CN102959606B - There is the display systems of mobile display device - Google Patents

Abstract

Current system and method provides for new Digital Media example, new Digital Media example makes the close layout of action, content and time can be demonstrated on a variety of hardware platforms, various hardware platforms are controlled to form by the robot of many display screens, with more than 2 LCD, LED, the form of the removable array of OLED etc., realizes movement and the placement of each display by the arm mechanism of a Multi-shaft mechanical arm.Realizing action control by the software being programmed on more than one controller system, the corresponding instrument needed for also proposing for creative observable designer meets the content of this new example to produce.Each arm/display screen combine be kept know its location in physical space always relative to the location of other arm/display screen each, in order to avoid collision.The software of pre-programmed controls to use the form of the playlist of the layout of the movement of desired location, content and the time of the array of coupling display screen, in order to realize to cross, with fully coordinated manner, the desired dynamic displaying customizing the digital content produced that array is demonstrated.

Description

There is the display systems of mobile display device

Technical field

This invention relates to mark, displaying and the display system comprising mobile display device, mobile display device quilt Control the orientation to change display device and the relation in space.

Background technology

Make many trial with design amusement and reception and registration and the novel mark of instruction spectators and display systems.In Hold supplier and advertizer seeks attractive media continuously to distinguish them in the most visible and audible disturbance Message.Prior art in advertisement display field is substantial amounts of, but, most of advertising media can be classified into 4 Group, including traditional nonnumeric mark, electronic mark, projection mark and interactive mark.

Traditional nonnumeric display is typically made up of the substrate of more than one rigid flat or bending, and rigidity is put down Smooth or bending substrate by the material of such as paper, cardboard, timber, plastic cement, polyethylene, fabric, metal and lucite Make.These substrates are had the observable content of hope generally including coloured text and figure by stamp.Typically via It is arranged on the translucent substrate carrying observable content to utilize and is included fluorescent lamp or the Luminescent cases of LED luminescence On, these systems many are that the back side is bright.Watching for night and low ambient light, more economical method is luminous from front side.

Carry out the characteristic of the much static state made great efforts to overcome nonnumeric display.Sometimes through on top of the substrate Fix engraving, casting or the word of neon tube and shape or by this information being etched, cast or be engraved as For substrate surface, realize 3D effect.Therefore, designer is by big 3D object superposition on top of the substrate maximum 3D effect is used for attracting spectators.It is also known that use motor thus move in a repetitive fashion or shake this physical objects Body.Applying various lighting engineering to set up the illusion of action by careful, these 3D effects are equally increased during night scene Greatly.

Change and there is the nonnumeric facility of new content be troublesome and be the process of material reinforcement.For cross over the moon or The a period of time in possible year, content is usually fixing.But, in such as flip-chart and various shutter billboard system In the case of, by being turned to lower one page of figure, other content is available, or the situation in shutter billboard system Under, crossed the content of adjacent horizontal or vertical curtain (being dual side or three heavy sides) by removal, in order to when curtain is rotating When period is synchronized, the complete content for any one given labelling seems by seamless display.Sometimes, come The content of opposite side is related to from the content of side, it can be said that simple story.The specular screen of post is mounted to realize equally Similar effect, enable a viewer to from change reading angular see the image vertically removed of different group the most even with Each eyes shown by slightly different point of observation, form the graphics of static scene.

Electronic mark and display systems with more than one flat digital formula Electronic Display Panel (plasma, LCD, OLED, LED etc.) and association circuit replace traditional substrate, the circuit of association can be formed and connect in digital or analog form The quality performance of the content received.Typically show having by the most arbitrarily table of the sequence mixing making dynamic video with rest image Existing other this paper or other image contents (such as: be superimposed upon the time on e-advertising hurdle and temperature) prerecorded Content stream, some this systems transmit corresponding audio-frequency information via one group of more than one speaker equally.Although it is less logical With, electronic displays is equally made up of flexible base board, including the fabric of the LED with embedding, is used for covering non-flat The surface in face.For expanded field of vision, this is significantly to limit, and especially for LCD technology, electronic displays is usually installed to be Back-to-back or angle with 30,45 or 90 degree is around pillar.

Especially for the application of bigger general layout, I&M cost is more increased than traditional nonnumeric display.So And, even if the daylight of open air is sufficient, the new content stream in conjunction with the ability of media covers Digital ID the most again to broadcast Put the facility of attracting dynamic video and animation, make them for advertizer and similar athletic competition place Become the most welcome selection.But it is combined with consumers in general within they families, uses this of large panels television set Individual popular, the most just reducing except these electronic display systems a large amount of are outstanding, shout a shout or entertain spectators in addition to whole Ability.

Projection mark and display systems use analog video or digital projector, so that the content of performance to be broadcast to reflection Screen on, although the screen of reflection is the most smooth but it also may be protruding or spill.Typically than they Character display cousin is big, and in terms of attracting the consumer alert gradually weakened, optical projection system suffers identical challenge.Trial is taken by force Take more attention to comprise and use some this systems to include waterfall to project to the outside of transparent spheroid or inner side or other On the object of cloth and mist wall.Many times of projectors are also used, and wherein, utilize bigger screen or 360 degree of display.In room Typically with optical projection system in inner region because from the ambient light of this screen reflection greatly reduce content impact and can The property read.Interactively mark and display systems, creative designer can up-to-date media, based on from spectators or Directly inputting of passive unit, flows to the digital stream of display by dynamically changing content increase.Directly input via attached The keyboard or the touch-screen equipment that connect typically are captured, but can also comprise via mobile phone touch screen or keypad, or Person is via laser instrument or the control of the content of optical point device.Round-about way, including action sensor and RFID marker Symbol reader also provides for the ability of the process circuit added, to be distributed, dynamically based on close spectators or known spectators Change content.

In United States Patent (USP) 6,339,969, display comprises the prior art systems of mobile display screen.This system includes Moveable display screen in a linear fashion.

Limit beyond media, work creative with compete for consumer alert with content provider and advertizer Observable designer also by general Digital Media example (such as: bitmap, vector video) and instrument (such as: Adobe Illustrator, PhotoShop and Flash) in each above-mentioned medium, it is used for design and produces the thing of content Real restriction.Although this versatility is easy to idea and the training of the work completed and reception and registration, but at media and tool level, The intrinsic shortage of difference is degrading creative designer and attempts transmitting the choosing of the most attractive message from competition War.

The propelling resting on the differentiation within the restriction of existing Digital Media example has reached irrational ratio Example.Originally, the projection of the continuous loop of the Digital ID such as run around the stadium of box level seems similar the most square Method notes with capture spectators, is used for suspending the special advertisement during playing with amusement the most now, such as, and some English The character display lighted that formula football stadium levels operation in the wild is bright, dispersion racer note, and actual On can not play video camera with correct adjustment exposure for the optimal quality showing focussing movement event itself.

It is used for the existing Display Technique constraint majority mark of consumer alert with display systems for advertizer Day by day it is difficult to noticeable.Many seeks competition venue use only appearance the becoming clear as the factor of differentiation that group sponsors , significantly and bigger display promotes the packaging in existing method, each minimizing is benefited as technology maturation.Accordingly Ground, retains the needs of the new media being combined with new instrument, and content provider and advertizer can be outstanding, the clearest Ground transmits their message, entertains their spectators simultaneously.

Summary of the invention

The present invention provides a kind of display systems, including multiple display devices, for the support of the separation of each display device Part arrange, adapt to each display device along the first and second axles from neutral position the reality to any a series of non-overlapping position Movement in matter.Multiple display devices be to a certain extent each movably, to change described display device relative to institute State the order of at least one in the first and second axles.

The feature of further embodiment of the present invention is, each display device can along described first axle move to described in The position of at least either side of vertical position, and at least either side of described neutral position can be moved to along described second axle Position.

In the still a further aspect of the present invention, the support member for the separation of each display device includes that pivot is even Connecing, the described display device of pivotally connected adaptation moves with respect to the pivot of the position of the distortion of display device.

In the further aspect of the present invention, the support member of each separation includes for controlling each display device described Described movement and the control connecting rod of position.

In the still a further aspect of the present invention, the described pivotally connected of each display device is in neighbouring described display The position in the corner, the back side of device.

In the further embodiment of the present invention, multiple display devices include at least 4 display devices.Display device is Collective is moveable, to limit the whole display area in the region of at least 3 times of described display devices.

In the still a further aspect of the present invention, the support member for the separation of each display device includes that pivot is even Connecing, the described display device of pivotally connected adaptation moves with respect to the pivot of the position of the distortion of display device.

In the still a further aspect of the present invention, the support member for the separation of each display device includes motor actuated Device, motor actuator controls the support member separated, and therefore controls each display device position in viewing area and shifting Dynamic.

In the further aspect of the present invention, including computer control, computer control is each motor actuated Device provide control signal with determine display device relative to position and move.

In the still a further aspect of the present invention, motor actuator is installed on rotatable member, rotatable member It is roughly parallel to viewing area extend, and after being centrally located at viewing area, so that the rotation of rotatable member causes aobvious The rotation of showing device.

The different aspect of the present invention includes visual display system, including multiple display devices with for the peace of display screen Dress system, installation system adapts to the display screen substantial movement relative at least two axle of movement.Movable display screen What curtain limited the possible relative position with display screen arranges corresponding display screen space, and wherein display screen space is At least three times of the cumulative region of described single display screen curtain.

In the further aspect of the present invention, multiple display screens include at least 3 display screens.These display screens It is moveable, to change display screen relative to the relative ranks of at least one at least two axle of movement.

In the still a further aspect of the present invention, the described installation system for multiple described display screens include for The attachment structure of each display screen, described attachment structure allows each display screen described about their off-centered position The rotation put.

In the still a further aspect of the present invention, each display screen is about the institute of each off-centered position described Stating rotation makes described display screen rotate institute in generally by the plane of two axis limits at least two axle of described movement State display screen.

In the still a further aspect of the present invention, the attachment structure for each display screen is in neighbouring each and shows The position in the corner of screen.

In the still a further aspect of the present invention, each display screen is substantially rectangular plane electronics display screen.

In the still a further aspect of the present invention, each display screen is the plane electronics display screen of circular.

In the still a further aspect of the present invention, each display screen is nonplanar.

In the still a further aspect of the present invention, two major axis that described display screen has movement are the most flat to limit Face display.

In the still a further aspect of the present invention, the plurality of display screen is at least 4 electronic display screens, and Described electronic display screen has two major axis of movement collectively to limit general plane display.For each display screen Mounting structure allow the off-centered rotation of display screen and display screen movement in flat-panel screens.

In the still a further aspect of the present invention, described mounting arrangements includes supporting the control for each display screen The main supporting member coupled, and described main support member is rotating around central point, and described central point limits Surely the rotary shaft of described general plane display it is approximately perpendicular to.

In the still a further aspect of the present invention, mounting arrangements includes rear support structure, and rear support Structure adaptation is rear The movement of the display screen within the approximate region of supporting construction.Mounting arrangements is crossed the rear surface of rear support structure and is moved, and And provide the structure through rear support structure to connect.

Accompanying drawing explanation

Presently preferred embodiments of the present invention is shown in the accompanying drawings, wherein:

Fig. 1 is the exploded view of compact planar manipulator.

Fig. 2 A-D is the orthogonal view of one group of compact planar manipulator, including A) front elevation, B) side view, C) top view And D) axonometric chart.

Fig. 3 A-B describes the compact planar manipulator being installed on railing system.

Fig. 4 describes the compact planar manipulator being installed in scissor lift type mechanism.

Fig. 5 A-C is the orthogonal view of one group of Three Degree Of Freedom parallel machine mechanical arm, including A) side view, B) top view and C) vertical Body figure.

Fig. 6 A-D is the front view of one group of Three Degree Of Freedom parallel machine mechanical arm, and wherein, screen keeps static and hard after screen Part is moved.The beginning of the action of Fig. 7 E display screen, in order to terminate in plus sige pattern, as Fig. 7 F describes.

Fig. 7 describes the screen of the Three Degree Of Freedom parallel machine mechanical arm rotated about their geometric center.

Fig. 8 is that 6 screens of the Three Degree Of Freedom parallel machine mechanical arm used in the storyboard that golf is commercial shine Initial 3 screens in the set of sheet.

Fig. 9 is that 6 screens of the Three Degree Of Freedom parallel machine mechanical arm used in the storyboard that golf is commercial shine Secondly 3 screens in the set of sheet.

Figure 10 is depicted in big polymer surfaces the screen of the Three Degree Of Freedom parallel machine mechanical arm advanced, remaining mechanical structure Part is after surface.

Figure 11 outlines the measurement of Three Degree Of Freedom parallel machine mechanical arm.

Figure 12 shows the boundary of the inner arm of Three Degree Of Freedom parallel machine mechanical arm.

Figure 13 shows the boundary of the outer arm of Three Degree Of Freedom parallel machine mechanical arm.

Figure 14 is the exploded view of six-DOF robot arm mechanical arm.

Figure 15 A-D is the orthogonal view of one group of six-DOF robot arm mechanical arm, including A) front elevation, B) side view, C) top view and D) axonometric chart.

Figure 16 describes six-DOF robot arm mechanical arm and freely follows/follow the trail of the ability of spectators.

Figure 17 describes six-DOF robot arm mechanical arm and follows/follow the trail of the ability of spectators with bigger degree of accuracy.

Figure 18 is the exploded view of the six-DOF robot arm mechanical arm with dual screen.

Figure 19 A-D is the orthogonal view of one group of six-DOF robot arm mechanical arm with dual screen, including A) just Face figure, B) side view, C) top view and D) axonometric chart.

The figure of the six-DOF robot arm mechanical arm that Figure 20 is mounted on ceiling.

Figure 21 is the flow chart that content foundation processes.

Figure 22 A-B describes planar robot's example and its coordinate axiom specified analyzed for D=H.

Figure 23 describes the orientation of the planar robot as numerical example analyzed for D-H.

Figure 24 is that the storyboard moved for the screen of planar robot is described.

Figure 25 is to add that the storyboard that the screen of content moves is described for screen.

Figure 26 is the screen shot of the CDWA describing grassroot project dialog box.

Figure 27 is the screen shot how description designer manipulates the CDWA of the MVST on screen.

Figure 28 is the screen shot of the CDWA of the insertion describing new media file.

Figure 29 is the screen shot describing the CDWA that designer arranges character for newly inserted media file.

Figure 30 is the screen shot describing the CDWA entering exit point that designer regulates MVST event.

Figure 31 is the screen shot of the CDWA of the work space describing designer.

Figure 32 is the screen shot of the CDWA describing output dialog box.

Figure 33 is the screen shot of the CDWA describing the thermal map for MVST generation.

Figure 34 is the screen shot of the CDWA describing the acceleration profile for MVST generation.

Figure 35 is the screen shot describing to require the dialog box of MVST appointed for compilation process.

Detailed description of the invention

By the hardware description display systems about system.It is used for combination subsequently controlling the softest of mobile display device Part composition describes this system.

Hardware

Many approach are had to carry out mount display (preferably electronic display screen) to adapt to motility in various degree With various different visual effects.Three preferred embodiments will be described, comprise compact planar manipulator, 3DOF plane machine Mechanical arm and 6DOF planar manipulator.Each in these embodiments comprises plural display screen.It should be noted that Although use screen be preferred embodiment as display device, but other possible display device can comprise LCD, etc. from Son, the specular screen of OLED and 3D post or other technology, such as projector, for profiled surface (the such as convex, recessed created Shape, tubulose, conical and spherical) display floater flexibly or can move to produce on multiple bars of 3D rendering in z-axis LED.Display device can also be made up of the combination of said apparatus or the display device of replacement.At removable projector In example, after screen is arranged on device, and projection image moves along with the movement of projector.Combination can also be used In different display devices.

Compact planar mechanical arm system enables screen action in single plane.Can be used alone to be formed single Individual screen shows or multiple compact planar manipulator can be used together have multiple screen and show.Each compact putting down Surface mechanical arm (seeing in Fig. 1 and Fig. 2 A-D) is driven by 4 d.c. motors 1.Underarm 50 inside driving is responsible for by each motor Or outside underarm 51.Each underarm, inner side 50 and outside both have two ends comprised proximally and distally.Due to motor The rotation of the rotation of gear shaft and underarm (50 and 51) occurs in vertical plane, so by the motor with worm-gear apparatus 3 Control the action of underarm (50 and 51).Motor gear wheel shaft is connected to the near-end of underarm by worm-gear apparatus 3.Inner side underarm 50 remote End is connected to the near-end of inner side upper arm 52.The far-end of outside underarm 51 is connected to the near-end of outside upper arm 53.Underarm and upper Connection between arm does not activated.Then the far-end of two inner side 52 upper arm is all connected to a rounded face of pad 5.Pad Another face of 5 is attached to one end of bent axle 7.The other end of bent axle 7 is connected to the second pad 6.Two outer webs 51 are connected to Together and be connected to pad 6.

Flat bracket 8 is attached to an outer arm system at pad 6.This support support rotating (pancake) motor 9, Motor 9 be then subsequently attached to can be comprise LCD, plasma, LED, OLED and 3D lens or any of other technology can The flat screens 10 of the technology bought or television set.In addition to panel and its adnexa, robot mechanism passes through 4 horses The accurate control reached, it is allowed to crisscross planar gesture.Arrange plane by the length of underarm and the length of upper arm and arbor to move The boundary made.Finally, rotate (pancake) motor 9 and add extra rotational freedom to panel so that designer's energy The more elaborate action with arresting of enough realizations.

Compact planar manipulator is preferable for having the advertising area of the confined space.This system can take on independence Unit, or can get up by the system attachment similar with other, to produce a series of moving advertising.Other probability bag Include, fitting machine mechanical arm on railing system, it is allowed to spectators followed by screen along path, and combining scissors lifting type mechanism is to permit Permitted mechanical arm advance towards spectators and advance away from spectators.These descriptions can be seen respectively in Fig. 3 A-B and Fig. 4.

Compared with compact planar manipulator, three-freedom planar mechanical arm (seeing in Fig. 5 A-C) permission is more Navigability.This structure allows and multiple screens, preferably with 4 screens, more complicated interaction.This system warp It is attached to wall, ceiling or other supporting construction by wall bracket 11.It is negative that high torque rotates (pancake) motor 12 Duty rotates whole system.The mounting bar 13 being attached to rotation motor 12 provides the installation for four less high torque motors 14 Face.Each little high torque motor 14 is attached to arm system.Each arm system has a structure in 2 structures.Outer arm System 35 shares identical structure, and the two of inside arm systems 36 have the second structure.Each structure will be described individually.

Outside in arm configuration, pad 15 is attached to high torque motor 14.Pad 15 is used to outer arm 65 at inner arm 66 rotate above and do not collide, and are maintained in identical plane by all of telescreen (16) simultaneously.Motor rail system (17) pad 15 it is attached to.Outer arm 65 is attached slidably to motor track 17, thus allows outer arm along its length Slide.Second rotation motor 67 is attached to the end of outer arm 65, and is fixed to telescreen 16, it is allowed to control screen Rotate.

In addition to the position of pad, interior arm system 36 has the structure similar with outer arm system 35.High torque motor 14 has There is the motor track 17 being fixed to the upper.This is attached slidably to inner arm 66, and allows arm along its running lengthwise. Pad 37 is attached between the end of inner arm and the second rotation motor 68.Then the second rotation motor is fixed to telescreen 16。

Telescreen 16 in both inner arm 65 and outer arm 66 end can after screen on any position quilt It is installed to arm；But；Preferably installation site is the turning of screen.

This structure allows system to keep the position of screen to be fixed, and relocates the hardware after screen simultaneously.This is crucial Property, because the closed position of a chronological order can be kept stable, set up this system simultaneously for next " scene ", Wherein, action subsequently needs certain hardware starting point.Various hardware configurations for same screen structure are displayed on Fig. 6 AD In.When positioning screen allows designer to set up maximally effective path plane or the most attracting action, hardware Multi-functional and pliability and possible action scope depends on their application and prioritizing selection.

With reference to Fig. 7, the outward appearance of this structure permission screen is rotated about their geometric center (some A), though actual Above they are to activated in their corner (some B).

The example of the application of Three Degree Of Freedom parallel machine mechanical arm can be seen in figs. 8 and 9.These are to describe throughout video The screenshot capture of the golf advertising of the impact of screen.Seeing as in figure, screen can be used with by display golf Court fly over figure to introduce scene.Then, 2 screens are used for showing golfer's cross hit, simultaneously other 2 Individual screen stops being fixed on mark, to the sensation of the width of a kind of scene of spectators.When ball soars through air, screen chases after Its track of track, until ball ' whereabouts ' is on 2 last screens, is rolled in hole.Another size is added by the action of screen It is added to video and graphic content, makes spectators keep interested and attracted to this demonstration.

By hanging big low friction polymer surface panel between screen and mechanical arm mechanism, the system of plane also may be used To be configured to fully hide their mechanical arm structure.The end of each mechanical arm and the back side of screen will utilize low rubbing Magnet that wipe, that polymer encases, that attract is fixed, although so that each screen will magnetically follow the trail of big polymer surfaces The action of corresponding mechanical arm afterwards, spectators will see the screen (Figure 10) floated before this surface simply.Though The point that so polymer face plate suspends can not be through, and by the design of art, spectators will believe unrestricted action.Sensing Coil transmission energy is to be provided with power for screen, or screen can comprise rechargeable battery, when screen is along with charging contact When being located towards the outside of polymer face plate and move in ' docking station ', rechargeable battery can be charged.Sense can be used Coil or traditional Wireless Data Protocol is answered to transmit data.The further aspect of this design is in harsh climate, protects Protect mechanical arm and avoid the abrasion of salt, water, chip, and other forms, and corrosion can extend the machine impaled now significantly The life-span of device robot mechanism.Can be on the track of suitable action if back side equipment is installed in, then when vile weather, screen Itself can also by upwards, move down or move in cantilevered blindage.

Another crux feature of this robot is that its high screen area is to work space area ratio.Screen area It is defined as total effective area of screen；For 55 " screen, screen area is approximation 6,532 square inches.Work space face The long-pending total effective area being defined through this robot.Using the size from Figure 11-13, work space area is calculated It it is 482,686 square inches.Therefore, screen is 1:73 to work space area ratio.This is utilized to arrange, work space area phase It is the biggest for total screen area.Even realize the system of the improvement of the ratio of 1:10.

Six-DOF robot arm mechanical arm (seeing in Figure 14 and Figure 15 AD) offer display systems the most multiple many The 3D advertisement of sample/display is experienced because this arm provide the previously mentioned system of neither one can navigability.Depend on Systematic difference, high torque rotate (pancake) motor 20 be mounted directly into wall, ceiling or another Support structure.Installing plate 21 is attached to the rotating part of high torque (HT) rotation motor 20.This installing plate 21 provides base, one with On 3D robots arm can be mounted to base.The preferably quantity of arm is 4.Unlike 3DOF mechanical arm, 6DOF machine Each arm in mechanical arm is identical.

By shoulder socket 22,3D robots arm 55 is attached to installing plate 21.Shoulder contact 23 is attached to shoulder socket, And the rotation between shoulder socket and contact can be fixed or is controlled by motor or gear.Arm support member 24 It is attached to shoulder contact 23 directly or through motor, thus allow attachment to the first arm member 25 of this arm support member 24 Axle rotates.Rotating socket 26 is attached to the swivel 27 of substantially rotation motor, and rotation motor has and attaches to its Shell, in order to be connected to Rotating socket 26 and pad 28.Then this pad is connected to the second arm support member 40, the second arm Component 38 is fixed to the second arm support member 40.Rotation motor can be connected, to allow second between space and arm support member The axle of arm member rotates, and therefore, the second arm member can axially rotate and rotate in vertical.Second Rotating socket 42 It is fixed to the far-end of the second arm member 38.Second Rotating socket 42 is connected to the 3rd arm via the second swivel 43 and supports Part 41.This couples the controlled axle rotation being modified to allow the 3rd arm member 39 again, the 3rd arm member 39 quilt It is connected to pad 45, is then connected to the 3rd arm support member 41.The far-end of the 3rd arm member 39 has the wrist being attached to it Socket 29, it is simple to be connected to wrist contact 30.This wrist contact 30 is connected to rotatable support 31.Rotatable support 31 is attached Receiving rotation motor (not shown), rotation motor is directly mounted on telescreen 32.

The layout of six-DOF robot arm mechanical arm can be used to comprise dual screen (such as Figure 18 and Figure 19 A-D In see).This layout is very similar to previously described 6DOF mechanical arm.All of parts design with single screen In those are identical, and parts number keeps constant in the drawings.In wrist socket 29, difference is had at draw bail far-end.Wrist Portion's contact 30 be attached directly to the wrist socket 29 at one end gone up and be attached on an opposite end be arranged as back-to-back 2 Individual telescreen.This causes the minimizing of the last rotational freedom in previously described simulation, but enable a designer to Creative method uses dual screen to arrange.Whole system can be installed in the top of the backcloth 34 of reflection, it is allowed to Designer uses this reflecting surface with creative method.Backcloth can comprise smog/mist wall, waterfall and flue dust Wall.

One usage of the six-DOF robot arm mechanical arm with dual screen head is illustrated in fig. 20, its In, robot is installed on ceiling, so that can projection pattern produce on the ceiling towards upper display For various atmosphere and the halo changed of effect always.Note, it is also possible to digital projector is placed on this dual display On the back side of device head, this is equally combined so that this head waves 15 degree to the left and to the right with 30 degree of servomotors.Entering In the application of one step, this dual screen system can be before minute surface (in the case of wall be installed) or following (in sky In the case of card is installed) it is installed in crossbar.This surface can be that the tiled pattern of a mirror or many mirrors is (recessed Shape, smooth, convex, spherical or their any combination).By combining layout by image projection on this surface On, whole space can be full of mobile projector.

It is adapted to any one in three robot display as above, to comprise laminated vertical in assembly wall The layout of display, thus first attract the attention of side spectators, move around robot display system then as them And follow such spectators.This can be attended by and add the more than one stereo camera shooting being mounted directly on each screen Machine 47 and/or more than one less screen video camera 48.This arranges permission system and the creative of people and forces Really interact.This system can be designed, in order to when people are by this mechanism's walking, and stereo camera 47 can be The exact position of individual is found out, it is allowed to screen interacts with individual within the vicinity of robot.Screen video camera 48 can be used Capturing the details about individual, the image processing software that may then pass through intelligence is steered, to select the tool about individual Body details (medicated cap color, hair lengths, type of dress material etc.), in order to the more life-like phase interaction with robot is provided With.Additionally, this video camera can be used for other people shown in this region, definitely, robot is setting up to this layout What " is seen " in the larger screen of side, or the dynamic part as layout itself.

Along with having been described above many embodiments, if it is desired to, it is adapted to local overlapping of screen.This allows along with friendship Folded degree reduces, and the local of its viewing area and extension is reduced.This is arranged provides many advantages, including for more life-like Describe collision object or almost miss the chance directly perceived of object.

It will be appreciated that individual's display screen can be the biggest commercial display screen, although less screen Can be equally used for other application.

Software component

The displaying of layout relates to the comprehensive of many elements: action, content presentation directly perceived, sound and illuminating effect, with in time Between.Mention MVST(action, performance directly perceived, sound/illumination and time) display system, it limits new media example.

MVST display system is made up of screen, be controlled by one group connect motor, screen by have plural from Driven by the robots arm spent.Being briefly described, the action for display is represented as a series of MVST event.Produce wound The property made design table application (CDWA) in displaying be revolutionary experience, unlike saw in the past anything.Substantially, Designer sets up MVST event, and MVST event is critical point during layout in time, wherein, on screen, screen Content, music and illumination all come into line the most exactly.

MVST event

Content on screen can be shared between multiple screens, or can have using more than one screen as target Personal content.Therefore, all of screen can reproduce single video or check single image, so that screen is that entrance is big Window among virtual region.Content is equally anchored into screen or it can follow the path of customization.For action Each MVST event in path, new video can commence play out, or new image can be shown.Video or image Position can be relevant to background, relevant to a screen, or the scaling at the center relative to robot can be designated as And rotation.

Designer needs the MVST event setting up minimum number crux in their displaying, substantially outline action Point, the most unexpected stopping, tip action etc..Then CDWA interpolation and generation action plane figure between MVST event, makes Obtain designer and save the work that must manually set up whole action plane figure.This interpolation processes and considers be being used concrete The model that shows of MVST, and set up and keep it in mind motor and accelerate the limit and the optimal action plane figure of hot overview.This good Place is, CDWA uses the general MVST event outline by designer, sets up action plane figure distinctive for electric current hardware.

As an example, it is considered to following plot.Designer is engaged in advertisement, and advertisement comprises and has the large-scale of 4 screens MVST display；This display is by the large space being installed in such as airport or shopping mall.Advertisement relates to All of 4 screens started together in square pattern, then oblique line ground departs from, and the most all of screen spins, and Eventually pass back to the end in square pattern.Designer use CDWA to set up for the critical MVST event of advertisement, and And the path of motion that CDWA is between MVST event, MVST event is for the large-scale MVST display being being used.Now, Consider to be arranged on the small-scale MVST display before retail shop.Designer can carry out phase on less MVST display Same displaying, shows without changing.MVST event remains identical, except present CDWA interpolation shows for less MVST Show the path of motion of device.As long as less system is able to carry out required action, shows and will be similar to that in large-scale system One seen.

MVST model file

Set up and show the many steps (Figure 21) of needs.Originally, designer needs (outside acquisition) MVST to be used The model of display.This is displayed as " marking machine people " 59.This model file includes all of following required ginseng Number (with their unit) is fully to characterize MVST system:

Denavit-Hartenberg(D-H) variable

ο couples side-play amount, d (m)

ο syndeton length, a (m)

ο torsional angle portion degree, α (rad)

ο contact angle, θ (rad)

Couple quality (kg)

The connection center (coordinate) of gravity

Couple packaging

Motor position (coordinate)

Motor boundary

ο peak torque (Nm)

ο normal speed (m/s, rad/s)

ο peak force (N)

ο stroke (m)

ο thermal impedance (deg.C/Watt)

ο rated voltage (V)

ο rated current (A)

Need four D-H variablees fully to characterize the direct kinematics formula of MVST display.MVST display is regarded It is one group couple and activate point, end effect can easily be determined that based on the syndeton length between continuous print connection and angle The position and orientation of device (screen in this case).It is not unique that D-H characterizes and it is necessary to guarantee robot is described All degree of freedom.Table 1 is the example D-H table of an arm for 4 screen plane robots.Figure 22 A and B display plane arm and Its coordinate frame distribution.

Table 1: for the D-H parameter of a mechanical arm of planar robot

Contact	α	Θ	d	a
					1	0	Θ1	0	0
2	0	0	0	m
					3	0	Θ3	0	0
4	0	0	0	p
					5	0	Θ5	0	0

Then these parameters are used for the transition matrix of homology, in order to solve the positive movement knowledge for each particular arm Topic.Planar robot is the combination of four this arms.In order to solve the direct kinematics problem for whole robot, need to use D-H table in each arm.Owing to each arm has the fixed reference system (x0-y0 system) in planar robot center, so can To produce the table with the whole D-H parameters for whole robot, table 2.

Table 2: for the D-H parameter of planar robot

This table is given about the contact in each arm and the position of the base of each fixed center relative to robot The information put, it is sufficient to the transition matrix by means of homology solves the direct kinematics problem for robot fully.Table 3 provides The example of the D-H parameter of the certain orientation of the planar robot in Figure 23.

Table 3: for the example D-H parameter of planar robot

The center (CG) coupling quality and gravity is used by CDWA, acts on the moment on pivoting point to calculate, And motor thus, in order to the load on assessment motor.Couple quality and be multiplied by acceleration of gravity (9.807m/s²) to obtain cattle (N) power (F).CG is used as the moment arm for Calculating Torque during Rotary.Use following vector cross-products calculate moment:

M=F*d wherein,

M is the moment (Nm) calculated,

D is moment arm (m),

And F is the power (N) acting on d

The moment calculated can be negative to ensure that described motor can drive compared with the nominal torque of each motor (Nm) Carry.

Couple to be packaged in the connection of ' range estimation ' MVST display and be as an aid in CDWA.Such as, statement couple quality, CG and length are insufficient, because the shape coupled the most all is classified by these parameters.Couple packaging with one group of coordinate or The form of the annexation of node and these nodes and other adjacent nodes provides this loss information.These nodes are used as Summit, and annexation is as edge, to set up the box like structure surrounding connection as precisely as possible.Then this box-like bag Dress is utilized for the collision detection during simulation stage by CDWA.

Use relationship below, peak torque and speed be used for calculate d.c. motor power consumption:

P=w*t (for rotation motor) wherein,

P is power (watt),

W is angular velocity (rad/s),

And t is moment of torsion (Nm)

P=F*v(is used for linear motor) wherein,

P is power (watt),

F is power (N),

And v is speed (m/s)

For 3 phase motors, instantaneous power is calculated as follows:

P=3*V_phase*I_phase*cos (θ) wherein,

P is power (watt),

V_phase is phase voltage (V),

I_phase is phase current (A),

And θ is phase angle (rad)

For linear actuators, it is provided that the additional information of such as stroke, so that the boundary that CDWA always knows about actuator is What.In order to calculate the heat of generation, need thermal impedance and power.

T_m=TR*P wherein,

T_m is motor temperature (deg.C),

TR is thermal impedance (deg.C/ watt),

And P is power (watt),

T_total=T_m+T_a wherein,

T_total is combination temp (deg.C),

T_m is motor temperature (deg.C),

And H_a is ambient temperature (deg.C)

This information is used by CDWA, to calculate the heat generation during simulating, and these values is taken turns with predetermined thermal Wide curve compares, to guarantee that motor operates in place of safety.

Show that foundation processes

With reference to Figure 21, originally, order or the storyboard 57 of exploitation diagram are started from design 58, in order to range estimation should Show.This storyboard is substantially in the editor of the sequence of events of appointed interval within whole layout.Figure 24-25 provides the example of the storyboard shown for golf.In fig. 24, the plot string that only screen moves is shown Even chart board, wherein arrow represents the moving direction of screen.Screen B will move up and continue to horizontally rotate.Figure 25 shows Picture material and the screen of the segmentation screen of the golfer on the left side and the flagpole in greens on the right move two Person.Here, while screen A flatly moves to the foot of display golfer from display golf club, screen B Golf will be followed.After being complete storyboard, designer will be moved into animated advertising rough draft 60 stage.? In this stage, such as musical background, camera are moved the more details of the test action with robot screen and are added to plot string Even chart board.It is contemplated that by minute surface after back projector or display, arbitrarily reflection or produced by single optical arrays Other raw illuminating effects will be included into certain design.

It follows that the MVST event 61 of reality is established.Designer starts by setting up new projection in CDWA.Should Application allows designer to select the type of the MVST display to work together, as shown in figure 26.After the selections have been made, CDWA uses model parameter as above automatically to load MVST display.First, designer by MVST display and it All of screen moves and navigates to initial position.One example starting point shows in figure 27.Now, select the time started, and And the more than one screen depending on how to show will be started.Then by using media menus, introduce or couple media Standard component (with reference to Figure 28), no matter it is picture, animation, Cool Video Clips, video flowing, data feeding or sound channel or stream.This Refer to the generation media for inclusions 62 in Figure 21.As illustrated in Figure 29, as applicable, designer refers to Determine media file source, flow or feed, time started and persistent period.Oneth MVST event 61 can be rising of showing Point is generated.

MVST event 61 subsequently is based on the main points in showing, the point of the most high/low acceleration, tip action, shake effect Fruit etc., is generated.The instrument that can use the formation shape of such as Bezier surface, linear path or high order tooth bar comes Crisscross action is described.With reference to Figure 30, designer can use these instruments on any one motor in arm component, and Set up and correspondingly synchronize being used in the media of displaying.For each MVST event 61, designer is specified and is play by speaker Or the position of the screen that is directed to light SEQ sequencer in the case of illuminating effect and orientation, and to be shown on screen The position of content, orientation and zoom level.By selecting screen or media then to change the parameter of necessity, all these Feature can be edited at any time, and an example is displayed in Figure 31.When designer sets up more MVST event, CDWA based on The interpolation algorithm of its own connects MVST event 61 and action plane figure.If designer wants to change the action plane of interpolation Figure, they can use such as the control point of Bezier surface, changes the entering of action in the MVST event 61 discussed Enter/exit point.Then CDWA produces the interpolation acts plane graph changing corresponding renewal with these.

If it is essential that the product that they have wanted runs on multiple different hardware configurations, then with definitely Necessity is compared, and designer will not add more MVST event 61, to realize desired layout.Between various MVST events 61 Movement in time for can ' elastic deformation ' so that layout be adapted to different hardware structure for be important.

After all of MVST event 61 completes and action plane figure produces, designer resets displaying to guarantee every Thing works as desired.The simulation 63 that this is referred to as in Figure 21.If showing and meeting intuitively and audible requirement, then Show that preparation is output 64.

Output function in CDWA allows designer to do final test before completing to show.Output screen such as Figure 32 quilt Display.For certain as the hardware model of target, test run is about the display information of energy requirement and the dissipation of heat.Heat point Cloth chart is provided for each motor, and example can be seen at Figure 33.This enables a designer to relative to each horse Heat level's (model file introduced in time processing and start judges) is estimated during the displaying in the critical region reached.Same offer Acceleration curve (example in Figure 34 shown), so that designer can ensure that each motor can transfer destination layout regulation Performance characteristic.Additionally, any collision between MVST display screen or connection is reported by CDWA.Complete in test run After one-tenth, if any, be shown by way of caution with all of problem of heat distribution, acceleration profile or collision. Now, if it is desired to be illustrated in different MVST system and be run, then designer equally carry out selecting with editor for The displaying of another MVST system.After all of problem is solved, designer's output is for each target hardware model The displaying of editor.

CDWA will show that output as the bag comprising all of required media file, and comprises needed for all of If the XML file of the connection of media and the external video included and audio stream.The example of the structure of the XML file of result exists It is attached after the detailed description of preferred embodiment.

Then this is coated and uploads to online server to be used for various MVST display.Each MVST shows utensil There is unique IP address, it is allowed to content manager is remotely coupled to system, to check operation and to perform managerial role, pipe The planning chart for various program shows that the task of reason is all to be arranged in this way according to the time (or for live events preferential the most just Often playlist), and the frequency of given demonstration within the mixing repeating demonstration is set.The benefit of online management system is to make Content manager can access from single position and utilize their content to multiple MVST systems.This refers in Figure 21 The Internet use 65.

If the connection to the real-time streams for live presentation is comprised in layout bag, then manager must assure that The when that MVST performance being scheduled, this stream is available and live.Such as, the MVST of a series of publicity layout is generally shown Display can be programmed to relocate the screen of the live telecast for such as electing night, and wherein, screen will polymerization Together with demo content chart, then divide to demonstrate the data feeding exempting result simultaneously, show candidate equally simultaneously Meet and the feeding of other real-time imagings.By including special TV or the IPTV channel being designed as transmitting multiple stream, these are System may manage to enter within family, the e.g. hockey tournament of multiple streams, different screens has score, statistics and His graph.

Another example of the present invention be the fragment of dynamic layout the most such as, the stage being arranged in cinema it On video camera or the video camera that is attached in a screen be a supplied directly in layout, optionally there are some figures As identifying so that ' computer produces ' comment being related to spectators or other events is possibly realized.Such as, computer spectators Attraction system reads data from spectators' RFID marker symbol, the most correspondingly revises a part for displaying.Video camera can also be used Such as, when identifying the medicated cap pointed to, computer is inquired: " having any witch in house, " pauses, then one in input Show on individual above display the video of " witch " and say " you are you, witch you can take away your medicated cap ?？”.

Multiple MVST display systems can also be configured as the cluster of layout such as, along building wall or Periphery around stage.In cluster, content can be showed in conjunction with layout, to seem within cluster disappears Discontinuous time-out is carried out between MVST display system.

For those skilled in the art, it is contemplated that teachings above, many deformation of the present invention and change are possible.Cause This, it is understood that the present invention can be put into practice unlike as specifically describe at this, and still in appended claims Spirit and scope within.

The example of the structure of XML file

Claims (24)

1. a robot display systems, it is characterised in that include

Multiple electronic display units,

The support member that driven for the separation of each electronic display unit is arranged, the support member that driven of each separation arranges bag Including powered control connecting rod to drive, described powered control connecting rod drives the movement adapting to described electronic display unit, with Changing its orientation, and adapt to the substantial movement within work space area of each display device, described work is empty Between area generally limited by the possible relative position of described electronic display unit；Described work space area has restriction institute State the first axle of the plane of work space area and the second vertical axle；Described electronic display unit each can be relative to described One axle and described the second vertical axle move to include a series of non-friendship of the stacked position relative to described the second vertical axle Any position in folded position；

Wherein, the plurality of electronic display unit be each movably, to change described display device relative to described first Axle and the order of described the second vertical axle；And

Computer control, described computer control arranges association, described computer with the described support member that driven separated Controller is programmed to coordinate described display device and runs through position and the relative movement of described work space area, and described work is empty Between area more than total display area of described electronic display unit.

2. robot as claimed in claim 1 display systems, it is characterised in that each display device can be along described first axle Move to the position of the either side of described second axle, and the either side of described first axle can be moved to along described second axle Position.

3. robot as claimed in claim 2 display systems, it is characterised in that for the described separation of each display device Being driven support member layout to include pivotally connected, the described described electronic display unit of pivotally connected adaptation is around described electronical display The pivot of the position on the back side of device moves.

4. robot as claimed in claim 3 display systems, it is characterised in that the support member that driven of each separation arranges bag Include multiple control connecting rods of described movement for controlling each electronic display unit.

5. robot as claimed in claim 4 display systems, it is characterised in that the described pivot of each electronic display unit is even Connect the position in the corner, the back side being in neighbouring described electronic display unit.

6. robot as claimed in claim 1 display systems, it is characterised in that the plurality of electronic display unit includes at least 4 electronic display units, and described work space area be described total display area of described electronic display unit extremely Few 3 times.

7. robot as claimed in claim 6 display systems, it is characterised in that for described in each electronic display unit point From by drive support member arrange include the pivotally connected of motor control, the pivotally connected of described motor control determines described electronics Display device around relative to the distortion of described electronic display unit, on the back side of described electronic display unit The pivot of position moves and orients.

8. robot as claimed in claim 6 display systems, it is characterised in that for described in each electronic display unit point From driven support member to arrange to include motor actuator, what described motor actuator controlled described separation is driven support member cloth Put, to change each electronic display unit described position in described work space area and relative movement.

9. robot as claimed in claim 8 display systems, it is characterised in that described computer control is connected to described horse Reach actuator and determine described position and the relative movement of described electronic display unit.

10. robot as claimed in claim 9 display systems, it is characterised in that described motor actuator is installed in and can turn On dynamic component, described rotatable member is roughly parallel to described work space area and extends and be centrally located at described work space After area, so that the rotation of described rotatable member causes the rotation of described display device.

11. robot as claimed in claim 10 display systems, it is characterised in that described display device belong to by lcd screen, The group that plasma screen and OLED screen curtain are constituted.

12. robot as claimed in claim 10 display systems, it is characterised in that described display device is projection arrangement.

13. 1 kinds of visual display systems, it is characterised in that include multiple electronic display screen and installation system, described installation system System is pivotably supported described display screen, and adapts to described display screen relative at least the first axle of movement and the second axle Substantial planar movement, the display corresponding collectively to limit the relative position possible with the one of described display screen group Screen space, wherein, described display screen space is at least three times of the cumulative area of described display screen, and described display Screen is movable to stacked position relative to described first axle and described second axle；Described installation system includes computer control Device processed, described computer control moves with relative for coordinating the position with the described display screen in described display screen space Dynamic, and wherein, described installation system include for each display screen with computer control be used in combination at least two Individual powered connecting rod, thus mobile described display screen within described display screen space in a coordinated fashion.

14. visual display systems as claimed in claim 13, it is characterised in that the plurality of electronic display screen is at least 3 Individual display screen, and described electronic display screen is moveable, to change described electronic display screen relative to movement The relative ranks of at least one in described first axle and described second axle.

15. visual display systems as claimed in claim 13, it is characterised in that for the institute of multiple described electronic display screens State installation system and include that the attachment structure for each electronic display screen, described attachment structure allow each electronic display screen Rotation around the position at the center deviateing each electronic display screen.

16. visual display systems as claimed in claim 15, it is characterised in that each electronic display screen deviates around each The described rotation of the position at center makes described electronic display screen substantially by described first axle and the described second axle limit of movement Fixed plane rotates described electronic display screen.

17. visual display systems as claimed in claim 16, it is characterised in that described attached for each electronic display screen Access node structure is in the position in the corner of each electronic display screen neighbouring.

18. visual display systems as claimed in claim 17, it is characterised in that each electronic display screen is substantially rectangular Plane electronics display screen.

19. visual display systems as claimed in claim 17, it is characterised in that each electronic display screen is circular Plane electronics display screen.

20. visual display systems as claimed in claim 17, it is characterised in that each electronic display screen is nonplanar.

21. visual display systems as claimed in claim 13, it is characterised in that described electronic display screen has the two of movement Individual major axis is to limit flat-panel screens.

22. visual display systems as claimed in claim 13, it is characterised in that the plurality of electronic display screen is at least 4 Individual electronic display screen, and described electronic display screen has two major axis of movement collectively to limit flat-panel screens；

And wherein, for each electronic display screen, described installation system allows described in the deviation of described electronic display screen The rotation at the center of electronic display screen and the movement in flat-panel screens of the described electronic display screen.

23. visual display systems as claimed in claim 22, it is characterised in that described installation system includes main support structure Part, described main supporting member support couples for the control of each electronic display screen, and described main support structure Part is rotating, and described supporting member limits the rotary shaft being perpendicular to described flat-panel screens.

24. visual display systems as claimed in claim 13, it is characterised in that described installation system includes rear support structure, Movement within the region of electronic display screen supporting construction in the rear described in described rear support Structure adaptation, and described peace Dress system is crossed the rear surface of described rear support structure and is moved and provide the structure through described rear support structure to connect.