VCM (Vision control motility method/mechanism) device XYL 3 axis eyes method and mechanism
Coordinate map X 624 Y 488 ______________________________________
| |
| 0 x 312 X 624 |
| |----------|----------| |
| | | | |
| y 244 |-------- ++ ---------| |
| | | | |
| |---------|-----------| |
| Y 488 x 305 |
|______________________________________|
Coordinate
Range
Center
X
0 β 624
312/305
Y
0 β 488
244
ID
Blob rectangle size
Distance (cm) start - stable
Detection range min/max
Detection range same size object 13-11 cm (degree)
1
354
35-
7
253
2
253
45-55
22
239
3
181
63-68
31
147
4
129
90-100
43
96
5
92
133-145-178
106
69
Blob rectangle size
160 X 500
Range A
Range center 305
Range B
LβCβR=tap
Grid
Distance (cm)
354
436-175
=261
305+/-130=175β435
260
257β300β343=86
260/86=3.02 (3)
35
253
497-123
=374
...
...
...
...
45-55
181
534-86
=448
...
...
240β300β360=120
448/120=3.7 (4,7)
63-68
129
563-61
=502
...
...
210β300β390=180
502/180=2.7 [+1]
90-100
92
585-42
=543
...
...
170β300β430=260
543/260=2 (1/2)
133-145-178
XECP
430-170
=260
300+/-130 =170β430
260
170β300β430=260
260/260=1
...
Blob rectangle size
...Y...
Range A
Range center 244
Range B
UβCβD=tap
Grid
Distance
354
297-187
=110
244+/-55=189β299
110
230β300β370=140
110/140=0.7 (1)
...
253
349-131
=218
244+/-109=135β353
218
170β300β430=260
218/260=0.8 (1)
...
181
386-95
=291
...
...
...
291/260=1.1 (1)
...
129
412-70
=342
...
...
...
342/260=1.3 (1)
...
92
433-52
=381
...
...
...
381/260=1.4 (1)
...
YECP
...β...
=...
...
...
...
...
...
2 axis neck method and mechanism Motor position | Action borders |
____________________________|_____________________________|
| |
U | __|_____200_____|__ |
160 | | | | |
| | | | | |
L 160 <-- 300 --> 430 R | 240---300-+-------360 |
| | | 244 | |
430 | __|______|______|__ |
D | | 288 | |
L - C - R | U - C - D
_____________________________________|__________________________________________
|
A. Obj dir: 160 <-- 300 --- 430 | A. Obj dir: 160 <-- 300 --- 430
Blob coor: [... ... 360] | Blob coor: [200 ... ...]
Observer: [ O ... ...] | Obs and obj: [ O ... Y ]
B. Obj dir: 160 --- 300 --> 430 | B. Obj dir: 160 --- 300 --> 430
Blob coor: [240 ... ...] | Blob coor: [... ... 288]
Observer: [... ... O ] | Obj and obs: [ Y ... O ]
Calc: x+=p- < 300 > x-=p+ | Calc: y-=p- < 300 > y+=p+
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