本論文提出了一種可應用於鋼鐵廠中無接觸式鋼板搬運系統的線上氣隙量測技術，其中涵蓋建立具備精確、動態快速及高取樣率的氣隙量測功\能，以提供作為鋼板行進與懸浮閉迴路控制依據。本研究中首先依據實際鋼鐵廠應用場合的特性以評估適用的精密尺寸量測架構，同時結合現行鋼鐵廠中既有之鋼板尺寸量測系統，以建立適切的影像處理及校正方法，來發展所需之氣隙量測技術。除此基本架構的建立之外，再配合考量實際可能影響氣隙量測的相關因素，藉由建立量測資料庫及遞迴式修正技術來提升量測精度。同時為達成無接觸式鋼板搬運系統穩定控制之需求，本研究中設計出一整合型光學檢測系統架構，其中結合了線型攝影機的高速掃描及高取樣的特性來作閉迴路驅動控制，以實現檢測控制系統單一化及驅控技術整體化之目標。經過完整的技術開發並透過實際量測的實驗結果，不僅可驗證所提出的架構在靜態量測時可滿足量測精度需求，更可在動態量測時能提供滿足系統控制所需的資訊。因此相信本研究所獲致之成果架構，將可做為未來系統在實際鋼鐵廠發展與應用時的重要參考。

On-line gap measurement techniques for steel mill non-contacting conveyance system, which can supply accurate, rapid and high-sampling rate gap measurements, have been proposed. To realize the entire process, by considering the operational environment in a steel mill and combining with those available system dimension measurement instruments, an image-based scheme with proper image processing and parameter calibration process has been developed. The possible sources that affect the air-gap detection accuracies have also been thoroughly investigated, and a comprehensive measurement database and a recursive modification technique have been successfully established. In order to achieve stable control for site implementation, an integrated optical inspection system which combined with the high-speed rate line-scan camera has been designed. From the experimental results, the proposed system can both provide accurate gap values at the static state, and offer stable control operations at the dynamic state. It is believed that the proposed scheme provide innovated guidance for the related conveyance applications in the steel mill.

中文摘要……………….…………………………………………....…..…. I
英文摘要…………………………………………….…………….….....…. II
目錄……………………………………………………………...…...…….. III
圖目錄……………………………………………………………...….…… VI

表目錄…………………………………………………………....…..….…. X


第一章 緒論…………………………………………….……………..…. 1
1.1 前言………………………………………...………………… 1
1.2 研究動機與目的………………………………………..……. 3
1.3 研究重點與方法………………………………………..……. 8

第二章 精密尺寸量測架構分析……………………………………….. 11
2.1 接觸式量測…………………………………………………. 11
2.2 非接觸式量測………………………………………………. 14
2.2.1 渦電流量測技術...………………………….……… 14
2.2.2 光學量測技術……………………………………… 19

第三章 鋼板搬運系統氣隙量測之共通影像處理技術……………….. 26
3.1 機械視覺與影像處理理論…………………………………. 26
3.1.1 機器視覺…………………………………………… 26
3.1.2 數位影像處理名詞………………………………… 27
3.2 影像處理技術………………………………………………. 30
3.2.1 灰階處理…………………………………………… 30
3.2.2 影像濾波…………………………………………… 31
3.2.3 灰階直方統計……………………………………… 34
3.2.4 影像二值化………………………………………… 35
3.3 影像量測技術………………………………………………. 37
3.3.1 次像素分析技術…………………………………… 37
3.3.2 三角量測法………………………………………… 39
3.3.2 對映函數法………………………………………… 41
3.4 系統校正技術……………………………………………..... 42

第四章 雷射光學檢測系統…………………………………….………. 44
4.1 系統架構說明與其校正方法………………………………. 45

4.2 影像處理及量測流程…...………………………………… 48
4.2.1 影像處理流程……………………………………… 48
4.2.2 氣隙量測原理……………………………………… 50
4.3 實驗用系統之硬體建立……………………………………. 51
4.3.1 CCD攝影機………………………………………... 51
4.3.2 影像擷取卡………………………………………… 52
4.3.3 鏡頭………………………………………………… 54
4.4 量測精度驗證…………………………………………….… 55
4.4.1 相同參考平面……………………………………… 56
4.4.2 不同參考平面……………………………………… 56
4.4.3 不同氣隙尺寸靜態量測結果……………………… 57

第五章 進階型光學檢測系統………………………………………….. 59
5.1 系統校正與座標轉換………………………………………. 59
5.2 影像處理及量測流程………………………………………. 62
5.2.1 影像分析…………………………………………… 62
5.2.2 次像素解析………………………………………… 64
5.2.3 氣隙量測資料庫建立……………………………… 64
5.3 量測精度精進…………………………………………….… 66
5.2.1 影響量測因素……………………………………… 66
5.2.2 遞迴式修正技術…………………………………… 67
5.4 系統硬體建立與量測精度驗證………………………….… 70
5.4.1 不同氣隙尺寸靜態量測驗證……………………… 71
5.4.2 動態量測驗證……………………………………… 73

第六章 整合型光學檢測系統…....……………………………..……… 76
6.1 面型與線型攝影機應用比較…………………………….… 76
6.2 整合架構說明………………………………………………. 78
6.2.1 線型攝影機取像方向與鋼板垂直………………… 78
6.2.2 線型攝影機取像方向與鋼板平行………………… 79
6.3 系統硬體建立………………………………………………. 80
6.3.1 CCD攝影機………………………………………... 80
6.3.2 影像擷取卡………………………………………… 81
6.3.3 鏡頭………………………………………………… 81
6.4 量測精度驗證…………………………………………….… 83
6.4.1 線型攝影機取像方向與鋼板垂直………………… 83
6.4.2 線型攝影機取像方向與鋼板平行………………… 91

第七章 結論與建議....………………………………………………….. 96
7.1 討論與結論…………………………….…………………… 96
7.2 未來研究方向與建議………………………………………. 99

參考文獻…...……………………………………………...……………… 100

作者簡介與著作………………………………………………………….. 109

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