CN108983430B

CN108983430B - Robot stereoscopic display and control method thereof

Info

Publication number: CN108983430B
Application number: CN201810768752.0A
Authority: CN
Inventors: 蒋慧; 李娟�; 胡晶晶; 平怀荣
Original assignee: Huainan Union University
Current assignee: Huainan Union University
Priority date: 2018-07-13
Filing date: 2018-07-13
Publication date: 2020-11-13
Anticipated expiration: 2038-07-13
Also published as: CN108983430A

Abstract

The invention discloses a robot stereoscopic display and a control method thereof, wherein the robot stereoscopic display comprises the following steps: shell, lift display element, locating plate, base and controller, the shell is open-top structure, installs base upper portion, lift display element has a plurality ofly, is the matrix form arrange set up in organize in the shell into the body display interface, locating plate fixed mounting is in the shell, every lift display element with the locating plate is sliding connection, the controller with lift display element connects, is used for control lift display element moves, makes it can be real five sense organs such as three-dimensional display robot's eyes ears, perhaps some express the mood or be used for interactive graphic symbol, has improved the human-computer interaction level of robot, accomplishes that the robot display screen shows that the graphic information that can not only see can also show the device of graphic entity.

Description

Robot stereoscopic display and control method thereof

Technical Field

The present invention relates to a stereoscopic display device, and more particularly, to a stereoscopic display device for a home or service robot and a method for controlling the same.

Background

With the progress of science and technology and the continuous improvement of the whole living standard of human beings, the requirement and the dependence of human beings on automatic machinery are higher and higher, and the robot is not only a machine running on an industrial manufacturing assembly line, but also the requirements of people on the robot are higher and higher when more and more robots enter the daily life of the human beings. For example, publication numbers are: CN207139820U patent discloses a humanoid body composed of head, trunk, arms, legs and feet, further comprising a storage battery, a central processing unit, a mobile communication module, a touch sensor, a camera, a digital sound pickup, a display screen, a voice speaker, an ultrasonic sensor, a standby switch, a USB socket, differential driving wheels and universal wheels. A planar display screen is used for displaying or man-machine interaction, the planar display screen displays planar graphics or planar simulated 3D graphics, the display screen cannot meet the requirements of human beings on robot display interaction nowadays with more and more attention paid to user experience, a stereoscopic display for a robot is lacking at present, the stereoscopic display is used for displaying five sense organs such as eyes and ears of the robot, or some graphic symbols expressing emotion or used for interaction, and a device capable of displaying not only seen graphic information but also graphic entities is achieved on the display screen of the robot,

the closest background art to the present invention in the prior art is the publication number: CN 203547178U's utility model patent, what its protection is a control system of liftable stage, and it can realize producing a three-dimensional stage, but on this kind of system can only be applied to the stage of large tracts of land, what its adoption is that structures such as gear, motor, steel wire reduction gear realize the stage post and go up and down, can only install simultaneously and use in horizontal ground, no matter it is that structure or control mode can't be applied to on domestic or service type robot's the display screen.

Therefore, such a robotic stereoscopic display device and related control method of the present invention are lacking in the prior art.

Disclosure of Invention

Aiming at the problems in the background technology, the invention provides a robot stereoscopic display and a control method thereof, and the technical scheme is as follows:

a robotic stereoscopic display, comprising: the lifting display unit comprises a shell, a plurality of lifting display units, positioning plates, a base and a controller, wherein the shell is of a top opening structure and is installed on the upper portion of the base, the plurality of lifting display units are arranged in the shell in a matrix shape to form a three-dimensional display interface, the positioning plates are fixedly installed in the shell, each lifting display unit is in sliding connection with the corresponding positioning plate, and the controller is connected with the corresponding lifting display unit and used for controlling the lifting display units to operate; it is characterized in that: each of the elevation display units includes: the LED lamp comprises an LED lamp, an upper pipe, a lower pipe, a permanent magnet and an electromagnetic coil; the locating plate includes: mounting holes and sleeves; each lifting display unit corresponds to one mounting hole; the LED lamp, the upper pipe, the lower pipe and the permanent magnet are sequentially connected from top to bottom; the sleeve is sleeved outside the lower pipe and the permanent magnet, the upper end of the sleeve is connected with the lower end of the positioning plate, and the lower end of the sleeve is connected with the bottom in the shell; the electromagnetic coil is fixedly arranged on the bottom in the shell in the sleeve.

Preferably, the LED lamp with the upper tube is located the top of locating plate, just the external diameter of upper tube is greater than the internal diameter of mounting hole, the low tube passes the mounting hole, the low tube with mounting hole clearance fit.

Preferably, the low tube periphery has the sliding tray of two relative settings, every the bottom of sliding tray is provided with elastic contact, two elastic contact passes through the wire and connects respectively the two poles of the earth of LED lamp, the wire passes the upper tube with inside the low tube, there are the electrically conductive lug of two relative settings on the mounting hole circumference, electrically conductive lug with sliding tray sliding connection realizes the low tube with the relative slip of mounting hole, two electrically conductive lug passes through respectively direct current power supply DC1 and ground connection are connected to the wire in the locating plate.

Preferably, the electromagnetic coils have magnetic core structures, the direction of the magnetic field generated by the electromagnetic coils is parallel to the movement direction of the lifting display unit, the input and output ends of the electromagnetic coils are all connected to the output end of an inverter, the power supply end of the inverter is connected with a power supply DC2 and the ground, the control end of the inverter is connected with the control output end of the controller, and the controller is arranged in the mounting seat.

Preferably, a display matrix formed by the lifting display units is 10 multiplied by 10 to 3000 multiplied by 3000.

Preferably, the display matrix formed by the display units is in various shapes such as square, circle, ellipse, diamond and the like.

A control method of a robot stereoscopic display is characterized in that: the controller controls the conduction state of a power device in the inverter according to the graphic information, controls the current direction of the electromagnetic coil by controlling the conduction state of the inverter, and controls the magnetic field direction of the electromagnetic coil 5 by controlling the current direction of the electromagnetic coil.

Preferably, when the controller controls the magnetic field direction of the electromagnetic coil to be opposite to the magnetic field direction of the permanent magnet, the electromagnetic coil and the permanent magnet repel each other, so that the permanent magnet moves towards one side away from the electromagnetic coil, the permanent magnet moves to drive the whole lifting display unit to move, the conductive bump and the sliding groove slide relatively, when the conductive bump contacts the bottom of the sliding groove, the movement stops, at the moment, the elastic contact at the bottom of the sliding groove and the conductive bump are in contact and electrified, so that two poles of the LED lamp are respectively conducted with a direct current power supply DC1 and a ground terminal, and the LED lamp is turned on; at this time, the input graphic information is displayed on a matrix formed by the lifting display units in a protruding lighting mode, a three-dimensional effect is presented, and each LED lamp is a display pixel block.

Preferably, when the controller controls the magnetic field direction of the electromagnetic coil to be the same as that of the permanent magnet, the electromagnetic coil and the permanent magnet attract each other, the permanent magnet moves towards the electromagnetic coil to drive the whole lifting display unit to move, the conductive bump slides relative to the sliding groove, the elastic contact and the conductive bump at the bottom of the sliding groove are separated from contact, two poles of the LED lamp are disconnected with the direct current power supply DC1 and the grounding terminal respectively, and the LED lamp is turned off.

The invention creatively designs a lifting display unit for a display and a control method thereof, applies the lifting display unit to a display device on a household or service type robot, so that the lifting display unit can really and stereoscopically display five sense organs such as eyes and ears, or some graphic symbols expressing emotion or used for interaction, improves the human-computer interaction level of the robot, and displays a device which can not only see graphic information but also display graphic entities on a display screen of the robot,

drawings

FIG. 1 is an overall structure diagram of a stereoscopic display of a robot;

FIG. 2 is a view of the installation and control structure of the elevation display unit;

FIG. 3 is a structural view of a positioning plate;

FIG. 4 is a schematic diagram of the operation of the elevation display unit;

FIG. 5 is an imaging diagram of a stereoscopic display of the robot;

description of reference numerals: 1. a housing; 2 lifting the display unit; 201. an LED lamp; 202. feeding a pipe; 203. a lower pipe; 2031. a sliding groove; 2032. an elastic contact; 204. a permanent magnet; 205. an electromagnetic coil; 3. positioning a plate; 301. mounting holes; 302. a conductive bump; 303. a sleeve; 4. a mounting seat; 5. a controller; p, an inverter;

Detailed Description

A robotic stereoscopic display as shown in fig. 1-3, comprising: shell 1, lift display element 2, locating plate 3, base 4 and controller 5, shell 1 is open-top structure, installs on base 4 upper portion, and lift display element 2 has a plurality ofly, is the matrix form and arranges and set up in shell 1 and make up the body display interface, and 3 fixed mounting of locating plate are in shell 1, and every lift display element 2 and locating plate 3 are sliding connection, and controller 5 and lift display element 2 are connected for control its operation.

Each of the elevation display units 2 includes: an LED lamp 201, an upper pipe 202, a lower pipe 203 and a sliding groove 2031; spring contact 2032, permanent magnet 204, and electromagnetic coil 205.

The positioning plate 3 includes: mounting holes 301, conductive bumps 302 and sleeves 303, wherein each lifting display unit 2 corresponds to one mounting hole 301.

The LED lamp 201, the upper tube 202, the lower tube 203 and the permanent magnet 204 are sequentially connected from top to bottom, the LED lamp 201 and the upper tube 202 are located above the positioning plate 3, the outer diameter of the upper tube 202 is larger than the inner diameter of the mounting hole 301, the lower tube 203 penetrates through the mounting hole 301, the lower tube 203 is in clearance fit with the mounting hole 301, two sliding grooves 2031 which are oppositely arranged are formed in the periphery of the lower tube 203, an elastic contact 2032 is arranged at the bottom of each sliding groove 2031, the two elastic contacts 2032 are respectively connected with two poles of the LED lamp 201 through a wire, the wire penetrates through the upper tube 202 and the lower tube 203, two conductive bumps 302 which are oppositely arranged are arranged on the circumference of the mounting hole 301, the conductive bumps 302 are slidably connected with the sliding grooves 2031, relative sliding between the lower tube 203 and the mounting hole 301 is realized, and the conductive bumps 302.

The sleeve 303 is sleeved outside the lower tube 203 and the permanent magnet 204, the upper end of the sleeve 303 is connected with the lower end of the positioning plate 3, the lower end of the sleeve 303 is connected with the inner bottom of the shell 1, the electromagnetic coils 205 are fixedly arranged in the sleeve 303 and on the inner bottom of the shell 1, and the sleeve 303 and the positioning plate 3 are both made of non-magnetic-conductive materials.

The electromagnetic coils 205 have magnetic core structures, the direction of the magnetic field generated by the magnetic core structures is parallel to the moving direction of the lifting display unit 2, the input and output ends of the electromagnetic coils are connected to the output end of the inverter P, the inverter power supply end is connected to the power supply DC2 and the ground, the control end of the inverter is connected to the controller 5, and the controller 5 is arranged in the mounting seat 4.

As shown in fig. 4-5, the working principle of the stereoscopic display of the robot is as follows: the upper computer inputs a graphic message to the robot stereo display device, the controller 5 controls the conduction state of power devices (such as IGBT, triode, MOS tube, etc.) in the inverter P according to the graphic message, controls the current direction of the electromagnetic coil 205 by controlling the conduction state of the inverter P, and controls the magnetic field direction of the electromagnetic coil 205 by controlling the current direction of the electromagnetic coil 205.

When the direction of the magnetic field of the electromagnetic coil 205 is controlled to be opposite to the direction of the magnetic field of the permanent magnet 204, the electromagnetic coil 205 and the permanent magnet 204 repel each other, so that the permanent magnet 204 moves towards the side away from the electromagnetic coil 205, the permanent magnet 204 moves to drive the whole lifting display unit 2 to move, the conductive bump 302 slides relative to the sliding groove 2031, when the conductive bump 302 contacts the bottom of the sliding groove 2031, the elastic contact 2032 at the bottom of the sliding groove 2031 stops moving, the conductive bump 302 is electrically connected with the conductive bump 302, so that the two poles of the LED lamp 201 are respectively electrically connected with the DC power supply DC1 and the ground terminal, and the LED lamp 201 is. The graphical information input at this time is displayed in a highlighted form on the matrix formed by the up-and-down display units 2, presenting a stereoscopic effect (black means lit up and white means unlit up), each LED lamp corresponding to a display pixel block.

When the direction of the magnetic field of the electromagnetic coil 205 and the direction of the magnetic field of the permanent magnet 204 are the same, the electromagnetic coil 205 and the permanent magnet 204 attract each other, so that the permanent magnet 204 moves towards the electromagnetic coil 205, and the whole lifting display unit 2 is driven to move, the conductive bump 302 slides relative to the sliding groove 2031, the elastic contact 2032 at the bottom of the sliding groove 2031 is separated from the conductive bump 302, so that the two poles of the LED lamp 201 are disconnected from the DC power supply DC1 and the ground terminal, and the LED lamp is turned off.

The foregoing is merely a preferred embodiment of the invention and the technical principles applied, and any changes or alternative embodiments that can be easily conceived by those skilled in the art within the technical scope of the invention disclosed herein should be covered within the scope of the invention.

Claims

1. A robotic stereoscopic display, comprising: the display device comprises a shell (1), a lifting display unit (2), a positioning plate (3), a base (4) and a controller (5), wherein the shell (1) is of a top opening structure and is mounted on the upper portion of the base (4), the lifting display unit (2) is provided with a plurality of display interfaces which are arranged in the shell (1) in a matrix manner to form a three-dimensional display interface, the positioning plate (3) is fixedly mounted in the shell (1), each lifting display unit (2) is in sliding connection with the positioning plate (3), and the controller (5) is connected with the lifting display unit (2) and is used for controlling the lifting display unit (2) to operate; it is characterized in that: each of the elevation display units (2) includes: the LED lamp comprises an LED lamp (201), an upper pipe (202), a lower pipe (203), a permanent magnet (204) and an electromagnetic coil (205); the positioning plate (3) comprises: a mounting hole (301) and a sleeve (303); each lifting display unit (2) corresponds to one mounting hole (301); the LED lamp (201), the upper pipe (202), the lower pipe (203) and the permanent magnet (204) are sequentially connected from top to bottom; the sleeve (303) is sleeved outside the lower pipe (203) and the permanent magnet (204), the upper end of the sleeve (303) is connected with the lower end of the positioning plate (3), and the lower end of the sleeve (303) is connected with the bottom in the shell (1); the electromagnetic coil (205) is fixedly arranged on the inner bottom of the shell (1) in the sleeve (303); the electromagnetic coil (205) has a magnetic core structure, the direction of the generated magnetic field is parallel to the motion direction of the lifting display unit (2), the input and output ends of the electromagnetic coil (205) are connected with the output end of the inverter (P), the power supply end of the inverter (P) is connected with a power DC2 and the ground, the control end of the inverter (P) is connected with the control output end of the controller (5), the controller (5) is arranged in the mounting seat (4); the LED lamp (201) and the upper pipe (202) are positioned above the positioning plate (3), and the outer diameter of the upper pipe (202) is larger than the inner diameter of the mounting hole (301), the lower pipe (203) penetrates through the mounting hole (301), and the lower pipe (203) is in clearance fit with the mounting hole (301);

the periphery of the lower tube (203) is provided with two oppositely arranged sliding grooves (2031), the bottom of each sliding groove (2031) is provided with an elastic contact (2032), the two elastic contacts (2032) are respectively connected with two poles of the LED lamp (201) through wires, the wires penetrate through the upper tube (202) and the lower tube (203), the circumference of the mounting hole (301) is provided with two oppositely arranged conductive bumps (302), the conductive bumps (302) are in sliding connection with the sliding grooves (2031) to realize the relative sliding of the lower tube (203) and the mounting hole (301), the two conductive bumps (302) are respectively connected with a direct current power supply DC1 and the ground through the wires in the positioning plate (3), and a display matrix formed by the lifting display unit (2) is 10 multiplied by 10 to 3000 multiplied by 3000.

2. The control method of a robotic stereoscopic display according to claim 1, wherein: the controller (5) controls the conduction state of a power device in the inverter (P) according to the graphic information, controls the current direction of the electromagnetic coil (205) by controlling the conduction state of the inverter (P), and controls the magnetic field direction of the electromagnetic coil (205) by controlling the current direction of the electromagnetic coil (205).

3. The control method of the robot stereoscopic display of claim 2, wherein: when the controller (5) controls the direction of the magnetic field of the electromagnetic coil (205) and the direction of the magnetic field of the permanent magnet (204) to be opposite, the electromagnetic coil (205) and the permanent magnet (204) repel each other, so that the permanent magnet (204) moves towards the side away from the electromagnetic coil (205), the permanent magnet (204) moves to drive the whole lifting display unit (2) to move, the conductive bump (302) slides relative to the sliding groove (2031), when the conductive bump (302) contacts the bottom of the sliding groove (2031), the movement stops, at this time, the elastic contact (2032) at the bottom of the sliding groove (2031) and the conductive bump (302) are in contact and electrified, so that the two poles of the LED lamp (201) are respectively conducted with a DC power supply DC1 and a ground terminal, and the LED lamp (201) is turned on; at the moment, the input graphic information is displayed on a matrix formed by the lifting display unit (2) in a protruding lighting mode, a three-dimensional effect is presented, and each LED lamp is a display pixel block.

4. The control method of the robot stereoscopic display of claim 2, wherein: when the controller (5) controls the magnetic field direction of the electromagnetic coil (205) and the magnetic field direction of the permanent magnet (204) to be the same, the electromagnetic coil (205) and the permanent magnet (204) attract each other, so that the permanent magnet (204) moves towards the electromagnetic coil (205), and the whole lifting display unit (2) is driven to move, the conductive bump (302) and the sliding groove (2031) slide relatively, the elastic contact (2032) at the bottom of the sliding groove (2031) is separated from the conductive bump (302), so that two poles of the LED lamp (201) are disconnected with the direct current power supply DC1 and the grounding end respectively, and the LED lamp (201) is extinguished.