4 绖濟部中央標準局員工消費合作社印策 A7 _____B7 五、發明説明（/ ) ^ _ ~~ " 本發月係關於一種影像伺服定位與路徑追縱控制系統，尤 指-種具電腦彡像擷取與分m配合伺服機構執行定 ^與路徑追蹤偏差修正之控制’使其可同步調整受控點並鎖定 —參考定位點與追蹤路徑之影像伺服系統。 按田射開刀手術的成功不僅有賴醫師的專業知識，更須 仏重醫師的那雙巧手，年長的專業醫師常因雙手穩定度之衰退 以致無力再操刀，若能輔以本發明裝置協助醫師操刀，不僅可 延長t師專業之壽命，亦可提升開刀路徑之精度與減少人為之 疏失。 又，目耵常見的雷射切割加工、線切割、機器手臂輔助鑽 孔、點焊、切割、噴漆、與研磨等系統，或僅適用於固定式定 點與固定式路徑追蹤控制之應用，或當加工尺寸變更時，須重 新撰寫加工程式.隨著製造技術自動化之需求日益提升，加工 -τ'統須更具彈性化以及多功能化；在彈性化方面，應提升定點 控制與路徑追蹤之可變性，是以單一加工系統能適用於各種不 同的疋點與路杈追蹤控制，無須修改程式；在多功能化方面， 應使一糸統可執行多項任務’如鑽孔、切割、與研磨等。 改善傳統加工系統使其更具彈性化與多功能化的方法之一 ’乃輔以視覺功能’藉由擷取加工目標區中受控點、參考定位 與追蹤路徑影像分析後，可標定出受控點位置與參考位置間像 素偏差量與偏差方向，並即時地執行修正控制以改變受控點位 置’以達精密定位與路徑追縱控制之目的。 目前的視覺系統當中，利用CCD攝影機（光藕合裝置， Charge Coupled Device)來觀察或監視目標物，已是常見的 4 本纸浪尺度適用中國囤家標準（CNS ) A4規格（21〇X 297公釐） .n —i^i ml n^i _ - —J ίϊ» n^l in 一 .，- _ mt i· ...... . (請先閔讀.背面之注意事項再填寫本頁) 經濟部中央梯準局員工消资合作社印裝 434495 A7 _ B7 五、發明説明（2) 應用方式之~ ’此一裝置是以矽為基礎的整合電路，而當光線 觸及攝像平面之“相機記錄器”時，在石夕膠層中的電子可自由 移動’使其電壓因此而產生交互充電為正電或負電，游離的電 子則會聚集在正電壓一端’並經過一段時間的曝光後，則可因 電子充電而成“影像，，。 CCD攝影機泛見於工業上之應用，目前主要是用於檢視物 件之外形’例如：光源可照射於輸送帶上的零件，而反射光可 a由此一攝影機予以接收，並將光階（I丨ght 1 eve丨s )轉換成 電荷（electric charges)而提供電流給晝面捕捉器（fr⑽e grabber)，使得視野景像可解析成許多像素（pixels)，每 =像素被賦予一個灰階值（gray level)，以表示該像素所接 受到的光線強度，籍此可判別所傳送零件之外形與標準設定之 差異（例如：針對零件上各像素點的明亮程度之比對）’而能 判別零件的好壞。 上述視覺系統除了物件檢視之應周外，其亦可做2 p與3 d 定位之用’㈣CCD #影機製造技術日益提升’其影像解析度 與長期操作下之穩定度亦有顯著的提升，若再加裝適當的放^ 鏡頭，以目前的技術而言，CCD定位誤差已可達ιμπι左右之 度，其嚴然已成為未來2D與3D檢測與定位之重要工具之—与 有鑑於此，本發明結合上述視覺系統與影像分析技術，藉 由視覺影像的輔助以提高加工系統之定位與路徑追蹤控制之‘ 性與多功能性，以達成如下所述之發明目的。 本發明方法之目的在於提供-種影像飼服定位與路捏 控制系統’其包括一電腦辅助影像擷取與分析次系統广 及-—~ ^紙張尺度逋用中國國家榡準（CNS ) Α4規格（2ι〇χ297公董 (清先聞讀背面之注意事項再填寫本頁) --- i裝-------訂------線--- 434495 A7 B7 五、發明説明（) '~' —--—I定位與路徑追蹤控制次系統。本 ^ ^ ^ ^ ^ ，明的兩次系統可統由一部電驷串％執仃文控點定位與路徑正控制，^之分析^算、以及修 戈了刀別各串聯一部電腦，其間即時的像素偏差量虫偏差方向可藉由有線或無線訊號 ' 、去切tw — 式傳輪並整合兩次系統’以 達伺服疋位控制或路徑追蹤之 b 目的，疋以本發明能應用於雷射^ ^、雷射切割加卫、線切割、機器手臂、點谭、喷I與研磨等可藉由影像辅助執行定位與路徑追蹤之控制系統 Ο 為使 及其應用 經濟部中夬標準局貝工消費合作社印策 貝審查委員能進-步了解本發明方法、構造特徵 之實施例，II 1¾以圖式詳細說明如后： 一）圖式部份： 係本發明影像飼服定位與路徑追縱控制系統圖。 係本發明雷射光投射H水平與仰角定位機構圖。 係本發明追蹤路徑規劃與啟動雷射光投射器圖。 係本發明訂定追蹤路徑起始點與終點圖。 係本發明追蹤路徑起始點、終點、追蹤方向訂定 示意圖。 係本發明追蹤路徑下一可能細線化像素示意圖。 係本發明追蹤路徑細線化後像素圖。 係本發明不規則形狀之雷射光像素點群圖。 係本發明雷射光像素點群代表座標訂定之示意圖。 :係本發明路徑追蹤控制系統方塊圖。 圖：係本發明水平與仰角定位控制器之控制流程圖。 圖：係本發明本實施例路徑追蹤控制之部分過程圖。 1.第一圖 /第二圖 y第三圖 1/第四圖 /第五圖 v第六圖 第七圖 v_第八圖 V第九圖 v第十圖 y第十一 •第十二 本紙承尺度適用標準（CNS ) A4規格（21〇><297公董） 1请! 先I 閲 f 讀 背f 面 | 5 ί I 惠 I 事I 項 I 再 填 i禽裝 本衣 頁 ΊΤ A7 87 五、發明説明（令 )圖號部份： 〇)影像操取與分析次系統 1 ) CCD攝影機 （ 3 )控制電腦 （ 5 )控制電腦 〇)定位與路徑追蹤控制次系統 2 )燈架 4 )影像擷取介面卡 底座箱 角度顯示器 （ (2 5 )支架 （ (2 7)動力裝置 （ (2 9 )數位輸出/輸入介面卡 (3 0)雷射光投射器 (4 0)自板 ( 雷射光點 （ 2 2)動力裝置 4)水平轉盤 6 )固定座 8 )角位置量測器 5 經濟部中央標準局—工消費合作社印褽 )追蹤路徑 )起始點 53)終點 （54)方向點 二）附件：本發明系統之實驗機器之數位相月所構成的圖 A、B、C乙份。 本發明乃-即時的影像資訊回饋式飼服控制系統，其方 ::::f間區間(―。i tlme 一⑴所完成之工恤 亏^像擷取分析、受控點定位與路徑追蹤偏差量之分析$ 二：受控點位置修正控制，而偏差量之分析計算中獅 適备的位置修正訊號，此修正訊號即時地傳輸於次系統間 錢定位機構的角度或位移修正量後，據以調整定位與其 追廣械構，使其達成定位與路徑追縱控制之手段。4 Inst. A7, Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs _____B7 V. Description of the Invention (/) ^ _ ~~ " This issue is about an image servo positioning and path tracking control system, especially-a computer The image capture and sub-m coordinate with the servo mechanism to execute the control of the positioning and path tracking deviation correction ', so that it can adjust the controlled point synchronously and lock it—reference the positioning point and the image servo system tracking the path. The success of the surgery according to the field of surgery depends not only on the professional knowledge of the physician, but also on the skillful hands of the physician. Older professional physicians often cannot perform the operation due to the decline of the stability of the hands. The device assists the physician in operating the operation, which can not only extend the professional life of the teacher, but also improve the accuracy of the operation path and reduce human errors. In addition, the common laser cutting processing, wire cutting, robot-assisted drilling, spot welding, cutting, painting, and grinding systems are only suitable for fixed fixed-point and fixed path tracking control applications, or when When the processing size is changed, the processing program must be rewritten. With the increasing demand for manufacturing technology automation, the processing-τ 'system must be more flexible and multifunctional; in terms of flexibility, the availability of fixed-point control and path tracking should be improved Denaturation is a single processing system that can be applied to a variety of different points and roads for tracking and control, without the need to modify the program; in terms of multifunctionality, a system should be able to perform multiple tasks such as drilling, cutting, and grinding. One of the ways to improve the traditional processing system to make it more flexible and versatile is to supplement the visual function. By capturing the controlled points in the processing target area, reference positioning and tracking path image analysis, the target can be calibrated. The pixel deviation amount and deviation direction between the control point position and the reference position, and the correction control is performed in real time to change the position of the controlled point 'to achieve the purpose of precise positioning and path tracking control. In current vision systems, it is common to use a CCD camera (Charge Coupled Device) to observe or monitor the target object. The standard of 4 paper waves is applicable to China Store Standard (CNS) A4 (21〇X 297). Mm) .n —i ^ i ml n ^ i _-—J ίϊ »n ^ l in I.,-_ mt i · ....... (Please read the notes on the back before filling (This page) Printed by the Consumer Goods Cooperative of the Central Elevator Bureau of the Ministry of Economic Affairs 434495 A7 _ B7 V. Description of the invention (2) Application method ~ 'This device is a silicon-based integrated circuit, and when light touches the camera plane In the "camera recorder", the electrons in the rubber layer of the stone can move freely 'to cause its voltage to be interactively charged as positive or negative, and the free electrons will gather at one end of the positive voltage' and after a period of exposure After that, it can be "imaged" due to electronic charging. CCD cameras are widely used in industrial applications. At present, they are mainly used to inspect the shape of objects. For example, a light source can illuminate parts on a conveyor belt, and reflected light can be a It is received by a camera, and the light level is (I 丨 ght 1 eve 丨 s) is converted into electric charges and electric current is provided to the fr⑽e grabber, so that the field of vision can be parsed into many pixels, and a gray level is assigned to each pixel. Value (gray level) to indicate the light intensity received by the pixel, which can determine the difference between the shape of the transmitted part and the standard setting (for example, the comparison of the brightness of each pixel point on the part). In addition to the inspection of objects, the above-mentioned vision system can also be used for 2 p and 3 d positioning. '㈣CCD # 影 机 制造 技术 increasingly improves' its image resolution and stability under long-term operation There is also a significant improvement. If an appropriate lens is added, the current CCD positioning error can reach about ιμπι with the current technology, and it has definitely become an important tool for 2D and 3D detection and positioning in the future. —In view of this, the present invention combines the above-mentioned vision system and image analysis technology, with the aid of visual images, to improve the positioning and path-tracking control of the processing system. The invention aims to be described as follows. The purpose of the method of the present invention is to provide a kind of image feed positioning and road pinch control system, which includes a computer-aided image acquisition and analysis system and a wide range of paper standards. National Standards (CNS) Α4 specifications (2ιχχ297 public director (please read the notes on the back of the Qing and then fill out this page) --- i installed ----------------- line --- -434495 A7 B7 V. Description of the invention () '~' —-— I positioning and path tracking control system. In this ^ ^ ^ ^ ^, the two systems of Ming Dynasty can be controlled by an electronic string, and the control and positioning of the control points and the path are controlled. The analysis of the ^ calculation, and the repair of a computer are connected in series. During the real-time pixel deviation measurement, the insect deviation direction can be wired or wireless signal, ”cut tw — type transfer wheel and integrate the system twice” to achieve the purpose of servo positioning control or path tracking, so that the invention can be applied Control systems for laser ^ ^, laser cutting and guarding, wire cutting, robotic arms, dots, spray I and grinding, etc. can be used to perform positioning and path tracking with image assistance. The inspector of the Bureau of the Consumers' Cooperatives Co., Ltd. can further understand the embodiments of the method and structural features of the present invention. II 1¾ is described in detail with the drawings as follows: a) Schematic part: This is the image feeding positioning and Diagram of path tracking control system. It is a diagram of the positioning mechanism of laser light projection H level and elevation angle of the present invention. It is a plan of tracking path planning and starting laser light projector of the present invention. It is the start point and end point of the tracking path set by the present invention. It is a schematic diagram for setting the start point, end point, and tracking direction of the tracking path according to the present invention. It is a schematic diagram of a possible thinned pixel next to the tracking path of the present invention. It is a pixel map after the tracking path of the present invention is thinned. It is an irregularly shaped laser light pixel point group diagram of the present invention. It is a schematic diagram of the representative coordinates setting of the laser light pixel point group of the present invention. : Is a block diagram of the path tracking control system of the present invention. Figure: Control flow chart of the horizontal and elevation positioning controller of the present invention. Figure: is a partial process diagram of path tracking control in the embodiment of the present invention. 1. The first picture / the second picture y the third picture 1 / the fourth picture / the fifth picture v the sixth picture the seventh picture v_ the eighth picture V the ninth picture v the tenth picture y eleventh • twelfth Applicable standard (CNS) A4 specification of this paper (21〇 > < 297 public directors) 1 Please! I read f read back f side | 5 ί I benefit I matter I item I and then fill in the poultry clothing page ΊΤ A7 87 V. Description of the Invention (Order) Drawing No .: 〇) Image manipulation and analysis subsystem 1) CCD camera (3) Control computer (5) Control computer 〇 Positioning and path tracking control subsystem 2) Light Frame 4) Image capture interface card base box angle display ((2 5) bracket ((2 7) power unit ((2 9) digital output / input interface card (3 0) laser light projector (4 0) self-board (Laser light point (2 2) Power unit 4) Horizontal turntable 6) Fixed base 8) Angle position measuring device 5 Central Standards Bureau of the Ministry of Economic Affairs—Industrial and Consumer Cooperative Seal) Tracking path) Start point 53) End point (54) Direction point 2) Attachment: Figures A, B, and C formed by the digital phases of the experimental machine of the system of the present invention. The present invention is a real-time image information feedback type feed control system, which is :::: f interval (―.i tlme】 completed the work shirt ^ image capture analysis, control point positioning and path tracking Analysis of deviation amount II: Control of the position correction of the controlled point, and the appropriate position correction signal of the lion in the analysis and calculation of the deviation amount. This correction signal is transmitted in real time to the angle or displacement correction amount of the money positioning mechanism between the sub-systems. Based on this, the positioning and tracking mechanism are adjusted to enable it to achieve positioning and path tracking control.
D 本紙張尺纽财S ®家標準（CNS) Α^ΤΤ^<297公釐） 1- , !1 - - - I I - - - ·- 1 n HI - - i m ϋ - - -..... I ! ._I n (請先閔讀背面之注意事項再填寫本頁) 434495 A7 B7 經濟部中央標準局I工消費合作让印襲 五、發明説明（5" 如第—圖所示為本發明之一較佳實施例方式’配合參看附 =A B e所7^ ’本實施例系統概括—CCD影像操取與分 J二…先（1 0 )與-定位與路徑追蹤控制次系統（2 〇 )， 其中影像顧取企分折i p , 广Ί Ί λ 刀析久不統（1 〇 )部分包括一架CCD攝影機 I丄1 )固疋於燈年「1 Q、 知人 水（1 2 )上、一控制電腦（1 3 )及影像 D "面卡（1 4)，而定位與路徑追蹤控制次系統（2 〇 ) 部分則包括一支丰導體雷射光投射器（3 0 )、-水平與仰角 定位機構、一控制電腦（15)、以及—數位輸出，輸入介面 卡（2 9 )。 如第—圖所不為本系統之水平與仰角定位機構，其中雷射 :投：器（3 0)安裝於圖示之固定座（2 6 )上，該雷射光 投射器（3 0)之仰角由一動力裝置（2 7)加以驅動，該動 力裝置（2 7 )可為減速嵩輪機構（減速比、步進馬達與 驅動器(每轉1_步)所組成，該仰角定位機構固定於一水； 轉盤（24)上’水平轉盤（24)之水平旋轉角度由另一組 規格相同但安裝於底座箱（2丄）内之動力裝置（2 2 )所控 制，該動力裝置（2 2 )同樣可為減速齒輪機構、步進馬達與 驅動器加以組成，而雷射光投射器（3 〇 )之水平與仰角控制 驅動器則連線至一數位輪出/輸入介面卡（2 9 )與控制電腦 (]5 )，雷射光投射器（3 0 )之實際水平與仰角經由角位 置量測器（Encoder) ( 2 8 )進行角位置之測量，而分別顯 示於角度顯示器（23)上。 本實施例中’吾人可方便地於加工目標區的白板（4 Q ) 上，描繪與設計不同的參考追蹤路徑以供測試之用，如第三圖 本紙張尺度適用中國國家標準（CNS ) A4規格U10X297公釐） (請先聞讀背面之注意事項再填寫本頁) --- —訂-----線 434 434 經濟部令央標準局員工消費合作社印製 A7 B7 五、發明説明（〈） 所不，在本實例操作中，吾人在目標定位區白板（4 〇)上繪 一 S曲線’此一曲線即為本實施例之參考追蹤路徑（5 〇 )。 配合參看第一圖及第三圖所示，可先調整CCD攝影機（工 1 )鏡頭焦距’使其聚焦於白板（4 0 )上追縱路徑（5 〇 ) ，並啟動影像擷取與分析次系統（^ 以及定位與路徑追 蹤控制次系統（2 〇 )，透過控制電腦（i 5 )與數位輸出/ 輸入介面卡（29)啟動雷射光投射器（30)、並調整定位 機構之水平與仰角，使得雷射光點投射在CCD攝影機（丄1 ) 擷取的影像範圍内。 而所擷取的影像中，追蹤路徑（5 〇 )通常不祇佔一單位 像素寬度而已，須予以細線化並須確定細線化路徑之組成像素 座標。配合參看第四圖所示，首先，執行本發明配合硬體所撰 寫之分析與控制軟體，軟體執行時可利用電腦滑鼠定義追蹤路 徑（5 0 )之起始點（5 2 )、終點（5 3 )、與方向點（5 4 : ’其中路徑之起始點（5 2 )與終點（5 3 )分別為區域 具最低灰階值之像素點，如第四圖及第五圖所示，因追蹤路徑 (5 0 )影像灰階值與其背景不同，從起始點（5 2 )開始延 著方向點（5 4 )相對之方向，尋找下一個追蹤路禋細線化之 像素點座標。基本上，下一個細線化像素點必為上一個之8鄰 近點，且不可重複追蹤路徑之細線化，第六圖所示為本實施例 所採用的細線化演算法，圖中僅考慮灰色圓圈像素點群為下一 個可能的細線化像素點。 第六圖僅示意追蹤路徑細線化演算過程中可能的四種演算 方位之一，當灰色圓圈像素點群確定後，其中僅有—個具最低 9 本紙張尺度通用中國國家標準(cns ) a4規格^TT^"297公廣） ~——— -- - (請先閏讀背面之注意事項再填寫本頁) 裝- 丁 'ys 經濟部中央標準局員工消費合作杜印装 434495 Λ7 — B7 '—_____ 五、發明説明（7) 灰階值之像素點被選為細線化像素點，並改標為黑色圓圈像素 ，而其餘未被選定之灰色圓圈像素點群則改標為白色。 重覆前述追蹤路徑細線化之步驟，直至終點為止，並記錄 下所有被選定之細線化像素點座標，細線化後之追縱路徑為一 組連續有序的像素點集合，此一組像素點集合即供路徑追縱控 制時參考定位之用。本細線化演算法無需將影像二值化，因此 較不受外界光源強弱與雜訊的影響，第四圖所示之追蹤路徑經 本演算法細線化後之結果如第七圖所示。 本實施例之受控點即為白板上的雷射光點，其像素座標位 置可方、掏取的景> 像中確定，因雷射光點於影像中通常不僅是一 像素點而已，而是一像素點群，且因雷射光束投射於白板平面 之角度可能隨時變動’如第八圖所示，該雷射光像素點群可能 具不規則形狀之變動，以致造成受控點確實的座標位置訂定之 困難。 本實施例利用雷射光像素點群比其鄰近像素具較高灰階值 之自然現象，設定一適當的門檻灰階值以界定雷射光像素點群 之範圍，並由其上下左右極限所含蓋的矩形範圍，進而定義該 矩开；j之中心為其代表座標，如第九圖所示’此一代表座標即為 受控點之座標。 在搜尋雷射光像素點群時，為減少其搜尋範圍以提高本發 明糸統之控制響應速率（response speed) ’本實施例選定一適 當大小之矩形視窗為搜尋範圍，此一視窗並用以預估雷射光像 素點群下一控制時間區間之可能範圍，且定義該視窗中心即為 β 一控制時間區間受控點之座標。D Paper rule New Zealand S ® Home Standard (CNS) Α ^ ΤΤ ^ < 297 mm) 1-,! 1---II---·-1 n HI--im ϋ---... .. I! ._I n (please read the notes on the reverse side before filling out this page) 434495 A7 B7 I-consumer cooperation with the Central Standards Bureau of the Ministry of Economic Affairs I. Imprinting 5. Inventive Notes (5 " A preferred embodiment of the present invention is described in the following: “Cooperation see Appendix = ABe 所 7 ^” The system overview of this embodiment-CCD image manipulation and subdivision J ... First (1 0) and-positioning and path tracking control system ( 2 〇), in which the image is divided into ip,, λ, λ, λ, and λ (1 〇) part including a CCD camera I 丄 1) fixed in the light year "1 Q, Zhirenshui (1 2 ), A control computer (1 3) and an image D " face card (1 4), while the positioning and path tracking control sub-system (2 0) part includes a high-conductor laser light projector (30), -Horizontal and elevation positioning mechanism, a control computer (15), and-digital output, input interface card (2 9). As shown in the figure-horizontal and elevation positioning mechanism of the system, where laser: cast : The device (30) is installed on the fixed seat (2) shown in the figure, and the elevation angle of the laser light projector (30) is driven by a power device (27), which can be It consists of a reduction gear wheel mechanism (reduction ratio, stepping motor and driver (1_step per revolution), the elevation positioning mechanism is fixed to a water; the horizontal rotation angle of the 'horizontal turntable (24)' on the turntable (24) is changed by another It is controlled by a power unit (2 2) with the same specifications but installed in the base box (2 丄). The power unit (2 2) can also be composed of a reduction gear mechanism, a stepping motor and a driver, and the laser light projector (3) The horizontal and elevation control driver is connected to a digital wheel-out / input interface card (2 9) and the control computer () 5). The actual level and elevation of the laser light projector (3 0) are passed through the angular position. The measuring device (Encoder) (2 8) measures the angular position and displays them on the angle display (23). In this embodiment, 'we can conveniently draw and print on the white board (4 Q) of the processing target area. Design different reference tracking paths for testing, such as the third picture Zhang scale is applicable to Chinese National Standard (CNS) A4 specification U10X297 mm) (Please read the precautions on the back before filling out this page) ----Order --- Line 434 434 Staff of the Central Bureau of Standards of the Ministry of Economic Affairs Cooperative prints A7 B7 V. Description of the invention (<) No, in this example operation, we draw an S-curve on the whiteboard (40) in the target positioning area. This curve is the reference tracking path of this embodiment ( 5 〇). With reference to the first and third figures, the lens focal length of the CCD camera (work 1) can be adjusted to focus on the tracking path (50) on the white board (40), and image capture and analysis can be started. System (^ and the positioning and path tracking control sub-system (20)), the laser projector (30) is activated by the control computer (i5) and the digital output / input interface card (29), and the level and elevation angle of the positioning mechanism are adjusted , So that the laser light point is projected in the range of the image captured by the CCD camera (丄 1). In the captured image, the tracking path (50) usually does not only occupy a unit pixel width, it must be thinned and must be Determine the pixel coordinates of the composition of the thin line path. As shown in Figure 4, first, the analysis and control software written by the present invention in cooperation with the hardware is executed. When the software is executed, a computer mouse can be used to define the start of the tracking path (50). The starting point (5 2), ending point (5 3), and direction point (5 4: 'where the starting point (5 2) and ending point (5 3) of the path are the pixels with the lowest grayscale value in the area, such as As shown in the fourth and fifth pictures, The grayscale value of the path (50) image is different from its background, starting from the starting point (52) and extending in the opposite direction of the directional point (54), looking for the coordinates of the pixel points for the next thinning of the track. Basically, The next thinning pixel point must be the 8 adjacent points of the previous one, and the thinning of the trace path cannot be repeated. Figure 6 shows the thinning algorithm used in this embodiment. Only gray circle pixel points are considered in the figure. Is the next possible thinning pixel point. Figure 6 only shows one of the four possible calculation positions during the thinning calculation of the tracking path. After the gray circle pixel point group is determined, only one of them has a minimum of 9 papers. Standards General Chinese National Standards (cns) a4 specifications ^ TT ^ " 297 public broadcasting) ~ ————--(Please read the precautions on the back before filling this page) Equipment-Ding'ys Central Bureau of Standards, Ministry of Economic Affairs Employee Consumption Cooperation Du Yinzhuang 434495 Λ7 — B7 '—_____ V. Description of the Invention (7) The pixels of the gray scale value are selected as thinned pixels, and they are marked as black circle pixels, and the remaining gray circles are not selected. Pixel groups are relabeled White. Repeat the previous step of thinning the tracking path until the end point, and record the coordinates of all the selected thinned pixel points. The traced path after the thinning is a set of consecutive and ordered pixels. This group The pixel set is used for reference positioning during path tracking control. This thin line algorithm does not need to binarize the image, so it is less affected by the intensity and noise of external light sources. The tracking path shown in the fourth figure is calculated by this calculation. The result after the thinning of the method is shown in Figure 7. The controlled point in this embodiment is the laser light point on the whiteboard, and its pixel coordinate position can be square and extracted. The image is determined by the laser light point. In the image, it is usually not only a pixel, but a pixel group, and the angle of the laser beam projected on the whiteboard plane may change at any time. As shown in the eighth figure, the laser pixel group may be irregular. The change of shape makes it difficult to determine the exact coordinate position of the controlled point. This embodiment uses the natural phenomenon that the laser light pixel point group has a higher gray level value than its neighboring pixels, and sets an appropriate threshold gray level value to define the range of the laser light pixel point group, which is covered by its upper, lower, left, and right limits. The rectangular range of the angle is further defined by the moment opening; the center of j is its representative coordinate, as shown in the ninth figure, 'This representative coordinate is the coordinate of the controlled point. When searching for a laser light pixel point group, in order to reduce its search range to increase the response speed of the system of the present invention, 'a rectangular window of an appropriate size is selected as the search range in this embodiment, and this window is used for estimation. The possible range of the next control time interval of the laser pixel point group, and the center of the window is defined as the coordinate of the controlled point of the β-control time interval.
W 本纸張尺度適—準（CNS ) Α4規格（210X297"^! '~~ "~ (請先閱讀.背面之注意事項再填寫本頁) ^----------- 4344 kl B7 五、發明説明（8) 如弟卞圓所示 用於m…Γ 蹤控制系統方塊圖，其係本發明々 用於本w例之較佳控制例，圖 m潤 供電腦輔助影像#貞取與分 3〜傳輸虛線方塊是 i^-- (請先閱讀背面之注意事項再填寫本頁) 統間作訊號傳輸之用，、：：：:=位與路徑追嶋次系 此虛線方塊可不存在。一統由-部電腦執行控制時， ，，又：！：圖所示之追縱路徑像素點之座標位置已於事先建 於He蹤控制過程中其與目前受控點座標位 所得的追㈣制誤差值與參考誤差值（―般設定為零）=後其 為X與Y軸向&位之像素誤差，用以修正水平與仰角定W The size of this paper is appropriate—standard (CNS) Α4 specification (210X297 " ^! '~~ " ~ (Please read first. Note on the back before filling out this page) ^ ----------- 4344 kl B7 V. Description of the invention (8) The block diagram for the m ... Γ trace control system shown in the figure below is a better control example of the present invention for this w example. The figure m is provided for computer-aided imaging. # 贞 取 与 分 3 ~ The transmission dashed box is i ^-(Please read the precautions on the back before filling this page) For signal transmission between systems, :::: = Bits and path tracking are here Dotted squares may not exist. When the control is performed by a computer, the coordinate position of the pixel of the tracking path shown in the figure has been established in advance in the tracking process and the coordinate position of the currently controlled point. The obtained tracking error value and reference error value (generally set to zero) = then it is the pixel error in the X and Y axis & bit, which is used to correct the horizontal and elevation angles.
第十一圖所示係本實施例一較佳控制器之流程圖，於每一 I 控制時間區間’ CCD攝影機從目標區白板上擷取影像後，執行| 電腦影像分析、以及計算受控點目前之像素座標，將細線化後^ 追蹤路徑之起始點（即第丨點追蹤路徑細線化像素點）座標當 | 做起始參考定位位置’當目前受控點之座標位置與參考定位位 j 置存在著差異時，即表是起始定位仍存在著誤差，調整定位機 構之水平與仰角以改變受控點之座標位置，使前述定位誤差量 3 經濟部中夬標舉局S工消费合作社印策 在X與y軸向均得以降低，直至起始點定位誤差量為零時，再 | 指定下一追蹤路徑細線化像素點座標為新的參考定位位置，重 1 新調整定位機構之水平與仰角，直至完成新的定位控制。 | 如上述步驟地完成所有追蹤路徑細線化像素點的定位控制 jThe eleventh figure is a flowchart of a preferred controller of this embodiment. After each I control time interval, the CCD camera captures the image from the whiteboard in the target area, and executes | computer image analysis, and calculating the controlled point. The current pixel coordinates, after thinning ^ The starting point of the tracking path (ie, the thinning pixel point of the tracking path 丨) is used as the starting reference positioning position ', when the coordinate position and reference positioning position of the current controlled point When there is a difference in the j position, that is, the table is still in error in the initial positioning, adjust the level and elevation of the positioning mechanism to change the coordinate position of the controlled point, so that the aforementioned positioning error amount 3 Cooperative cooperative strategy is reduced in both the X and y axes until the starting point positioning error is zero, and then | specifies the next tracking path to thin the pixel coordinates of the new reference positioning position, and readjust the positioning mechanism. Level and elevation until new positioning control is completed. | Follow the steps above to complete the positioning control of all the thinning pixels of the tracking path j
直至細線化後追縱路徑之終點’即完成本貫施例之路徑追縱 I 控制，第十二圖所示係本實施例路徑追蹤控制之部分過程圖。 丨 本實施例整個路徑追蹤控制的過程中，雷射光點精確地延著指 |Up to the end of the tracking path after thinning is completed, the path tracking I control of the present embodiment is completed, and the twelfth figure is a part of the path tracking control process diagram of this embodiment.丨 During the entire path tracking control in this embodiment, the laser light spot accurately extends the finger |
3 I3 I
π I 本纸張尺度通用十國國家標隼（CNS ) A4現格（2丨0X297公釐） 434495 濟 部 中 央 標 準 局 員 X 消 t 合 作 社 印 % A7 B7 五、發明説明（7) =縱:徑移動，肉眼無法辨識整個路徑追縱控制過程任何 化 2整個控制過程中，雷射光像素料具不規則形狀 變動^決：受控點像素座標位置時，存在著無法控制之隨機 :=，此—隨機變動誤差為本實施例中主要的誤差來源， 成3個像素的誤差量，約相當於〇 3_實際尺寸 服恤,i發明中定位用之步進馬達與傳動機構可替換為伺 =相更精密傳動機構，水平與仰角定位機構可替換為" 上上述較佳實施例之雷射光投射器亦可安裝於-多軸機 =::=，則可將本發明方法擴展應用於心路 領域，為此’㈣樣可含蓋於本發明設計之精神領 作切=:切割與洗削等加工應用之場合，並非使用雷射當 ,'、，且因加工過程中喷灑之冷卻劑，致使受控點之 景^象座標無法精確萃取，如此應用場合須於本系統中另增一受 =二：中一巧點為雷射光點，另-受控點則為實際加工位 >點，且刖者之影像不受加工環境的影響，藉由 射光點之路徑，以導引實際加工刀具之位置，此一導引^式可 或縮小機構予以規範，編電腦達娜 本發明中所述之影像淘取分析用電腦可為pc (個人 )或DSP影像控制器’而水平與仰角定位控制用電腦可 個人電腦）、PLCC可程式控制器）、單晶片微電腦、或卿 除此之外’本發明中追縱路徑之細線化亦可心其他演算法 12 ----------枯农--------訂---I—---線 (請先閲讀背面之注意事項再填寫本I ) 本紙法尺賴财簡$縣（CNS ) ) 434495 A7 _ B7 ' " " —I - _______ 五、發明说明（p) 以完成，或可利用電腦滑氣、電腦筆、或其他影像掃目苗擁取裝 置，並藉由電腦輔助I會圖與設計的方式，直接將細線化追縱路 徑繪於目標區影像範圍内。 口此 ''里由上述μ例之洋細描述，可清楚看出本發明設計 之特點在於’可藉由（XD攝影機即時擷取影像，並將影像傳至 電腦介面’使其可以電腦程式執行追縱路徑影像之抓取或經由 電腦輔助直接描繪追蹤路徑、分析受控點座標位置、以及計算 目刖定位偏差量，再將該偏差量轉成定位機構的水平與仰角修 正ϊ亚完成修正控制，使得受控雷射光點延著追蹤路徑移動， 而能應用於雷射開刀手術、雷射切割加工、線切割、機器手臂 鑽孔、_、噴漆、與研料可藉由影像輔助執行定位與路經 追蹤之控制系統。 " 綜切述’本發明方法符合發明專利之利用自然法則技術 思想之高度創作，且本發明方法適於醫療與產業上利用，而無 公開情事並具有絕對之新穎性，為此，本方法符合發明專利: 申請要件，爰依法倶文提出申請。 1 扣衣--------'11------*線 (請先閱讀背面之注意事項再填寫本頁) 經濟部中央標準局貝工消費合作社印焚 13 本紙張尺家標準（CNS〉八4規格π I This paper is a standard of ten national standards (CNS) A4 (2 丨 0X297 mm) 434495 Member of the Central Standards Bureau of the Ministry of Economic Affairs X Consumer Cooperative Cooperative Press% A7 B7 V. Description of the invention (7) = vertical: diameter Movement, the naked eye can't recognize the entire path tracking control process. During the entire control process, the laser light pixel material has an irregular shape. ^ Decision: When the pixel coordinates of the controlled point, there is randomness that cannot be controlled: =, this— The random variation error is the main source of error in this embodiment. It is an error amount of 3 pixels, which is equivalent to 〇3_actual size shirt. The stepping motor and transmission mechanism for positioning in the invention can be replaced by servos. For a more precise transmission mechanism, the horizontal and elevation angle positioning mechanism can be replaced with " The above-mentioned preferred embodiment of the laser light projector can also be installed in a -multi-axis machine = :: =, then the method of the present invention can be extended to the field of mind For this reason, 'the sample can be covered by the spirit of the design of the present invention. Cutting: cutting and washing applications such as processing, not using lasers,', and because of the coolant sprayed during processing, The point of control ^ The image coordinates cannot be accurately extracted. In this application, another one must be added in this system. = 2: The middle point is the laser light point, and the other-controlled point is the actual processing position. Not affected by the processing environment, the path of the light spot is used to guide the position of the actual processing tool. This guidance method can be standardized or reduced by a computer. The computer Dana's image retrieval analysis described in the present invention is edited. The computer can be a pc (personal) or a DSP image controller, and the computer for horizontal and elevation positioning control can be a personal computer), a PLCC programmable controller), a single-chip microcomputer, or other. The thinning of the path can also be used for other algorithms. 12 ---------- Dry farming -------- Order --- I ----- (Please read the precautions on the back before Fill in this I) Paper rule Lai Caijian $ County (CNS)) 434495 A7 _ B7 '" " —I-_______ V. Description of the invention (p) to complete, or you can use a computer to air, a computer pen, or Other video scans and capture devices, and through computer-aided I-meeting and design methods, directly trace the thin line Draw within the image range of the target area. According to the detailed description of the above-mentioned μ example, it is clear that the feature of the design of the present invention is that 'the image can be captured in real time by an XD camera and transmitted to a computer interface' so that it can be executed by a computer program. Capture the tracking path image or directly trace the tracking path through computer assistance, analyze the coordinate position of the controlled point, and calculate the positioning deviation of the target, and then turn the deviation into the level and elevation correction of the positioning mechanism. , Making the controlled laser light point move along the tracking path, and can be used in laser surgery, laser cutting processing, wire cutting, robotic drilling, spray painting, and materials. Tracking control system. &Quot; In summary, the method of the present invention complies with the highly creative use of natural laws and technical ideas of invention patents, and the method of the present invention is suitable for medical and industrial use without disclosure and has absolute novelty For this reason, this method is in line with the invention patent: the application requirements, and the application is made according to the law. 1 Buckle -------- '11 ------ * line (please read the back first Notes on filling out this page) Ministry of Economic Affairs Bureau of Standards HIGHLAND consumer cooperatives printed burning 13 homes standard paper size (CNS> eight 4 Specification