TWI658345B - Modular machine control device based on image correction - Google Patents
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Abstract
本發明係提供一種基於影像校正之模組化機具控制裝置，其包含：一機體，其設有一驅動單元及一作用端，該驅動單元係用以驅動該作用端以執行一運動指令；該作用端具有一承載面，該承載面設有一載體，而載體設有一影像擷取單元及一慣性感測單元；以及一處理單元，其係耦接於該驅動單元、該影像擷取單元及該慣性感測單元；藉之，本發明係藉由慣性感測單元量測作用端之運動狀態，藉以對應校正該影像擷取單元所擷取之影像，進而可利於分析影像中之物件特徵，並可依據物件特徵而控制該驅動單元，令該作用端執行該運動指令以操作物件；且藉由載體之設置，令影像擷取單元及慣性感測單元可模組化設置於載體，藉可利於裝設於各式機體之作用端，以提升本發明整體之適用性者。The invention provides a modular tool control device based on image correction, which includes: a body provided with a driving unit and an active end; the driving unit is used to drive the active end to execute a motion instruction; the function The end has a bearing surface, the bearing surface is provided with a carrier, and the carrier is provided with an image capturing unit and an inertial sensing unit; and a processing unit, which is coupled to the driving unit, the image capturing unit and the inertia Sexy measuring unit; By this, the present invention measures the movement state of the active end by the inertial sensing unit, so as to correspondingly correct the image captured by the image capturing unit, thereby facilitating analysis of object characteristics in the image, and The driving unit is controlled according to the characteristics of the object, so that the action end executes the motion instruction to operate the object; and through the setting of the carrier, the image capturing unit and the inertial sensing unit can be modularized on the carrier, which can facilitate the installation It is provided at the action end of various bodies to improve the overall applicability of the present invention.
Description
本發明係提供一種基於影像校正之模組化機具控制裝置，尤指一種藉由模組化之影像擷取單元及慣性感測單元設置於機體之作用端中心，藉可令影像擷取單元擷取作用端之影像，並藉由慣性感測單元校正該影像擷取單元所擷取之影像，進而可利於分析影像中之物件特徵，以依據物件特徵而控制該作用端之運動指令。 The present invention provides a modular machine control device based on image correction, in particular, a modular image capturing unit and inertial sensing unit are arranged at the center of the active end of the body, so that the image capturing unit can capture Take the image of the active end, and correct the image captured by the image capture unit by the inertial sensing unit, which can help analyze the object features in the image to control the motion instructions of the active end according to the object features.
按，隨科技之發展，各技術領域之技術亦持續翻新，而為能解決部分技術瓶頸，故予以參酌並研究生物之結構及原理，以利透過生物特徵，提供新的技術思想及系統架構原理，造就現今仿生機械之發展；舉例而言，機械手臂即係模仿人類手臂之關節運動，期以令技術產品可具有精緻化及一致性之特性，並能予以提升產能及降低人力成本之支出者。 According to the development of science and technology, technologies in various technical fields have also continued to be renovated. In order to solve some technical bottlenecks, we should consider and study the structure and principle of living things, so as to provide new technical ideas and system architecture principles through biological characteristics. , Resulting in the development of today's bionic machinery; for example, a robotic arm is a model that mimics the joint motion of a human arm, in order to make technology products have the characteristics of refinement and consistency, and can increase the productivity and reduce the cost of laborers .
現今機械手臂之種類所在多有，多數者，係僅依據所需加工之特定產品種類，而予以設定其運動指令，然而，當產品規格相異時，則需重新定義其運動指令，此將造成機械手臂之適用性受限。 At present, there are many types of robotic arms. Most of them set motion instructions based on the specific product type to be processed. However, when the product specifications are different, it is necessary to redefine their motion instructions, which will cause The applicability of robotic arms is limited.
習知另提供一種結合影像分析之機械手臂，其係藉由於機械手臂設置攝影裝置，以藉由攝影裝置擷取物件影像之影像特徵，以利於依據影像特 徵控制機械手臂之作動者；然而，通常攝影裝置與機械手臂之設置位置並不相同，如第1圖所示，當攝影裝置10裝設於機械手臂20一端時，則其影像擷取範圍將於另一端產生拍攝死角，而致對於物件影像之擷取不完整，且攝影裝置10所拍攝之視角將影響影像特徵之產生及分析，其將導致機械手臂20依據影像特徵而作動時具有誤差，此將存有影響機械手臂20工作精度之虞；而若欲克服此誤差則需另進行偏差之影像校正，其將增加影像之幾何運算，並導致增加影像分析之時間，且仍存有無法完全消除誤差之疑慮。 It is also known to provide a robotic arm that combines image analysis. The robotic arm is provided with a photographing device to capture the image characteristics of the object image by the photographing device, so as to facilitate the analysis based on the image characteristics. It is necessary to control the manipulator of the robotic arm; however, usually the camera and robot arm are not in the same position. As shown in Figure 1, when the camera 10 is installed at one end of the robotic arm 20, the image capture range will be A shooting dead angle is generated at the other end, which results in incomplete capture of the object image, and the angle of view taken by the photographing device 10 will affect the generation and analysis of image features, which will cause the robot arm 20 to have errors when operating according to the image features. There will be a risk of affecting the working accuracy of the robotic arm 20; if the error is to be overcome, an image correction of the deviation will be required, which will increase the geometric calculation of the image and lead to an increase in the time of image analysis, and there is still a problem Eliminate doubts about errors.
有鑑於此，吾等發明人乃潛心進一步研究機械手臂，並著手進行研發及改良，期以一較佳發明以解決上述問題，且在經過不斷試驗及修改後而有本發明之問世。 In view of this, our inventors have concentrated on further researching the robotic arm, and have begun research and development and improvement with a view to a better invention to solve the above problems, and the invention came out after continuous testing and modification.
爰是，本發明之目的係為解決習知機械手臂因攝影裝置與機械手臂之設置位置的差異，影響影像特徵之產生及分析，進而導致機械手臂之工作產生誤差等缺失。 That is, the purpose of the present invention is to solve the lack of the conventional robotic arm due to the difference in the installation position of the photography device and the robotic arm, which affects the generation and analysis of image features, and causes errors in the operation of the robotic arm.
為達致以上目的，吾等發明人提供一種基於影像校正之模組化機具控制裝置，其包含：一機體，其設有一驅動單元及一作用端，該驅動單元係用以驅動該作用端以執行一運動指令；該作用端具有一承載面，該承載面設有一載體；該機體及作用端之中心處界定有一軸線；一影像擷取單元，其係設置於該載體，並對應設置於該軸線處，且該影像擷取單元係對應擷取該作用端前方之影像；一慣性感測單元，其係設置於該載體，並對應量測該作用端之運動狀態；以及一處理單元，其係耦接於該驅動單元、該影像擷取單元及該慣性感 測單元；該處理單元係於該影像擷取單元及該作用端界定有一初始值，且該處理單元係對應接收該運動狀態，並依據該運動狀態與該初始值之差值，以對應校正該影像擷取單元所擷取之影像；該處理單元係於該影像中分析一物件特徵，以依據該物件特徵界定一對應於該作用端初始值之執行路徑，進而依據該執行路徑控制該驅動單元，令該作用端執行該運動指令者。 In order to achieve the above purpose, our inventors provide a modular implement control device based on image correction, which includes: a body, which is provided with a drive unit and an active end, the drive unit is used to drive the active end to A motion instruction is executed; the active end has a bearing surface provided with a carrier; an axis is defined at the center of the body and the active end; an image capturing unit is disposed on the carrier and correspondingly disposed on the carrier; At the axis, and the image capturing unit correspondingly captures the image in front of the active end; an inertial sensing unit, which is arranged on the carrier and correspondingly measures the motion state of the active end; and a processing unit, which Is coupled to the driving unit, the image capturing unit and the inertia A measurement unit; the processing unit defines an initial value at the image capture unit and the active end, and the processing unit correspondingly receives the motion state, and corrects the corresponding value according to the difference between the motion state and the initial value An image captured by an image capturing unit; the processing unit analyzes an object feature in the image to define an execution path corresponding to the initial value of the acting end according to the object feature, and then controls the driving unit according to the execution path , So that the acting end executes the motion commander.
據上所述之基於影像校正之模組化機具控制裝置，其中，該載體更設有一組接孔、一容置槽及至少一導槽，該容置槽係分別連通於所述導槽及該組接孔，且所述導槽至少一端係連通至該載體側緣；該容置槽係容置該慣性感測單元、該處理單元及該影像擷取單元，且該影像擷取單元係藉由該組接孔對應擷取該作用端前方之影像。 According to the modularized tool control device based on image correction described above, the carrier is further provided with a set of connection holes, an accommodation slot and at least one guide slot, which are respectively connected to the guide slot and the guide slot. The set of connection holes, and at least one end of the guide groove is connected to the side edge of the carrier; the accommodation groove houses the inertial sensing unit, the processing unit, and the image capture unit, and the image capture unit is An image in front of the active end is captured correspondingly through the group of connection holes.
據上所述之基於影像校正之模組化機具控制裝置，其中，該組接孔組更設有一罩體，該罩體設有一可通過該組接孔之容置部，該容置部周緣設有一大於該組接孔之組接部，該組接部係抵頂於該載體於該承載面之一端，該容置部於成型有一容置空間及一穿孔，而該影像擷取單元係容置於該容置空間，並對應位於該穿孔處，以藉由該穿孔對應擷取該作用端前方之影像。 According to the modularized tool control device based on image correction described above, wherein the group of sockets is further provided with a cover, the cover is provided with a receiving portion that can pass through the group of holes, and the periphery of the receiving portion An assembly portion is provided which is larger than the set of connection holes. The assembly portion is abutted against one end of the carrier on the bearing surface. The accommodation portion is formed with an accommodation space and a perforation. The image capture unit is The container is placed in the containing space and correspondingly located at the perforation, so as to capture the image in front of the active end through the perforation.
據上所述之基於影像校正之模組化機具控制裝置，其中，該載體更設有一容置槽及至少一導槽，該組接孔係設於該容置槽，該罩體之組接部切設有一切槽，該切槽係連通於該容置槽，而該容置槽係分別連通於所述導槽，且所述導槽至少一端係連通至該載體側緣；該容置槽係容置該慣性感測單元及該處理單元。 According to the modularized tool control device based on image correction described above, wherein the carrier is further provided with an accommodation slot and at least one guide slot, the group connection hole is provided in the accommodation slot, and the cover body is assembled. All grooves are cut in the part, the cut grooves are connected to the receiving grooves, and the receiving grooves are respectively connected to the guide grooves, and at least one end of the guide grooves is connected to the side edge of the carrier; The slot houses the inertial sensing unit and the processing unit.
據上所述之基於影像校正之模組化機具控制裝置，其中，該載體於該組接孔之周緣處，更設有至少一貫孔，且所述貫孔係連通於該容置槽，該 容置槽容置有至少一發光元件，所述發光元件係耦接於該處理單元，所述發光元件係對應藉由所述貫孔投射光線者。 According to the modularized tool control device based on image correction described above, wherein the carrier is further provided with at least one through hole at the periphery of the group of connection holes, and the through hole is connected to the accommodation slot, the The accommodating slot contains at least one light emitting element, the light emitting element is coupled to the processing unit, and the light emitting element is corresponding to a person who projects light through the through hole.
據上所述之基於影像校正之模組化機具控制裝置，其中，所述發光元件係發出可見光、紫外光、紅外光之單一光或其組合光。 According to the modularized tool control device based on image correction described above, wherein the light-emitting element emits a single light of visible light, ultraviolet light, infrared light, or a combination thereof.
據上所述之基於影像校正之模組化機具控制裝置，其中，該載體更設有至少一切口，至少其一所述導槽係連通至所述切口，且所述切口容置有一連接埠，所述連接埠係耦接於該處理單元。 According to the modularized tool control device based on image correction described above, the carrier is further provided with at least all openings, at least one of the guide grooves is connected to the cutout, and the cutout contains a connection port The port is coupled to the processing unit.
據上所述之基於影像校正之模組化機具控制裝置，其中，所述連接埠為USB介面、Mini USB介面、Micro USB或Type C界面。 According to the modularized tool control device based on image correction described above, wherein the port is a USB interface, a Mini USB interface, a Micro USB or a Type C interface.
據上所述之基於影像校正之模組化機具控制裝置，其中，該機體更設有一距離感測單元，該距離感測單元係電性連結於該處理單元，該距離感測單元係感測該作用端前方之一距離值，該處理單元係依據該距離界定有該初始值，且該處理單元係依據該物件特徵及該距離值界定該執行路徑，進而依據該執行路徑控制該驅動單元，令該作用端執行該運動指令者。 According to the modularized tool control device based on image correction described above, the body is further provided with a distance sensing unit, the distance sensing unit is electrically connected to the processing unit, and the distance sensing unit is sensing A distance value in front of the acting end, the processing unit defines the initial value according to the distance, and the processing unit defines the execution path according to the object characteristics and the distance value, and then controls the driving unit according to the execution path. The effector is caused to execute the motion commander.
據上所述之基於影像校正之模組化機具控制裝置，其中，該距離感測單元為超音波感測器、紅外線感測器或雷射感測器。 According to the modularized tool control device based on image correction described above, the distance sensing unit is an ultrasonic sensor, an infrared sensor, or a laser sensor.
據上所述之基於影像校正之模組化機具控制裝置，其中，該載體更設有至少一通孔，且該距離感測單元係容置於該容置槽，並藉由所述通孔進行測距者。 According to the modularized tool control device based on image correction described above, the carrier is further provided with at least one through hole, and the distance sensing unit is housed in the accommodation slot and is carried out through the through hole. Rangefinder.
據上所述之基於影像校正之模組化機具控制裝置，其中，該載體於該承載面一端更設有一片體，且該片體之外輪廓係與該載體相互對應者。 According to the modularized tool control device based on image correction described above, the carrier is further provided with a body at one end of the bearing surface, and the outer contour of the body corresponds to the carrier.
據上所述之基於影像校正之模組化機具控制裝置，其中，該機體為機械手臂，該作用端為機械夾爪。 According to the modularized tool control device based on image correction described above, the body is a mechanical arm and the active end is a mechanical gripper.
據上所述之基於影像校正之模組化機具控制裝置，其中，該慣性感測單元為加速計或陀螺儀，而該運動狀態為傾角值。 According to the modularized tool control device based on image correction described above, wherein the inertial sensing unit is an accelerometer or a gyroscope, and the motion state is an inclination value.
是由上述說明及設置，顯見本發明主要具有下列數項優點及功效，茲逐一詳述如下： From the above description and setting, it is obvious that the present invention has the following several advantages and effects, which are detailed below one by one:
1.本發明藉由於作用端之承載面設置載體，而載體設有影像擷取單元及慣性感測單元，使機體無論於平移運動或旋轉運動時，影像擷取單元及慣性感測單元將可隨之連動，且影像擷取單元係直接由機體之作用端擷取影像，並藉由慣性感測單元所感測之運動狀態，以校正影像擷取單元所擷取影像，令影像擷取單元所擷取之影像不受作用端之旋轉之影響而偏位，藉以利於影像之分析，進而提升分析物件特徵以及定義執行路徑之精確度，進而可提高作用端執行運動指令之工作精度者。 1. In the present invention, the carrier is provided on the bearing surface of the active end, and the carrier is provided with an image capturing unit and an inertial sensing unit, so that the body of the image capturing unit and the inertial sensing unit will be able to move when the body is in translation or rotation Following this, the image capture unit captures the image directly from the action end of the body, and corrects the image captured by the image capture unit by using the motion state sensed by the inertial sensing unit, so that the image capture unit The captured image is not biased by the rotation of the active end, which facilitates the analysis of the image, thereby improving the accuracy of analyzing the characteristics of the object and defining the execution path, so as to improve the work accuracy of the motion end executing the motion instruction.
2.本發明藉由載體之設置，藉可予以容置影像擷取單元、慣性感測單元、處理單元、連接埠及發光元件，並可利於佈設其分別之線路，以利於予以模組化，藉可適用於各式機體之作用端，以提升本發明整體之適用性者。 2. The present invention can accommodate an image capture unit, an inertial sensing unit, a processing unit, a port, and a light-emitting element through the setting of the carrier, and it can facilitate the layout of its separate circuits to facilitate modularization. It can be applied to the acting end of various types of bodies to improve the overall applicability of the present invention.
10‧‧‧攝影裝置 10‧‧‧ Camera
20‧‧‧機械手臂 20‧‧‧ Robotic arm
1‧‧‧機體 1‧‧‧ body
11‧‧‧驅動單元 11‧‧‧Drive unit
12‧‧‧作用端 12‧‧‧ acting side
13‧‧‧承載面 13‧‧‧ bearing surface
2‧‧‧載體 2‧‧‧ carrier
21‧‧‧組接孔 21‧‧‧group of holes
22‧‧‧罩體 22‧‧‧ Cover
221‧‧‧容置部 221‧‧‧accommodation department
222‧‧‧組接部 222‧‧‧Assembly Department
223‧‧‧容置空間 223‧‧‧accommodation space
224‧‧‧穿孔 224‧‧‧perforation
225‧‧‧切槽 225‧‧‧Groove
23‧‧‧容置槽 23‧‧‧Receiving slot
24‧‧‧導槽 24‧‧‧Guide
25、25’‧‧‧切口 25, 25’‧‧‧ incision
26‧‧‧貫孔 26‧‧‧Through Hole
27‧‧‧通孔 27‧‧‧through hole
3‧‧‧影像擷取單元 3‧‧‧Image Acquisition Unit
4‧‧‧慣性感測單元 4‧‧‧Inertial sensing unit
5‧‧‧處理單元 5‧‧‧ processing unit
51、51’‧‧‧連接埠 51, 51’‧‧‧ Port
6‧‧‧片體 6‧‧‧ film
7‧‧‧發光元件 7‧‧‧Light-emitting element
8‧‧‧距離感測單元 8‧‧‧Distance sensing unit
第1圖係習知機械手臂裝設攝影裝置之示意圖。 Figure 1 is a schematic diagram of a conventional robotic arm equipped with a photographing device.
第2圖係本發明之結構示意圖。 Fig. 2 is a schematic structural view of the present invention.
第3圖係本發明之立體示意圖。 Figure 3 is a schematic perspective view of the present invention.
第4圖係本發明之立體分解示意圖。 Figure 4 is a three-dimensional exploded view of the present invention.
第5圖係本發明載體之後視示意圖。 Figure 5 is a schematic rear view of the carrier of the present invention.
第6圖係本發明於載體設置處理單元、影像擷取單元、慣性感測單元、連接埠、發光元件及距離感測單元之示意圖。 FIG. 6 is a schematic diagram of a processing unit, an image capturing unit, an inertial sensing unit, a port, a light emitting element, and a distance sensing unit provided on a carrier according to the present invention.
關於吾等發明人之技術手段，茲舉數種較佳實施例配合圖式於下文進行詳細說明，俾供 鈞上深入了解並認同本發明。 Regarding the technical means of our inventors, several preferred embodiments are described in detail below in conjunction with the drawings, for the purpose of understanding and agreeing with the present invention.
請先參閱第2圖至第6圖所示，本發明係一種基於影像校正之模組化機具控制裝置，其包含：一機體1，其設有一驅動單元11及一作用端12，該驅動單元11係用以驅動該作用端12以執行一運動指令；該作用端12具有一承載面13，該承載面13設有一載體2；在一具體之實施例中，該機體1為機械手臂，該作用端12為機械夾爪；一影像擷取單元3，其係設置於該載體2，且該影像擷取單元3係對應擷取該作用端12前方之影像；一慣性感測單元4，其係設置於該載體2，並對應量測該作用端12之運動狀態；其中，慣性感測單元4包含加速度計、角加速度感測器(陀螺儀)之其一或其組合，是以，運動狀態係為一傾角值；以及一處理單元5，其係耦接於該驅動單元11、該影像擷取單元3及該慣性感測單元4； 對於影像擷取單元3之設置，因影像擷取單元3之體積及外型受限於其鏡頭之需求，且影像擷取單元3之方向及位置須妥善定位，故在一實施例中，如第4圖至第6圖所示，該載體2設有一組接孔21，該組接孔21組設有一罩體22，該罩體22設有一可通過該組接孔21之容置部221，使容置部221可凸伸於該載體2，該容置部221周緣設有一大於該組接孔21之組接部222，該組接部222係抵頂於該載體2於該承載面13之一端，該容置部221於成型有一容置空間223及一穿孔224，而該影像擷取單元3係容置於該容置空間223中，並對應位於該穿孔224處，以藉由該穿孔224對應擷取該作用端12前方之影像。 Please refer to FIG. 2 to FIG. 6 first, the present invention is a modularized tool control device based on image correction, which includes: a body 1, which is provided with a drive unit 11 and an active end 12, the drive unit 11 is used to drive the active end 12 to execute a movement instruction; the active end 12 has a bearing surface 13 which is provided with a carrier 2; in a specific embodiment, the body 1 is a mechanical arm, the The active end 12 is a mechanical gripper; an image capture unit 3 is provided on the carrier 2, and the image capture unit 3 is corresponding to capture an image in front of the active end 12; an inertial sensing unit 4, which It is set on the carrier 2 and measures the movement state of the active end 12 correspondingly. Among them, the inertial sensing unit 4 includes one or a combination of an accelerometer and an angular acceleration sensor (gyroscope). The state is a tilt value; and a processing unit 5 is coupled to the driving unit 11, the image capturing unit 3, and the inertial sensing unit 4; For the setting of the image capturing unit 3, the volume and appearance of the image capturing unit 3 are limited by the requirements of its lens, and the direction and position of the image capturing unit 3 must be properly positioned. Therefore, in an embodiment, such as As shown in FIGS. 4 to 6, the carrier 2 is provided with a set of connection holes 21. The set of connection holes 21 is provided with a cover 22. The cover 22 is provided with a receiving portion 221 that can pass through the set of connection holes 21. So that the accommodating portion 221 can protrude from the carrier 2. A peripheral portion of the accommodating portion 221 is provided with a grouping portion 222 that is larger than the group of connection holes 21. The grouping portion 222 abuts against the carrier 2 on the bearing surface. At one end of the 13th, the accommodating portion 221 is formed with an accommodating space 223 and a perforation 224, and the image capturing unit 3 is accommodated in the accommodating space 223 and correspondingly located at the perforation 224 so that The perforation 224 correspondingly captures an image in front of the active end 12.
而對處理單元5及慣性感測單元4之設置，在一實施例中，如第5圖所示，係於該載體2更設有一容置槽23及至少一導槽24，該容置槽23係分別連通於所述導槽24，且所述導槽24至少一端係連通至該載體2側緣；而該容置槽23係容置該慣性感測單元4及該處理單元5；導槽24之設置，則係利於慣性感測單元4及處理單元5間，電性線路之佈設，並使電性線路經匯集後，得由載體2側緣伸出，以連接外部裝置或電源。 As for the arrangement of the processing unit 5 and the inertial sensing unit 4, in an embodiment, as shown in FIG. 5, the carrier 2 is further provided with an accommodation groove 23 and at least one guide groove 24. The accommodation groove 23 is connected to the guide groove 24, and at least one end of the guide groove 24 is connected to the side edge of the carrier 2; and the accommodating groove 23 houses the inertial sensing unit 4 and the processing unit 5; The arrangement of the slot 24 is beneficial to the layout of the electrical circuit between the inertial sensing unit 4 and the processing unit 5, and after the electrical circuit is collected, it must protrude from the side edge of the carrier 2 to connect external devices or power sources.
在一較佳之實施例中，為利於影像擷取單元3、慣性感測單元4及處理單元5間之電性線路之佈設，如第4圖至第6圖所示，故該組接孔21係設於該容置槽23，該罩體22之組接部222切設有一切槽225，該切槽225係連通於該容置槽23，藉以如前所述，影像擷取單元3之電性線路得藉由切槽225匯集於容置槽23，而與處理單元5電性連結。 In a preferred embodiment, in order to facilitate the layout of the electrical circuits between the image capturing unit 3, the inertial sensing unit 4 and the processing unit 5, as shown in Figs. 4 to 6, the set of connection holes 21 It is provided in the receiving groove 23, and the assembly portion 222 of the cover 22 is provided with all grooves 225. The cutting groove 225 is connected to the receiving groove 23, so as described above, the image capturing unit 3 The electrical circuit needs to be collected in the accommodating groove 23 through the cutting groove 225 and electrically connected to the processing unit 5.
而為更進一步利於模組化設置，以及影像擷取單元3、處理單元5及慣性感測單元4之穩固定位，較佳者，係如第4圖至第6圖所示，該載體2於該承載面13一端更設有一片體6，且該片體6之外輪廓係與該載體2相互對應，藉使 影像擷取單元3、處理單元5及慣性感測單元4可確實固設於載體2及片體6之間，亦可利於影像擷取單元3、處理單元5及慣性感測單元4與作用端12間之組設。 In order to further facilitate the modular setting and the stable and fixed positions of the image capturing unit 3, the processing unit 5 and the inertial sensing unit 4, the better, as shown in Figures 4 to 6, the carrier 2 is on A piece of body 6 is further provided at one end of the bearing surface 13, and the outer contour of the piece of body 6 corresponds to the carrier 2. The image capturing unit 3, the processing unit 5 and the inertial sensing unit 4 can be fixedly fixed between the carrier 2 and the sheet body 6, which is also beneficial to the image capturing unit 3, the processing unit 5 and the inertial sensing unit 4 and the active end. Set of 12 rooms.
在另一較佳之實施例中，為利於元件或功能之擴充，或對於處理單元5軟體之更新，因此，該載體2設有至少一切口25，於本實施例中，係設有相異形式之切口25、25’，所述導槽24係連通至所述切口25、25’，且所述切口25、25’分別容置有一連接埠51、51’，且所述連接埠51、51’係耦接於該處理單元5，所述連接埠51、51’可同時或分別為USB介面、Mini USB介面、Micro USB或Type C界面。 In another preferred embodiment, in order to facilitate the expansion of components or functions, or to update the software of the processing unit 5, the carrier 2 is provided with at least all ports 25. In this embodiment, a different form is provided Cutouts 25, 25 ', the guide groove 24 is connected to the cutouts 25, 25', and the cutouts 25, 25 'respectively contain a port 51, 51', and the ports 51, 51 'Coupled to the processing unit 5, the ports 51, 51' may be USB interfaces, Mini USB interfaces, Micro USB or Type C interfaces simultaneously or separately.
在另一較佳之實施例中，為利於適用各式光源環境下使影像擷取單元3可進行影像之擷取，故係於該載體2組接孔21之周緣處更設有至少一貫孔26，而貫孔26係連通於該容置槽23，容置槽23容置有至少一對應於所述貫孔26之發光元件7，所述發光元件7係耦接於該處理單元5，並藉由所述貫孔26投射光線，所述發光元件7係可依據所需適用影像擷取之場合，而予以選用可發出可見光、紫外光或紅外光之單一光或其組合光；且較佳者，該載體2係設置複數貫孔26及複數發光元件7，並環形陣列於組接孔21周緣，藉可予以提供均勻之光源。 In another preferred embodiment, in order to facilitate the image capturing unit 3 to capture images under the application of various light source environments, at least one through hole 26 is provided at the periphery of the two sets of connection holes 21 of the carrier. The through hole 26 is connected to the accommodating slot 23. The accommodating slot 23 contains at least one light emitting element 7 corresponding to the through hole 26. The light emitting element 7 is coupled to the processing unit 5, and By projecting light through the through-holes 26, the light-emitting element 7 can be selected to emit a single light or a combination of visible light, ultraviolet light, or infrared light according to the application of the required image capture; and preferably The carrier 2 is provided with a plurality of through-holes 26 and a plurality of light-emitting elements 7, and a circular array is provided around the periphery of the assembling hole 21, thereby providing a uniform light source.
藉此，由於影像擷取單元3及慣性感測單元4係設置於位於作用端12承載面13之載體2，故當作用端12移動時影像擷取單元3及慣性感測單元4亦將同步移動；故對於運動狀態之感測而言，作用端12之運動狀態即等同於影像擷取單元3之運動狀態；另對於影像之擷取，係藉由影像擷取單元3擷取作用端12前方之影像，此處所指之作用端12前方，於本實施例中，係指作用端12進行工作所朝向之方向，惟並不以此作為限定；而為能令影像可確實配合作用端12之位置及 方向，以提升作用端12工作時之精確度，故較佳者，該機體1及作用端12之中心處界定有一軸線，而該影像擷取單元3係對應設置於該軸線處，藉以令影像及作用端12之坐標系相等，藉可減少幾何誤差及校正之人力研發及時間成本；而於影像擷取單元3擷取影像後，該處理單元5係於該影像擷取單元3及該作用端12分別界定有一初始值，初始值可被定義為一特定之角度值，如0度位置，且處理單元5同時應接收該運動狀態，故處理單元5將可予以依據該運動狀態與該影像擷取單元3之初始值之差值，以對應依據該差值角度而對應旋轉校正該影像擷取單元3之影像，而後，該處理單元5即於該影像中分析一物件特徵，而對於物件特徵之界定，在一實施例中，可為物件之外輪廓，其係可藉由邊緣檢測方法以測得；故處理單元5即可依據物件特徵界定一對應於該作用端12初始值之執行路徑，如於作用端12之位置界定作用端12可予以碰觸或夾取於物件外輪廓之路徑，進而依據該執行路徑控制該驅動單元11，令該作用端12執行該運動指令。 Therefore, since the image capturing unit 3 and the inertial sensing unit 4 are arranged on the carrier 2 located on the bearing surface 13 of the active end 12, the image capturing unit 3 and the inertial sensing unit 4 will also be synchronized when the active end 12 moves. Movement; therefore, for the sensing of the motion state, the motion state of the acting end 12 is equivalent to the motion state of the image capture unit 3; for the image capture, the image capture unit 3 is used to capture the effect end 12 The forward image refers to the front of the acting end 12 in this embodiment. In this embodiment, it refers to the direction in which the acting end 12 is working, but it is not limited to this. In order to ensure that the image can actually cooperate with the acting end 12 Location and Direction to improve the accuracy of the working end 12 when working, so it is better that an axis is defined at the center of the body 1 and the working end 12, and the image capturing unit 3 is correspondingly arranged at the axis to make the image The coordinate system is the same as that of the acting end 12, which can reduce the geometric error and correction of human development and time costs; and after the image capture unit 3 captures the image, the processing unit 5 is based on the image capture unit 3 and the effect The terminal 12 defines an initial value, and the initial value can be defined as a specific angle value, such as a 0 degree position, and the processing unit 5 should receive the motion state at the same time, so the processing unit 5 can be based on the motion state and the image. The difference between the initial values of the capture unit 3 is corrected to rotate the image of the image capture unit 3 correspondingly according to the difference angle. Then, the processing unit 5 analyzes an object feature in the image, and for the object, The definition of features can be the outline of the object in one embodiment, which can be measured by the edge detection method; therefore, the processing unit 5 can define an initial corresponding to the active end 12 according to the feature of the object. The execution path of the value, if the position of the acting end 12 is defined, the acting end 12 can touch or grip the path of the outer contour of the object, and then control the driving unit 11 according to the executing path, so that the acting end 12 executes the motion instruction. .
值得注意的是，因作用端12為機械手臂或機械夾爪時，其各別之手指及夾爪皆具有傾角及方向性，故透過旋轉校正該影像擷取單元3所擷取之影像，藉可於界定執行路徑時，忽視作用端12經旋轉後之座標，以簡化處理單元5對於執行路徑界定之幾何運算，進而可大幅提升運算及操作速度者。 It is worth noting that when the active end 12 is a robot arm or a mechanical gripper, each of its fingers and grippers has an inclination and directionality, so the image captured by the image capture unit 3 is corrected by rotation. When defining the execution path, the coordinates of the active end 12 after being rotated can be ignored, so as to simplify the geometric operation of the processing unit 5 for the definition of the execution path, thereby greatly improving the calculation and operation speed.
而在另一較佳的實施例中，因對於影像擷取單元3所擷取之影像而言，其僅係平面者，為更進一步精確界定執行路徑，故係於該機體1設有一距離感測單元8，距離感測單元8可為超音波感測器、紅外線感測器或雷射感測器，該距離感測單元8係電性連結於該處理單元5，該距離感測單元8係感測該作用端12前方之一距離值，可明確知悉者，該距離值為作用端12與該物件間之距離， 是以，該處理單元5係依據該距離界定有該初始值，且該處理單元5係依據該物件特徵及該距離值界定該執行路徑，進而依據該執行路徑控制該驅動單元，令該作用端12執行該運動指令，藉使該作用端12可確實作用或夾取物件。 In another preferred embodiment, because the image captured by the image capturing unit 3 is only a plane, in order to further accurately define the execution path, a sense of distance is provided in the body 1 The sensing unit 8 may be an ultrasonic sensor, an infrared sensor or a laser sensor. The distance sensing unit 8 is electrically connected to the processing unit 5. The distance sensing unit 8 It is a distance value in front of the active end 12 that can be clearly known. The distance value is the distance between the active end 12 and the object. Therefore, the processing unit 5 defines the initial value according to the distance, and the processing unit 5 defines the execution path according to the object characteristics and the distance value, and then controls the driving unit according to the execution path to make the acting end 12 executes the motion instruction, so that the acting end 12 can actually act or grip an object.
在一實施例中，距離感測單元8係可裝設於機體1之任一處，然如前述，為能達致精確量測作用端12與該物件間之距離值，並可予以達成模組化之目的，故於一較佳之實施例中，該載體1更設有至少一通孔27，而所述通孔27係連通於該容置槽23，且該距離感測單元8係容置於該容置槽23，故該距離感測單元8係得以藉由所述通孔27進行測距。 In an embodiment, the distance sensing unit 8 can be installed at any position of the body 1, but as mentioned above, in order to achieve accurate measurement of the distance between the active end 12 and the object, and to achieve a model For the purpose of organization, in a preferred embodiment, the carrier 1 is further provided with at least one through hole 27, and the through hole 27 is connected to the accommodation groove 23, and the distance sensing unit 8 is accommodated. In the accommodating slot 23, the distance sensing unit 8 can perform distance measurement through the through hole 27.
綜上所述，本發明所揭露之技術手段確能有效解決習知等問題，並達致預期之目的與功效，且申請前未見諸於刊物、未曾公開使用且具長遠進步性，誠屬專利法所稱之發明無誤，爰依法提出申請，懇祈 鈞上惠予詳審並賜准發明專利，至感德馨。 In summary, the technical means disclosed in the present invention can effectively solve problems such as knowledge, and achieve the intended purpose and effect. It has not been published in publications before application, has not been publicly used, and has long-term progress. The invention referred to in the Patent Law is correct, and he filed an application in accordance with the law. He earnestly hopes that Jun will give him a detailed review and grant a patent for the invention.
惟以上所述者，僅為本發明之數種較佳實施例，當不能以此限定本發明實施之範圍，即大凡依本發明申請專利範圍及發明說明書內容所作之等效變化與修飾，皆應仍屬本發明專利涵蓋之範圍內。 However, the above are only a few preferred embodiments of the present invention. When the scope of implementation of the present invention cannot be limited in this way, that is, equivalent changes and modifications made according to the scope of the patent application and the content of the invention specification of the present invention are all It should still fall within the scope of the invention patent.
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