公开(公告)号：US12028642B2

公开(公告)日：2024-07-02

申请号：US18089102

申请日：2022-12-27

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Chung-Wei Chang ,  Yi-Ling Lee ,  Chia-Jung Liu ,  Yin-Ling Kuo ,  Feng-Chi Li

IPC: G06T7/20 ,  A63B69/00 ,  G06T7/50 ,  G06T7/70 ,  H04N5/262 ,  H04N5/268

CPC classification number: H04N5/2628 ,  G06T7/20 ,  G06T7/50 ,  G06T7/70 ,  H04N5/268

Abstract: A target tracking system includes an observation module, a dynamic tracking module, a control module and an aiming module. The observation module captures an observation frame including a tracked-object image of a tracked-object and an aiming point image and detects a distance between the observation module and the tracked-object. The dynamic tracking module analyzes the observation frame to obtain a lag correction vector between the aiming point image and the tracked-object image, and obtains a feed-forward correction vector according to the lag correction vector and the distance. The control module generates a control command representing the lag correction vector and a control command representing the feed-forward correction vector. The aiming module moves according to the control commands to control the aiming point image to align with the tracked-object image and control the aiming point image to lead the tracked-object image.

公开(公告)号：US10241496B2

公开(公告)日：2019-03-26

申请号：US14955627

申请日：2015-12-01

Applicant: Industrial Technology Research Institute

Inventor： Po-Huan Chou ,  Wen-Chuan Chen ,  Feng-Chi Li

IPC: G05B19/402

Abstract: A multi-axis motor synchronization control system is provided, which may include a plurality of driving axes and the driving axes are coupled to one another; each of the driving axes may include a position loop controller, a velocity loop controller, a motor and a synchronization calibration device. The position loop controller may generate a velocity signal according to a position command. The velocity loop controller may generate a velocity command according to the velocity signal. The motor may operate according to the velocity command. The synchronization calibration device may calculate the average value of the position signal of the motor and the position signals of the motors of the adjacent driving axes, and then feedback the average value to the position loop controller so as to perform the synchronization calibration.