透過搭載相機的平行式三軸機器人進行校正，使相機能調整到精度最好的角度進行測量；期能利用此法測出風力發電機葉片待測物的曲面資料，達到最好的檢測與監控效果。

Due to the development of the robotics industry in recent years, more and more applications are applied to different fields; for example: medical surgery robots, industrial robots, entertainment robots and nursing robots. And because of the fast growing semiconductor industry, the cost of the parts are lowering, and thus in turn also lowered the cost of the robots. This increases the peoples’ desire to use them, and therefore the robots can be widely used in everyday life. Environmental awareness is now a focal issue, and the development of recycled energy and usage also increased. For example: wind energy; but the inspections and maintenance of these gigantic wind power generator are very difficult, and so this study proposes a set of inspection robotic system, incorporating an imagery measuring system; the purpose is to check the blades of the wind power generator periodically, to ensure proper functionality. The functions of the chips of the imagery system can now be enhanced and mass produced due to the improvement of the semiconductor’s manufacturing techniques. It had been widely used in smartphones in recent years, and we hope through the common use of the imagery device, we can establish a set of measurement calibration system for the robots. We only need to use two known imagery information, then through the imagery process and coordinate conversion, we can then calculate the position coordinates and plane vector of the calibration grid. Calibration of the system is connected with a degree-of-freedom robot, it can change the position of the camera, bringing it parallel to the measured plane. Combine the robot and camera let the measurement become more precise.