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研究生：	廖彥凱 Liao, Yen-Kai
論文名稱：	動態取像下之特徵辨識於自動檢測系統之研究 Study on the Characteristic Recognition in Fly Vision for Automatic Inspection Systems
指導教授：	田思齊 Tien, Szu-Chi
學位類別：	碩士 Master
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2014
畢業學年度：	102
語文別：	中文
論文頁數：	93
中文關鍵詞：	自動光學檢測、區域二元模式(LBP) 、卡曼濾波器
外文關鍵詞：	Automated Optical Inspection, Local Binary Pattern(LBP), Kalman Filter
相關次數：	點閱：124 下載：6
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本論文的研究目的在於使用動態取像的方式提升自動光學檢測系統的檢測效能。藉由動態取像的方式，雖然可以避免檢測過程中發生停頓，但會造成相機與檢測物存在相對速度，使拍攝影像可能有模糊的現象發生。因此，本論文中使用反饋與前饋控制，且透過卡曼濾波器對檢測物進行位置預測，以提升追蹤待測物的性能並減少模糊的可能。由實驗結果可發現，使用區域二元模式(LBP)擷取影像的紋理特徵，可以比擷取外型特徵擁有更高的可靠度，因此，在影像辨識上先使用區域二元模式擷取影像的紋理特徵再透過樣本比對法進行影像辨識。本論文以字元辨識為例，證實運用所建議之動態檢測方法，當追蹤位置與速度誤差進入穩態階段後再擷取影像進行辨識，字元辨識皆能準確辨識出影像字元。

The main goal of this research is to improve the efficiency of automatic optical inspection(AOI) systems by conducting the inspection process in fly vision. Although conducting the inspection process in fly vision can avoid the pause of inspected objects, there may exist relative velocity between the camera and object and then make images fuzzy. Therefore, besides feedforward and feedback control is adopted, kalman filter is also utilized to predict the position of inspected object to enhance the tracking performance and reduce problems of fuzzy images. Experimental results show that, compared with contour-matching method, local binary pattern(LBP) can reveal the textural characteristic of detected objects and is more reliable for characteristic recognition. Therefore, during the image processing, LBP is utilized and followed by template-matching process for characteristic recognition. In this research, a character recognition example is used to verify that, with the proposed inspection process in fly vision,precise character recognition can be achieved if the image processing is conducted when the tracking position and velocity errors are in steady- state.

圖目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
表目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
符號表. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
第一章緒論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
第二章檢測影像辨識. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1 影像前處理. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.1 直方圖等效. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2 中值濾波. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.3 Otsu二值化. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2 字元分割. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3 區域二元模式(Local Binary Pattern) . . . . . . . . . . . . . . . . . . . . . 22
4 字元辨識. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
第三章控制器設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1 反饋控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.1 干擾估測器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.2 微分估測器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.3 PI控制器Gcv設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.4 PID控制器Gcp n設計. . . . . . . . . . . . . . . . . . . . . . . . . . 37
2 前饋控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.1 卡曼濾波器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.2 前饋控制器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.3 狀態估測器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
第四章檢測系統架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
1 硬體設備. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
1.1 檢測模組. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
1.2 檢測物移動模組. . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
2 軟體實現. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
第五章實驗與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
1 線性馬達追蹤控制實驗. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
2 影像辨識實驗. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3 位置預測機制實驗. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4 檢測系統實驗. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5 討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
第六章結論與展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
1 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
2 展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
附錄A　誤差方程式之拉氏轉換. . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
                                    

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