TWI658345B - Modular machine control device based on image correction - Google Patents

Abstract

The invention provides a modular tool control device based on image correction, which includes: a body provided with a driving unit and an active end; the driving unit is used to drive the active end to execute a motion instruction; the function The end has a bearing surface, the bearing surface is provided with a carrier, and the carrier is provided with an image capturing unit and an inertial sensing unit; and a processing unit, which is coupled to the driving unit, the image capturing unit and the inertia Sexy measuring unit; By this, the present invention measures the movement state of the active end by the inertial sensing unit, so as to correspondingly correct the image captured by the image capturing unit, thereby facilitating analysis of object characteristics in the image, and The driving unit is controlled according to the characteristics of the object, so that the action end executes the motion instruction to operate the object; and through the setting of the carrier, the image capturing unit and the inertial sensing unit can be modularized on the carrier, which can facilitate the installation It is provided at the action end of various bodies to improve the overall applicability of the present invention.

Description

Modular implement control device based on image correction

The present invention provides a modular machine control device based on image correction, in particular, a modular image capturing unit and inertial sensing unit are arranged at the center of the active end of the body, so that the image capturing unit can capture Take the image of the active end, and correct the image captured by the image capture unit by the inertial sensing unit, which can help analyze the object features in the image to control the motion instructions of the active end according to the object features.

According to the development of science and technology, technologies in various technical fields have also continued to be renovated. In order to solve some technical bottlenecks, we should consider and study the structure and principle of living things, so as to provide new technical ideas and system architecture principles through biological characteristics. , Resulting in the development of today's bionic machinery; for example, a robotic arm is a model that mimics the joint motion of a human arm, in order to make technology products have the characteristics of refinement and consistency, and can increase the productivity and reduce the cost of laborers .

At present, there are many types of robotic arms. Most of them set motion instructions based on the specific product type to be processed. However, when the product specifications are different, it is necessary to redefine their motion instructions, which will cause The applicability of robotic arms is limited.

It is also known to provide a robotic arm that combines image analysis. The robotic arm is provided with a photographing device to capture the image characteristics of the object image by the photographing device, so as to facilitate the analysis based on the image characteristics. It is necessary to control the manipulator of the robotic arm; however, usually the camera and robot arm are not in the same position. As shown in Figure 1, when the camera 10 is installed at one end of the robotic arm 20, the image capture range will be A shooting dead angle is generated at the other end, which results in incomplete capture of the object image, and the angle of view taken by the photographing device 10 will affect the generation and analysis of image features, which will cause the robot arm 20 to have errors when operating according to the image features. There will be a risk of affecting the working accuracy of the robotic arm 20; if the error is to be overcome, an image correction of the deviation will be required, which will increase the geometric calculation of the image and lead to an increase in the time of image analysis, and there is still a problem Eliminate doubts about errors.

In view of this, our inventors have concentrated on further researching the robotic arm, and have begun research and development and improvement with a view to a better invention to solve the above problems, and the invention came out after continuous testing and modification.

That is, the purpose of the present invention is to solve the lack of the conventional robotic arm due to the difference in the installation position of the photography device and the robotic arm, which affects the generation and analysis of image features, and causes errors in the operation of the robotic arm.

In order to achieve the above purpose, our inventors provide a modular implement control device based on image correction, which includes: a body, which is provided with a drive unit and an active end, the drive unit is used to drive the active end to A motion instruction is executed; the active end has a bearing surface provided with a carrier; an axis is defined at the center of the body and the active end; an image capturing unit is disposed on the carrier and correspondingly disposed on the carrier; At the axis, and the image capturing unit correspondingly captures the image in front of the active end; an inertial sensing unit, which is arranged on the carrier and correspondingly measures the motion state of the active end; and a processing unit, which Is coupled to the driving unit, the image capturing unit and the inertia A measurement unit; the processing unit defines an initial value at the image capture unit and the active end, and the processing unit correspondingly receives the motion state, and corrects the corresponding value according to the difference between the motion state and the initial value An image captured by an image capturing unit; the processing unit analyzes an object feature in the image to define an execution path corresponding to the initial value of the acting end according to the object feature, and then controls the driving unit according to the execution path , So that the acting end executes the motion commander.

According to the modularized tool control device based on image correction described above, the carrier is further provided with a set of connection holes, an accommodation slot and at least one guide slot, which are respectively connected to the guide slot and the guide slot. The set of connection holes, and at least one end of the guide groove is connected to the side edge of the carrier; the accommodation groove houses the inertial sensing unit, the processing unit, and the image capture unit, and the image capture unit is An image in front of the active end is captured correspondingly through the group of connection holes.

According to the modularized tool control device based on image correction described above, wherein the group of sockets is further provided with a cover, the cover is provided with a receiving portion that can pass through the group of holes, and the periphery of the receiving portion An assembly portion is provided which is larger than the set of connection holes. The assembly portion is abutted against one end of the carrier on the bearing surface. The accommodation portion is formed with an accommodation space and a perforation. The image capture unit is The container is placed in the containing space and correspondingly located at the perforation, so as to capture the image in front of the active end through the perforation.

According to the modularized tool control device based on image correction described above, wherein the carrier is further provided with an accommodation slot and at least one guide slot, the group connection hole is provided in the accommodation slot, and the cover body is assembled. All grooves are cut in the part, the cut grooves are connected to the receiving grooves, and the receiving grooves are respectively connected to the guide grooves, and at least one end of the guide grooves is connected to the side edge of the carrier; The slot houses the inertial sensing unit and the processing unit.

According to the modularized tool control device based on image correction described above, wherein the carrier is further provided with at least one through hole at the periphery of the group of connection holes, and the through hole is connected to the accommodation slot, the The accommodating slot contains at least one light emitting element, the light emitting element is coupled to the processing unit, and the light emitting element is corresponding to a person who projects light through the through hole.

According to the modularized tool control device based on image correction described above, wherein the light-emitting element emits a single light of visible light, ultraviolet light, infrared light, or a combination thereof.

According to the modularized tool control device based on image correction described above, the carrier is further provided with at least all openings, at least one of the guide grooves is connected to the cutout, and the cutout contains a connection port The port is coupled to the processing unit.

According to the modularized tool control device based on image correction described above, wherein the port is a USB interface, a Mini USB interface, a Micro USB or a Type C interface.

According to the modularized tool control device based on image correction described above, the body is further provided with a distance sensing unit, the distance sensing unit is electrically connected to the processing unit, and the distance sensing unit is sensing A distance value in front of the acting end, the processing unit defines the initial value according to the distance, and the processing unit defines the execution path according to the object characteristics and the distance value, and then controls the driving unit according to the execution path. The effector is caused to execute the motion commander.

According to the modularized tool control device based on image correction described above, the distance sensing unit is an ultrasonic sensor, an infrared sensor, or a laser sensor.

According to the modularized tool control device based on image correction described above, the carrier is further provided with at least one through hole, and the distance sensing unit is housed in the accommodation slot and is carried out through the through hole. Rangefinder.

According to the modularized tool control device based on image correction described above, the carrier is further provided with a body at one end of the bearing surface, and the outer contour of the body corresponds to the carrier.

According to the modularized tool control device based on image correction described above, the body is a mechanical arm and the active end is a mechanical gripper.

According to the modularized tool control device based on image correction described above, wherein the inertial sensing unit is an accelerometer or a gyroscope, and the motion state is an inclination value.

From the above description and setting, it is obvious that the present invention has the following several advantages and effects, which are detailed below one by one:

1. In the present invention, the carrier is provided on the bearing surface of the active end, and the carrier is provided with an image capturing unit and an inertial sensing unit, so that the body of the image capturing unit and the inertial sensing unit will be able to move when the body is in translation or rotation Following this, the image capture unit captures the image directly from the action end of the body, and corrects the image captured by the image capture unit by using the motion state sensed by the inertial sensing unit, so that the image capture unit The captured image is not biased by the rotation of the active end, which facilitates the analysis of the image, thereby improving the accuracy of analyzing the characteristics of the object and defining the execution path, so as to improve the work accuracy of the motion end executing the motion instruction.

2. The present invention can accommodate an image capture unit, an inertial sensing unit, a processing unit, a port, and a light-emitting element through the setting of the carrier, and it can facilitate the layout of its separate circuits to facilitate modularization. It can be applied to the acting end of various types of bodies to improve the overall applicability of the present invention.

[Learning]

10‧‧‧ Camera

20‧‧‧ Robotic arm

〔this invention〕

1‧‧‧ body

11‧‧‧Drive unit

12‧‧‧ acting side

13‧‧‧ bearing surface

2‧‧‧ carrier

21‧‧‧group of holes

22‧‧‧ Cover

221‧‧‧accommodation department

222‧‧‧Assembly Department

223‧‧‧accommodation space

224‧‧‧perforation

225‧‧‧Groove

23‧‧‧Receiving slot

24‧‧‧Guide

25, 25’‧‧‧ incision

26‧‧‧Through Hole

27‧‧‧through hole

3‧‧‧Image Acquisition Unit

4‧‧‧Inertial sensing unit

5‧‧‧ processing unit

51, 51’‧‧‧ Port

6‧‧‧ film

7‧‧‧Light-emitting element

8‧‧‧Distance sensing unit

Figure 1 is a schematic diagram of a conventional robotic arm equipped with a photographing device.

Fig. 2 is a schematic structural view of the present invention.

Figure 3 is a schematic perspective view of the present invention.

Figure 4 is a three-dimensional exploded view of the present invention.

Figure 5 is a schematic rear view of the carrier of the present invention.

FIG. 6 is a schematic diagram of a processing unit, an image capturing unit, an inertial sensing unit, a port, a light emitting element, and a distance sensing unit provided on a carrier according to the present invention.

Regarding the technical means of our inventors, several preferred embodiments are described in detail below in conjunction with the drawings, for the purpose of understanding and agreeing with the present invention.

Please refer to FIG. 2 to FIG. 6 first, the present invention is a modularized tool control device based on image correction, which includes: a body 1, which is provided with a drive unit 11 and an active end 12, the drive unit 11 is used to drive the active end 12 to execute a movement instruction; the active end 12 has a bearing surface 13 which is provided with a carrier 2; in a specific embodiment, the body 1 is a mechanical arm, the The active end 12 is a mechanical gripper; an image capture unit 3 is provided on the carrier 2, and the image capture unit 3 is corresponding to capture an image in front of the active end 12; an inertial sensing unit 4, which It is set on the carrier 2 and measures the movement state of the active end 12 correspondingly. Among them, the inertial sensing unit 4 includes one or a combination of an accelerometer and an angular acceleration sensor (gyroscope). The state is a tilt value; and a processing unit 5 is coupled to the driving unit 11, the image capturing unit 3, and the inertial sensing unit 4; For the setting of the image capturing unit 3, the volume and appearance of the image capturing unit 3 are limited by the requirements of its lens, and the direction and position of the image capturing unit 3 must be properly positioned. Therefore, in an embodiment, such as As shown in FIGS. 4 to 6, the carrier 2 is provided with a set of connection holes 21. The set of connection holes 21 is provided with a cover 22. The cover 22 is provided with a receiving portion 221 that can pass through the set of connection holes 21. So that the accommodating portion 221 can protrude from the carrier 2. A peripheral portion of the accommodating portion 221 is provided with a grouping portion 222 that is larger than the group of connection holes 21. The grouping portion 222 abuts against the carrier 2 on the bearing surface. At one end of the 13th, the accommodating portion 221 is formed with an accommodating space 223 and a perforation 224, and the image capturing unit 3 is accommodated in the accommodating space 223 and correspondingly located at the perforation 224 so that The perforation 224 correspondingly captures an image in front of the active end 12.

As for the arrangement of the processing unit 5 and the inertial sensing unit 4, in an embodiment, as shown in FIG. 5, the carrier 2 is further provided with an accommodation groove 23 and at least one guide groove 24. The accommodation groove 23 is connected to the guide groove 24, and at least one end of the guide groove 24 is connected to the side edge of the carrier 2; and the accommodating groove 23 houses the inertial sensing unit 4 and the processing unit 5; The arrangement of the slot 24 is beneficial to the layout of the electrical circuit between the inertial sensing unit 4 and the processing unit 5, and after the electrical circuit is collected, it must protrude from the side edge of the carrier 2 to connect external devices or power sources.

In a preferred embodiment, in order to facilitate the layout of the electrical circuits between the image capturing unit 3, the inertial sensing unit 4 and the processing unit 5, as shown in Figs. 4 to 6, the set of connection holes 21 It is provided in the receiving groove 23, and the assembly portion 222 of the cover 22 is provided with all grooves 225. The cutting groove 225 is connected to the receiving groove 23, so as described above, the image capturing unit 3 The electrical circuit needs to be collected in the accommodating groove 23 through the cutting groove 225 and electrically connected to the processing unit 5.

In order to further facilitate the modular setting and the stable and fixed positions of the image capturing unit 3, the processing unit 5 and the inertial sensing unit 4, the better, as shown in Figures 4 to 6, the carrier 2 is on A piece of body 6 is further provided at one end of the bearing surface 13, and the outer contour of the piece of body 6 corresponds to the carrier 2. The image capturing unit 3, the processing unit 5 and the inertial sensing unit 4 can be fixedly fixed between the carrier 2 and the sheet body 6, which is also beneficial to the image capturing unit 3, the processing unit 5 and the inertial sensing unit 4 and the active end. Set of 12 rooms.

In another preferred embodiment, in order to facilitate the expansion of components or functions, or to update the software of the processing unit 5, the carrier 2 is provided with at least all ports 25. In this embodiment, a different form is provided Cutouts 25, 25 ', the guide groove 24 is connected to the cutouts 25, 25', and the cutouts 25, 25 'respectively contain a port 51, 51', and the ports 51, 51 'Coupled to the processing unit 5, the ports 51, 51' may be USB interfaces, Mini USB interfaces, Micro USB or Type C interfaces simultaneously or separately.

In another preferred embodiment, in order to facilitate the image capturing unit 3 to capture images under the application of various light source environments, at least one through hole 26 is provided at the periphery of the two sets of connection holes 21 of the carrier. The through hole 26 is connected to the accommodating slot 23. The accommodating slot 23 contains at least one light emitting element 7 corresponding to the through hole 26. The light emitting element 7 is coupled to the processing unit 5, and By projecting light through the through-holes 26, the light-emitting element 7 can be selected to emit a single light or a combination of visible light, ultraviolet light, or infrared light according to the application of the required image capture; and preferably The carrier 2 is provided with a plurality of through-holes 26 and a plurality of light-emitting elements 7, and a circular array is provided around the periphery of the assembling hole 21, thereby providing a uniform light source.

Therefore, since the image capturing unit 3 and the inertial sensing unit 4 are arranged on the carrier 2 located on the bearing surface 13 of the active end 12, the image capturing unit 3 and the inertial sensing unit 4 will also be synchronized when the active end 12 moves. Movement; therefore, for the sensing of the motion state, the motion state of the acting end 12 is equivalent to the motion state of the image capture unit 3; for the image capture, the image capture unit 3 is used to capture the effect end 12 The forward image refers to the front of the acting end 12 in this embodiment. In this embodiment, it refers to the direction in which the acting end 12 is working, but it is not limited to this. In order to ensure that the image can actually cooperate with the acting end 12 Location and Direction to improve the accuracy of the working end 12 when working, so it is better that an axis is defined at the center of the body 1 and the working end 12, and the image capturing unit 3 is correspondingly arranged at the axis to make the image The coordinate system is the same as that of the acting end 12, which can reduce the geometric error and correction of human development and time costs; and after the image capture unit 3 captures the image, the processing unit 5 is based on the image capture unit 3 and the effect The terminal 12 defines an initial value, and the initial value can be defined as a specific angle value, such as a 0 degree position, and the processing unit 5 should receive the motion state at the same time, so the processing unit 5 can be based on the motion state and the image. The difference between the initial values of the capture unit 3 is corrected to rotate the image of the image capture unit 3 correspondingly according to the difference angle. Then, the processing unit 5 analyzes an object feature in the image, and for the object, The definition of features can be the outline of the object in one embodiment, which can be measured by the edge detection method; therefore, the processing unit 5 can define an initial corresponding to the active end 12 according to the feature of the object. The execution path of the value, if the position of the acting end 12 is defined, the acting end 12 can touch or grip the path of the outer contour of the object, and then control the driving unit 11 according to the executing path, so that the acting end 12 executes the motion instruction. .

It is worth noting that when the active end 12 is a robot arm or a mechanical gripper, each of its fingers and grippers has an inclination and directionality, so the image captured by the image capture unit 3 is corrected by rotation. When defining the execution path, the coordinates of the active end 12 after being rotated can be ignored, so as to simplify the geometric operation of the processing unit 5 for the definition of the execution path, thereby greatly improving the calculation and operation speed.

In another preferred embodiment, because the image captured by the image capturing unit 3 is only a plane, in order to further accurately define the execution path, a sense of distance is provided in the body 1 The sensing unit 8 may be an ultrasonic sensor, an infrared sensor or a laser sensor. The distance sensing unit 8 is electrically connected to the processing unit 5. The distance sensing unit 8 It is a distance value in front of the active end 12 that can be clearly known. The distance value is the distance between the active end 12 and the object. Therefore, the processing unit 5 defines the initial value according to the distance, and the processing unit 5 defines the execution path according to the object characteristics and the distance value, and then controls the driving unit according to the execution path to make the acting end 12 executes the motion instruction, so that the acting end 12 can actually act or grip an object.

In an embodiment, the distance sensing unit 8 can be installed at any position of the body 1, but as mentioned above, in order to achieve accurate measurement of the distance between the active end 12 and the object, and to achieve a model For the purpose of organization, in a preferred embodiment, the carrier 1 is further provided with at least one through hole 27, and the through hole 27 is connected to the accommodation groove 23, and the distance sensing unit 8 is accommodated. In the accommodating slot 23, the distance sensing unit 8 can perform distance measurement through the through hole 27.

In summary, the technical means disclosed in the present invention can effectively solve problems such as knowledge, and achieve the intended purpose and effect. It has not been published in publications before application, has not been publicly used, and has long-term progress. The invention referred to in the Patent Law is correct, and he filed an application in accordance with the law. He earnestly hopes that Jun will give him a detailed review and grant a patent for the invention.

However, the above are only a few preferred embodiments of the present invention. When the scope of implementation of the present invention cannot be limited in this way, that is, equivalent changes and modifications made according to the scope of the patent application and the content of the invention specification of the present invention are all It should still fall within the scope of the invention patent.

Claims (13)

A modular implement control device based on image correction includes: a machine body provided with a driving unit and an active end; the driving unit is used to drive the active end to execute a motion instruction; the active end has a bearing Surface, the bearing surface is provided with a carrier; an axis is defined at the center of the body and the active end; an image capturing unit is disposed on the carrier and is correspondingly disposed at the axis; and the image capturing unit is corresponding Capture an image in front of the active end; an inertial sensing unit that is set on the carrier and measures the movement state of the active end correspondingly; and a processing unit that is coupled to the drive unit and the image capture The carrier and the inertial sensing unit; the carrier is further provided with a set of connection holes, an accommodation slot and at least one guide slot, the accommodation slots are respectively connected to the guide slot and the set of connection holes, and the guide At least one end of the groove is connected to the side edge of the carrier; the accommodating groove houses the inertial sensing unit, the processing unit and the image capturing unit, and the image capturing unit is correspondingly captured through the set of connection holes. The role The image in front; the processing unit defines an initial value respectively on the image capture unit and the active end, the initial value includes the angle and position information of the image capture unit and the active end respectively, and the processing unit is Correspondingly receiving the motion state, and correspondingly correcting the image captured by the image capture unit according to the difference between the motion state and the initial value of the image capture unit; the processing unit analyzes an object feature in the image To define an execution path corresponding to the initial value of the active end according to the characteristics of the object, and then control the driving unit according to the execution path, so that the active end executes the motion instruction. For example, the modularized tool control device based on image correction described in item 1 of the scope of the patent application, wherein the group of hole groups is further provided with a cover body, and the cover body is provided with a receiving portion that can pass through the group of hole holes. An arranging portion is provided on the periphery of the accommodating portion which is larger than the set of connection holes. The arranging portion abuts against one end of the carrier on the bearing surface. The accommodating portion is formed with an accommodating space and a perforation. The image capturing unit is housed in the containing space and correspondingly located at the perforation, so as to capture the image in front of the acting end through the perforation. According to the image correction-based modular implement control device described in item 2 of the scope of the patent application, wherein the carrier is further provided with a receiving slot and at least one guide slot, and the group of connection holes is provided in the receiving slot. All the joints of the cover body are provided with all grooves, the cut grooves are connected to the accommodation grooves, and the accommodation grooves are respectively connected to the guide grooves, and at least one end of the guide grooves is connected to the carrier side The receiving slot contains the inertial sensing unit and the processing unit. According to the image correction-based modular implement control device described in item 2 of the scope of the patent application, wherein the carrier is further provided with at least one through hole at the periphery of the group of connection holes, and the through hole is connected to the An accommodating slot accommodating at least one light emitting element, the light emitting element is coupled to the processing unit, and the light emitting element corresponds to a person who projects light through the through hole. As described in item 4 of the scope of the patent application, the modularized tool control device based on image correction, wherein the light-emitting element emits a single light of visible light, ultraviolet light, infrared light, or a combination thereof. The modularized tool control device based on image correction as described in any one of claims 1 to 5, wherein the carrier is further provided with at least all ports, and at least one of the guide grooves is connected to the carrier. A cutout, and the cutout accommodates a port, and the port is coupled to the processing unit. According to the image correction-based modular implement control device described in item 6 of the scope of patent application, wherein the port is a USB interface, a Mini USB interface, a Micro USB or a Type C interface. The modularized tool control device based on image correction according to any one of claims 1 to 5, wherein the body is further provided with a distance sensing unit, and the distance sensing unit is electrically connected to the A processing unit, the distance sensing unit senses a distance value in front of the active end, the processing unit defines the initial value according to the distance, and the processing unit defines the execution path according to the object characteristics and the distance value , And then controlling the driving unit according to the execution path, so that the action end executes the motion commander. The modularized tool control device based on image correction according to item 8 of the scope of the patent application, wherein the distance sensing unit is an ultrasonic sensor, an infrared sensor, or a laser sensor. As described in item 8 of the scope of the patent application, a modularized tool control device based on image correction, wherein the carrier is further provided with at least one through hole, and the distance sensing unit is accommodated in the accommodation slot, and The through hole performs distance measurement. The modularized tool control device based on image correction according to any one of claims 1 to 5, wherein the carrier is further provided with a piece at one end of the bearing surface, and the outline of the piece is Corresponds to this carrier. The modularized tool control device based on image correction according to any one of claims 1 to 5, wherein the body is a robot arm and the active end is a mechanical gripper. The modularized tool control device based on image correction as described in any one of claims 1 to 5, wherein the inertial sensing unit is an accelerometer or a gyroscope, and the motion state is an inclination value.