TW201837627A - Modular Machine Control Device Based on Image Correction - Google Patents

Abstract

The present invention provides a modular machine control device based on image correction, comprising: a body, which sets a driving unit and an acting part, the driving unit is used for driving the acting part, and to make it execute a motion command; the acting part has a carry surface, the carry surface sets a carrier, the carrier sets an image capture unit and an inertial sensing unit; and a processing unit, which is coupled with the driving unit, the image capture unit and the inertial sensing unit. The present invention measures the states of motion of the acting part by inertial sensing unit, in order to correspond and correct the image which is captured by the image capture unit, and then it can advantageously analyze the characteristics of object in the image, and it can control the driving unit according to the characteristics of object, letting the acting part execute the motion command in order to operate the object. Furthermore, the image capturing unit and the inertia sensing unit can be modularly set on the carrier by the carrier, it is beneficial to install on the acting part in all kinds of the body, and it can enhance the applicability of the present invention.

Description

Modular machine control device based on image correction

The present invention provides a modular device control device based on image correction, in particular, a modular image capturing unit and an inertial sensing unit are disposed at the center of the working end of the body, so that the image capturing unit can be configured. The image of the active end is taken, and the image captured by the image capturing unit is corrected by the inertial sensing unit, thereby facilitating analysis of the object feature in the image to control the motion command of the active end according to the feature of the object.

According to the development of technology, the technology in various technical fields is also continuously refurbished. In order to solve some technical bottlenecks, it is necessary to consider and study the structure and principle of biology to provide new technical ideas and system architecture principles through biometrics. To create the development of today's bionic machinery; for example, the robotic arm is an exercise that mimics the joint movement of the human arm, so that the technical products can be refined and consistent, and can increase the productivity and reduce the labor cost. .

There are many types of robots today, and most of them are based on the specific product types that need to be processed, and their motion commands are set. However, when the product specifications are different, the motion instructions need to be redefined, which will result in The applicability of the robotic arm is limited.

The utility model further provides a mechanical arm combined with image analysis, which is characterized in that the mechanical image is set by the mechanical arm to capture the image feature of the object image by the photographic device, so as to facilitate the control of the robot arm according to the image feature; The position of the photographing device and the robot arm are not the same. As shown in Fig. 1, when the photographing device 10 is mounted on one end of the robot arm 20, the image capturing range will produce a shooting corner at the other end, and the object is caused by the object. The image capture is incomplete, and the viewing angle captured by the photographing device 10 will affect the generation and analysis of the image features, which will cause the robot arm 20 to have an error when actuated according to the image features, which will affect the working accuracy of the robot arm 20.虞; If you want to overcome this error, you need to perform another image correction of the deviation, which will increase the geometric operation of the image, and lead to an increase in the time of image analysis, and there are still doubts that the error cannot be completely eliminated.

In view of this, our inventors have devote themselves to further research on the robotic arm and have begun research and development and improvement. A preferred invention has been made to solve the above problems, and the present invention has been developed after continuous experimentation and modification.

Therefore, the object of the present invention is to solve the problem that the conventional mechanical arm affects the generation and analysis of image features due to the difference in the position of the photographic device and the mechanical arm, thereby causing errors in the operation of the robot arm.

In order to achieve the above object, the inventors provide a modular device control device based on image correction, comprising: a body, which is provided with a driving unit and an active end, wherein the driving unit is used to drive the working end Performing a motion command; the working end has a bearing surface, the bearing surface is provided with a carrier; the center of the body and the working end defines an axis; an image capturing unit is disposed on the carrier, and is correspondingly disposed on the An image capturing unit corresponding to the image in front of the working end; an inertial sensing unit disposed on the carrier and correspondingly measuring the motion state of the working end; and a processing unit The processing unit is coupled to the driving unit, the image capturing unit, and the inertial sensing unit; the processing unit defines an initial value in the image capturing unit and the working end, and the processing unit receives the motion state correspondingly, And correspondingly correcting the image captured by the image capturing unit according to the difference between the motion state and the initial value; the processing unit is configured to analyze an object in the image. To define the object according to a feature value corresponding to an initial execution path of the action end, and further controlling the execution path according to the driving unit, so that the acting end of the motion commands are executed.

According to the above-mentioned image-correcting device control device, the carrier is further provided with a plurality of receiving holes, a receiving groove and at least one guiding groove, wherein the receiving groove is respectively connected to the guiding groove and And the image capturing unit The image in front of the active end is captured by the set of holes.

The modular device control device based on the image correction, wherein the set of the hole sets further comprises a cover body, the cover body is provided with a receiving portion through the set of holes, the periphery of the receiving portion An assembly portion is formed, the assembly portion is formed on an end of the bearing surface, and the receiving portion is formed with a receiving space and a through hole, and the image capturing unit is formed The accommodating space is disposed in the accommodating space, and is correspondingly located at the through hole, so that the image of the front side of the working end is correspondingly captured by the puncturing.

According to the above-mentioned image-correcting device control device, the carrier is further provided with a receiving slot and at least one guiding slot, the set of connecting holes are disposed in the receiving slot, and the cover is assembled Each of the slots is connected to the accommodating slot, and the accommodating slot is respectively connected to the guiding slot, and at least one end of the guiding slot is connected to the side edge of the carrier; The slot system houses the inertial sensing unit and the processing unit.

According to the above-mentioned image correction device-based device control device, the carrier is further provided with at least a consistent hole at a periphery of the set of holes, and the through hole is connected to the receiving groove, The accommodating groove is provided with at least one illuminating element, and the illuminating element is coupled to the processing unit, and the illuminating element corresponds to a person who projects light through the through hole.

According to the above-mentioned image correction-based modular implement control device, the light-emitting element emits a single light of visible light, ultraviolet light, infrared light or a combination thereof.

According to the above-mentioned image correction-based modular implement control device, the carrier is further provided with at least one opening, at least one of the guide channels is connected to the slit, and the slit is provided with a connection port. The connection system is coupled to the processing unit.

The modular device control device based on the image correction described above, wherein the port is a USB interface, a Mini USB interface, a Micro USB or a Type C interface.

According to the above-mentioned image-correcting device control device, 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 working end, the processing unit defines the initial value according to the distance, and the processing unit defines the execution path according to the object feature and the distance value, and further controls the driving unit according to the execution path, Let the active end execute the motion commander.

The modular device control device based on image correction according to the above, wherein the distance sensing unit is an ultrasonic sensor, an infrared sensor or a laser sensor.

According to the above-mentioned image correction device-based device control device, the carrier is further provided with at least one through hole, and the distance sensing unit is disposed in the receiving groove, and is performed by the through hole Ranging person.

According to the above-mentioned modular correction tool control device, 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.

According to the above-mentioned modular correction tool-based implement control device, wherein the body is a mechanical arm, and the working end is a mechanical jaw.

According to the above-mentioned image correction based modular implement control device, wherein the inertial sensing unit is an accelerometer or a gyroscope, and the motion state is an inclination value.

It is obvious from the above description and setting that the present invention has the following several advantages and effects, which are detailed as follows:

1. The invention is provided with a carrier on the bearing surface of the working end, and the carrier is provided with an image capturing unit and an inertial sensing unit, so that the image capturing unit and the inertial sensing unit can be used when the body moves in translation or rotation. Then, the image capturing unit directly captures the image from the active end of the body, and corrects the image captured by the image capturing unit by the motion state sensed by the inertial sensing unit, so that the image capturing unit The captured image is not affected by the rotation of the active end, so as to facilitate the analysis of the image, thereby improving the characteristics of the analyzed object and defining the accuracy of the execution path, thereby improving the accuracy of the working end of the motion instruction.

2. The present invention can accommodate an image capturing unit, an inertial sensing unit, a processing unit, a connection port and a light-emitting element by means of a carrier, and can facilitate the layout of the respective lines to facilitate modularization. It can be applied to the working end of various types of bodies to enhance the applicability of the present invention as a whole.

The invention will be described in detail below with reference to the drawings.

Please refer to FIG. 2 to FIG. 6 first. The present invention is a modularized implement control device based on image correction, which comprises:

A body 1 is provided with a driving unit 11 and a working end 12 for driving the working end 12 to perform a motion command; the working end 12 has a bearing surface 13 and the bearing surface 13 is provided with a Carrier 2; in a specific embodiment, the body 1 is a mechanical arm, and the working end 12 is a mechanical jaw;

An image capturing unit 3 is disposed on the carrier 2, and the image capturing unit 3 is configured to capture an image in front of the working end 12;

An inertial sensing unit 4 is disposed on the carrier 2 and correspondingly measures the motion state of the active end 12; wherein the inertial sensing unit 4 includes one of an accelerometer and an angular acceleration sensor (gyroscope) Or a combination thereof, wherein the state of motion is a dip value;

a processing unit 5 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, since the volume and shape of the image capturing unit 3 are limited by the requirements of the lens, and the direction and position of the image capturing unit 3 are properly positioned, in an embodiment, As shown in FIG. 4 to FIG. 6, the carrier 2 is provided with a plurality of receiving holes 21, and the set of connecting holes 21 is provided with a cover 22, and the cover 22 is provided with a receiving portion 221 through which the connecting holes 21 are provided. The accommodating portion 221 is protruded from the carrier 2, and the receiving portion 221 is provided with a connecting portion 222 larger than the set of connecting holes 21, and the connecting portion 222 is abutted against the carrier 2 on the bearing surface. At one end of the first end, the accommodating portion 221 is formed with an accommodating space 223 and a through hole 224. The image capturing unit 3 is disposed in the accommodating space 223 and correspondingly located at the through hole 224. The through hole 224 corresponds to the image captured in front of the working end 12 .

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 a receiving slot 23 and at least one guiding slot 24, the receiving slot 23 is connected to the guiding groove 24, and at least one end of the guiding groove 24 is connected to the side edge of the carrier 2; and the receiving groove 23 receives the inertial sensing unit 4 and the processing unit 5; The arrangement of the slots 24 facilitates the arrangement between the inertial sensing unit 4 and the processing unit 5, and the electrical lines are arranged, and after the electrical lines are collected, the side edges of the carrier 2 are extended to connect an external device or a power source.

In a preferred embodiment, in order to facilitate the layout of the electrical lines 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 holes 21 is provided. The accommodating portion 222 is disposed in the accommodating groove 23, and the splicing portion 225 is connected to the accommodating groove 23, whereby the image capturing unit 3 is as described above. The electrical circuit is electrically connected to the processing unit 5 by being collected in the receiving slot 23 by the slot 225.

In order to further facilitate the modularization, and the stable fixing positions of the image capturing unit 3, the processing unit 5 and the inertial sensing unit 4, preferably, as shown in FIGS. 4 to 6, the carrier 2 is One end of the bearing surface 13 is further provided with a body 6 , and the outer contour of the body 6 is corresponding to the carrier 2 , so that the image capturing unit 3 , the processing unit 5 and the inertial sensing unit 4 can be reliably fixed. Between the carrier 2 and the sheet 6, the image capturing unit 3, the processing unit 5, and the assembly between the inertial sensing unit 4 and the working end 12 can also be facilitated.

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 a plurality of ports 25, which in this embodiment are provided in different forms. The slits 25, 25' are connected to the slits 25, 25', and the slits 25, 25' respectively receive a connecting jaw 51, 51', and the connecting jaws 51, 51 The system is coupled to the processing unit 5, and the ports 51, 51' can be simultaneously or separately a USB interface, a Mini USB interface, a Micro USB or a Type C interface.

In another preferred embodiment, in order to facilitate the image capturing unit 3 to perform image capturing in various light source environments, at least the peripheral hole 26 is provided at the periphery of the carrier 2 assembly hole 21 . And the through hole 26 is connected to the accommodating groove 23, and the accommodating groove 23 receives at least one illuminating element 7 corresponding to the through hole 26, and the illuminating element 7 is coupled to the processing unit 5, and By projecting light through the through hole 26, the light-emitting element 7 can select a single light that emits visible light, ultraviolet light or infrared light or a combination thereof according to the application of the desired 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 is annularly arranged on the periphery of the assembly holes 21 to provide a uniform light source.

Therefore, since the image capturing unit 3 and the inertial sensing unit 4 are disposed on the carrier 2 of the carrying surface 13 of the working end 12, the image capturing unit 3 and the inertial sensing unit 4 are also synchronized when the working end 12 moves. Moving; therefore, for the sensing of the motion state, the motion state of the working end 12 is equivalent to the motion state of the image capturing unit 3;

In addition, the image capturing unit 3 captures the image in front of the working end 12, which is referred to herein as the front end of the working end 12, and in this embodiment, refers to the direction in which the working end 12 is oriented. However, it is not limited thereto; and in order to ensure that the image can be properly matched with the position and direction of the working end 12 to improve the accuracy of the working end 12, the center of the body 1 and the working end 12 is preferred. An axis is defined, and the image capturing unit 3 is correspondingly disposed at the axis, so that the coordinate system of the image and the working end 12 are equal, thereby reducing the human error development and time cost of the geometric error and correction;

After the image capturing unit 3 captures the image, the processing unit 5 defines an initial value for the image capturing unit 3 and the working end 12, 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 correct the image of the image capturing unit 3 according to the difference between the motion state and the initial value. Then, the processing unit 5 analyzes an object feature in the image, and the definition of the object feature, in an embodiment, may be an outer contour of the object, which may be measured by an edge detection method; The processing unit 5 can define an execution path corresponding to the initial value of the working end 12 according to the object feature, such as the position of the working end 12 defining the path that the working end 12 can touch or grasp the outer contour of the object, and then according to the path The execution path controls the drive unit 11 to cause the action terminal 12 to execute the motion command.

It is worth noting that when the working end 12 is a mechanical arm or a mechanical jaw, each of the fingers and the jaws has a tilting angle and a directionality, so that the image captured by the image capturing unit 3 is corrected by rotation, When the execution path is defined, the rotated coordinates of the working end 12 can be ignored to simplify the geometric operation of the processing unit 5 for performing the path definition, thereby greatly improving the operation and operation speed.

In another preferred embodiment, because the image captured by the image capturing unit 3 is only a flat surface, in order to further accurately define the execution path, the body 1 is provided with a sense of distance. The distance sensing unit 8 is electrically connected to the processing unit 5, and the distance sensing unit 8 is electrically connected to the processing unit 5, and the distance sensing unit 8 is electrically connected to the processing unit 5, and the distance sensing unit 8 is electrically connected to the processing unit 5. Sensing a distance value in front of the working end 12, which can be clearly known, the distance value is the distance between the working end 12 and the object, so that 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 feature and the distance value, and then controls the driving unit according to the execution path, so that the working end 12 executes the motion instruction, so that the working end 12 can be surely acted or grasped. object.

In an embodiment, the distance sensing unit 8 can be installed at any position of the body 1. However, as described above, the distance between the working end 12 and the object can be accurately measured, and the mode can be achieved. For the purpose of grouping, 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 receiving groove 23, and the distance sensing unit 8 is accommodated. In the receiving slot 23, the distance sensing unit 8 can perform ranging by the through hole 27.

In summary, the technical means disclosed by the present invention can effectively solve the problems of the prior knowledge, achieve the intended purpose and efficacy, and are not found in the publication before publication, have not been publicly used, and have long-term progress, The invention referred to in the Patent Law is correct, and the application is filed according to law, and the company is invited to give a detailed examination and grant a patent for invention.

The above is only the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, that is, the equivalent changes and modifications made by the scope of the invention and the contents of the invention are all It should remain within the scope of this invention.

[study]

10‧‧‧Photographing device

20‧‧‧ Robotic arm

〔this invention〕

1‧‧‧ body

11‧‧‧Drive unit

12‧‧‧Action

13‧‧‧ bearing surface

2‧‧‧ Carrier

21‧‧‧ groups of holes

22‧‧‧ Cover

221‧‧‧ 容部

222‧‧‧Team

223‧‧‧ accommodating space

224‧‧‧Perforation

225‧‧‧ slotting

23‧‧‧ accommodating slots

24‧‧‧Guide

25, 25' ‧ ‧ incision

26‧‧‧through holes

27‧‧‧through hole

3‧‧‧Image capture unit

4‧‧‧Inertial Sensing Unit

5‧‧‧Processing unit

51, 51’‧‧‧ Connections

6‧‧‧Sheet

7‧‧‧Lighting elements

8‧‧‧Distance sensing unit

Fig. 1 is a schematic view showing a conventional mechanical arm mounting photographic apparatus. Figure 2 is a schematic view of the structure of the present invention. Figure 3 is a perspective view of the present invention. Figure 4 is a perspective exploded view of the present invention. Figure 5 is a schematic rear view of the vector of the present invention. Figure 6 is a schematic diagram of the present invention in a carrier setting processing unit, an image capturing unit, an inertial sensing unit, a port, a light-emitting element, and a distance sensing unit.

Claims (14)

A modular device control device based on image correction, comprising: a body, a driving unit and an active end, wherein the driving unit is configured to drive the working end to execute a motion instruction; the working end has a bearing The image bearing surface is provided with a carrier; an axis is defined at the center of the body and the working end; an image capturing unit is disposed on the carrier and correspondingly disposed at the axis, and the image capturing unit corresponds to An image of the front end of the active end; an inertial sensing unit disposed on the carrier and correspondingly measuring the motion state of the active end; and a processing unit coupled to the driving unit and the image Taking the unit and the inertial sensing unit; the processing unit defines an initial value in the image capturing unit and the working end, and the processing unit correspondingly receives the motion state, and according to the difference between the motion state and the initial value a value corresponding to the image captured by the image capturing unit; the processing unit analyzes an object feature in the image to define a pair according to the object feature The driving unit should be controlled according to the execution path of the initial value of the active end, and then the driving terminal executes the motion commander according to the execution path. The image processing device-based modular device control device according to the first aspect of the invention, wherein the carrier further comprises a plurality of receiving holes, a receiving groove and at least one guiding groove, wherein the receiving groove is respectively connected to The guiding slot and the set of connecting holes, and at least one end of the guiding slot is connected to the side edge of the carrier; the receiving slot is configured to receive the inertial sensing unit, the processing unit and the image capturing unit, and the The image capturing unit correspondingly captures the image in front of the working end by the set of holes. The modular device control device based on the image correction according to the second aspect of the invention, wherein the set of contact holes further comprises a cover body, and the cover body is provided with a receiving portion through which the set of holes is received. The accommodating portion is formed with an accommodating space and a through hole, and the accommodating portion is formed with an accommodating space and a through hole, and the accommodating portion is formed at an end of the accommodating portion. The image capturing unit is disposed in the accommodating space and correspondingly located at the through hole, so that the image of the front side of the working end is correspondingly captured by the puncturing. The image processing device-based device control device according to the third aspect of the invention, wherein the carrier is further provided with a receiving slot and at least one guiding slot, and the set of connecting holes is disposed in the receiving slot, The splicing portion of the hood is provided with a groove, the sipe is connected to the accommodating groove, and the accommodating groove is respectively communicated with the guiding groove, and at least one end of the guiding groove is connected to the carrier side The accommodating slot accommodates the inertial sensing unit and the processing unit. The image processing device-based device control device according to claim 3, wherein the carrier is further provided with at least a consistent hole at a periphery of the set of holes, and the through hole is connected to the The accommodating groove receives at least one illuminating element, and the illuminating element is coupled to the processing unit, and the illuminating element corresponds to a person who projects light through the through hole. The image-correcting modular device control device according to claim 5, wherein the light-emitting element emits a single light of visible light, ultraviolet light, infrared light or a combination thereof. The image-correcting modular device control device according to any one of claims 2 to 6, wherein the carrier is further provided with at least one port, at least one of the channels is connected to the And a slit is disposed in the slit, and the connecting loop is coupled to the processing unit. The image processing device-based device control device according to claim 7, wherein the port is a USB interface, a Mini USB interface, a Micro USB or a Type C interface. The image processing device-based device control device according to any one of claims 2 to 6, wherein the body is further provided with a distance sensing unit, the distance sensing unit is electrically connected to the a processing unit, the distance sensing unit senses a distance value in front of the working end, the processing unit defines the initial value according to the distance, and the processing unit defines the execution path according to the object feature and the distance value And controlling the driving unit according to the execution path, so that the working end executes the motion commander. The image processing device-based device control device according to claim 9, wherein the distance sensing unit is an ultrasonic sensor, an infrared sensor or a laser sensor. The image-correcting device-based implement control device according to claim 9, wherein the carrier is further provided with at least one through hole, and the distance sensing unit is disposed in the receiving slot. The through hole performs a distance measuring. The image-correcting modular device control device according to any one of claims 1 to 6, wherein the carrier further has a body at one end of the bearing surface, and the outer contour of the body is Corresponding to the carrier. The image-correcting modular tool control device according to any one of claims 1 to 6, wherein the body is a mechanical arm, and the working end is a mechanical jaw. The image-correcting modular device control device according to any one of claims 1 to 6, wherein the inertial sensing unit is an accelerometer or a gyroscope, and the motion state is an inclination value.