CN110065045A - A kind of video display intelligence bat system processed - Google Patents
A kind of video display intelligence bat system processed Download PDFInfo
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- CN110065045A CN110065045A CN201910388549.5A CN201910388549A CN110065045A CN 110065045 A CN110065045 A CN 110065045A CN 201910388549 A CN201910388549 A CN 201910388549A CN 110065045 A CN110065045 A CN 110065045A
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- robot
- motion
- control
- video display
- intelligently
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of video display intelligently to clap system processed, including image capturing system, is installed in robot, for carrying out Image Acquisition in robot motion；Trajectory planning and motion synthesis software systems, for the motion profile of planning robot, and are converted to control instruction and are sent to robot movement-control system；Robot movement-control system feeds back to trajectory planning and motion synthesis software systems for being converted into the movement of operation control instruction control robot according to motion profile instruction, and by the motion state of robot to form motion profile closed-loop control；Using end system, feed back and analyze for controlling image capturing system Image Acquisition during exercise and receiving the motion state of robot movement-control system, and according to motion state and image information progress special effect making.Video display of the invention, which intelligently clap system processed, has the function of simple structure, mission planning, pursuit path, more mechanical arm linkages, high-speed camera and microshot etc..
Description
Technical field
The invention mainly relates to video display spies to clap robotic technology field, refers in particular to a kind of video display intelligence bat system processed.
Background technique
Video display Te Pai robot is the important material shooting tool of Digital image synthesis technology.Shoot robot control camera shooting
Machine movement, track record, are stored in computer with being refined, and track data can be with edit-modify, and shooting track can essence
Really reproduce.The trend that video display spy claps at present is the development based on industry 4.0, but the hair people of the China at present in this field are still
Blank.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind structure is simple, video display easy to operate intelligently clap system processed.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of video display intelligently bat system processed, including robot, robot movement-control system, trajectory planning and motion synthesis software
System, image capturing system and apply end system；
Described image acquisition system is installed in the robot, for carrying out Image Acquisition in robot motion；
The trajectory planning and motion synthesis software systems, for planning the motion profile of the robot, and are converted to control
Instruction is sent to the robot movement-control system；
The robot movement-control system, for being referred to according to the trajectory planning and the motion profile of motion synthesis software systems
Order is converted into operation control instruction and controls the movement of the robot, and the motion state of the robot is fed back to the rail
Mark planning is with motion synthesis software systems to form motion profile closed-loop control；
It is described to apply end system, for controlling the Image Acquisition and the reception robot fortune of image capturing system during exercise
The motion state of autocontrol system is fed back and is analyzed, and carries out special effect making according to motion state and image information.
As a further improvement of the above technical scheme:
The robot includes multi-axis machine human body and robot carrier, and the multi-axis machine human body is mounted on described
On robot carrier.
The robot carrier includes the fixed foot prop in ground, ground fixed hanging, linear motion guide rail, hoistable platform, AGV
One of the unmanned trolley in ground, remote operated vehicle, outdoor shooting picking-up vehicle or multiple combinations.
The robot carrier is linear motion guide rail；The multi-axis machine human body is installed on pedestal, the pedestal
It is slided along the linear motion guide rail.
The robot further includes master control system, multi-axis machine human body control cabinet and guide rail control cabinet；The master control system
System generates real time control command, is sent respectively to multi-axis machine human body control cabinet and guide rail control cabinet；The multi-axis robot
Ontology control cabinet controls the multi-axis machine human body movement；Multiaxis machine on the guide rail control cabinet control pedestal and pedestal
Device human body moves along the rail.
The multi-axis machine human body is mounted on the robot carrier by clouds terrace system.
The application end system includes host computer, for controlling the various movements of robot, and the fortune of display robot
Dynamic scene and motion process.
Described image acquisition system includes the video camera with servo-electric camera lens, and the application end system controls video camera
Lens aperture focus push-and-pull.
The movement state information includes movement position and movement velocity.
The multi-axis machine human body has remote-control handle.
Compared with the prior art, the advantages of the present invention are as follows:
Video display of the invention intelligently clap system processed, and the movement rail of machine is planned by trajectory planning and motion synthesis software systems
Mark, and by the movement of motion planning and robot control robot, to realize that robot is run by the motion profile of planning, and will be real
When motion profile feed back realization amendment, while motion profile and image information are handled to obtain special efficacy；It is whole
Structure is simple, easy to operate.
Video display of the invention, which intelligently clap system processed, has motion control, mission planning, pursuit path, complex track, movement
The functions such as simulation, more mechanical arm linkages, high-speed camera and microshot.
Detailed description of the invention
Fig. 1 is frame assumption diagram of the invention.
Fig. 2 is the frame assumption diagram of robot in the present invention.
Specific embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
As shown in Figure 1, the video display of the present embodiment intelligently clap system processed, including robot, robot movement-control system, rail
Mark planning is with motion synthesis software systems, image capturing system and using end system；
Image capturing system is installed in robot, for carrying out Image Acquisition in robot motion；
Trajectory planning and motion synthesis software systems for the motion profile of planning robot, and are converted to control instruction transmission
To robot movement-control system；
Robot movement-control system, for being converted into according to trajectory planning and the motion profile instruction of motion synthesis software systems
The movement of control instruction control robot is run, and the motion state of robot is fed back into trajectory planning and motion synthesis software
System is to form motion profile closed-loop control；
Using end system, for controlling image capturing system Image Acquisition during exercise and receiving motion planning and robot control system
The motion state (information such as position and speed) of system is fed back and is analyzed, and carries out spy according to motion state and image information
Effect production.
Video display of the invention intelligently clap system processed, and the movement of machine is planned by trajectory planning and motion synthesis software systems
Track, and by the movement of motion planning and robot control robot, to realize that robot is run by the motion profile of planning, and will
Real time kinematics track feeds back realization amendment, while being handled motion profile and image information to obtain special efficacy；It is whole
Body structure is simple, easy to operate.
As shown in Fig. 2, robot includes multi-axis machine human body and robot carrier, multi-axis robot in the present embodiment
Ontology is mounted on robot carrier by clouds terrace system, and clouds terrace system belongs to conventional structure, it is possible to provide fast assembling-disassembling, small
The functions such as range multiaxis rotary motion.Wherein multi-axis machine human body is the motion body of special efficacy shooting, is existed using load capacity
In 1m or more, repetitive positioning accuracy is less than the various light-type machines of 0.1mm for four axis/six-axis movable joint of 10KG or more, brachium
People's (such as UR10, library card, Kawasaki brand).Robot carrier is then the fixed carrier of multi-axis robot installation, including ground is consolidated
Determine foot prop, the fixed hanging in ground, linear motion guide rail, hoistable platform, the unmanned trolley in the ground AGV, remote operated vehicle, outdoor shooting skin
One of truck or multiple combinations.Preferably, in the present embodiment, robot carrier uses linear motion guide rail；Multiaxis machine
Device human body uses UR10 mechanical arm, is installed on pedestal, and pedestal moves along a straight line guide rail sliding, and wherein mechanical arm is equipped with logical
With interface, for specifying the interface fast assembling-disassembling of image capturing system (such as the video camera with servo-electric camera lens), and guarantee
Installation accuracy.Specifically, robot further includes master control system, multi-axis machine human body control cabinet (or mechanical arm control cabinet) and leads
Rail control cabinet；Master control system generates real time control command, is sent respectively to mechanical arm control cabinet and guide rail control cabinet；Mechanical arm control
Case processed controls manipulator motion；Mechanical arm on guide rail control cabinet control pedestal and pedestal moves along the rail, while mechanical arm
And the position of pedestal is then sent to master control system.
It include host computer using end system in the present embodiment, for controlling the various movements of robot, and display machine
The moving scene and motion process of people.Specifically, host computer uses win mac graphical interfaces, and interface can control machine
The various movements of device people, wherein the simple scenario for having a window that can show robot in a manner of 3D；There is a time linear window,
Show motion process；The entire run duration of recorder people can be shown in common video frame number (pal, ntsc) mode；When
Between in linear window, the position key frame of mechanical arm tool ends end can be set, multiple key frames form a path curves.When
After curve movement determines, can very easily real-time control, the speed of riding；Video camera can be carried out with maya software
Data positional information and temporal information import and export；Support the interconnection of some 3 dimension engines, such as viz can be used
Free-d agreement；The movement of robot, such as audio signal can be triggered by certain signals；It is interconnected with other hardware:
If three axis handles can be connect with robot software, robot motion is controlled, controls the light of robot tool end camera lens
Enclose focus push-and-pull (just for servo-electric camera lens).
Video display of the invention, which intelligently clap system processed, has motion control, mission planning, pursuit path, complex track, movement
The functions such as simulation, more mechanical arm linkages, high-speed camera and microshot.
Although the present invention has been disclosed as a preferred embodiment, however, it is not intended to limit the invention.It is any to be familiar with ability
The technical staff in domain, without deviating from the scope of the technical scheme of the present invention, all using the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, all
Without departing from the content of technical solution of the present invention, according to the present invention technical spirit any simple modification made to the above embodiment,
Equivalent variations and modification, all shall fall within the protection scope of the technical scheme of the invention.
Claims (10)
1. a kind of video display intelligently clap system processed, which is characterized in that including robot, robot movement-control system, trajectory planning
With motion synthesis software systems, image capturing system and using end system；
Described image acquisition system is installed in the robot, for carrying out Image Acquisition in robot motion；
The trajectory planning and motion synthesis software systems, for planning the motion profile of the robot, and are converted to control
Instruction is sent to the robot movement-control system；
The robot movement-control system, for being referred to according to the trajectory planning and the motion profile of motion synthesis software systems
Order is converted into operation control instruction and controls the movement of the robot, and the motion state of the robot is fed back to the rail
Mark planning is with motion synthesis software systems to form motion profile closed-loop control；
It is described to apply end system, for controlling the Image Acquisition and the reception robot fortune of image capturing system during exercise
The motion state of autocontrol system is fed back and is analyzed, and carries out special effect making according to motion state and image information.
2. video display according to claim 1 intelligently clap system processed, which is characterized in that the robot includes multi-axis robot
Ontology and robot carrier, the multi-axis machine human body are mounted on the robot carrier.
3. video display according to claim 2 intelligently clap system processed, which is characterized in that the robot carrier includes that ground is solid
Determine foot prop, the fixed hanging in ground, linear motion guide rail, hoistable platform, the unmanned trolley in the ground AGV, remote operated vehicle, outdoor shooting skin
One of truck or multiple combinations.
4. video display according to claim 3 intelligently clap system processed, which is characterized in that the robot carrier is linear motion
Guide rail；The multi-axis machine human body is installed on pedestal, and the pedestal is slided along the linear motion guide rail.
5. video display according to claim 4 intelligently clap system processed, which is characterized in that the robot further includes master control system
System, multi-axis machine human body control cabinet and guide rail control cabinet；The master control system generates real time control command, is sent respectively to more
Axis robot body control cabinet and guide rail control cabinet；The multi-axis machine human body control cabinet controls the multi-axis machine human body
Movement；Multi-axis machine human body on the guide rail control cabinet control pedestal and pedestal moves along the rail.
6. video display according to claim 2 intelligently clap system processed, which is characterized in that the multi-axis machine human body passes through cloud
Platform system is mounted on the robot carrier.
7. video display as claimed in any of claims 1 to 5 intelligently clap system processed, which is characterized in that the application end
System includes host computer, for controlling the various movements of robot, and the moving scene and motion process of display robot.
8. video display as claimed in any of claims 2 to 5 intelligently clap system processed, which is characterized in that described image is adopted
Collecting system includes the video camera with servo-electric camera lens, and the lens aperture focus using end system control video camera pushes away
It draws.
9. video display as claimed in any of claims 1 to 4 intelligently clap system processed, which is characterized in that the movement shape
State information includes movement position and movement velocity.
10. video display as claimed in any of claims 1 to 4 intelligently clap system processed, which is characterized in that the multiaxis machine
Device human body has remote-control handle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910388549.5A CN110065045A (en) | 2019-05-10 | 2019-05-10 | A kind of video display intelligence bat system processed |
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| CN201910388549.5A CN110065045A (en) | 2019-05-10 | 2019-05-10 | A kind of video display intelligence bat system processed |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1993021735A1 (en) * | 1992-04-10 | 1993-10-28 | Boyle William M | Video time code synchronized robot control apparatus |
| CN104227716A (en) * | 2014-07-25 | 2014-12-24 | 太仓中科信息技术研究院 | Real-time control method for teleoperation-based camera shooting robot |
| CN105387314A (en) * | 2014-09-04 | 2016-03-09 | 青岛东旭机器人视觉系统科技有限公司 | Intelligent track camera robot system |
| CN106272335A (en) * | 2015-05-12 | 2017-01-04 | 青岛东旭机器人视觉系统科技有限公司 | Intelligence rocking arm cameras people |
| CN108037661A (en) * | 2017-11-30 | 2018-05-15 | 江苏省生产力促进中心 | Its Track Design method for cameras people |
-
2019
- 2019-05-10 CN CN201910388549.5A patent/CN110065045A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1993021735A1 (en) * | 1992-04-10 | 1993-10-28 | Boyle William M | Video time code synchronized robot control apparatus |
| CN104227716A (en) * | 2014-07-25 | 2014-12-24 | 太仓中科信息技术研究院 | Real-time control method for teleoperation-based camera shooting robot |
| CN105387314A (en) * | 2014-09-04 | 2016-03-09 | 青岛东旭机器人视觉系统科技有限公司 | Intelligent track camera robot system |
| CN106272335A (en) * | 2015-05-12 | 2017-01-04 | 青岛东旭机器人视觉系统科技有限公司 | Intelligence rocking arm cameras people |
| CN108037661A (en) * | 2017-11-30 | 2018-05-15 | 江苏省生产力促进中心 | Its Track Design method for cameras people |
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Application publication date: 20190730 |
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