TW201823883A - Three dimensional trace verification apparatus and method thereof - Google Patents
Three dimensional trace verification apparatus and method thereof Download PDFInfo
- Publication number
- TW201823883A TW201823883A TW105141997A TW105141997A TW201823883A TW 201823883 A TW201823883 A TW 201823883A TW 105141997 A TW105141997 A TW 105141997A TW 105141997 A TW105141997 A TW 105141997A TW 201823883 A TW201823883 A TW 201823883A
- Authority
- TW
- Taiwan
- Prior art keywords
- module
- track
- signal
- rod
- trajectory
- Prior art date
Links
Landscapes
- Toys (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
本發明涉及一種本發明涉及一種軌跡驗證裝置及其方法，特別是三維軌跡驗證裝置及其方法。The present invention relates to a trajectory verification apparatus and method thereof, and more particularly to a three-dimensional trajectory verification apparatus and method thereof.
隨著科技進步，人類對於生活水準的要求品質也相對提高，近年來市面上各種不同功能的電子裝置便如雨後春筍般出現。其中，無人機、平衡機器人、掃地機和相機雲台等需要時時進行姿態平衡控制的電子裝置逐漸受到關注。With the advancement of science and technology, the quality of human requirements for living standards has also increased relatively. In recent years, electronic devices with different functions on the market have sprung up. Among them, electronic devices such as drones, balance robots, sweepers, and camera heads that require attitude balance control from time to time have received increasing attention.
上述需要時時進行姿態平衡控制的電子裝置通常包含感測模組與平台模組，利用感測模組偵測並定義其平台模組在三維空間的位置，然而，平台模組在三維空間的位置很難被定義與追蹤，且該些電子裝置時常受外部干擾導致平台模組的運動軌跡與預期的軌跡不相符。此外，平台模組的運動軌跡與預期軌跡之間的差異也很難量化紀錄。The above-mentioned electronic device that needs to perform attitude balance control from time to time usually includes a sensing module and a platform module, and the sensing module is used to detect and define the position of the platform module in a three-dimensional space. However, the platform module is in a three-dimensional space. The location is difficult to define and track, and the electronic devices are often subject to external interference, causing the motion trajectory of the platform module to not match the expected trajectory. In addition, the difference between the motion trajectory of the platform module and the expected trajectory is also difficult to quantify.
綜上所述，可知先前技術中長期以來一直存在平台模組在三維空間的位置難以定義與追蹤以及平台模組的運動軌跡與預期軌跡之間的差異也很難量化紀錄之問題，因此實有必要提出改進的技術手段，來解決此一問題。In summary, it can be seen that in the prior art, it has been a long time since the position of the platform module in the three-dimensional space is difficult to define and track, and the difference between the motion trajectory of the platform module and the expected trajectory is also difficult to quantify the record, so It is necessary to propose improved technical means to solve this problem.
本發明揭露一種三維軌跡驗證裝置及其方法。The invention discloses a three-dimensional trajectory verification device and a method thereof.
首先，本發明揭露一種三維軌跡驗證裝置，此裝置包含：平台模組、軌跡撥放模組、訊號發射模組及三維訊號接受模組。其中，平台模組用以接收運動軌跡；軌跡撥放模組用以輸出預錄軌跡；訊號發射模組連接軌跡撥放模組，用以依據預錄軌跡發射位置訊號，其中訊號發射模組與平台模組維持固定的相對位置；以及三維訊號接受模組固設於平台模組，用以接收訊號發射模組所發射的位置訊號，並輸出感測訊號至軌跡撥放模組。當預錄軌跡與運動軌跡相同時，軌跡撥放模組依據感測訊號輸出固定訊號﹔當預錄軌跡與運動軌跡不同時，軌跡撥放模組依據感測訊號輸出偏差訊號。First, the present invention discloses a three-dimensional trajectory verification device, which comprises: a platform module, a track dialing module, a signal transmitting module and a three-dimensional signal receiving module. The platform module is configured to receive a motion track; the track play module is configured to output a pre-recorded track; and the signal transmitting module is connected to the track play-out module for transmitting a position signal according to the pre-recorded track, wherein the signal transmitting module and the signal transmitting module The platform module maintains a fixed relative position; and the three-dimensional signal receiving module is fixed to the platform module for receiving the position signal transmitted by the signal transmitting module and outputting the sensing signal to the track dialing module. When the pre-recorded track is the same as the motion track, the track play module outputs a fixed signal according to the sensing signal; when the pre-recorded track is different from the motion track, the track play module outputs the deviation signal according to the sensing signal.
另外，本發明揭露一種三維軌跡驗證方法，其步驟包括：利用平台模組接收運動軌跡；利用軌跡撥放模組輸出預錄軌跡；利用訊號發射模組依據預錄軌跡發射位置訊號，其中訊號發射模組與平台模組維持固定的相對位置； 利用三維訊號接受模組接收位置訊號，並輸出感測訊號至軌跡撥放模組；當預錄軌跡與運動軌跡相同時，軌跡撥放模組依據感測訊號輸出固定訊號﹔以及當預錄軌跡與運動軌跡不同時，軌跡撥放模組依據感測訊號輸出偏差訊號。In addition, the present invention discloses a three-dimensional trajectory verification method, which comprises the steps of: receiving a motion trajectory by using a platform module; outputting a pre-recorded trajectory by using a trajectory play-out module; and transmitting a position signal according to the pre-recorded trajectory by using a signal transmitting module, wherein the signal is transmitted. The module and the platform module maintain a fixed relative position; the three-dimensional signal receiving module receives the position signal, and outputs the sensing signal to the track play-out module; when the pre-recorded track and the motion track are the same, the track play-out module is based on The sensing signal outputs a fixed signal; and when the pre-recording track is different from the motion track, the track playing module outputs the deviation signal according to the sensing signal.
本發明所揭露之系統與方法如上，與先前技術的差異在於本發明是透過訊號發射模組與平台模組維持固定的相對位置，使得平台模組的運動軌跡與軌跡撥放模組的預錄軌跡不同時，軌跡撥放模組依據感測訊號輸出偏差訊號。The system and method disclosed in the present invention are different from the prior art in that the present invention maintains a fixed relative position through the signal transmitting module and the platform module, so that the motion track of the platform module and the pre-recording of the track play module are When the track is different, the track play module outputs a deviation signal according to the sensing signal.
透過上述的技術手段，本發明可以達成自動驗證平台模組實際的運動軌跡與使用者預錄的軌跡是否相同，並記錄其誤差之技術功效。Through the above technical means, the invention can achieve whether the actual motion trajectory of the automatic verification platform module is the same as the trajectory pre-recorded by the user, and record the technical effect of the error.
以下將配合圖式及實施例來詳細說明本發明之實施方式，藉此對本發明如何應用技術手段來解決技術問題並達成技術功效的實現過程能充分理解並據以實施。The embodiments of the present invention will be described in detail below with reference to the drawings and embodiments, so that the application of the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.
在說明本發明所揭露之三維軌跡驗證裝置及其方法之前，先對本發明判斷兩物體的軌跡之間是否不同進行說明，其中軌跡係為一物體之移動路徑，也是多個位置點的集合，在本發明進行判斷兩物體的軌跡之間是否不同時，係依據同一時間兩物體之位置點間的相對位置是否改變為判斷依據，若同一時間兩物體之位置點間的相對位置發生變化，即判斷兩物體的軌跡不同﹔反之，則判斷兩物體的軌跡相同。此外，本發明所述之偏差訊號係包含同一時間兩物體之位置點間的相對位置發生變化時的變化量，該變化量可為角度或位移。Before describing the three-dimensional trajectory verification apparatus and the method thereof disclosed in the present invention, the present invention first determines whether the trajectories of the two objects are different, wherein the trajectory is a moving path of an object, and is also a set of a plurality of position points. When the present invention determines whether the trajectories of the two objects are different, whether the relative position between the positions of the two objects changes according to the same time is determined as a judgment basis, and if the relative position between the positions of the two objects changes at the same time, the judgment is made. The trajectories of the two objects are different; otherwise, the trajectories of the two objects are the same. In addition, the deviation signal according to the present invention includes the amount of change when the relative position between the positions of the two objects changes at the same time, and the amount of change may be an angle or a displacement.
請先參閱「第1圖」、「第2圖」、「第3A圖」與「第3B圖」，「第1圖」為本發明三維軌跡驗證裝置之一實施例結構示意圖，「第2圖」為「第1圖」之平台模組、軌跡撥放模組與訊號發射模組的結構示意圖，「第3A圖」為「第1圖」之三維訊號接受模組的一視角結構示意圖，「第3B圖」為「第3A圖」之三維訊號接受模組的另一視角結構示意圖。三維軌跡驗證裝置100包含：平台模組110、軌跡撥放模組120、訊號發射模組130及三維訊號接受模組140。Please refer to "1", "2", "3A" and "3B", "1" is a schematic diagram of an embodiment of a three-dimensional trajectory verification device of the present invention, "Fig. 2 The structure of the platform module, the track-and-play module and the signal-emitting module of the "Picture 1", and the "3A" is a schematic view of the three-dimensional signal receiving module of "Figure 1". Figure 3B is a schematic view of another perspective of the three-dimensional signal receiving module of Figure 3A. The three-dimensional trajectory verification device 100 includes a platform module 110, a trajectory play module 120, a signal transmitting module 130, and a three-dimensional signal receiving module 140.
其中，平台模組110用以接收運動軌跡。更詳細地說，平台模組110可結合運動平台（即待驗證運動軌跡是否符合使用者所預期的物體），因此，平台模組110與運動平台相依，運動平台與平台模組110的運動軌跡完全相同，運動平台可在三維空間進行三維度的運動，當運動平台進行翻滾（Roll）、俯仰（Pitch）或偏擺（Yaw）時，平台模組110接收該運動平台所產生的一運動軌跡，使得三維軌跡驗證裝置100可追蹤並驗證運動平台的運動軌跡。The platform module 110 is configured to receive a motion track. In more detail, the platform module 110 can be combined with the motion platform (ie, whether the motion track to be verified conforms to the object expected by the user), and therefore, the platform module 110 is dependent on the motion platform, and the motion platform and the platform module 110 are trajected. In the same way, the motion platform can perform three-dimensional motion in three-dimensional space. When the motion platform performs Roll, Pitch or Yaw, the platform module 110 receives a motion track generated by the motion platform. The three-dimensional trajectory verification apparatus 100 can track and verify the motion trajectory of the motion platform.
軌跡撥放模組120用以輸出預錄軌跡，其中，預錄軌跡係為使用者事先錄製好的預錄軌跡資料，該預錄軌跡資料可包含Roll、Pitch、Yaw 與時間，使得軌跡撥放模組120可依據每一時間之Roll、Pitch與Yaw重現使用者想要運行的軌跡。The track play module 120 is configured to output a pre-recorded track, wherein the pre-recorded track is a pre-recorded track data recorded by the user in advance, and the pre-recorded track data may include Roll, Pitch, Yaw and time, so that the track is played. The module 120 can reproduce the trajectory that the user wants to run according to Roll, Pitch and Yaw at each time.
在本實施例中，軌跡撥放模組120可包含處理單元（未繪製）、儲存單元（未繪製）與機構單元，處理單元依據儲存單元所儲存的預錄軌跡資料控制機構單元以輸出預錄軌跡。其中，處理單元與儲存單元可配置於平台模組110中的容置空間內，但本實施例並非用以限定本發明，可依據需求進行位置的調整。需注意的是，為避免圖式過於複雜，處理單元與儲存單元的配置位置未繪製於圖式中。In this embodiment, the track play module 120 may include a processing unit (not drawn), a storage unit (not drawn), and an organization unit. The processing unit controls the mechanism unit to output a pre-record according to the pre-recorded track data stored in the storage unit. Track. The processing unit and the storage unit can be disposed in the accommodating space in the platform module 110. However, this embodiment is not intended to limit the present invention, and the position adjustment can be performed according to requirements. It should be noted that in order to avoid the complexity of the drawing, the configuration positions of the processing unit and the storage unit are not drawn in the drawing.
更詳細地說，機構單元可包含第一馬達50、第二馬達52、第三馬達54、第一桿件40與第二桿件42，處理單元連接儲存單元、第一馬達50、第二馬達52與第三馬達54，儲存單元用以儲存預錄軌跡資料。第一桿件40的一端連接平台模組110，另一端連接第二桿件42，第二桿件42的另一端連接訊號發射模組130。第一馬達50配置於第一桿件40與平台模組110的連結處且第一馬達50位於第一桿件40與平台模組110之間，用以控制Yaw的運作﹔第二馬達52配置於第二桿件42與訊號發射模組130的連結處且第二馬達52與訊號發射模組130位於第二桿件42的相對兩側，用以控制Pitch的運作﹔第三馬達54配置於第二桿件42與第一桿件40的連結處且第三馬達54與第二桿件42位於第一桿件40的相對兩側，用以控制Roll的運作。從上述可知，軌跡撥放模組120係可藉由處理單元依據儲存單元所儲存的預錄軌跡資料利用第一馬達50、第二馬達52與第三馬達54控制第一桿件40與第二桿件42，進而達到輸出預錄軌跡的目的。此外，上述的連接方式可使得軌跡撥放模組120的運動不受運動平台的運動影響（即軌跡撥放模組120與運動平台之間是各自獨立運作）。In more detail, the mechanism unit may include a first motor 50, a second motor 52, a third motor 54, a first rod 40 and a second rod 42, the processing unit is connected to the storage unit, the first motor 50, the second motor 52 and the third motor 54, the storage unit is configured to store the pre-recorded track data. One end of the first rod 40 is connected to the platform module 110, the other end is connected to the second rod 42 , and the other end of the second rod 42 is connected to the signal transmitting module 130 . The first motor 50 is disposed at a joint between the first rod 40 and the platform module 110 and the first motor 50 is located between the first rod 40 and the platform module 110 for controlling the operation of the Yaw; the second motor 52 is configured The second rod 52 is disposed at the junction of the second rod 42 and the signal emitting module 130, and the second motor 52 and the signal emitting module 130 are located on opposite sides of the second rod 42 for controlling the operation of the Pitch; The junction of the second rod 42 and the first rod 40 and the third motor 54 and the second rod 42 are located on opposite sides of the first rod 40 for controlling the operation of the Roll. As can be seen from the above, the track play module 120 can control the first rod 40 and the second by using the first motor 50, the second motor 52 and the third motor 54 according to the pre-recorded track data stored by the storage unit. The rod 42 further achieves the purpose of outputting a pre-recorded track. In addition, the above connection manner can make the motion of the track play module 120 not affected by the motion of the motion platform (ie, the track play module 120 and the motion platform operate independently of each other).
訊號發射模組130連接軌跡撥放模組120且與平台模組110維持固定的相對位置，用以依據預錄軌跡發射位置訊號。更詳細地說，訊號發射模組130連接軌跡撥放模組120，並持續沿固定方向發出一位置訊號，當軌跡撥放模組120輸出預錄軌跡時，訊號發射模組130在三維空間中的位置會隨著預錄軌跡轉動，因此，三維訊號接受模組140可由其偵測到位置訊號的方向改變即可判斷訊號發射模組130在三維空間中的位置改變。其中，訊號發射模組130所發出的位置訊號可為但不限於雷射光。舉例而言，訊號發射模組130所發出的位置訊號也可為紅外線或超聲波。The signal transmitting module 130 is connected to the track play module 120 and maintains a fixed relative position with the platform module 110 for transmitting the position signal according to the pre-recorded track. In more detail, the signal transmitting module 130 is connected to the track play module 120 and continuously sends a position signal in a fixed direction. When the track play module 120 outputs the pre-recorded track, the signal transmitting module 130 is in a three-dimensional space. The position of the signal transmitting module 130 can be changed in the three-dimensional space by the position change of the position signal detected by the three-dimensional signal receiving module 140. The position signal sent by the signal transmitting module 130 can be, but is not limited to, laser light. For example, the position signal emitted by the signal transmitting module 130 can also be infrared or ultrasonic.
三維訊號接受模組140固設於平台模組110，用以接收訊號發射模組130所發射的位置訊號，並輸出感測訊號至軌跡撥放模組120。由於三維訊號接受模組140固設於平台模組110，因此，平台模組110與三維訊號接受模組140相依，兩者具有相同的運動軌跡。在本實施例中，三維訊號接受模組140可包含多個二維感測單元20與五面殼體22，該些二維感測單元20係以陣列方式排列配置於五面殼體22的內周壁221，且內周壁221遮蓋訊號發射模組130，以接收訊號發射模組130依據預錄軌跡轉動時所發射的位置訊號，進而判斷訊號發射模組130在三維空間中的位置改變。其中，每一二維感測單元20可為但不限於雷射光感測器，可依據實際訊號發射模組130所發出的位置訊號進行調整。舉例而言，當訊號發射模組130所發出的位置訊號為紅外線時，每一二維感測單元20可為紅外線感測器；當訊號發射模組130所發出的位置訊號為超聲波時，每一二維感測單元20可為超聲波感測器。其中，三維訊號接受模組140可以利用無線或有線的方式輸出感測訊號至軌跡撥放模組120的處理單元。The three-dimensional signal receiving module 140 is fixed to the platform module 110 for receiving the position signal transmitted by the signal transmitting module 130 and outputting the sensing signal to the track playing module 120. Since the three-dimensional signal receiving module 140 is fixed to the platform module 110, the platform module 110 is dependent on the three-dimensional signal receiving module 140, and both have the same motion track. In this embodiment, the three-dimensional signal receiving module 140 can include a plurality of two-dimensional sensing units 20 and a five-sided housing 22, and the two-dimensional sensing units 20 are arranged in an array on the five-sided housing 22. The inner peripheral wall 221 and the inner peripheral wall 221 cover the signal transmitting module 130 to receive the position signal emitted by the signal transmitting module 130 when the signal transmitting module 130 rotates according to the pre-recorded track, thereby determining the position change of the signal transmitting module 130 in the three-dimensional space. Each of the two-dimensional sensing units 20 can be, but is not limited to, a laser light sensor, and can be adjusted according to a position signal sent by the actual signal transmitting module 130. For example, when the position signal emitted by the signal transmitting module 130 is infrared, each two-dimensional sensing unit 20 can be an infrared sensor; when the position signal sent by the signal transmitting module 130 is ultrasonic, each A two-dimensional sensing unit 20 can be an ultrasonic sensor. The three-dimensional signal receiving module 140 can output the sensing signal to the processing unit of the track play module 120 by using a wireless or wired manner.
當預錄軌跡與運動軌跡相同時，軌跡撥放模120組依據感測訊號輸出固定訊號﹔當預錄軌跡與運動軌跡不同時，軌跡撥放模120組依據感測訊號輸出偏差訊號。其中，偏差訊號可包含同一時間預錄軌跡與運動軌跡之位置點間的相對位置發生變化時的變化量，該變化量可為角度或位移。When the pre-recorded trajectory is the same as the motion trajectory, the trajectory mode 120 outputs a fixed signal according to the sensing signal; when the pre-recorded trajectory is different from the motion trajectory, the trajectory modulo 120 group outputs the deviation signal according to the sensing signal. The deviation signal may include a change amount when the relative position between the pre-recorded track and the position of the motion track changes at the same time, and the change amount may be an angle or a displacement.
舉例而言，請參閱「第4A圖」與「第4B圖」，「第4A圖」為預錄軌跡與運動軌跡相同時三維軌跡驗證裝置之一實施例結構示意圖，「第4B圖」為預錄軌跡與運動軌跡不相同時三維軌跡驗證裝置之一實施例結構示意圖。需注意的是，為避免圖式複雜，「第4A圖」與「第4B圖」之三維訊號接受模組140係省略繪示五面殼體之其中三面。For example, please refer to "4A" and "4B". "4A" is a schematic diagram of an embodiment of a three-dimensional trajectory verification device when the pre-recorded trajectory is the same as the motion trajectory. "Picture 4B" is A schematic structural diagram of an embodiment of a three-dimensional trajectory verification device when the recorded trajectory and the motion trajectory are different. It should be noted that in order to avoid the complexity of the drawing, the three-dimensional signal receiving module 140 of "4A" and "4B" omits three sides of the five-sided housing.
由上述段落可知軌跡撥放模組120與運動平台之間是各自獨立運作，也就是說，軌跡撥放模組120與平台模組110之間是各自獨立運作（平台模組110與運動平台相依）。It can be seen from the above paragraph that the track play module 120 and the motion platform are independently operated, that is, the track play module 120 and the platform module 110 are independently operated independently (the platform module 110 and the motion platform are dependent) ).
此外，訊號發射模組130與平台模組110維持固定的相對位置，因此，平台模組110的運動座標與三維訊號接受模組140的運動座標具有固定的相對位置，使得三維訊號接受模組140的二維感測單元20a會持續收到訊號發射模組130所發射的位置訊號。In addition, the signal transmitting module 130 and the platform module 110 maintain a fixed relative position. Therefore, the motion coordinates of the platform module 110 and the motion coordinates of the three-dimensional signal receiving module 140 have a fixed relative position, so that the three-dimensional signal receiving module 140 The two-dimensional sensing unit 20a continuously receives the position signal transmitted by the signal transmitting module 130.
當平台模組110接收運動平台的運動軌跡的同時，軌跡撥放模組120也輸出預錄軌跡，使得當平台模組110所接收的運動軌跡與軌跡撥放模組120輸出的預錄軌跡相同時，二維感測單元20a會持續收到位置訊號（因為訊號發射模組130與平台模組110維持固定的相對位置）﹔請參照「第4B圖」，當平台模組110所接收的運動軌跡與預錄軌跡不相同時，二維感測單元20b會收到位置訊號（即訊號發射模組130與平台模組110不會維持固定的相對位置，使得不同的二維感測單元收到位置訊號），軌跡撥放模組120的處理單元可利用二維感測單元20a與二維感測單元20b之間的相對距離關係以及二維感測單元20a與二維感測單元20b接收到位置訊號的時間差計算預錄軌跡與運動軌跡之間的誤差，並輸出偏差訊號。更詳細地說，請參照「第4B圖」，假設預錄軌跡在時間t時有一上仰角 Error ，但是平台模組110沒有同步進行上仰角運動（即平台模組110所接收的運動軌跡與預錄軌跡不相同），此時二維感測單元20b會收到位置訊號。由於三維訊號接受模組140之二維感測單元陣列彼此之間的絕對位置皆為已知，故可透過二維感測單元20a與二維感測單元20b之間相對距離關係以及二維感測單元20a與二維感測單元20b接收到位置訊號的時間差T計算出目前軌跡偏差的位置，在本實施例中，平台模組110會有誤差ZError ，，其中，L為軌跡撥放模組120的座標原點與二維感測單元20b之間的距離。但上述例子並非用以限定本發明。While the platform module 110 receives the motion track of the motion platform, the track play module 120 also outputs the pre-recorded track, so that the motion track received by the platform module 110 is the same as the pre-recorded track output by the track play module 120. The two-dimensional sensing unit 20a will continue to receive the position signal (because the signal transmitting module 130 and the platform module 110 maintain a fixed relative position); please refer to "FIG. 4B", when the platform module 110 receives the motion When the trajectory is different from the pre-recorded trajectory, the two-dimensional sensing unit 20b receives the position signal (ie, the signal transmitting module 130 and the platform module 110 do not maintain a fixed relative position, so that different two-dimensional sensing units receive The processing unit of the track play module 120 can receive the relative distance relationship between the two-dimensional sensing unit 20a and the two-dimensional sensing unit 20b and the two-dimensional sensing unit 20a and the two-dimensional sensing unit 20b. The time difference of the position signal calculates the error between the pre-recorded trajectory and the motion trajectory, and outputs a deviation signal. In more detail, please refer to "4B", assuming that the pre-recorded trajectory has an upper elevation angle at time t. Error , but the platform module 110 does not synchronize the elevation motion (ie, the motion track received by the platform module 110 is different from the pre-recorded track), and the two-dimensional sensing unit 20b receives the position signal. Since the absolute positions of the two-dimensional sensing unit arrays of the three-dimensional signal receiving module 140 are known, the relative distance between the two-dimensional sensing unit 20a and the two-dimensional sensing unit 20b and the two-dimensional sense can be transmitted. The time difference T between the measuring unit 20a and the two-dimensional sensing unit 20b receives the position signal to calculate the position of the current trajectory deviation. In this embodiment, the platform module 110 has an error Z Error . Where L is the distance between the coordinate origin of the track play module 120 and the two-dimensional sensing unit 20b. However, the above examples are not intended to limit the invention.
換句話說，當平台模組110所接收的運動軌跡與預錄軌跡不相同時，處理單元可透過當前接收到位置訊號的二維感測單元與先前固定持續接收位置訊號的二維感測單元之間的偏差角度以及當前接收到位置訊號10的二維感測單元與軌跡撥放模組120的座標原點之間的距離進行計算而得到對應的偏移誤差。In other words, when the motion track received by the platform module 110 is different from the pre-recorded track, the processing unit can transmit the two-dimensional sensing unit that currently receives the position signal and the two-dimensional sensing unit that previously fixed the continuous receiving position signal. The deviation angle between the angle of the deviation and the distance between the two-dimensional sensing unit that receives the position signal 10 and the coordinate origin of the track play module 120 is calculated to obtain a corresponding offset error.
透過上述的機制，處理單元能夠計算出在每個時間點平台模組110與預設軌跡之間的三維偏移位移誤差以及角度誤差。同時，藉由此機制可以推論出三維軌跡驗證裝置100的驗證精準度與三維訊號接受模組140的二維感測單元的陣列密度有正相關性，當二維感測單元的陣列密度越密集時，三維軌跡驗證裝置100的驗證精準度會越高。Through the above mechanism, the processing unit can calculate the three-dimensional offset displacement error and the angular error between the platform module 110 and the preset trajectory at each time point. At the same time, it can be inferred that the verification accuracy of the three-dimensional trajectory verification device 100 is positively correlated with the array density of the two-dimensional sensing unit of the three-dimensional signal receiving module 140, and the density of the array of the two-dimensional sensing unit is denser. The verification accuracy of the three-dimensional trajectory verification device 100 will be higher.
接著，請參閱「第5圖」，「第5圖」為第1圖之三維軌跡驗證裝置的三維軌跡驗證方法之方法流程圖，其步驟包括：利用平台模組接收運動軌跡（步驟210）；利用軌跡撥放模組輸出預錄軌跡（步驟220）；利用訊號發射模組依據預錄軌跡發射位置訊號，其中訊號發射模組與平台模組維持固定的相對位置（步驟230）；利用三維訊號接受模組接收位置訊號，並輸出感測訊號至軌跡撥放模組（步驟240）；當預錄軌跡與運動軌跡相同時，軌跡撥放模組依據感測訊號輸出固定訊號（步驟250）﹔以及當預錄軌跡與運動軌跡不同時，軌跡撥放模組依據感測訊號輸出偏差訊號（步驟260）。其中，步驟210與步驟220同步執行，其他步驟依據其因果關係而有執行先後順序的差別。Next, please refer to "figure 5", "figure 5" is a flowchart of a method for verifying a three-dimensional trajectory of the three-dimensional trajectory verification device of FIG. 1, the steps of which include: receiving a motion trajectory by using the platform module (step 210); Using the track play module to output a pre-recorded track (step 220); using the signal transmitting module to transmit a position signal according to the pre-recorded track, wherein the signal transmitting module and the platform module maintain a fixed relative position (step 230); using the three-dimensional signal Receiving the module to receive the position signal, and outputting the sensing signal to the track play module (step 240); when the pre-recorded track is the same as the motion track, the track play module outputs a fixed signal according to the sensing signal (step 250); And when the pre-recorded track is different from the motion track, the track play module outputs the deviation signal according to the sensing signal (step 260). Step 210 is performed synchronously with step 220, and other steps have a difference in execution order according to the causal relationship.
其中，請參閱「第6圖」，「第6圖」為「第5圖」之步驟220的細部流程圖。在利用軌跡撥放模組輸出預錄軌跡的步驟（即步驟220）中，更包含：利用儲存單元儲存的預錄軌跡資料（步驟310）﹔以及利用處理單元依據預錄軌跡資料控制機構單元，以輸出預錄軌跡（步驟320）。其中，預錄軌跡資料包含翻滾、俯仰、偏擺與時間，使得軌跡撥放模組依據每一時間之翻滾、俯仰與偏擺控制機構單元，以輸出預錄軌跡。For details, please refer to "Figure 6" and "Figure 6" is a detailed flow chart of step 220 of "5th figure". The step of outputting the pre-recorded track by using the track play module (ie, step 220) further includes: using the pre-recorded track data stored by the storage unit (step 310); and using the processing unit to control the mechanism unit according to the pre-recorded track data. The pre-recorded track is output (step 320). The pre-recorded trajectory data includes rollover, pitch, yaw and time, so that the track play-out module outputs the pre-recorded track according to the roll, pitch and yaw control mechanism units of each time.
綜上所述，可知本發明與先前技術之間的差異在於透過訊號發射模組與平台模組維持固定的相對位置，使得平台模組的運動軌跡與軌跡撥放模組的預錄軌跡不同時，軌跡撥放模組依據感測訊號輸出偏差訊號，藉由此一技術手段可以解決先前技術所存在的問題。In summary, it can be seen that the difference between the present invention and the prior art is that the fixed relative position is maintained by the signal transmitting module and the platform module, so that the motion track of the platform module is different from the pre-recorded track of the track play module. The track play module outputs the deviation signal according to the sensing signal, and the technical problem can solve the problems of the prior art.
雖然本發明以前述之實施例揭露如上，然其並非用以限定本發明，任何熟習相像技藝者，在不脫離本發明之精神和範圍內，當可作些許之更動與潤飾，因此本發明之專利保護範圍須視本說明書所附之申請專利範圍所界定者為準。While the present invention has been described above in the foregoing embodiments, it is not intended to limit the invention, and the invention may be modified and modified without departing from the spirit and scope of the invention. The scope of patent protection shall be subject to the definition of the scope of the patent application attached to this specification.
20、20a、20b‧‧‧二維感測單元
22‧‧‧五面殼體
40‧‧‧第一桿件
42‧‧‧第二桿件
50‧‧‧第一馬達
52‧‧‧第二馬達
54‧‧‧第三馬達
100‧‧‧三維軌跡驗證裝置
110‧‧‧平台模組
120‧‧‧軌跡撥放模組
130‧‧‧訊號發射模組
140‧‧‧三維訊號接受模組
221‧‧‧內周壁
Error‧‧‧上仰角
L‧‧‧距離
步驟210‧‧‧利用平台模組接收運動軌跡
步驟220‧‧‧利用軌跡撥放模組輸出預錄軌跡
步驟230‧‧‧利用訊號發射模組依據預錄軌跡發射位置訊號，其中訊號發射模組與平台模組維持固定的相對位置
步驟240‧‧‧利用三維訊號接受模組接收位置訊號並輸出感測訊號至軌跡撥放模組
步驟250‧‧‧當預錄軌跡與運動軌跡相同時，軌跡撥放模組依據感測訊號輸出固定訊號
步驟260‧‧‧當預錄軌跡與運動軌跡不同時，軌跡撥放模組依據感測訊號輸出偏差訊號
步驟310‧‧‧利用儲存單元儲存的預錄軌跡資料
步驟320‧‧‧利用處理單元依據預錄軌跡資料控制機構單元，以輸出預錄軌跡20, 20a, 20b‧‧‧ two-dimensional sensing unit
22‧‧‧Five-sided shell
40‧‧‧First member
42‧‧‧Second bars
50‧‧‧First motor
52‧‧‧second motor
54‧‧‧third motor
100‧‧‧3D trajectory verification device
110‧‧‧ platform module
120‧‧‧Track Playback Module
130‧‧‧Signal launch module
140‧‧‧3D signal receiving module
221‧‧‧ inner wall
Error ‧‧‧Upper elevation L‧‧‧Distance Step 210‧‧‧Using the platform module to receive the motion track Step 220‧‧‧Using the track dial module to output the pre-recorded track Step 230‧‧‧ Using the signal transmission module Recording the trajectory launch position signal, wherein the signal transmitting module and the platform module maintain a fixed relative position. Step 240 ‧ ‧ Using the 3D signal receiving module to receive the position signal and output the sensing signal to the track dialing module step 250‧‧ When the pre-recorded track is the same as the motion track, the track play module outputs a fixed signal according to the sensing signal. Step 260‧‧‧ When the pre-recorded track is different from the motion track, the track play module outputs the deviation signal according to the sensing signal 310‧‧‧Use the pre-recorded trajectory data stored in the storage unit. Step 320‧‧‧ Use the processing unit to control the mechanism unit according to the pre-recorded trajectory data to output the pre-recorded trajectory
第1圖為本發明三維軌跡驗證裝置之一實施例結構示意圖。 第2圖為第1圖之平台模組、軌跡撥放模組與訊號發射模組的結構示意圖。 第3A圖為第1圖之三維訊號接受模組的一視角結構示意圖。 第3B圖為第1圖之三維訊號接受模組的另一視角結構示意圖。 第4A圖為預錄軌跡與運動軌跡相同時三維軌跡驗證裝置之一實施例結構示意圖。 第4B圖為預錄軌跡與運動軌跡不相同時三維軌跡驗證裝置之一實施例結構示意圖。 第5圖為第1圖之三維軌跡驗證裝置的三維軌跡驗證方法之方法流程圖。 第6圖為第5圖之步驟220的細部流程圖。FIG. 1 is a schematic structural view of an embodiment of a three-dimensional trajectory verification device according to the present invention. FIG. 2 is a schematic structural view of the platform module, the track dialing module and the signal transmitting module of FIG. 1 . FIG. 3A is a schematic perspective view of the three-dimensional signal receiving module of FIG. 1 . FIG. 3B is a schematic view showing another perspective structure of the three-dimensional signal receiving module of FIG. 1. 4A is a schematic structural view of an embodiment of a three-dimensional trajectory verification device when the pre-recorded trajectory is the same as the motion trajectory. FIG. 4B is a structural schematic diagram of an embodiment of a three-dimensional trajectory verification apparatus when the pre-recorded trajectory is different from the motion trajectory. Fig. 5 is a flow chart showing the method of the three-dimensional trajectory verification method of the three-dimensional trajectory verification device of Fig. 1. Figure 6 is a detailed flow chart of step 220 of Figure 5.
Claims (14)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105141997A TWI608320B (en) | 2016-12-19 | 2016-12-19 | Three dimensional trace verification apparatus and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105141997A TWI608320B (en) | 2016-12-19 | 2016-12-19 | Three dimensional trace verification apparatus and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TWI608320B TWI608320B (en) | 2017-12-11 |
| TW201823883A true TW201823883A (en) | 2018-07-01 |
Family
ID=61230601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW105141997A TWI608320B (en) | 2016-12-19 | 2016-12-19 | Three dimensional trace verification apparatus and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI608320B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200841981A (en) * | 2007-04-20 | 2008-11-01 | Univ Nat Formosa | Laser array measurement system for testing three dimensional positioning performance, measuring three dimensional orbit and straightness of arbitrary axis |
| US20130185018A1 (en) * | 2010-10-01 | 2013-07-18 | Hua Sheng | Apparatuses and Methods for Estimating the Yaw Angle of a Device in a Gravitational Reference System Using Measurements of Motion Sensors and a Magnetometer Attached to the Device |
| CN102223522A (en) * | 2011-05-20 | 2011-10-19 | 杭州数尔电子有限公司 | Intelligent automatic tracker module |
| TWI558617B (en) * | 2014-09-25 | 2016-11-21 | Univ Nat Formosa | Unmanned flight vehicle autonomous flight computer system and control method |
| CN104786226A (en) * | 2015-03-26 | 2015-07-22 | 华南理工大学 | Posture and moving track positioning system and method of robot grabbing online workpiece |
| CN105222772B (en) * | 2015-09-17 | 2018-03-16 | 泉州装备制造研究所 | A kind of high-precision motion track detection system based on Multi-source Information Fusion |
| CN105768884B (en) * | 2016-03-28 | 2018-05-08 | 北京古点科技有限公司 | A kind of coffee brewing automatic realizing system and method |
| TWM530737U (en) * | 2016-07-18 | 2016-10-21 | Univ Nat Formosa | Calibration system of robot |
-
2016
- 2016-12-19 TW TW105141997A patent/TWI608320B/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| TWI608320B (en) | 2017-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102448284B1 (en) | head mounted display tracking system | |
| CN106679651A (en) | Sound localization method and device and electronic equipment | |
| US9438800B1 (en) | Enabling image stabilization for a panoramic camera with multiple fixed lenses | |
| US20180160251A1 (en) | Distributed audio capturing techniques for virtual reality (vr), augmented reality (ar), and mixed reality (mr) systems | |
| WO2016019768A1 (en) | Sound source orientation control apparatus and method for video surveillance | |
| CN105794197A (en) | Portable device capable of generating panoramic file | |
| JP2022501684A (en) | Shooting-based 3D modeling systems and methods, automated 3D modeling equipment and methods | |
| WO2015100964A1 (en) | Method and system for automatically adjusting display viewing angle and display | |
| TW201113629A (en) | Control device, operation setting method, and program | |
| CN109076158A (en) | Panorama photographic method, photographing device and machine readable storage medium | |
| TW201443543A (en) | Panning camera and automatic panning cradle head | |
| TWI608320B (en) | Three dimensional trace verification apparatus and method thereof | |
| US9160904B1 (en) | Gantry observation feedback controller | |
| US9621819B2 (en) | Electronic device and multimedia control method thereof | |
| KR101574667B1 (en) | CCTV sound source tracking device recording function using an acoustic sensor is provided | |
| JP6845121B2 (en) | Robots and robot control methods | |
| KR102106274B1 (en) | Method for measuring behavior of moving body and behavior measuring device | |
| US10529128B1 (en) | Apparatus, system, and method for mapping a 3D environment | |
| JP2016163181A5 (en) | Signal processing apparatus, signal processing method, and program | |
| TWI756607B (en) | Automatic positioning speaker device and sound system thereof | |
| US10317207B2 (en) | Three-dimensional trace verification apparatus and method thereof | |
| CN113099099A (en) | Camera holder, electronic equipment and camera driving method | |
| TWI636453B (en) | Multimedia data processing device and method | |
| WO2023093078A1 (en) | Broadcast-directing control method and apparatus, and storage medium and computer program product | |
| TW201351979A (en) | Method and system for determining shooting range of lens |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |