TWI738125B - Projection system including optomechanical structure and rotating mechanism applied to robots - Google Patents

Abstract

Providing a projection system including a optomechanical structure and a rotating mechanism applied to robots, which includes an outer casing, a rotating mechanism, a , a optomechanical structure and a supporting structure. The accommodating space is defined inside the outer casing, and the rotating mechanism, and the optomechanical structure are arranged on the supporting structure and the supporting structure is disposed in the accommodating space. A transmission member of the rotating mechanism is coupled to the outer casing and rotationally drives the transmission member to control the outer casing to rotate. The optomechanical structure has a light source, a free-form optical mirror, and at least one aspherical lens, and the light source is projected to the inside surface of the outer casing via the free-form optical mirror and the aspherical lens to form a fixed boundary projection surface. When the outer casing is rotated, the optical mechanism rotates synchronously so that the relative position between the optomechanical structure and the fixed boundary projection surface does not change.

Description

Projection system including opto-mechanical structure and rotating mechanism applied to robot

The present invention relates to a projection system, in particular to a projection system including an optical-mechanical structure and a rotating mechanism.

The application of robots used to focus more on functional development, so that the appearance of robots is usually unspecified shape, and rarely has a situation that can interact with users. Even if it has a function that can interact with users, most of them are The user faces the display screen and does not have an anthropomorphic service method. In recent years, although robots with a humanoid appearance have been gradually developed to provide users with interactive and anthropomorphic services, due to technical bottlenecks, such robots are difficult to have various facial expression changes.

In view of the above-mentioned conventional technical problems, the purpose of the present invention is to provide a projection system including an optical-mechanical structure and a rotating mechanism. By using this projection method, a robot with a human appearance can increase facial expression changes and improve the industry. The implementation and utilization of the above.

The present invention discloses a projection system including an optomechanical structure and a rotating mechanism applied to a robot. The projection system includes a housing, a first rotating mechanism, a second rotating mechanism, an optomechanical structure, and a supporting member. The inside of the housing defines a accommodating space. The first rotating mechanism is arranged in the accommodating space of the housing and has a first transmission component connected to the housing. The first rotation mechanism drives the first transmission component to control the housing to rotate in a first direction by means of rotation. The second rotating mechanism is arranged in the accommodating space of the housing and has a second transmission component connected to the housing. The second rotation mechanism drives the second transmission component to control the housing to rotate in a second direction perpendicular to the first direction by means of rotation. When the first rotating mechanism rotates, the second rotating mechanism remains stationary, and when the second rotating mechanism rotates, the first rotating mechanism keeps stationary. The optomechanical structure is arranged in the accommodating space of the housing. The optomechanical structure has a light source, a free-form optical reflector and at least one aspheric lens. The light source is projected onto the inner surface of the housing through the free-form optical reflector and at least one aspheric lens. , Forming a projection surface, and the range of the projection surface has a corresponding fixed boundary. The supporting structure is arranged in the accommodating space of the housing, wherein the first rotating mechanism and the second rotating mechanism are arranged on the supporting structure, and the supporting structure has an extension member connected with the optomechanical structure. When the first rotating mechanism and/or the second rotating mechanism rotate by an angle, the optical-mechanical structure rotates synchronously corresponding to this angle, and the relative position of the optical-mechanical structure and the fixed boundary does not change.

Preferably, when the first rotating mechanism and/or the second rotating mechanism rotate, the projection path of the light source corresponding to the projection surface is not shielded.

Preferably, when the first rotating mechanism and/or the second rotating mechanism rotate, the rotation of the housing is not blocked.

Preferably, the luminous flux emitted by the light source is in the range of 50 lumens to 0 lumens.

Preferably, the optical-mechanical structure is an ultra-wide-angle projector with a projection ratio in the range of 0.4 to 0.6.

Preferably, the free-form surface optical mirror is arranged inside the opto-mechanical structure.

Preferably, the optical-mechanical structure is a wide-angle projector with a throw ratio in the range of 0.6 to 0.8.

Preferably, the free-form surface optical mirror is arranged outside the opto-mechanical structure and arranged in the accommodating space.

The present invention also provides a projection system with a rotating mechanism, which includes a housing, a rotating mechanism, an opto-mechanical structure, and a supporting structure. An accommodating space is defined inside the shell. The rotating mechanism is arranged in the accommodating space of the housing and has a transmission part connected to the housing. The rotation mechanism drives the transmission part to control the rotation of the housing by means of rotation. The opto-mechanical structure is arranged in the accommodating space of the housing. The opto-mechanical structure has a light source, a free-form surface optical reflector and at least one aspheric lens, wherein the light source is projected to the inner surface of the housing through the free-form surface optical reflector and at least one aspheric lens Above, a projection surface is formed, and the range of the projection surface has a corresponding fixed boundary. The supporting structure is arranged in the accommodating space of the housing, and the rotating mechanism and the optical mechanical structure are arranged on the supporting structure. When the rotating mechanism rotates by an angle, the optical-mechanical structure rotates synchronously corresponding to this angle, and the relative position of the optical-mechanical structure and the fixed boundary does not change.

Preferably, when the rotating mechanism rotates, the projection path of the light source corresponding to the projection surface is not shielded.

Preferably, when the rotating mechanism rotates, the rotation of the housing is not blocked.

Preferably, the luminous flux emitted by the light source is in the range of 50 lumens to 0 lumens.

Preferably, an ultra-wide-angle projector in which the projection ratio of the optical-mechanical structure is in the range of 0.4 to 0.6.

Preferably, the free-form surface optical reflector is arranged inside the opto-mechanical structure.

Preferably, a wide-angle projector in which the projection ratio of the optical-mechanical structure is in the range of 0.6 to 0.8.

Preferably, the free-form surface optical mirror is arranged outside the optical mechanical structure and is arranged in the accommodating space, wherein the optical-mechanical structure is fixed to face the free-form optical mirror at a first angle, and the free-form optical mirror is fixed Face the projection surface at the second angle.

In summary, according to the projection system of the present invention including an optical-mechanical structure and a rotating mechanism, the following advantages can be expected:

The projection system of the present invention including the optomechanical structure and the rotating mechanism can be applied to a humanoid robot. The projection system is installed inside the humanoid robot, and the light source of the optomechanical structure is projected to the face of the humanoid robot, so that the robot can be It has richer expression changes and increases the interaction between the humanoid robot and the user. With the combination of the rotating mechanism and the opto-mechanical structure, combined with other conventional technologies, not only can the humanoid robot have a richer expression change, but it can also actively rotate its face to face the user when interacting with the user, which further improves The interactive experience between humanoid robots and users enhances the industrial applicability of robots.

The optical-mechanical structure and the rotating structure of the present invention can effectively operate in a limited enclosed space, and improve the application range of the humanoid robot.

In order to facilitate the reviewers to understand the technical features, content and advantages of the present invention and the effects that can be achieved, the present invention is described in detail with the accompanying drawings and in the form of embodiment expressions as follows. The drawings used therein are as follows: The subject matter is only for the purpose of illustration and auxiliary description, and may not be the true proportions and precise configuration after the implementation of the invention. Therefore, it should not be interpreted in terms of the proportions and configuration relationships of the accompanying drawings, and should not limit the scope of rights of the invention in actual implementation. Hexian stated.

In the drawings, the thickness or width of layers, films, panels, regions, light guides, etc. are enlarged for the sake of clarity. Throughout the specification, the same reference numerals denote the same elements. It should be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element, or Intermediate elements can also be present. Conversely, when an element is referred to as being "directly on" or "directly connected to" another element, there are no intervening elements. As used herein, "connection" can refer to a physical and/or electrical connection. Furthermore, "electrically connected" or "coupled" may mean that there are other elements between two elements. In addition, it should be understood that although the terms "first", "second", and "third" may be used herein to describe various elements, components, regions, layers and/or parts, they are used to refer to an element, component , Region, layer and/or part are distinguished from another element, component, region, layer and/or part. Therefore, it is only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or its sequence relationship.

Please refer to FIG. 1, which is a schematic diagram of a projection system 10 including an optical-mechanical structure and a rotating mechanism applied to a robot according to an embodiment of the present invention. As shown in the figure, the projection system 10 with an optical-mechanical structure and a rotating mechanism includes a housing 100, a first rotating mechanism 200, a second rotating mechanism 300, an optical-mechanical structure 400, and a supporting structure 500. The interior of the housing 100 defines the accommodating space 101. The first rotating mechanism 200 is disposed in the accommodating space 101 of the housing 100, and the first rotating mechanism 200 has a first transmission component connected to the housing 100. The first rotation mechanism 200 drives the first transmission component to control the housing 100 in a rotating manner. Rotate along the first direction D1. The second rotating mechanism 300 is disposed in the accommodating space 101 of the housing 100, and the second rotating mechanism 300 has a second transmission component connected to the housing 100. The second rotation mechanism 300 drives the second transmission component to control the housing 100 by means of rotation. Rotate along a second direction D2 perpendicular to the first direction D. When the first rotating mechanism 200 rotates, the second rotating mechanism 300 keeps a stationary state, and when the second rotating mechanism 300 rotates, the first rotating mechanism 200 keeps a stationary state. The optomechanical structure 400 is disposed in the accommodating space 101 of the housing 100. Next, refer to FIG. 2, which is a schematic structural diagram of an optical-mechanical structure according to an embodiment of the present invention. As shown in the figure, the optomechanical structure 400 has a light source 401, a free-form surface optical reflector 402 and at least one aspheric lens 403, wherein the light source 401 of the optomechanical structure 400 is projected through the free-form surface optical reflector 402 and at least one aspheric lens 403 On the inner surface of the housing 100, a corresponding projection surface is formed, and the range of the projection surface has a fixed boundary (such as the position where the arrow of the ray drawn at one end of the optical-mechanical structure 400 in FIG. 1 points on the housing 100) . The supporting structure 500 is arranged in the accommodating space 101 of the housing 100, and the first rotating mechanism 200 and the second rotating mechanism 300 are arranged on the supporting structure 500, and the supporting structure 500 has an extension member connected with the optical mechanical structure 400 (Figure Not shown in). When the first rotating mechanism 200 and/or the second rotating mechanism 300 rotates by an angle, the optical-mechanical structure 400 rotates synchronously corresponding to this rotation angle, and the relative position of the optical-mechanical structure 400 and the fixed boundary of the projection surface does not change.

According to another embodiment of the present invention, the housing 100 mentioned in the present invention can correspond to the head of a humanoid robot, and the first rotating mechanism 200 and the second rotating mechanism 300 can correspond to the inner part of the humanoid robot for driving the shell to rotate. The device, for example, may be a servo motor, and the opto-mechanical structure 400 may correspond to a projection device provided inside the humanoid robot for projecting a light source onto the inner surface of the housing. For example, it may be combined with the first rotating mechanism 200 and The second rotating mechanism 300 synchronously rotates the projector. The combination of these devices can achieve the application of projecting various expressions on the face of the humanoid robot, and with the rotation mechanism, it can also make simultaneous responses such as nodding or shaking the head to increase the interaction with the user. The present invention is not limited to this embodiment, as long as it uses a rotating mechanism with an opto-mechanical structure to project a light source to a target area, all systems are applicable to the present invention.

According to another embodiment of the present invention, the optical-mechanical structure 400 is rotated synchronously with the first rotating mechanism 200 and the second rotating mechanism 300. If there is a larger accommodating space, the supporting structure 500 may have an extension member and The optomechanical structure 400 is connected. When the first rotating mechanism 200 and the second rotating mechanism 300 rotate, the extension member drives the optomechanical structure 400 to rotate synchronously. If the accommodating space is limited, the optomechanical structure 400 is arranged on the supporting structure, and the supporting structure 500 itself rotates synchronously with the first rotating mechanism 200 and the second rotating mechanism 300. When the first rotating mechanism 200 and the second rotating mechanism When the mechanism 300 rotates, the opto-mechanical structure 400 achieves synchronous rotation through the supporting structure 500.

According to the embodiment of the present invention, the first rotating mechanism 200 and the second rotating mechanism 300 provided in the accommodating space 101 inside the housing 100 cannot be rotated at will, because the first rotating mechanism 200 and the second rotating mechanism 300 rotate synchronously. In the opto-mechanical structure 400, the path of the projection light source 401 to the inner surface of the housing 101 may be blocked by the rotating mechanism or other elements. Therefore, when the housing 100 has different rotation modes, the optical-mechanical structure 400 needs to be adjusted to make different configurations.

According to the embodiment of the present invention, the first rotating mechanism 200 and the second rotating mechanism 300 provided in the accommodating space 101 inside the housing 100 cannot be configured in any relative position. When the first rotating mechanism 200 and the second rotating mechanism When one of the 300 rotates, the housing 100 also rotates. At this time, the position of the other rotating mechanism may be on the rotation path of the housing 100 and block the rotation of the housing 100. Therefore, when the housing 100 has different rotation modes , The first rotating mechanism 200 and the second rotating mechanism 300 also need to be adjusted to make different configurations.

According to the embodiment of the present invention, as the light source 401 of the opto-mechanical structure 400, because its function is not mainly used as lighting, it is different from the high-brightness projector light source generally used for lighting or entertainment purposes. If it is the light source 401 If the luminous flux is too high, the application of facial expression changes as a humanoid robot will be affected. Therefore, the present invention uses a low-brightness light source 401 with a luminous flux ranging from 50 lumens to 0 lumens.

According to an embodiment of the present invention, the device corresponding to the optical-mechanical structure 400 of the present invention may be an ultra-wide-angle projector with a projection ratio close to 0.3. The projection ratio is defined as the ratio of the distance from the light source 401 projected by the projection device to the display device and the radius corresponding to the area irradiated by the light source 401 on the display device. Projection devices generally used for entertainment purposes have a projection ratio that is generally greater than 1. The optical-mechanical structure 400 used in the present invention is set in a limited accommodating space 101, so conventional projection equipment cannot be used.

According to the embodiment of the present invention, considering that the optical-mechanical structure 400 and the rotating mechanism of the present invention are arranged in a limited accommodating space 101, if the optical-mechanical structure 400 with a throw ratio in the range of 0.4 to 0.6 is used, the volume is relatively large. , So that the free-form surface optical mirror 402 can be arranged inside the optical-mechanical structure 400 to reduce the space occupation.

Next, please refer to FIG. 3, which is another schematic diagram of a projection system 10 including an optical-mechanical structure and a rotating mechanism applied to a robot according to an embodiment of the present invention. As shown in the figure, the optical-mechanical structure 400 may have a projection ratio of 0.6 Wide-angle projector within the range of 0.8. The projector whose volume relative projection ratio is in the range of 0.4 to 0.6 can have a smaller volume, so that the space configuration inside the humanoid robot can be better utilized.

According to the embodiment of the present invention, although the optical-mechanical structure 400 is made to use a wide-angle projector with a projection ratio in the range of 0.6 to 0.8, the internal space configuration of the humanoid robot can be easily utilized, but the projection path of the light source 401 is relatively long Therefore, the free-form optical reflector 402 of the optical-mechanical structure 400 needs to be arranged outside the optical-mechanical structure 400 to achieve a sufficient projection path length so that the light source 401 can be projected on the correct area on the inner surface of the housing 100.

According to another embodiment of the present invention, the free-form surface optical mirror 402 can be fixed on the inner surface of the housing 100, but the area where the projection surface is to be formed must be avoided. Therefore, when the housing 100 rotates, the free-form surface optical mirror 402 also rotates synchronously through the housing 100, so that the relative position of the optical mechanical structure 400 and the fixed boundary of the projection surface can be maintained unchanged.

According to the embodiment of the present invention, the projection system 10 including an optical-mechanical structure and a rotating mechanism can be applied to various devices, including a housing 100, a rotating mechanism (200 or 300), an optical-mechanical structure 400, and a supporting structure 500. The interior of the housing 100 defines the accommodating space 101. The rotating mechanism (200 or 300) is arranged in the accommodating space 101 of the housing 100, and the rotating mechanism (200 or 300) has a transmission component (not shown in the figure) connected to the housing 100, and the rotating mechanism (200 or 300) utilizes rotation In this way, the transmission component is driven to control the rotation of the housing 100. The optomechanical structure 400 is disposed in the accommodating space 101 of the housing 100. The optomechanical structure 400 has a light source 401, a free-form surface optical reflector 402 and at least one aspheric lens 403, wherein the light source 401 of the optomechanical structure 400 is projected to the inside of the housing 100 through the free-form surface optical reflector 402 and at least one aspheric lens 403 On the surface, a corresponding projection surface is formed, and the range of the projection surface has a fixed boundary. The supporting structure 500 is disposed in the accommodating space 101 of the housing 100, and the rotating mechanism (200 or 300) and the optomechanical structure 400 are disposed on the supporting structure 500. When the rotating mechanism (200 or 300) rotates by an angle, the optical-mechanical structure 400 rotates synchronously corresponding to this rotation angle, and the relative position of the optical-mechanical structure 400 and the fixed boundary of the projection surface does not change.

According to the embodiment of the present invention, the aforementioned projection system 10 including an opto-mechanical structure and a rotating mechanism, the components it includes, their connection relationship, and various operations have been applied to robots including an opto-mechanical structure and a rotating mechanism. It is described in the projection system 10 and will not be repeated here.

The above descriptions are merely illustrative and not restrictive. Any equivalent modifications or alterations that do not depart from the spirit and scope of the present invention should be included in the scope of the appended patent application.

10: Projection system including opto-mechanical structure and rotating mechanism 100: Shell 101: housing space 200: The first rotating mechanism 300: The second rotating mechanism 400: Optical machine structure 401: light source 402: Free-form optical mirror 403: Aspheric lens 500: Support frame D1: The first direction D2: second direction

In order to make the technical features, content and advantages of the present invention and its achievable effects more obvious, the present invention is combined with the drawings and described in detail in the form of expressions of embodiments as follows.

FIG. 1 is a schematic diagram of a projection system including an optical-mechanical structure and a rotating mechanism applied to a robot according to an embodiment of the present invention.

Figure 2 is a schematic structural diagram of an optical-mechanical structure according to an embodiment of the present invention.

FIG. 3 is another schematic diagram of a projection system including an optical-mechanical structure and a rotating mechanism applied to a robot according to an embodiment of the present invention.

10: Projection system including opto-mechanical structure and rotating mechanism 100: Shell 101: housing space 200: The first rotating mechanism 300: The second rotating mechanism 400: Optical machine structure 500: Support frame D1: The first direction D2: second direction

Claims (6)

A projection system including an opto-mechanical structure and a rotating mechanism applied to a robot includes: a housing, the inside of which defines an accommodating space; a first rotating mechanism, which is arranged in the accommodating space of the housing, and There is a first transmission component connected to the housing, the first rotation mechanism drives the first transmission component to control the rotation of the housing in a first direction by means of rotation; a second rotation mechanism is arranged on the housing of the housing In the accommodating space, there is a second transmission component connected to the housing, and the second rotating mechanism drives the second transmission component in a rotating manner to control the housing to rotate in a second direction perpendicular to the first direction, wherein When the first rotating mechanism rotates, the second rotating mechanism remains stationary, and when the second rotating mechanism rotates, the first rotating mechanism remains stationary; an optical-mechanical structure has a range of 0.4 to A projector with a throw ratio between 0.8, which is arranged in the accommodating space of the housing, and the opto-mechanical structure has a light source, a free-form surface optical mirror and at least one aspheric lens, and the light source passes through the free The curved optical mirror reflects and the at least one aspheric lens is projected onto the inner surface of the housing to form a projection surface, and the projection surface has a corresponding fixed boundary; and a supporting structure disposed on the housing In the accommodating space, the first rotating mechanism and the second rotating mechanism are arranged on the supporting structure, and the supporting structure has an extension member connected with the optical mechanical structure; wherein, the light source is fixed with a The first included angle faces the free-form optical reflector, and the free-form optical reflector is fixed to face the projection surface at a second included angle; wherein when the first rotating mechanism and/or the second rotating mechanism rotate by an angle When, the optical mechanism knot The structure rotates synchronously corresponding to the angle, and the relative position of the optical engine structure and the fixed boundary does not change, so that the projection path of the light source corresponding to the projection surface is not shielded. As described in item 1 of the scope of patent application, a projection system including an optical-mechanical structure and a rotating mechanism applied to a robot, wherein when the first rotating mechanism and/or the second rotating mechanism rotate, the rotation of the housing is not blocked . As described in item 2 of the scope of patent application, the projection system including the optical-mechanical structure and the rotating mechanism applied to the robot, wherein the luminous flux emitted by the light source is in the range of 50 lumens to 0 lumens. A projection system including an opto-mechanical structure and a rotating mechanism, comprising: a housing, the inside of which defines an accommodating space; a rotating mechanism, which is arranged in the accommodating space of the housing and has one connected to the housing A transmission component, the rotating mechanism drives the transmission component to control the housing to rotate in one direction by means of rotation; an optical-mechanical structure is a projector with a projection ratio ranging from 0.4 to 0.8, which is installed in the In the accommodating space of the housing, the opto-mechanical structure has a light source, a free-form surface optical reflector and at least one aspheric lens, wherein the light source is reflected by the free-form surface optical reflector and the at least one aspheric lens is projected to On the inner surface of the housing, a projection surface is formed, and the range of the projection surface has a corresponding fixed boundary; and a supporting structure, which is arranged in the accommodating space of the housing, wherein the rotating mechanism and the optical engine The structure is arranged on the supporting structure; wherein the light source is fixed to face the free-form optical mirror at a first angle, and the free-form optical mirror is fixed to face the projection surface at a second angle; wherein , When the rotating mechanism rotates by an angle, the opto-mechanical structure rotates synchronously corresponding to the angle, Moreover, the relative position of the optical engine structure and the fixed boundary does not change, so that the projection path of the light source corresponding to the projection surface is not shielded. As described in item 4 of the scope of patent application, the projection system including an optical-mechanical structure and a rotating mechanism, wherein when the rotating mechanism rotates, the rotation of the housing is not blocked. As described in item 5 of the scope of patent application, the projection system including the opto-mechanical structure and the rotating mechanism, wherein the luminous flux emitted by the light source is in the range of 50 lumens to 0 lumens.

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