TWM485442U - Motion path planning device - Google Patents
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Description
本新型係屬於一種運動路徑規劃裝置。更詳細地來說，本新型係屬於一種利用運動規劃點來進行運動路徑規劃的裝置。The novel belongs to a motion path planning device. In more detail, the present invention pertains to a device for performing motion path planning using motion planning points.
現代人的生活周遭充滿了各式各樣的電子產品，尤其現在更進入行動化的社會，人手一隻智慧型手機已是司空見慣，這些電子產品幾乎都設有觸控面板作為手寫輸入或點選輸入的介面裝置，對廠商來說在面板薄型化的趨勢下，觸控技術難度及良率又更佳提升，但觸控面板的大量使用儼然已成為一種趨勢，因此仍不斷投入更多資金在觸控面板的設備上，例如加強後端製程的觸控面板檢測，以期提高精度、改進生產效率。Modern people's lives are full of various electronic products, especially nowadays, they are more active in the society. It is common to have a smart phone. These electronic products are almost all equipped with touch panels as handwriting input or click. The input interface device has improved the difficulty and yield of the touch technology for the manufacturer in the trend of thinner panels. However, the large-scale use of the touch panel has become a trend, so more funds are still being invested. On the touch panel device, for example, the touch panel detection of the back-end process is enhanced to improve the accuracy and improve the production efficiency.
觸控面板從生產到完成必須經過蝕刻、玻璃加工、光學貼合、化學膠合、面板缺陷檢測、功能測試、外觀檢查等多道製程，通常觸控面板在操控上是否能讓使用者精確操作，乃關係到觸控面板在製作時的檢測，為了符合大量生產的要求，工廠產線必須使用自動化設備方能完成目標。觸控面板接受壓觸而感應訊號，檢測過程之品質攸關日後使用之點觸反應準確性，故於觸控面板製造完成、安裝至相關裝置前，須對觸控面板進行品質檢測。尤其現今的觸控手機進展一日千里，觸控方式已從過去只要求單純的點選接觸，到現在觸控方式還包含拖曳、放大縮小、來回重覆點擊、劃圓等各式多點觸控，可想而知為了對應如此靈活的觸控變化，觸控面板勢必包含更多感應元件，因此提高了檢測機台在進行觸控檢測時的難度。在過去，操作員在設定檢測設備的觸控路徑時係採用輸入座標的方式去規劃檢測機台的觸控路徑，也就是在人機介面上以一個座標對應一個觸控點的方式去規劃整體的觸控路徑，如果是簡單的觸控路徑那還好， 一旦需要進行複雜的觸控路徑規劃以鑑別觸控面板的良莠與否時，利用輸入座標的方式不但費時而且容易產生錯誤。From the production to the completion of the touch panel, it must undergo etching, glass processing, optical bonding, chemical bonding, panel defect detection, functional testing, visual inspection and other multi-processes. Usually, whether the touch panel can be operated accurately by the user. It is related to the detection of the touch panel during production. In order to meet the requirements of mass production, the factory production line must use automation equipment to achieve the goal. The touch panel receives the touch signal and senses the signal. The quality of the detection process is related to the accuracy of the touch response in the future. Therefore, the touch panel must be quality tested before the touch panel is manufactured and installed in the relevant device. In particular, today's touch mobile phones are progressing rapidly. The touch method has only required simple click-to-touch contact. In the past, the touch method also includes various multi-touches such as dragging, zooming in and out, repeating clicks, and rounding. It is conceivable that in order to respond to such flexible touch changes, the touch panel is bound to contain more sensing elements, thereby improving the difficulty of the detection machine in performing touch detection. In the past, when setting the touch path of the detection device, the operator used the input coordinate to plan the touch path of the detection machine, that is, the overall interface on the human-machine interface with one coordinate corresponding to one touch point. The touch path is fine if it is a simple touch path. Once complex touch path planning is required to identify the good or bad of the touch panel, the use of input coordinates is not only time consuming but also prone to errors.
有鑑於此，一種具有圖像化並使操作人員直覺地進行運動路徑規劃的裝置，乃是此業界所亟力需求的In view of this, a device that is imaged and allows the operator to intuitively plan the motion path is a demanding requirement of the industry.
本新型之一目的在於提供一種運動路徑規劃裝置，該裝置可因應依據運動路徑規劃方法所下達的命令，規劃運動路徑。It is an object of the present invention to provide a motion path planning device that can plan a motion path in response to a command issued in accordance with a motion path planning method.
為了達成上述目的，本新型提供一種運動路徑規劃裝置，包含控制模組及受控模組，控制模組更包含人機介面單元及處理單元。人機介面單元用以產生運動路徑命令，處理單元電性連接人機介面單元，因應運動路徑命令，產生運動路徑訊號。受控模組電性連接控制模組，用以因應運動路徑訊號以進行路徑運動，其中運動路徑命令係由運動規劃點所決定。In order to achieve the above object, the present invention provides a motion path planning device, which comprises a control module and a controlled module, and the control module further comprises a human machine interface unit and a processing unit. The human machine interface unit is configured to generate a motion path command, and the processing unit is electrically connected to the human machine interface unit to generate a motion path signal according to the motion path command. The controlled module is electrically connected to the control module for performing path motion in response to the motion path signal, wherein the motion path command is determined by the motion planning point.
為使熟悉該項技藝人士瞭解本新型之目的、特徵及功效，茲藉由下述具體實施例，並配合所附之圖式，對本新型詳加說明如後：In order to familiarize the person skilled in the art with the purpose, features and effects of the present invention, the present invention will be described in detail by the following specific embodiments and with the accompanying drawings:
1‧‧‧運動路徑規劃方法1‧‧‧Motion path planning method
S101‧‧‧步驟S101‧‧‧Steps
S102‧‧‧步驟S102‧‧‧Steps
2、3、4、5、6、7、8、9、10‧‧‧人機介面2, 3, 4, 5, 6, 7, 8, 9, 10‧‧‧ human machine interface
201、301、401、501、601、701、801、901、1001‧‧‧水平切割欄201, 301, 401, 501, 601, 701, 801, 901, 1001‧‧‧ horizontal cutting bar
302‧‧‧水平子切割欄302‧‧‧ horizontal child cutting bar
203、303、403、503、603、703、803、903、1003‧‧‧垂直切割欄203, 303, 403, 503, 603, 703, 803, 903, 1003‧‧‧ vertical cutting bar
304‧‧‧垂直子切割欄304‧‧‧Vertical sub-cutting bar
206、306、406、506、606、706、806、906、1006‧‧‧測試座標欄206, 306, 406, 506, 606, 706, 806, 906, 1006‧‧‧ test coordinate bar
405、505、605、805、905‧‧‧多點量測選項欄405, 505, 605, 805, 905‧‧‧ multi-point measurement option bar
707‧‧‧內縮畫素欄707‧‧‧Infinity
21、31、41、51、61、71、81、91、101‧‧‧切割格21, 31, 41, 51, 61, 71, 81, 91, 101‧‧‧ cut grid
10101、10103、10105、10107、10109、10111、10113、10115‧‧‧運動劃點10101, 10103, 10105, 10107, 10109, 10111, 10113, 10115‧‧‧ sports points
11、12、13、14、15、16、17、18、19、20‧‧‧運動路徑規劃裝置11, 12, 13, 14, 15, 16, 17, 18, 19, 20 ‧ ‧ motion path planning device
1112‧‧‧人機介面單元1112‧‧‧Human Machine Interface Unit
1212、1312、1412、1512、1612、1712、1812、1912、2012‧‧‧螢幕與輸出入裝置1212, 1312, 1412, 1512, 1612, 1712, 1812, 1912, 2012‧‧‧ screens and input and output devices
1114‧‧‧處理單元1114‧‧‧Processing unit
1214、1314、1414、1514、1614、1714、1814、1914、2014‧‧‧主機1214, 1314, 1414, 1514, 1614, 1714, 1814, 1914, 2014‧‧‧ host
111‧‧‧控制模組111‧‧‧Control Module
113‧‧‧受控模組113‧‧‧Controlled modules
121、131、141、151、161、171、181、191、201‧‧‧電腦121, 131, 141, 151, 161, 171, 181, 191, 201‧‧‧ computers
123、133、143、153、163、173、183、193、203‧‧‧x-y軸檢測平台123, 133, 143, 153, 163, 173, 183, 193, 203‧‧‧x-y axis detection platform
1101、1201、1301、1401、1501、1601、1701、1801、1901、2001‧‧‧運動路徑命令1101, 1201, 1301, 1401, 1501, 1601, 1701, 1801, 1901, 2001‧‧‧ sport path commands
1103、1203、1303、1403、1503、1603、1703、1803、1903、2003‧‧‧運動路徑訊號1103, 1203, 1303, 1403, 1503, 1603, 1703, 1803, 1903, 2003‧‧‧ motion path signals
2101、2103、2105、2107、2109、2111、2113、2115‧‧‧運動規劃點2101, 2103, 2105, 2107, 2109, 2111, 2113, 2115‧‧‧ sports planning points
3101、3103、3105、3107、3109、3111、3113、3115‧‧‧運動規劃點3101, 3103, 3105, 3107, 3109, 3111, 3113, 3115‧‧‧ sports planning points
第1圖為方法流程圖，用以說明本新型之運動路徑規劃方法；第2圖為方法流程圖之第一實施例，用以顯示說明透過本新型之運動路徑規劃方法下達使用者命令，以決定運動路徑；第3圖為方法流程圖之第二實施例，用以顯示說明透過本新型之運動路徑規劃方法下達使用者命令，以決定運動路徑；第4圖為方法流程圖之第三實施例，用以顯示說明透過本新型之運動路徑規劃方法下達使用者命令，以決定運動路徑；第5圖為方法流程圖之第四實施例，用以顯示說明透過本新型之運動路徑規劃方法下達使用者命令，以決定運動路徑；第6圖為方法流程圖之第五實施例，用以顯示說明透過本新型之運動路徑規劃方法下達使用者命令，以決定運動路徑； 第7圖為方法流程圖之第六實施例，用以顯示說明透過本新型之運動路徑規劃方法下達使用者命令，以決定運動路徑；第8圖為方法流程圖之第七實施例，用以顯示說明透過本新型之運動路徑規劃方法下達使用者命令，以決定運動路徑；第9圖為方法流程圖之第八實施例，用以顯示說明透過本新型之運動路徑規劃方法下達使用者命令，以決定運動路徑；第10圖為方法流程圖之第九實施例，用以顯示說明透過本新型之運動路徑規劃方法下達使用者命令，以決定運動路徑；第11圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置的架構、以及運作情形；第12圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第一實施例的架構、以及運作情形；第13圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第二實施例的架構、以及運作情形；第14圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第三實施例的架構、以及運作情形；第15圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第四實施例的架構、以及運作情形；第16圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第五實施例的架構、以及運作情形；第17圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第六實施例的架構、以及運作情形；第18圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第七實施例的架構、以及運作情形；第19圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第八實施例的架構、以及運作情形；以及第20圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第九實施例的架構、以及運作情形。1 is a method flow chart for explaining a motion path planning method of the present invention; FIG. 2 is a first embodiment of a method flow chart for displaying a user command issued by the motion path planning method of the present invention, Determining the motion path; FIG. 3 is a second embodiment of the method flow diagram for displaying the user's command by the motion path planning method of the present invention to determine the motion path; and FIG. 4 is the third implementation of the method flow chart. For example, the description shows that the user's command is issued by the motion path planning method of the present invention to determine the motion path; and FIG. 5 is a fourth embodiment of the method flow chart for displaying the description by the motion path planning method of the present invention. a user command to determine a motion path; FIG. 6 is a fifth embodiment of the method flow diagram for displaying a description of the motion path by using the motion path planning method of the present invention to issue a user command; Figure 7 is a sixth embodiment of the method flow diagram for displaying the user's command by the motion path planning method of the present invention to determine the motion path; and Figure 8 is a seventh embodiment of the method flow chart for The display shows that the user's command is issued by the motion path planning method of the present invention to determine the motion path; and FIG. 9 is an eighth embodiment of the method flow chart for displaying the user command issued by the motion path planning method of the present invention. To determine the motion path; FIG. 10 is a ninth embodiment of the method flow chart for displaying the user's command by the motion path planning method of the present invention to determine the motion path; FIG. 11 is a schematic diagram of a device for The structure and operation of the motion path planning device of the present invention are shown; FIG. 12 is a schematic diagram of a device for illustrating the architecture and operation of the first embodiment of the motion path planning device of the present invention; FIG. Is a schematic diagram of a device for displaying the architecture and operation of the second embodiment of the motion path planning device of the present invention Figure 14 is a schematic view of a device for illustrating the architecture and operation of the third embodiment of the motion path planning device of the present invention; and Figure 15 is a schematic view of the device for displaying the motion path of the present invention The architecture and operation of the fourth embodiment of the planning device; FIG. 16 is a schematic diagram of a device for illustrating the architecture and operation of the fifth embodiment of the motion path planning device of the present invention; FIG. A schematic diagram of a device for illustrating the architecture and operation of the sixth embodiment of the motion path planning device of the present invention; and FIG. 18 is a schematic diagram of a device for illustrating a seventh embodiment of the motion path planning device of the present invention. FIG. 19 is a schematic diagram of a device for illustrating the architecture and operation of the eighth embodiment of the motion path planning apparatus of the present invention; and FIG. 20 is a schematic diagram of a device for displaying The architecture and operation of the ninth embodiment of the motion path planning apparatus of the present invention will be described.
以下將透過實施例來解釋本新型內容，其係關於一種利用運動規劃點來圖像化輸入座標，用以簡單化運動路徑規劃。然而，本新型之實施例並非用以限制實施本新型之任何特定的環境、應用或特殊方式。因此，關於實施例之說明僅為闡釋本新型之目的，而非用以限制本新型。需說明者，以下實施例及圖式中，與本新型非直接相關之元件均已省略而未繪示；且為求簡易瞭解起見，各元件間之尺寸關係並非依照實際比例繪示出。The present invention will be explained below by way of an embodiment relating to the use of motion planning points to image input coordinates for simplification of motion path planning. However, the embodiments of the present invention are not intended to limit any particular environment, application, or particular manner in which the present invention is implemented. Therefore, the description of the embodiments is merely illustrative of the present invention and is not intended to limit the present invention. It should be noted that in the following embodiments and drawings, components that are not directly related to the present invention have been omitted and are not shown; and for the sake of simplicity, the dimensional relationships between the components are not drawn to actual scales.
請參見第1圖之方法流程圖，其係運動路徑規劃方法，適用於觸控面板x-y軸檢測平台，包含步驟S101：設定垂直切割與水平切割以決定切割格，其中垂直切割與水平切割的交叉點及切割所形成之每一切割單位的中心點，皆係運動規劃點；以及步驟S102：依據運動規劃點規劃運動路徑。Please refer to the method flowchart of FIG. 1 , which is a motion path planning method, which is applicable to the touch panel xy axis detection platform, and includes step S101: setting vertical cutting and horizontal cutting to determine a cutting grid, wherein the vertical cutting and the horizontal cutting intersect. The center point of each cutting unit formed by the point and the cutting is a motion planning point; and step S102: the motion path is planned according to the motion planning point.
第2圖為方法流程圖之第一實施例，用以顯示說明透過圖1之運動路徑規劃方法以下達使用者命令，藉以決定運動路徑。FIG. 2 is a first embodiment of a method flow diagram for illustrating a motion path through the motion path planning method of FIG. 1 to determine a motion path.
第2圖為人機介面2示意圖，係為控制軟體的視窗畫面，使用者透過人機介面2下達命令。Figure 2 is a schematic diagram of the human-machine interface 2, which is a window screen for controlling the software, and the user issues a command through the human-machine interface 2.
首先，於水平切割欄201設定數值為4、垂直切割欄203設定數值為4，用以設定垂直切割與水平切割，以決定切割格21。First, the value is set to 4 in the horizontal cutting column 201, and the value is set to 4 in the vertical cutting column 203 to set the vertical cutting and the horizontal cutting to determine the cutting grid 21.
依據前述設定，將可得到一個具有16格(4*4)切割單位之切割格21，其中垂直切割與水平切割的交叉點，及切割所形成之每一切割單位的中心點，皆係運動規劃點(切割格21中以黑色圓點表示之部份)。According to the foregoing setting, a cutting grid 21 having a cutting unit of 16 grids (4*4) can be obtained, wherein the intersection of the vertical cutting and the horizontal cutting, and the center point of each cutting unit formed by the cutting are motion planning Point (the part of the cut grid 21 indicated by black dots).
接著，再依據運動規劃點規劃運動路徑。Then, the motion path is planned according to the motion planning point.
在本實施例中，使用者直接在切割格21中任意點選運動規劃點以決定運動路徑，被選定之該些運動規劃點的座標數值將被顯示於測試座標欄206上。In this embodiment, the user directly selects the motion planning point in the cutting grid 21 to determine the motion path, and the coordinate values of the selected motion planning points will be displayed on the test coordinate column 206.
本實施例中係選定8個運動規劃點2101、2103、2105、2107、2109、2111、2113、2115以決定運動路徑，其座標數值亦同時顯示於測試座標欄206上，分別為(0.00，0.00)、(75.00，75.00)、(150.00，0.00)、(225.00， 75.00)、(225.00，150.00)、(300.00，225.00)、(75.00，225.00)、(0.00，150.00)，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。In this embodiment, eight motion planning points 2101, 2103, 2105, 2107, 2109, 2111, 2113, 2115 are selected to determine the motion path, and the coordinate values are also displayed on the test coordinate column 206, respectively (0.00, 0.00). ), (75.00, 75.00), (150.00, 0.00), (225.00, 75.00), (225.00, 150.00), (300.00, 225.00), (75.00, 225.00), (0.00, 150.00), wherein the representation of the coordinate units can be pixels or mm.
第3圖為方法流程圖之第二實施例，用以顯示說明透過圖1之運動路徑規劃方法以下達使用者命令，藉以決定運動路徑。FIG. 3 is a second embodiment of a method flow diagram for illustrating a motion path through the motion path planning method of FIG. 1 to determine a motion path.
第3圖為人機介面3示意圖，係為控制軟體的視窗畫面，使用者透過人機介面3下達命令。Figure 3 is a schematic diagram of the human-machine interface 3, which is a window screen for controlling the software, and the user issues a command through the human-machine interface 3.
值得一提的是，有別於第一實施例，本實施例除可進行水平切割與垂直切割外，尚可進行水平子切割與垂直子切割。It is worth mentioning that, unlike the first embodiment, in addition to the horizontal cutting and the vertical cutting, the horizontal sub-cutting and the vertical sub-cutting can be performed.
如第3圖所示，由於尚可設定水平子切割與垂直子切格，因此可切出更多的切割格。其優點在於，可增加運動規劃點的數目，使得運動路徑規劃的精準度上升。As shown in Fig. 3, since the horizontal sub-cut and the vertical sub-cut are still set, more cut frames can be cut. The advantage is that the number of motion planning points can be increased, so that the accuracy of the motion path planning increases.
將水平切割欄301設定數值為4、垂直切割欄303設定數值為4；水平子切割欄302設定數值為8、垂直子切割欄304設定數值為8，以決定切割格31。The horizontal cutting column 301 is set to a value of 4, the vertical cutting column 303 is set to a value of 4, the horizontal sub-cutting column 302 is set to a value of 8, and the vertical sub-cutting column 304 is set to a value of 8 to determine the cutting frame 31.
依據前述設定，將可得到一個具有64格(8*8)切割單位之切割格31，其中水平切割、垂直切割、水平子切割及垂直子切割的交叉點及切割所形成之每一切割單位的中心點，皆係運動規劃點(切割格31中以黑色圓點表示之部份)。According to the foregoing setting, a cutting grid 31 having a cutting unit of 64 grids (8*8) can be obtained, wherein the intersection of horizontal cutting, vertical cutting, horizontal sub-cutting and vertical sub-cutting and each cutting unit formed by cutting The center point is the motion planning point (the part indicated by the black dot in the cutting grid 31).
接著，再依據該些運動規劃點規劃運動路徑。Then, the motion path is planned according to the motion planning points.
需說明的是，水平、垂直子切割的意思係代表在每一水平切割與垂直切割間分別再切一刀，亦即將第2圖實施例的4*4切割格21再進行細分，形成本實施例之8*8的切割格31。It should be noted that the horizontal and vertical sub-cutting means that each blade is cut again between each horizontal cutting and vertical cutting, and the 4*4 cutting grid 21 of the embodiment of FIG. 2 is further subdivided to form the embodiment. The 8*8 cut grid 31.
在本實施例中，使用者直接在切割格31中任意點選運動規劃點以決定運動路徑，被選定之該些運動規劃點的座標數值將被顯示於測試座標欄306上。In this embodiment, the user directly selects the motion planning points in the cutting grid 31 to determine the motion path, and the coordinate values of the selected motion planning points will be displayed on the test coordinate column 306.
本實施例中係選定8個運動規劃點3101、3103、3105、3107、3109、3111、3113、3115以決定運動路徑，其座標數值亦同時顯示於測試座標欄306上，分別為(0.00，0.00)、(75.00，75.00)、(150.00，0.00)、(225.00，75.00)、(225.00，150.00)、(300.00，225.00)、(75.00，225.00)、(0.00，150.00)， 其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。In this embodiment, eight motion planning points 3101, 3103, 3105, 3107, 3109, 3111, 3113, 3115 are selected to determine the motion path, and the coordinate values are also displayed on the test coordinate column 306, respectively (0.00, 0.00). ), (75.00, 75.00), (150.00, 0.00), (225.00, 75.00), (225.00, 150.00), (300.00, 225.00), (75.00, 225.00), (0.00, 150.00), The representation of the coordinate units may be pixels or mm.
第4圖為方法流程圖之第三實施例，用以顯示說明透過圖1運動路徑規劃方法下達使用者命令，以決定運動路徑。Figure 4 is a third embodiment of the method flow diagram for displaying a description of the motion path by the motion path planning method of Figure 1 to determine the motion path.
第4圖為人機介面4示意圖，係為控制軟體的視窗畫面，使用者透過人機介面4下達命令。Figure 4 is a schematic diagram of the human-machine interface 4, which is a window screen for controlling the software, and the user issues a command through the human-machine interface 4.
首先，設定水平切割欄401與垂直切割欄403以決定切割格41，其中水平切割與垂直切割的交叉點及切割格41之每一切割單位的中心點，皆係運動規劃點。First, the horizontal cutting bar 401 and the vertical cutting bar 403 are set to determine the cutting frame 41, wherein the intersection of the horizontal cutting and the vertical cutting and the center point of each cutting unit of the cutting frame 41 are motion planning points.
在本實施例中，切割格41之型態係利用多點量測選項欄405內建之5個點位座標作為運動規劃點。In the present embodiment, the shape of the cut grid 41 utilizes five point coordinates built into the multi-point measurement option field 405 as motion planning points.
因此，在本實施例中，係透過內建之5個點位座標作為運動規劃點，以進行運動路徑規劃。其中，運動規劃點的座標數值將被顯示於測試座標欄406上，該些座標單位之表示可以為畫素(pixel)或公釐(mm)。Therefore, in the present embodiment, the built-in 5 point coordinates are used as motion planning points for motion path planning. The coordinate values of the motion planning points will be displayed on the test coordinate column 406, and the representation of the coordinate units may be pixels or mm.
第5圖為方法流程圖之第四實施例，用以顯示說明透過圖1運動路徑規劃方法下達使用者命令，以決定運動路徑。FIG. 5 is a fourth embodiment of the method flow chart for displaying a description of the motion path by the motion path planning method of FIG. 1 to determine the motion path.
第5圖為人機介面5示意圖，係為控制軟體的視窗畫面，使用者透過人機介面5下達命令。Figure 5 is a schematic diagram of the human-machine interface 5, which is a window screen for controlling the software, and the user issues a command through the human-machine interface 5.
首先，設定水平切割欄501與垂直切割欄503以決定切割格51，其中水平切割與垂直切割的交叉點及切割格51之每一切割單位的中心點，皆係運動規劃點。First, the horizontal cutting column 501 and the vertical cutting column 503 are set to determine the cutting grid 51, wherein the intersection of the horizontal cutting and the vertical cutting and the center point of each cutting unit of the cutting grid 51 are motion planning points.
在本實施例中，切割格51之型態係利用多點量測選項欄505內建之9個點位座標作為運動規劃點。In the present embodiment, the shape of the cut grid 51 utilizes the nine point coordinates built into the multi-point measurement option field 505 as the motion planning point.
因此，在本實施例中，係透過內建之9個點位座標作為運動規劃點，以進行運動路徑規劃，其中運動規劃點的座標數值將被顯示於測試座標欄506上，該些座標單位之表示可以為畫素(pixel)或公釐(mm)。Therefore, in the present embodiment, the built-in 9 point coordinates are used as motion planning points for motion path planning, wherein coordinate values of the motion planning points are displayed on the test coordinate column 506, and the coordinate units are displayed. The representation can be pixel or mm.
第6圖為方法流程圖之第五實施例，用以顯示說明透過圖1運動路徑規劃方法下達使用者命令，以決定運動路徑。Figure 6 is a fifth embodiment of the method flow diagram for displaying the description of the motion path by the motion path planning method of Figure 1 to determine the motion path.
第6圖為人機介面6示意圖，係為控制軟體的視窗畫面，使用者透過人機介面6下達命令。Figure 6 is a schematic diagram of the human-machine interface 6, which is a window screen for controlling the software, and the user issues a command through the human-machine interface 6.
首先，設定水平切割欄601與垂直切割欄603以決定切割格61，其中水平切割與垂直切割的交叉點及切割格61之每一切割單位的中心點，皆係運動規劃點。First, the horizontal cutting column 601 and the vertical cutting column 603 are set to determine the cutting grid 61, wherein the intersection of the horizontal cutting and the vertical cutting and the center point of each cutting unit of the cutting grid 61 are motion planning points.
在本實施例中切割格61之型態係利用多點量測選項欄605內建之13個點位座標作為運動規劃點。In the present embodiment, the shape of the cutting grid 61 utilizes 13 point coordinates built into the multi-point measurement option column 605 as a motion planning point.
因此，在本實施例中，係透過內建之13個點位座標作為運動規劃點，以進行運動路徑規劃，其中運動規劃點的座標數值將被顯示於測試座標欄606上，該些座標單位之表示可以為畫素(pixel)或公釐(mm)。Therefore, in the present embodiment, the built-in 13 point coordinates are used as motion planning points for motion path planning, wherein coordinate values of the motion planning points are displayed on the test coordinate column 606, and the coordinate units are displayed. The representation can be pixel or mm.
第7圖為方法流程圖之第六實施例，用以顯示說明透過圖1運動路徑規劃方法下達使用者命令，以決定運動路徑。Figure 7 is a sixth embodiment of the method flow diagram for displaying a description of the motion path by the motion path planning method of Figure 1 to determine the motion path.
第7圖為人機介面7示意圖，係為控制軟體的視窗畫面，使用者透過人機介面7下達命令。Figure 7 is a schematic diagram of the human-machine interface 7, which is a window screen for controlling the software, and the user issues a command through the human-machine interface 7.
首先，設定水平切割欄701與垂直切割欄703以決定切割格71，其中水平切割與垂直切割的交叉點及切割格71之每一切割單位的中心點，皆係運動規劃點。接著，再依據該些運動規劃點規劃運動路徑。First, the horizontal cutting column 701 and the vertical cutting column 703 are set to determine the cutting grid 71, wherein the intersection of the horizontal cutting and the vertical cutting and the center point of each cutting unit of the cutting grid 71 are motion planning points. Then, the motion path is planned according to the motion planning points.
在本實施例中，使用者直接在切割格71中任意點選運動規劃點以決定運動路徑，被選定之該些運動規劃點的座標數值將被顯示於測試座標欄706上，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。In this embodiment, the user directly selects the motion planning point in the cutting grid 71 to determine the motion path, and the coordinate values of the selected motion planning points are displayed on the test coordinate column 706, wherein the coordinates are displayed. The unit can be expressed in pixels or mm.
需說明的是，在本實施例中，係透過設定內縮畫素方式，而所謂內縮畫素係將該些運動規劃點進行內縮，以進行運動路徑規劃。內縮畫素欄707若設定為內縮10畫素，運動規劃路徑將內縮10個畫素。It should be noted that, in this embodiment, the inward pixel mode is set, and the so-called intrinsic pixels are used to indent the motion planning points to perform motion path planning. If the intrinsic pixel column 707 is set to be indented by 10 pixels, the motion planning path will be reduced by 10 pixels.
第8圖為方法流程圖之第七實施例，用以顯示說明透過圖1運動路徑規劃方法下達使用者命令，以決定運動路徑。FIG. 8 is a seventh embodiment of the method flow chart for displaying a description of the motion path by the motion path planning method of FIG. 1 to determine the motion path.
第8圖為人機介面8示意圖，係為控制軟體的視窗畫面，使用者透過人機介面8下達命令。Figure 8 is a schematic diagram of the human-machine interface 8, which is a window screen for controlling the software, and the user issues a command through the human-machine interface 8.
首先，設定水平切割欄801與垂直切割欄803以決定切割格81，其中水平切割與垂直切割的交叉點及切割格81之每一切割單位的中心點，皆係運動規劃點。First, the horizontal cutting column 801 and the vertical cutting column 803 are set to determine the cutting grid 81, wherein the intersection of the horizontal cutting and the vertical cutting and the center point of each cutting unit of the cutting grid 81 are motion planning points.
在本實施例中，係透過內建之等距切割，以決定切割格81，意即切割格81之型態係由多點量測選項欄805內建之等距切割來決定。In the present embodiment, the cutting grid 81 is determined by the built-in equidistant cutting, that is, the pattern of the cutting grid 81 is determined by the equidistant cutting built into the multi-point measurement option column 805.
切割格81產生後，再依據切割格81上的該些運動規劃點規劃運動路徑。After the cutting grid 81 is generated, the motion path is planned according to the motion planning points on the cutting grid 81.
在本實施例中，使用者直接在切割格81中任意點選運動規劃點以決定運動路徑，被選定之該些運動規劃點的座標數值將被顯示於測試座標欄806上，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。In this embodiment, the user directly selects the motion planning point in the cutting grid 81 to determine the motion path, and the coordinate values of the selected motion planning points are displayed on the test coordinate column 806, wherein the coordinates are displayed. The unit can be expressed in pixels or mm.
第9圖為方法流程圖之第八實施例，用以顯示說明透過圖1運動路徑規劃方法下達使用者命令，以決定運動路徑。FIG. 9 is an eighth embodiment of the method flow chart for displaying a description of the motion path by the motion path planning method of FIG. 1 to determine the motion path.
第9圖為人機介面9示意圖，係為控制軟體的視窗畫面，使用者透過人機介面9下達命令。Figure 9 is a schematic diagram of the human-machine interface 9, which is a window screen for controlling the software, and the user issues a command through the human-machine interface 9.
首先，設定水平切割欄901與垂直切割欄903以決定切割格91，其中水平切割與垂直切割的交叉點及切割格91之每一切割單位的中心點，皆係運動規劃點。First, the horizontal cutting column 901 and the vertical cutting column 903 are set to determine the cutting grid 91, wherein the intersection of the horizontal cutting and the vertical cutting and the center point of each cutting unit of the cutting grid 91 are motion planning points.
在本實施例中，係透過內建之等分切割，以決定切割格91，意即切割格91之型態係由多點量測選項欄905內建之等分切割來決定。In the present embodiment, the cutting grid 91 is determined by the built-in halving cut, that is, the pattern of the cut grid 91 is determined by the aliquot cut built in the multi-point measurement option column 905.
切割格91產生後，再依據切割格91上的該些運動規劃點規劃運動路徑。After the cutting grid 91 is generated, the motion path is planned according to the motion planning points on the cutting grid 91.
在本實施例中，使用者直接在切割格91中任意點選運動規劃點以決定運動路徑，被選定之該些運動規劃點的座標數值將被顯示於測試座標欄906上，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。In this embodiment, the user directly selects the motion planning point in the cutting grid 91 to determine the motion path, and the coordinate values of the selected motion planning points are displayed on the test coordinate column 906, wherein the coordinates are displayed. The unit can be expressed in pixels or mm.
第10圖為方法流程圖之第九實施例，用以顯示說明透過圖1運動路徑規劃方法下達使用者命令，以決定運動路徑。Figure 10 is a ninth embodiment of a method flow diagram for demonstrating that a user command is issued through the motion path planning method of Figure 1 to determine a motion path.
第10圖為人機介面10示意圖，係為控制軟體的視窗畫面，使用者透過人機介面10下達命令。Figure 10 is a schematic diagram of the human-machine interface 10, which is a window screen for controlling the software, and the user issues a command through the human-machine interface 10.
首先，設定水平切割欄1001數值為4，垂直切割欄1003數值為4，以決定切割格101。First, the value of the horizontal cutting column 1001 is set to 4, and the value of the vertical cutting column 1003 is 4 to determine the cutting grid 101.
依據前述設定，將可得到一個具有16格(4*4)切割單位之切割格101，其中水平切割與垂直切割的交叉點及切割所形成之每一切割單位的中心點，皆係運動規劃點。According to the foregoing setting, a cutting grid 101 having a cutting unit of 16 grids (4*4) can be obtained, wherein the intersection of the horizontal cutting and the vertical cutting and the center point of each cutting unit formed by the cutting are motion planning points. .
接著，再依據該些運動規劃點規劃運動路徑。Then, the motion path is planned according to the motion planning points.
在本實施例中，使用者直接在切割格101中任意點選運動規劃點以決定運動路徑，被選定之該些運動規劃點的座標數值將被顯示於測試座標欄1006上。In this embodiment, the user directly selects the motion planning points in the cutting grid 101 to determine the motion path, and the coordinate values of the selected motion planning points will be displayed on the test coordinate column 1006.
本實施例中係選定8個運動規劃點10101、10103、10105、10107、10109、10111、10113、10115以決定運動路徑，其座標數值亦同時顯示於測試座標欄1006上，分別為(0.00，0.00)、(75.00，75.00)、(150.00，0.00)、(225.00，75.00)、(225.00，150.00)、(300.00，225.00)、(75.00，225.00)、(0.00，150.00)，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。In this embodiment, eight motion planning points 10101, 10103, 10105, 10107, 10109, 10111, 10113, and 10115 are selected to determine the motion path, and the coordinate values are also displayed on the test coordinate column 1006, respectively (0.00, 0.00). ), (75.00, 75.00), (150.00, 0.00), (225.00, 75.00), (225.00, 150.00), (300.00, 225.00), (75.00, 225.00), (0.00, 150.00), where the coordinate units The representation can be pixel or mm.
值得一提的是，運動規劃點會因應命令下達順序，顯示順序記號，意即運動規劃點10101~10115會因應命令下達順序，分別在運動規劃點10101~10115旁顯示順序記號1~8(圖中未繪示出)。It is worth mentioning that the motion planning point will display the sequence mark in response to the order of the command, that is, the motion planning point 10101~10115 will display the sequence mark 1~8 next to the motion planning point 10101~10115 according to the command order. Not shown in the middle).
第11圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置的架構、以及運作情形。Figure 11 is a schematic view of a device for illustrating the architecture and operation of the motion path planning device of the present invention.
如第11圖中所示之，本新型之運動路徑規劃裝置11包含控制模組111及受控模組113，其中受控模組113電性連接控制模組111。As shown in FIG. 11 , the motion path planning device 11 of the present invention includes a control module 111 and a controlled module 113 , wherein the controlled module 113 is electrically connected to the control module 111 .
控制模組111更包含人機介面單元1112及處理單元1114，其中處理單元1114電性連接人機介面單元1112。使用者透過人機介面單元1112進行命令下達，用以產生運動路徑命令1101，處理單元1114電性連接人機介面單元1112，因應運動路徑命令1101，以產生運動路徑訊號1103，受控模組113電性連接控制模組111，用以因應運動路徑訊號1103以進行路徑運動，其中運動路徑命令1101係由複數個運動規劃點所決定。The control module 111 further includes a human interface unit 1112 and a processing unit 1114. The processing unit 1114 is electrically connected to the human interface unit 1112. The user sends a command through the human interface unit 1112 to generate a motion path command 1101. The processing unit 1114 is electrically connected to the human interface unit 1112. The motion path command 1101 is generated to generate the motion path signal 1103. The controlled module 113 The electrical connection control module 111 is configured to perform path motion according to the motion path signal 1103, wherein the motion path command 1101 is determined by a plurality of motion planning points.
第12圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第一實施例的架構、以及運作情形。Figure 12 is a schematic view of a device for illustrating the architecture and operation of the first embodiment of the motion path planning apparatus of the present invention.
如第12圖中所示之運動路徑規劃裝置12，包含控制模組121以及受控模組123，其中受控模組123電性連接控制模組121。The motion path planning device 12, as shown in FIG. 12, includes a control module 121 and a controlled module 123, wherein the controlled module 123 is electrically connected to the control module 121.
在本實施例中，控制模組係為電腦121，其更包含人機介面單元(係為螢幕與輸出入裝置1212)以及處理單元(係為主機1214)，受控模組係為x-y軸檢測平台123。使用者透過螢幕與輸出入裝置1212進行命令下達，以產生運動路徑命令1201並傳送至主機1214，主機1214電性連接螢幕與輸出入裝置1212，因應運動路徑命令1201以產生運動路徑訊號1203，x-y軸檢測平台123電性連接電腦121，接收運動路徑訊號1203，用以因應運動路徑訊號1203以進行路徑運動，其中運動路徑命令1201係由複數個運動規劃點所決定。In this embodiment, the control module is a computer 121, which further includes a human-machine interface unit (which is a screen and input/output device 1212) and a processing unit (which is a host 1214), and the controlled module is an xy-axis detection. Platform 123. The user issues a command through the screen and the input/output device 1212 to generate a motion path command 1201 and transmits it to the host 1214. The host 1214 is electrically connected to the screen and the input/output device 1212, and generates a motion path signal 1203 according to the motion path command 1201. The axis detecting platform 123 is electrically connected to the computer 121, and receives the motion path signal 1203 for performing path motion according to the motion path signal 1203, wherein the motion path command 1201 is determined by a plurality of motion planning points.
值得一提的是，螢幕與輸出入裝置1212可設定水平切割與垂直切割參數，用以產生運動路徑命令1201，運動路徑命令1201所包含的運動路徑資訊如運動路徑規劃方法第一實施例所述(第2圖)，係由運動規劃點2101、2103、2105、2107、2109、2111、2113、2115所決定，其座標數值亦同時顯示於測試座標欄206上，分別為(0.00，0.00)、(75.00，75.00)、(150.00，0.00)、(225.00，75.00)、(225.00，150.00)、(300.00，225.00)、(75.00，225.00)、(0.00，150.00)，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。It is worth mentioning that the screen and the input/output device 1212 can set the horizontal cutting and vertical cutting parameters for generating the motion path command 1201. The motion path information included in the motion path command 1201 is as described in the first embodiment of the motion path planning method. (Fig. 2), determined by motion planning points 2101, 2103, 2105, 2107, 2109, 2111, 2113, 2115, the coordinate values are also displayed on the test coordinate column 206, respectively (0.00, 0.00), (75.00, 75.00), (150.00, 0.00), (225.00, 75.00), (225.00, 150.00), (300.00, 225.00), (75.00, 225.00), (0.00, 150.00), wherein the representation of the coordinate units can It is pixel (pixel) or mm (mm).
第13圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第二實施例的架構、以及運作情形。Figure 13 is a schematic view of a device for illustrating the architecture and operation of a second embodiment of the motion path planning apparatus of the present invention.
如第13圖中所示之運動路徑規劃裝置13，包含控制模組131以及受控模組133，其中受控模組133電性連接控制模組131。在本實施例中，控制模組係為電腦131，其更包含人機介面單元(係為螢幕與輸出入裝置1312)以及處理單元(係為主機1314)，受控模組係為x-y軸檢測平台133。使用者透過螢幕與輸出入裝置1312進行命令下達，以產生運動路徑命令1301並傳送至主機1314，主機1314電性連接螢幕與輸出入裝置1312，因應運動路徑命令1301以產生運動路徑訊號1203，x-y軸檢測平台123電性連接電腦121，接收運動路徑訊號1303，用以因應運動路徑訊號1303以進行路徑運動。The motion path planning device 13 as shown in FIG. 13 includes a control module 131 and a controlled module 133, wherein the controlled module 133 is electrically connected to the control module 131. In this embodiment, the control module is a computer 131, which further includes a human-machine interface unit (which is a screen and input/output device 1312) and a processing unit (which is a host 1314). The controlled module is an xy-axis detection. Platform 133. The user issues a command through the screen and the input/output device 1312 to generate a motion path command 1301 and transmits it to the host 1314. The host 1314 is electrically connected to the screen and the input/output device 1312, and generates a motion path signal 1203 according to the motion path command 1301. The axis detecting platform 123 is electrically connected to the computer 121 and receives the motion path signal 1303 for performing the path motion in response to the motion path signal 1303.
值得一提的是，螢幕與輸出入裝置1312更可設定水平子切割與垂直子切割參數，用以產生運動路徑命令1301，運動路徑命令1301所 包含的運動路徑資訊如運動路徑規劃方法第二實施例(第3圖)所述，係由運動規劃點3101、3103、3105、3107、3109、3111、3113、3115所決定，其座標數值亦同時顯示於測試座標欄306上，分別為(0.00，0.00)、(75.00，75.00)、(150.00，0.00)、(225.00，75.00)、(225.00，150.00)、(300.00，225.00)、(75.00，225.00)、(0.00，150.00)，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。It is worth mentioning that the screen and the input/output device 1312 can set the horizontal sub-cutting and vertical sub-cutting parameters to generate the motion path command 1301, and the motion path command 1301 The included motion path information is as described in the second embodiment (Fig. 3) of the motion path planning method, and is determined by the motion planning points 3101, 3103, 3105, 3107, 3109, 3111, 3113, and 3115, and the coordinate values are also simultaneously Displayed on test coordinate column 306, respectively (0.00, 0.00), (75.00, 75.00), (150.00, 0.00), (225.00, 75.00), (225.00, 150.00), (300.00, 225.00), (75.00, 225.00 ), (0.00, 150.00), wherein the representation of the coordinate units can be pixels or mm.
第14圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第三實施例的架構、以及運作情形。Figure 14 is a schematic view of a device for illustrating the architecture and operation of a third embodiment of the motion path planning device of the present invention.
如第14圖中所示之運動路徑規劃裝置14，包含控制模組141以及受控模組143，其中受控模組143電性連接控制模組141，在本實施例中控制模組係為電腦141，其更包含人機介面單元(係為螢幕與輸出入裝置1412)以及處理單元(係為主機1414)，受控模組係為x-y軸檢測平台143。使用者透過螢幕與輸出入裝置1412進行命令下達，以產生運動路徑命令1401並傳送至主機1414，主機1414電性連接螢幕與輸出入裝置1412，因應運動路徑命令1401以產生運動路徑訊號1403，x-y軸檢測平台143電性連接電腦141，接收運動路徑訊號1403，用以因應運動路徑訊號1403以進行路徑運動。The motion path planning device 14 shown in FIG. 14 includes a control module 141 and a controlled module 143. The control module 143 is electrically connected to the control module 141. In this embodiment, the control module is The computer 141 further includes a human interface unit (which is a screen and input/output device 1412) and a processing unit (which is a host 1414). The controlled module is an xy axis detection platform 143. The user issues a command through the screen and the input/output device 1412 to generate a motion path command 1401 and transmits it to the host 1414. The host 1414 is electrically connected to the screen and the input/output device 1412, and generates a motion path signal 1403 in response to the motion path command 1401. The axis detection platform 143 is electrically connected to the computer 141 and receives the motion path signal 1403 for performing the path motion in response to the motion path signal 1403.
值得一提的是，螢幕與輸出入裝置1412亦可利用內建之5點參數設定，用以產生運動路徑命令1401，運動路徑命令1401所包含的運動路徑資訊如運動路徑規劃方法第三實施例(第4圖)所述，係由複數個運動規劃點所決定，其座標數值亦同時顯示於測試座標欄406上，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。It is worth mentioning that the screen and the input/output device 1412 can also use the built-in 5-point parameter setting to generate the motion path command 1401. The motion path information included in the motion path command 1401, such as the motion path planning method, is the third embodiment. (Fig. 4) is determined by a plurality of motion planning points, and the coordinate values are also displayed on the test coordinate column 406, wherein the coordinates of the coordinate units can be pixels or mm. ).
第15圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第四實施例的架構、以及運作情形。Figure 15 is a schematic view of a device for illustrating the architecture and operation of a fourth embodiment of the motion path planning apparatus of the present invention.
如第15圖中所示之運動路徑規劃裝置15，包含控制模組151以及受控模組153，其中受控模組153電性連接控制模組151，在本實施例中控制模組係為電腦151，其更包含人機介面單元(係為螢幕與輸出入裝置1512)以及處理單元(係為主機1514)，受控模組係為x-y軸檢測平台153。使用者透過螢幕與輸出入裝置1512進行命令下達，以產生運動路徑命令 1501並傳送至主機1514，主機1514電性連接螢幕與輸出入裝置1512，因應運動路徑命令1501以產生運動路徑訊號1503，x-y軸檢測平台153電性連接電腦151，接收運動路徑訊號1503，用以因應運動路徑訊號1503以進行路徑運動。The motion path planning device 15 shown in FIG. 15 includes a control module 151 and a controlled module 153. The controlled module 153 is electrically connected to the control module 151. In this embodiment, the control module is The computer 151 further includes a human interface unit (which is a screen and input/output device 1512) and a processing unit (which is a host 1514). The controlled module is an xy axis detection platform 153. The user issues a command through the screen and the input/output device 1512 to generate a motion path command. 1501 is transmitted to the host 1514. The host 1514 is electrically connected to the screen and the input/output device 1512. The motion path command 1501 is used to generate the motion path signal 1503. The xy axis detection platform 153 is electrically connected to the computer 151 to receive the motion path signal 1503. The path is moved in response to the motion path signal 1503.
值得一提的是，螢幕與輸出入裝置1512亦可利用內建之9點參數設定，用以產生運動路徑命令1501，運動路徑命令1501所包含的運動路徑資訊如運動路徑規劃方法第四實施例(第5圖)所述，係由複數個運動規劃點所決定，其座標數值亦同時顯示於測試座標欄406上，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。It is worth mentioning that the screen and the input/output device 1512 can also use the built-in 9-point parameter setting to generate the motion path command 1501. The motion path information included in the motion path command 1501, such as the motion path planning method, is the fourth embodiment. (Fig. 5) is determined by a plurality of motion planning points, and the coordinate values are also displayed on the test coordinate column 406, wherein the coordinates of the coordinate units can be pixels or mm. ).
第16圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第五實施例的架構、以及運作情形。Figure 16 is a schematic view of a device for illustrating the architecture and operation of the fifth embodiment of the motion path planning apparatus of the present invention.
如第16圖中所示之運動路徑規劃裝置16，包含控制模組161以及受控模組163，其中受控模組163電性連接控制模組161，在本實施例中控制模組係為電腦161，其更包含人機介面單元(係為螢幕與輸出入裝置1612)以及處理單元(係為主機1614)，受控模組係為x-y軸檢測平台163。使用者透過螢幕與輸出入裝置1612進行命令下達，以產生運動路徑命令1601並傳送至主機1614，主機1614電性連接螢幕與輸出入裝置1612，因應運動路徑命令1601以產生運動路徑訊號1603，x-y軸檢測平台163電性連接電腦161，接收運動路徑訊號1603，用以因應運動路徑訊號1603以進行路徑運動。The motion path planning device 16 shown in FIG. 16 includes a control module 161 and a controlled module 163. The controlled module 163 is electrically connected to the control module 161. In this embodiment, the control module is The computer 161 further includes a human interface unit (which is a screen and input/output device 1612) and a processing unit (which is a host 1614). The controlled module is an xy axis detection platform 163. The user issues a command through the screen and the input/output device 1612 to generate a motion path command 1601 and transmits it to the host 1614. The host 1614 is electrically connected to the screen and the input/output device 1612, and responds to the motion path command 1601 to generate a motion path signal 1603, xy. The axis detecting platform 163 is electrically connected to the computer 161 and receives the motion path signal 1603 for performing the path motion in response to the motion path signal 1603.
值得一提的是，螢幕與輸出入裝置1612亦可利用內建之13點參數設定，用以產生運動路徑命令1601，運動路徑命令1601所包含的運動路徑資訊如運動路徑規劃方法第五實施例(第6圖)所述，係由複數個運動規劃點所決定，其座標數值亦同時顯示於測試座標欄606上，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。It is worth mentioning that the screen and the input/output device 1612 can also use the built-in 13-point parameter setting to generate the motion path command 1601. The motion path information included in the motion path command 1601, such as the motion path planning method, is the fifth embodiment. (Fig. 6) is determined by a plurality of motion planning points, and the coordinate values are also displayed on the test coordinate column 606, wherein the coordinates of the coordinate units can be pixels or mm. ).
第17圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第六實施例的架構、以及運作情形。Figure 17 is a schematic view of a device for illustrating the architecture and operation of the sixth embodiment of the motion path planning apparatus of the present invention.
如第17圖中所示之運動路徑規劃裝置17，包含控制模組171以及受控模組173，其中受控模組173電性連接控制模組171，在本實施例 中控制模組係為電腦171，其更包含人機介面單元(係為螢幕與輸出入裝置1712)以及處理單元(係為主機1714)，受控模組係為x-y軸檢測平台173。使用者透過螢幕與輸出入裝置1712進行命令下達，以產生運動路徑命令1701並傳送至主機1714，主機1714電性連接螢幕與輸出入裝置1712，因應運動路徑命令1701以產生運動路徑訊號1703，x-y軸檢測平台173電性連接電腦171，接收運動路徑訊號1703，用以因應運動路徑訊號1703以進行路徑運動。The motion path planning device 17 shown in FIG. 17 includes a control module 171 and a controlled module 173, wherein the controlled module 173 is electrically connected to the control module 171, in this embodiment. The central control module is a computer 171, which further includes a human-machine interface unit (which is a screen and input/output device 1712) and a processing unit (which is a host 1714). The controlled module is an x-y-axis detection platform 173. The user issues a command through the screen and the input/output device 1712 to generate a motion path command 1701 and transmits it to the host 1714. The host 1714 is electrically connected to the screen and the input/output device 1712, and responds to the motion path command 1701 to generate the motion path signal 1703, xy. The axis detection platform 173 is electrically connected to the computer 171 and receives the motion path signal 1703 for performing the path motion in response to the motion path signal 1703.
值得一提的是，螢幕與輸出入裝置1712更可設定內縮畫素參數，用以產生運動路徑命令1701，運動路徑命令1701所包含的運動路徑資訊如運動路徑規劃方法第六實施例(第7圖)所述，係由複數個運動規劃點所決定，其座標數值亦同時顯示於測試座標欄706上，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。需說明的是，內縮畫素設定將使該些運動規劃點進行內縮，用以內縮運動規劃路徑。It is worth mentioning that the screen and the input/output device 1712 can further set the intra-pixel parameters for generating the motion path command 1701, and the motion path information included in the motion path command 1701, such as the motion path planning method, is the sixth embodiment. 7)) is determined by a plurality of motion planning points, and the coordinate values are also displayed on the test coordinate column 706, wherein the coordinates of the coordinate units can be pixels or mm. It should be noted that the intrinsic pixel setting will cause the motion planning points to be indented for indenting the motion planning path.
第18圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第七實施例的架構、以及運作情形。Figure 18 is a schematic view of a device for illustrating the architecture and operation of the seventh embodiment of the motion path planning apparatus of the present invention.
如第18圖中所示之運動路徑規劃裝置18，包含控制模組181以及受控模組183，其中受控模組183電性連接控制模組181，在本實施例中控制模組係為電腦181，其更包含人機介面單元(係為螢幕與輸出入裝置1812)以及處理單元(係為主機1814)，受控模組係為x-y軸檢測平台183。使用者透過螢幕與輸出入裝置1812進行命令下達，以產生運動路徑命令1801並傳送至主機1814，主機1814電性連接螢幕與輸出入裝置1812，因應運動路徑命令1801以產生運動路徑訊號1803，x-y軸檢測平台183電性連接電腦181，接收運動路徑訊號1803，用以因應運動路徑訊號1803以進行路徑運動。The motion path planning device 18 shown in FIG. 18 includes a control module 181 and a controlled module 183. The control module 183 is electrically connected to the control module 181. In this embodiment, the control module is The computer 181 further includes a human interface unit (which is a screen and input/output device 1812) and a processing unit (which is a host 1814). The controlled module is an xy axis detection platform 183. The user issues a command through the screen and the input/output device 1812 to generate a motion path command 1801 and transmits it to the host 1814. The host 1814 is electrically connected to the screen and the input/output device 1812, and responds to the motion path command 1801 to generate a motion path signal 1803, xy. The axis detection platform 183 is electrically connected to the computer 181 and receives the motion path signal 1803 for performing the path motion in response to the motion path signal 1803.
值得一提的是，螢幕與輸出入裝置1812更可利用內建之等距切割參數設定，用以產生運動路徑命令1801，運動路徑命令1801所包含的運動路徑資訊如運動路徑規劃方法第七實施例(第8圖)所述，係由複數個運動規劃點所決定，其座標數值亦同時顯示於測試座標欄806上，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。It is worth mentioning that the screen and the input/output device 1812 can utilize the built-in equidistant cutting parameter setting to generate the motion path command 1801, and the motion path information included in the motion path command 1801, such as the seventh method of the motion path planning method. The example (Fig. 8) is determined by a plurality of motion planning points, and the coordinate values are also displayed on the test coordinate column 806, wherein the coordinates of the coordinate units can be pixels or mm ( Mm).
第19圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第八實施例的架構、以及運作情形。Figure 19 is a schematic view of a device for illustrating the architecture and operation of the eighth embodiment of the motion path planning apparatus of the present invention.
如第19圖中所示之運動路徑規劃裝置19，包含控制模組191以及受控模組193，其中受控模組193電性連接控制模組191，在本實施例中控制模組係為電腦191，其更包含人機介面單元(係為螢幕與輸出入裝置1912)以及處理單元(係為主機1914)，受控模組係為x-y軸檢測平台193。使用者透過螢幕與輸出入裝置1912進行命令下達，以產生運動路徑命令1901並傳送至主機1914，主機1914電性連接螢幕與輸出入裝置1912，因應運動路徑命令1901以產生運動路徑訊號1903，x-y軸檢測平台193電性連接電腦191，接收運動路徑訊號1903，用以因應運動路徑訊號1903以進行路徑運動。The motion path planning device 19 shown in FIG. 19 includes a control module 191 and a controlled module 193. The control module 193 is electrically connected to the control module 191. In this embodiment, the control module is The computer 191 further includes a human interface unit (which is a screen and input/output device 1912) and a processing unit (which is a host 1914). The controlled module is an xy axis detection platform 193. The user issues a command through the screen and the input/output device 1912 to generate a motion path command 1901 and transmits it to the host 1914. The host 1914 is electrically connected to the screen and the input/output device 1912, and responds to the motion path command 1901 to generate a motion path signal 1903, xy. The axis detection platform 193 is electrically connected to the computer 191 and receives the motion path signal 1903 for performing the path motion in response to the motion path signal 1903.
值得一提的是，螢幕與輸出入裝置1912更可利用內建之等分切割參數設定，用以產生運動路徑命令1901，運動路徑命令1901所包含的運動路徑資訊如運動路徑規劃方法第八實施例(第9圖)所述，係由複數個運動規劃點所決定，其座標數值亦同時顯示於測試座標欄906上，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。It is worth mentioning that the screen and the input/output device 1912 can utilize the built-in halved cutting parameter setting to generate the motion path command 1901, and the motion path information included in the motion path command 1901, such as the eighth method of the motion path planning method. The example (Fig. 9) is determined by a plurality of motion planning points, and the coordinate values are also displayed on the test coordinate column 906, wherein the coordinates of the coordinate units can be pixels or mm ( Mm).
第20圖為一裝置示意圖，用以顯示說明本新型之運動路徑規劃裝置之第九實施例的架構、以及運作情形。如第20圖中所示之運動路徑規劃裝置20，包含控制模組201以及受控模組203，其中受控模組203電性連接控制模組201，在本實施例中控制模組係為電腦201，其更包含人機介面單元(係為螢幕與輸出入裝置2012)以及處理單元(係為主機2014)，受控模組係為x-y軸檢測平台203。使用者透過螢幕與輸出入裝置2012進行命令下達，以產生運動路徑命令2001並傳送至主機2014，主機2014電性連接螢幕與輸出入裝置2012，因應運動路徑命令2001以產生運動路徑訊號2003，x-y軸檢測平台203電性連接電腦201，接收運動路徑訊號2003，用以因應運動路徑訊號2003以進行路徑運動。Figure 20 is a schematic view of a device for illustrating the architecture and operation of the ninth embodiment of the motion path planning device of the present invention. The motion path planning device 20 shown in FIG. 20 includes a control module 201 and a controlled module 203. The controlled module 203 is electrically connected to the control module 201. In this embodiment, the control module is The computer 201 further includes a human interface unit (which is a screen and input/output device 2012) and a processing unit (which is a host 2014), and the controlled module is an xy axis detection platform 203. The user issues a command through the screen and the input/output device 2012 to generate a motion path command 2001 and transmits it to the host 2014. The host 2014 is electrically connected to the screen and the input/output device 2012, and responds to the motion path command 2001 to generate a motion path signal 2003, xy. The axis detecting platform 203 is electrically connected to the computer 201 and receives the motion path signal 2003 for performing the path motion in response to the motion path signal 2003.
值得一提的是，螢幕與輸出入裝置2012可設定運動規劃點的順序記號參數，用以產生運動路徑命令2001，運動路徑命令2001所包含的運動路徑資訊如運動路徑規劃方法第九實施例所述(第10圖)，係由運 動規劃點10101、10103、10105、10107、10109、10111、10113、10115所決定，其座標數值亦同時顯示於測試座標欄1006上，分別為(0.00，0.00)、(75.00，75.00)、(150.00，0.00)、(225.00，75.00)、(225.00，150.00)、(300.00，225.00)、(75.00，225.00)、(0.00，150.00)，其中該些座標單位之表示可以為畫素(pixel)或公釐(mm)。意即，運動規劃點10101~10115會因應命令下達順序，分別在運動規劃點10101~10115旁顯示順序記號1~8。It is worth mentioning that the screen and the input/output device 2012 can set the sequence symbol parameter of the motion planning point to generate the motion path command 2001, and the motion path information included in the motion path command 2001, such as the motion path planning method, is the ninth embodiment. Said (Fig. 10) Determined by the dynamic planning points 10101, 10103, 10105, 10107, 10109, 10111, 10113, 10115, the coordinate values are also displayed on the test coordinate column 1006, respectively (0.00, 0.00), (75.00, 75.00), (150.00 , 0.00), (225.00, 75.00), (225.00, 150.00), (300.00, 225.00), (75.00, 225.00), (0.00, 150.00), wherein the representation of the coordinate units can be pixels or PCT (mm). That is to say, the motion planning points 10101~10115 will display the sequence marks 1~8 next to the motion planning points 10101~10115 in response to the command order.
藉由以上較佳具體實施例之詳述，係希望能更加清楚描述本新型之特徵與精神，而並非以上述所揭露的較佳具體實施例來對本新型之範疇加以限制。相反地，其目的是希望能涵蓋各種改變及具相等性的安排於本新型所欲申請之專利範圍內。The features and spirit of the present invention are intended to be more apparent from the detailed description of the preferred embodiments. On the contrary, the intention is to cover various modifications and equivalent arrangements within the scope of the claimed invention.
11‧‧‧運動路徑規劃裝置11‧‧‧Motion path planning device
111‧‧‧控制模組111‧‧‧Control Module
1112‧‧‧人機介面單元1112‧‧‧Human Machine Interface Unit
1114‧‧‧處理單元1114‧‧‧Processing unit
113‧‧‧受控模組113‧‧‧Controlled modules
1101‧‧‧運動路徑命令1101‧‧‧Sports Path Command
1103‧‧‧運動路徑訊號1103‧‧‧Sports signal
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|---|---|---|---|
| TW103206627U TWM485442U (en) | 2012-04-18 | 2012-04-18 | Motion path planning device |
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| Application Number | Priority Date | Filing Date | Title |
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| TW103206627U TWM485442U (en) | 2012-04-18 | 2012-04-18 | Motion path planning device |
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| TWM485442U true TWM485442U (en) | 2014-09-01 |
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