CN102626554A - Mechanical shadow structure and movement angle and movement positioning control methods thereof - Google Patents
Mechanical shadow structure and movement angle and movement positioning control methods thereof Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
- 230000000630 rising effect Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 238000011002 quantification Methods 0.000 claims abstract description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 230000005693 optoelectronics Effects 0.000 claims description 12
- 230000006698 induction Effects 0.000 claims description 9
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- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
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Abstract
本发明涉及一种机械皮影结构及其运动角度和移动定位的控制方法。皮影戏可通过机械装置进行操控，但表现动作单一，缺乏感染力。本发明的运动角度控制方法读取虚拟皮影关键点的像素位移，计算出机械臂舵机转动角度，同时对舵机的运动速度进行插值量化，IntelAtom平台通过串口控制机械臂各个舵机平滑地转过相应的角度；移动定位控制方法对光栅尺条纹进行采样，通过MSP430F149单片机的IO中断对输出的上升、下降沿进行计数，算出移动距离，IntelAtom平台读取ModBus协议栈上的值，得知移动的距离及碰撞检测的情况。本发明对皮影人偶的运动进行准确计算后可准确角度和定位，控制灵活，响应灵敏，反馈及时。
The invention relates to a mechanical shadow puppet structure and a control method for its movement angle and movement positioning. Shadow puppetry can be manipulated by mechanical devices, but the performance is single and lacks appeal. The motion angle control method of the present invention reads the pixel displacement of the key points of the virtual shadow puppet, calculates the rotation angle of the steering gear of the mechanical arm, and at the same time performs interpolation and quantification on the motion speed of the steering gear, and the IntelAtom platform controls each steering gear of the mechanical arm to rotate smoothly through the serial port. through the corresponding angle; the mobile positioning control method samples the grating scale stripes, counts the rising and falling edges of the output through the IO interrupt of the MSP430F149 microcontroller, and calculates the moving distance. The IntelAtom platform reads the value on the ModBus protocol stack to know the moving distance distance and collision detection. The invention accurately calculates the motion of the shadow puppet, and can accurately angle and locate, and has flexible control, sensitive response and timely feedback.
Description
Technical field
The present invention relates to a kind of robot control method, be specifically related to the control method of a kind of mechanical figure for shadow-play structure and movement angle and running fix.
Background technology
Shadow show is the among the people drama of a kind of personage's outline made from light-illuminating animal skin or cardboard with the performance story, and the figure for shadow-play people's who is used to perform four limbs and head are carved respectively, forms with the rope yarn lacing, on the curtain of printing opacity, is performed by the bamboo pole manipulation.But this Traditional Folk art that is rich in the Chinese native characteristic is being faced with lost awkward situation, and the performing artist that skill is skillful is fewer and feweri, can only spread through shooting with video-corder image data.Puppet's art of this form of shadow show can be controlled through mechanical device; Replace true man to deduce; Also can carry out on-the-spot demonstration, but simple machinery controls and can only pull line, rope frigidly, the performance action is single; Lack appeal, lost agile property and excellent degree that shadow show should have.
Summary of the invention
The purpose of this invention is to provide a kind of motion and carry out the mechanical figure for shadow-play structure of accurate Calculation and control and the control method of movement angle and running fix thereof the figure for shadow-play robot.
The technical scheme that the present invention adopted is:
A kind of mechanical figure for shadow-play structure is provided with image, it is characterized in that:
Described image is fixed in the free end of the interlock frame of being made up of mechanical arm and steering wheel, and mechanical figure for shadow-play structure interlock frame is fixed on the crawler type mobile chassis, and crawler type mobile chassis bottom is provided with optoelectronic switch;
Described crawler type mobile chassis is arranged on the guide rail on lucite stage, and the below, stage is provided with the grating chi.
The driving of the driving of described steering wheel and crawler type mobile chassis is through the control of Intel Atom platform EMB-4650 industrial control board;
The induction information of described optoelectronic switch collection feeds back to Intel Atom platform EMB-4650 industrial control board after calculating through the MSP430F149 super low power consuming single chip processor.
A kind of control method of mechanical figure for shadow-play structure motion angle is characterized in that:
Realize by following steps:
Step 1: the pixel displacement that reads virtual figure for shadow-play key point;
Step 2: bring pixel displacement value into point-to-point mapping equation batch total and calculate the angle that each steering wheel of mechanical arm need rotate;
Step 3:, simultaneously the movement velocity of steering wheel is carried out interpolation and quantize according to the angle that steering wheel rotates;
Step 4: Intel Atom platform turns over corresponding angle smoothly through each steering wheel of serial ports control mechanical arm.
In the step 3, the movement velocity of steering wheel being carried out the interpolation quantification treatment, is the uniform motion with the synthetic node of variable motion of a plurality of steering wheels, uses the Accuracy variable to come the control rate quantified precision in the algorithm, and routine is 3mm.
The control method of machinery figure for shadow-play structure running fix is characterized in that:
Realize by following steps:
Step 1: optoelectronic switch is that HJS18-G12DPK diffuse reflection type infrared sensor is sampled to the equidistant black and white strip of grating chi; When sensor detects the informal voucher line; Sensor signal end output high level; When detecting black streaking, the infrared light of launching is received by blackstreak, sensor signal end output low level;
Step 2: in the process that mechanical figure for shadow-play structure moves, through the IO interruption of MSP430F149 single-chip microcomputer rising, the trailing edge of optoelectronic switch output are counted, count value multiply by width of fringe can calculate the distance that the figure for shadow-play robot moves;
Step 3: all be provided with near switch in mechanical figure for shadow-play structure rear and front end; When front and back detect the induction iron plate of installing on two ends, stage and other the mechanical figure for shadow-play structures near switch; To export the IO interruption that a rising edge triggers the MSP430F149 single-chip microcomputer near switch, single-chip microcomputer is with the zero clearing of position counting value;
Step 5: Intel Atom platform reads the value on the ModBus protocol stack through the RS232 serial ports, can learn the distance that the figure for shadow-play robot moves and the situation of collision detection.
The present invention has the following advantages:
Method described in the invention is the method for figure for shadow-play motion control structure; The figure for shadow-play control structure guarantees that through point-to-point spatial mappings algorithm control structure moves according to movement locus and the movement velocity of anticipation, and the use figure for shadow-play running fix chassis control method that laterally moves of figure for shadow-play control structure is controlled in addition.The present invention can guarantee that the shadow puppet performance structure is with very real effect motion; Make robot performance shadow show more vivid; Lively, and then can propagate and carry forward this traditional art of shadow show better, really accomplish effect to the succession of figure for shadow-play art.
Description of drawings
Fig. 1 is a system of the present invention composition diagram.
Fig. 2 is the cooperation figure of mechanical arm and digital steering wheel.
Fig. 3 is the flow chart of mechanical figure for shadow-play structure motion angle control method.
Fig. 4 is a mechanical arm threedimensional model sketch map.
Fig. 5 is a mechanical arm geometrical model sketch map.
Fig. 6 is the flow chart of mechanical figure for shadow-play structure moving displacement control method.
Among the figure, the 1-image, 2-is near switch, and 3-responds to iron plate, 4-stage, 5-optoelectronic switch, 6-grating chi, 7-mechanical arm, 8-steering wheel, 9-guide rail, 10-crawler type mobile chassis.
The specific embodiment
Below in conjunction with the specific embodiment the present invention is carried out detailed explanation.
A kind of mechanical figure for shadow-play structure of the present invention uses the interlock frame by machinery control to replace on the bamboo pole of traction figure for shadow-play image 1 motion.The interlock frame has three mechanical arm groups, and each group is made up of mechanical arm 7 and steering wheel 8, and the left and right arms group has three degree of freedom, and middle arm has four frees degree, and image 1 is fixed in the free end of three mechanical arm groups.The interlock frame is fixed on the crawler type mobile chassis 10, and crawler type mobile chassis 10 bottoms are provided with optoelectronic switch 5; Crawler type mobile chassis 10 is arranged on the guide rail 9 on lucite stage 4; 4 belows, stage are provided with grating chi 6, have equidistant black and white strip on the grating chi 6, when sensor detects the informal voucher line; Sensor signal end output high level; When detecting black streaking, the infrared light of launching is received by blackstreak, sensor signal end output low level.The driving of the driving of steering wheel 8 and crawler type mobile chassis 10 is through the control of Intel Atom platform EMB-4650 industrial control board; The induction information that optoelectronic switch 5 is gathered feeds back to Intel Atom platform EMB-4650 industrial control board after calculating through the MSP430F149 super low power consuming single chip processor.
The two ends of crawler type mobile chassis 10 moving directions are provided with near switch 2; The two ends of crawler type mobile chassis 10 moving directions and the border on stage 4 are provided with induction iron plate 3; After calculating through the MSP430F149 super low power consuming single chip processor, the induction information of gathering near switch 2 feeds back to Intel Atom platform EMB-4650 industrial control board.In the process that moves, move to the two ends on stage when this is provided with for fear of the figure for shadow-play robot, bump against when perhaps having a plurality of figure for shadow-play personages to share the stage.When the front and back metal detects the induction iron plate of installing in two ends, stage and other figure for shadow-play robots 3 near switch 2; Metal will be exported the IO interruption that a rising edge triggers the MSP430F149 single-chip microcomputer near switch 2; Single-chip microcomputer is with the zero clearing of position counting value; Feed back to Intel Atom platform EMB-4650 industrial control board simultaneously, send and cease and desist order, make it stop to move to the figure for shadow-play robot.
The control method of machinery figure for shadow-play structure motion angle, realized by following steps:
Step 1: the pixel displacement that reads virtual figure for shadow-play key point;
Step 2: bring pixel displacement value into point-to-point mapping equation batch total and calculate the angle that each steering wheel of mechanical arm need rotate;
Step 3: according to the angle of steering wheel rotation; Simultaneously the movement velocity of steering wheel being carried out interpolation quantizes; Movement velocity to steering wheel is carried out the interpolation quantification treatment; Be the uniform motion with the synthetic node of variable motion of a plurality of steering wheels, use the Accuracy variable to come the control rate quantified precision in the algorithm, routine is 3mm;
Step 4: Intel Atom platform turns over corresponding angle smoothly through serial ports control each steering wheel of mechanical arm (7) (8).
Detailed process is:
(1) as shown in Figure 4, with the Z-direction motion, letter is the length variations of S.Based on this equivalence relation, the elongated meeting of S makes the curtain of calculating be ahead of actual curtain position, and promptly corresponding Z coordinate reduces.Problem reduction became plane coordinates (x y) was mapped to the problem of steering wheel angle [alpha], β, θ this moment.
(2) can get by the vertical character of face face, coordinate (x, y) project on the plane of vertical curtain coordinate for (0, y).The line segment that projects to vertical curtain plane with operation rod L4 is that l4 is an example, its length:
No. 3 steering wheel angle θ:
(3) model simplification is the two-dimensional geometry problem, as shown in Figure 5, i.e. the two-dimensional projection of stage on the plane of vertical curtain.Wherein OA representes horizontal plane, and OC representes that curtain belongs to the plane and can know length of side relation:
Calculate No. 1 and No. 2 steering wheel angles:
Wherein Δ α, Δ β are respectively α, β constant offset amount, are used for steering wheel angle [alpha], β are revised, promptly
By following formula draw No. 1, No. 2 and No. 3 steering wheel respective angles after, just can the actual mapping emulation of figure for shadow-play motion carrying out of physical engine simulation be controlled node and run to this coordinate place.
(4) this point-to-point mapping is not simple Linear Mapping, guarantee the uniform motion of terminal node, must carry out quantification treatment to the movement velocity of steering wheel, synthesizes the uniform motion of node with the variable motion of three steering wheels.Use the Accuracy variable to come the control rate quantified precision in the algorithm, routine is 3mm, promptly in the rectilinear motion; Every 3mm distance is carried out re-computation to the steering wheel angle; Calculate steering wheel average speed in the 3mm, so repeatedly, remove the uniform motion of match figure for shadow-play node with the friction speed between a plurality of 3mm.Because this quantification is based on the quantification of displacement, so can as sample quantization, not produce quantization error.
The control method of machinery figure for shadow-play structure running fix, realized by following steps:
Step 1: optoelectronic switch is that HJS18-G12DPK diffuse reflection type infrared sensor is sampled to the equidistant black and white strip of grating chi; When sensor detects the informal voucher line; Sensor signal end output high level; When detecting black streaking, the infrared light of launching is received by blackstreak, sensor signal end output low level;
Step 2: in the process that mechanical figure for shadow-play structure moves, through the IO interruption of MSP430F149 single-chip microcomputer rising, the trailing edge of optoelectronic switch output are counted, count value multiply by width of fringe can calculate the distance that the figure for shadow-play robot moves;
Step 3: all be provided with near switch in mechanical figure for shadow-play structure rear and front end; When front and back detect the induction iron plate of installing on two ends, stage and other the mechanical figure for shadow-play structures 3 near switch; To export the IO interruption that a rising edge triggers the MSP430F149 single-chip microcomputer near switch, single-chip microcomputer is with the zero clearing of position counting value;
Step 5: Intel Atom platform reads the value on the ModBus protocol stack through the RS232 serial ports, can learn the distance that the figure for shadow-play robot moves and the situation of collision detection.
Claims (4)
1. a mechanical figure for shadow-play structure is provided with image (1), it is characterized in that:
Described image (1) is fixed in the free end of the interlock frame of being made up of mechanical arm (7) and steering wheel (8), and mechanical figure for shadow-play structure interlock frame is fixed on the crawler type mobile chassis (10), and crawler type mobile chassis (10) bottom is provided with optoelectronic switch (5);
Described crawler type mobile chassis (10) is arranged on the guide rail (9) of lucite stage (4), and stage (4) below is provided with grating chi (6);
The driving of the driving of described steering wheel (8) and crawler type mobile chassis (10) is through the control of Intel Atom platform EMB-4650 industrial control board;
The induction information that described optoelectronic switch (5) is gathered feeds back to Intel Atom platform EMB-4650 industrial control board after calculating through the MSP430F149 super low power consuming single chip processor.
2. the control method of a mechanical figure for shadow-play structure motion angle is characterized in that:
Realize by following steps:
Step 1: the pixel displacement that reads virtual figure for shadow-play key point;
Step 2: bring pixel displacement value into point-to-point mapping equation batch total and calculate the angle that each steering wheel of mechanical arm (7) (8) needs rotation;
Step 3:, simultaneously the movement velocity of steering wheel (8) is carried out interpolation and quantize according to the angle that steering wheel rotates;
Step 4: Intel Atom platform turns over corresponding angle smoothly through serial ports control each steering wheel of mechanical arm (7) (8).
3. the control method of mechanical figure for shadow-play structure motion angle according to claim 2 is characterized in that:
In the step 3, the movement velocity of steering wheel (8) being carried out the interpolation quantification treatment, is the uniform motion with the synthetic node of variable motion of a plurality of steering wheels, uses the Accuracy variable to come the control rate quantified precision in the algorithm, and routine is 3mm.
4. the control method of mechanical figure for shadow-play structure running fix is characterized in that:
Realize by following steps:
Step 1: optoelectronic switch is that HJS18-G12DPK diffuse reflection type infrared sensor is sampled to the equidistant black and white strip of grating chi (6); When sensor detects the informal voucher line; Sensor signal end output high level; When detecting black streaking, the infrared light of launching is received by blackstreak, sensor signal end output low level;
Step 2: in the process that mechanical figure for shadow-play structure moves, through the IO interruption of MSP430F149 single-chip microcomputer rising, the trailing edge of optoelectronic switch output are counted, count value multiply by width of fringe can calculate the distance that the figure for shadow-play robot moves;
Step 3: all be provided with near switch (2) in mechanical figure for shadow-play structure rear and front end; When front and back detect the induction iron plate of installing on two ends, stage and other the mechanical figure for shadow-play structures (3) near switch (2); To export the IO interruption that a rising edge triggers the MSP430F149 single-chip microcomputer near switch (2), single-chip microcomputer is with the zero clearing of position counting value;
Step 4 MSP430F149 all can revise the value of the register in the ModBus protocol stack at every turn when upgrading the state of displacement and collision detection of mechanical figure for shadow-play structure;
Step 5: Intel Atom platform reads the value on the ModBus protocol stack through the RS232 serial ports, can learn the distance that the figure for shadow-play robot moves and the situation of collision detection.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103111079A (en) * | 2013-03-14 | 2013-05-22 | 青岛大学 | Shadow play performing machine |
| CN103439980A (en) * | 2013-08-19 | 2013-12-11 | 向风帆 | Laser raster locating system for rail mobile device |
| CN103463820A (en) * | 2013-09-12 | 2013-12-25 | 绍兴迅实电子科技有限公司 | Integral shadow puppet performance equipment |
| CN104793618A (en) * | 2015-04-16 | 2015-07-22 | 嘉兴市德宝威微电子有限公司 | Robot performance positioning array system, positioning blanket and performance method |
| CN106390489A (en) * | 2016-09-08 | 2017-02-15 | 西安电子科技大学 | Small-size integral shadow automatic acting system |
| CN109696910A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | A kind of steering gear motion control method and device, computer readable storage medium |
| CN109709987A (en) * | 2019-01-14 | 2019-05-03 | 北京理工大学 | Traction-following device, control system and control method for crawler-type unmanned platform |
| CN113926209A (en) * | 2021-09-30 | 2022-01-14 | 成都博物馆 | Shadow puppetry system and performance method |
| CN114159810A (en) * | 2021-11-05 | 2022-03-11 | 五邑大学 | Control method and device for shadow puppet robot and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103111079A (en) * | 2013-03-14 | 2013-05-22 | 青岛大学 | Shadow play performing machine |
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| CN103439980A (en) * | 2013-08-19 | 2013-12-11 | 向风帆 | Laser raster locating system for rail mobile device |
| CN103439980B (en) * | 2013-08-19 | 2016-03-16 | 向风帆 | A kind of laser grating positioning system for track mobile devices |
| CN103463820A (en) * | 2013-09-12 | 2013-12-25 | 绍兴迅实电子科技有限公司 | Integral shadow puppet performance equipment |
| CN104793618A (en) * | 2015-04-16 | 2015-07-22 | 嘉兴市德宝威微电子有限公司 | Robot performance positioning array system, positioning blanket and performance method |
| CN106390489A (en) * | 2016-09-08 | 2017-02-15 | 西安电子科技大学 | Small-size integral shadow automatic acting system |
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| CN109696910A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | A kind of steering gear motion control method and device, computer readable storage medium |
| CN109696910B (en) * | 2017-10-23 | 2022-04-15 | 深圳市优必选科技有限公司 | Steering engine motion control method and device and computer readable storage medium |
| CN109709987A (en) * | 2019-01-14 | 2019-05-03 | 北京理工大学 | Traction-following device, control system and control method for crawler-type unmanned platform |
| CN113926209A (en) * | 2021-09-30 | 2022-01-14 | 成都博物馆 | Shadow puppetry system and performance method |
| CN114159810A (en) * | 2021-11-05 | 2022-03-11 | 五邑大学 | Control method and device for shadow puppet robot and storage medium |
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Inventor after: Fu Shaofeng Inventor after: Wang Haoran Inventor after: Liu Xin Inventor after: Zhu Meng Inventor after: Wang Meiyue Inventor after: Zhang Jingyuan Inventor after: Li Longhai Inventor before: Fu Shaofeng Inventor before: Wang Haoran Inventor before: Liu Xin Inventor before: Zhu Meng Inventor before: Wang Meiyue Inventor before: Zhang Jingyuan |
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