CN101164648A - Robot theater - Google Patents
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- CN101164648A CN101164648A CNA2006101171968A CN200610117196A CN101164648A CN 101164648 A CN101164648 A CN 101164648A CN A2006101171968 A CNA2006101171968 A CN A2006101171968A CN 200610117196 A CN200610117196 A CN 200610117196A CN 101164648 A CN101164648 A CN 101164648A
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Abstract
The present invention discloses a robot theatre, it is a theatre which can use robot to simulate artistic movement of actor to make performance. Said invention includes the following five portions: performance stage of robot, projection system, sound reinforcement system, lighting system and control system.
Description
Technical field
The present invention relates to the arenas that a kind of robot simulation of use performer's art action is performed.
Background technology
Arenas is one of main place of people's culture life, and traditional arenas all carries out story of a play or opera performance before the lights by the performer, cooperates the light of stage of change to give spectators with artistic treat.
Raising along with people's material life, spectators need the artistic treat of more different-styles in arenas, in view of the above, utilize the computer automation control and the multimedia technology of current high speed development to make arenas carry out revolution, adopt robot simulation performer's art action to perform, make spectators produce new, strange, beautiful feeling and be badly in need of the problem studied in the industry.
Summary of the invention
The objective of the invention is in order to satisfy people in the demand aspect the cultural life, provide a kind of art action to perform by the robot simulation performer, be equipped with the video that multimedia marvellous light, stero set, change set off by contrast, give spectators robot theater with the artistic treat of mannerism.
In order to realize above-mentioned purpose of the present invention, a kind of robot theater comprises:
The performance stage of robot, comprise that the simulation performer carries out the robot of art action and the stage of suitable robot items on the program, described robot comprises anthropomorphic robot and universal industrial robot, the stage of described robot items on the program disposes and is applicable to the guide rail that the universal industrial robot moves and is applicable to the platform that the anthropomorphic robot moves, and also disposes lifting orchestra and stage truss;
Optical projection system, comprise two projectors that are connected in series, screen and players, wherein said player is as the playback equipment of signal source, described two projectors project to screen on the performance stage that places described robot with the vision signal of this player plays, the video that sets off by contrast as stage;
Sound reinforcement system, the audio process that comprises audio player, the audio signal of described audio player plays is handled, the audio signal of described audio process is carried out the amplifirer of power amplification and the loudspeaker that the audio signal that amplifirer amplifies is broadcasted, described loudspeaker comprises several full-range speaker passages and several ultralow frequency loudspeaker channel;
Lighting system, comprise and follow the tracks of performance of described robot and action, several cat scanner lamps with the size of coming the conversion hot spot according to the emotional change of the story of a play or opera, color, pattern, comprise that also the requirement according to performance changes several computer colour changing lights of coloured light, also comprise as several signal lamps of backlight processing, also comprise by the imaging lamp of cutting hot spot emphasis performance sidelight effect and several aerosol producers that also comprise the modeling effect of strengthening the photoreceptor light beam;
Control system, it is the optical projection system of the above-mentioned robot theater of control, sound reinforcement system, the control appliance of the performance stage running of lighting system and robot, the computer that comprises a master control equipment, the computer that also is aided with an auxiliary control appliance, be equipped with total system equipment simultaneously with this master control equipment configuration, comprise the PROFIBUS fieldbus, the netting twine bridge, the PROFIBUS communication card of robot, the serial communication card of robot, formed an industrial control system, this control system connects described optical projection system by PROFIBUS fieldbus and Communications Interface Unit, sound reinforcement system, the control appliance at the scene of the performance stage of lighting system and robot and actuating equipment.
In described lifting orchestra, be equipped with several imitative instrument playing persons' robot.In described lifting orchestra, the conductor robot is arranged, also have several imitative instrument playing persons' robot, the described conductor employing anthropomorphic robot of robot, moved by described platform, described imitative instrument playing person's machine need not move per capita, adopts the original place lifting moving.
Described guide rail has 3, every guide rail adopts dual track system, the center line of double track is at a distance of 400mm, the overall width of every guide rail is 500mm, guide pass 244mm above ground level, the total length of every guide rail is 15 meters, three guide rails are parallel to each other, and parallel with the performance stage mouth of described robot, number inward from proscenium arch, be respectively guide rail No. 1, No. 2 guide rails, No. 3 guide rails, wherein a guide rail is from 3.2 meters of proscenium arches, No. 1, No. 2 center line of guide rail are at a distance of 1.2 meters, and 2, No. 3 center line of guide rail are at a distance of 1.5 meters, and No. 3 center line of guide rail has 1.59 meters at a distance of the video screen of stage.
Described mobile platform end face 283mm above ground level.
Described two projectors that are connected in series, with resolution ratio is that two passage, resolution ratio were respectively 1024 * 768 video signal source about video signal source of 2048 * 768 generated, then by two projector's projections that are connected in series, edge image merges automatically, becomes a secondary perfectly picture.
Described screen is the soft curtain of 3 meters * 10 meters high-gain grey metal.
On described each loudspeaker channel, dispose the urgency signal switch respectively, make described loudspeaker when the input of urgent broadcast signal is arranged, switch to dumb sound.
Described master control equipment adopts the S7-400PLC computer, and described auxiliary control appliance adopts the S7-300PLC computer, and main application is the AS400 controller in the described master control equipment
The main composition of described AS-400 control station central controller: 1 frame; 1 power module; 1 CPU; 1 ethernet communication module; 4 485 communication modules.
The master control platform of described master control equipment is set up a DB database, deposits work call instruction data segment with consolidation form in the DB database, and the director data segment limit comprises the action invocation instruction for described robot; The music data section of calling for described sound reinforcement system and the instruction of audio data segment; The operation lighting instruction that calls for described lighting system; Instruction for the image and the video film of described optical projection system.
Effect of the present invention:
Robot theater of the present invention adopts robot as the performer, be equipped with the video that multimedia marvellous light, 3D stero set, change set off by contrast, give spectators artistic treat with mannerism, and therefrom can experience robot and control technology thereof and not only be applied to sophisticated technology, life that can also the amusement people makes spectators accept Popular Science Education.
For further specifying above-mentioned purpose of the present invention, design feature and effect, the present invention is described in detail below with reference to accompanying drawing.
Description of drawings
Fig. 1 is the overall system architecture schematic diagram of robot theater;
Fig. 2 is the performance stage structural representation of the robot in the robot theater;
Fig. 3 is the structural representation of robot theater optical projection system;
Fig. 4 is the installation site floor map of projector and screen.
The specific embodiment
Be elaborated below in conjunction with the specific embodiment of accompanying drawing to robot theater of the present invention.
Referring to Fig. 1, Fig. 1 is the overall system architecture schematic diagram of robot theater, and as shown in the figure, robot theater of the present invention is divided into 5 major parts altogether:
The optical projection system 20 of robot theater;
The sound reinforcement system 30 of robot theater;
The lighting system 40 of robot theater;
The performance stage 50 of the robot of robot theater;
The control system 10 of robot theater.
Respectively the modular construction of each part mentioned above is specifically described below.
Describe the structure of the performance stage 50 of the robot in the robot theater earlier in detail, the performance stage of robot (hereinafter to be referred as stage) 50 comprises that the simulation performer carries out the robot of art action and the stage of suitable robot items on the program.
Robot of the present invention comprises anthropomorphic robot and universal industrial robot.The structure of stage can be carried out activity at robot and be designed.Dispose on the stage and be applicable to the guide rail that the universal industrial robot moves and be applicable to the platform (or claiming dolly) that the anthropomorphic robot moves.Referring to Fig. 2, Fig. 2 is the structural representation of the performance stage of robot.As shown in the figure, dispose on the stage and be applicable to the guide rail 51,52,53 that the universal industrial robot moves and be applicable to the platform that the anthropomorphic robot moves (or claiming dolly) 54, also dispose lifting orchestra 55 and stage truss 56.
The universal industrial robot that present embodiment is selected for use is the product of FANUC company, and every guide rail 51,52,53 structures adopt dual track system, and the center line of double track is at a distance of 400mm, and the overall width of every guide rail (foot section, installation ground that does not comprise ground) is 500mm.Guide pass 244mm above ground level, unified mobile platform (dolly) 54 end faces 283mm above ground level.The slipper assembly of guide rail 51,52,53 adopts the linear rolling guide finished product, has to slide flexibly reliable operation, the long remarkable advantage that waits of life-span.
According to the design of robot in the drama and the story of a play or opera, used 3 guide rails on the stage of present embodiment altogether, the total length of every guide rail is 15 meters, generally being divided into 2.5 meters is a standard knot length.Three guide rails are parallel to each other, and it is parallel with proscenium arch, the left and right sides center line symmetry of position and stage, number inward from proscenium arch, be respectively 52, No. 3 guide rails 53 of 51, No. 2 guide rails of No. 1 guide rail, wherein a guide rail 51 is from 3.2 meters of proscenium arches, and No. 1, No. 2 guide rail 51,52 center lines are at a distance of 1.2 meters, 2, No. 3 guide rail 52,53 center lines are at a distance of 1.5 meters, and No. 3 guide rail 53 center lines have 1.59 meters at a distance of above-mentioned screen 24.
Lay the universal industrial robot 57 of two 5KG on No. 1 guide rail of present embodiment.
Lay the universal industrial robot 58 of two 6KG on No. 2 guide rails of present embodiment.
Lay the universal industrial robot 58 of four 6KG on No. 3 guide rails of present embodiment.
In robot theater, the anthropomorphic robot is arranged as " host " 59a and " conductor " 59b, they go out admission, are to have adopted the mode of mobile platform (dolly) 54 to solve, because the location does not need too accurate, so can adopt the mode of simple and easy track or trackless to solve.
In lifting orchestra 55, except conductor 59b, all the other six imitative instrument playing persons' the 59c of robot all need not move, and adopts the method for original place lifting.Lifting orchestra 55 dark 0.8 meter, highly nearly 0.8 meter of performer's the 59c of robot all is installed on the base plate, the controlled lifting of base plate, with control whole band appear or hidden.
Referring to Fig. 3, Fig. 3 is the structural representation of robot theater optical projection system.
As shown in the figure, robot theater optical projection system 20 comprises two projectors that are connected in series 22,23, screen 24 and player 21.Player 21 is as the playback equipment of signal source, and the vision signal that projector 22,23 plays player 21 projects to the screen 24 on the stage that places robot theater, the video that sets off by contrast as stage.
The present invention uses two projectors that are connected in series 22,23, with resolution ratio is that two passage, resolution ratio were respectively 1024 * 768 video signal source about video signal source of 2048 * 768 generated, then by 22,23 projections of two projectors that are connected in series, edge image merges automatically, becomes a secondary perfectly picture at last.The high performance BARCO RLM G5 of 22, the 23 employings projector of projector of present embodiment adds the HDSDi input card.BARCO RLM G5 compact three-chip type DLP projector is that digital projector has high brightness, compact, the brightness and color uniformity and intelligentized characteristics, brightness output reaches as high as 4, the 000ANSI lumen, contrast 900: 1 can be accomplished the clear demonstration under bright light environments; Nature resolution ratio is 1,024 * 768, and highest resolution can reach 1,600 * 1,200, all can accomplish at all must show to various input signals, and the assurance key message is not omitted; The DLP light engine of sealing is avoided the infringement to optics of dust, moisture, has prolonged service life; Its dynamic-color-depth is regulated, advanced image processing algorithm and digital noise reduction system makes projected picture real colour nature, image stabilization flicker free, and image color is bright-coloured, and clear bright, stereovision is strong; Can realize that vertical direction 118% is from axial projection and do not have trapezoidal distortion and produce; Can on a plurality of tonal gradations, carry out uniformity adjustment, be particularly suitable for big picture and show demand; Advanced person's intellectual electronic stencil dongle configuration design, performance optimization has high reliability and high maintainable, and moves noise than other similar projector products low (less than 43 decibels), and has the active noise suppression function; Two lamp systems of innovation have automatic inducing function.Under single lamp pattern, allow intelligence to switch, guarantee the optimum utilization of bulb life, the reliability height; Advanced " picture-in-picture " window function, standard configuration can show 4 road Computer signals and/or vision signal simultaneously.Can save extra signal switching apparatus in the optional position of full screen with the content of any big or small display window; Really accomplish seamless switching between the unlike signal source, it can have special switching effect, such as " being fade-in fade-out ", " frame is gone into frame and gone out " etc.; By network interface and proprietary software, the user can be from long-range monitoring and the management of finishing projector.All functions that can finish by remote controller all can realize by this software.
Place the screen 24 on the stage of robot theater, adopt the soft curtain of grey metal of high-gain in the present embodiment, be of a size of 3 meters * 10 meters, need not splice.The visual angle of screen: 100 degree; The gain of screen: 2.5 times
Because present embodiment adopts above-mentioned advanced person's digital projector 22,23, screen 24, player 21 to form robot theater optical projection system 20, makes stage have the video that clear, beautiful change sets off by contrast.
Referring to Fig. 4, Fig. 4 is the installation site floor map of projector and screen.
As shown in the figure, projector 22,23 of the present invention place with screen 24 apart from d be 8.2 meters (promptly, projector distance is 8.2 meters), the width a of screen 24 is 10 meters, 4 meters (not shown) of view field's height, effective depth is 3 meters, and 0.4 meter of screen 24 lower end terrain clearance are so whole effective screen is 10 meters * 3 meters.The b of projection width of every projector is 5.333 meters, and the image of the joining edge of two projectors 22,23 merges automatically, and this joining edge c is 0.667 meter.
The audio process (not shown) that robot theater sound reinforcement system 30 is handled by audio player (not shown), to the audio signal of audio player plays, the audio signal of audio process is carried out the amplifirer (not shown) of power amplification and the loudspeaker (not shown) that the audio signal that amplifirer amplifies is broadcasted is formed.
In robot theater, the major function of sound reinforcement system is according to the story of a play or opera, build three-dimensional acoustic image and change and the ambient sound effect, thus increase spectators' the sense of reality.
The notion of multichannel is introduced in the design of robot theater sound reinforcement system 30, not only can carry out conventional public address, can make simultaneously the required special-effect sound of story of a play or opera performance, thereby, better embody the theme of the required performance of arenas for performance provides abundant, regulating measure flexibly.
Can the realizing of the multichannel sound reinforcement system technique of expression depend primarily on the cloth position of loudspeaker and the control of voice signal is handled, and the two has directly determined quality that the sound system effect is finished and the degree of finishing.
The cloth position of loudspeaker of the present invention: adopt 8 full-range speaker passages altogether, 4 ultralow frequency loudspeaker channel, the level and smooth of acoustic image moved when so both having solved special sound effect, and spectators' acoustic image is consistent in having guaranteed again to perform feels.The concrete application of these 8 sound channels is as follows:
Respectively place a JBL CONTROL30 loudspeaker as main public address loudspeaker in the stage both sides, downstage along placing 3 JBL CONTROL29AV loudspeakers as the effect loudspeaker, place 3 JBLCONTROL29AV loudspeakers in the stage back zone as the effect loudspeaker.
In order to guarantee better bass effect, ultralow loudspeaker has been installed in the district at whole arenas.
The control of voice signal of the present invention is handled: had above-mentioned loudspeaker not representative system just can produce required effect, also must carry out very careful control to loudspeaker, promptly when use which signal, which loudspeaker should be gently, which loudspeaker should ring some etc.To carry out effect process by above-mentioned audio process here, the effect sound under the different scenes will be handled, and be stored in can different tracks by the multitrack recording machine (not shown) of midi signal control in.Can when each track audio signal be sent into the corresponding effect loudspeaker by instruction control multitrack recording machine during use, thereby produce and the on all four effect of analog case.
In addition, on each output channel (loudspeaker channel) of audio signal, all disposed urgency signal switch (not shown).In case when the input of urgent broadcast signal was arranged, all loudspeakers were realized automatic dumb sound in this arenas, guarantee that interior all spectators of arenas can not hear the content of urgent broadcast signal, when the urgent broadcast blackout, sound reinforcement system is recovered operate as normal automatically.
The performance stage of the robot in the structure of robot theater lighting system 40 and the robot theater to drill district's layout relevant, the performance stage of robot (hereinafter to be referred as stage) is divided into nine and drills the district: drill district, middle part and six at rear portion and drill the district for anterior three.The present invention forwardly three drill the district and arrange four cat scanner lamps (not shown), middle part and six at rear portion are drilled the district and are arranged six cat scanner lamps (not shown), follow the tracks of robot performance and action, come the effects such as size, color, pattern of conversion hot spot according to the emotional change of the story of a play or opera.Adopt 22 computer colour changing lights (not shown) in addition, change coloured light with rendered atmosphere according to the requirement of performing.Adopt 8 signal lamps (not shown) to handle again, strengthen the dynamics of rim(ming) light as backlight.Imaging lamp (not shown) is used in the stage both sides, by cutting hot spot emphasis performance sidelight effect.The stage both sides also respectively dispose the modeling effect that an aerosol producer (not shown) is strengthened the photoreceptor light beam.
The light beam combination of the position of not sharing the same light that the lamp by above-mentioned diverse location produces, according to the atmosphere of robot performance with play song, well-designed light changes program, thereby finishes the comprehensive luminal art effect of robot performance.
As above-mentioned shown in Figure 1, arenas control system 10 is optical projection systems 20 of the above-mentioned robot theater of control; Sound reinforcement system 30; Lighting system 40; The control appliance of performance stage 50 runnings of robot.Control system 10 employing Siemens S7-400PLC computers are master control equipment in the present embodiment, and to be aided with S7-300PLC be auxiliary control appliance, be equipped with total system equipment simultaneously with the optimum configuration of this master control equipment, comprise the PROFIBUS communication card of PROFIBUS fieldbus, netting twine bridge, robot, the critical pieces such as serial communication card of robot, formed an industrial control system.This control system is combined into one by the control appliance and the actuating equipment of PROFIBUS fieldbus with all scenes.
Interface with robot: above-mentioned universal industrial robot 57,58 directly can be connected with the PROFIBUS bus, so directly adopt bus to link to each other.
Above-mentioned lighting system 40 is by Communications Interface Unit DP/RC-232LINK, is connected with the PROFIBUS bus again.
Above-mentioned anthropomorphic robot 59a, 59b and imitative instrument playing person's the 59c of robot also is by Communications Interface Unit DP/RC-232LINK, is connected with the PROFIBUS bus again.
Above-mentioned optical projection system 20 and sound reinforcement system 30 can be connected with lamp light control system one sample loading mode, also can copy and adopt all-purpose computer as the control subsystem in " simulated theater ", adopt the ethernet communication mode to be connected.
Main application is the AS400 controller in the above-mentioned master control equipment, the AS400 controller is as the control station in the master control equipment, the central controller module of AS400 control station adopts state-of-the-art computer technology, integrated PROFIBUS-DP interface can be used as main website and directly is connected with fieldbus I/O unit (ET200M).
The AS400 control station is equipped with superpower CPU, and the time of implementation of every switching value instruction, built-in user memory can reach 20MB less than 0.1us, and maximum I/O quantity can reach 128K switching value/8K analog quantity.
HMI man-machine interface service function that the CPU of AS400 control station is integrated, on HMI equipment (as engineer station ES, the WINCC of operator station), the user only needs the definition of data source and destination, and system just can automatically upwards transmit data periodically.There is real-time clock in system, and data and diagnostic message that CPU upwards transmits all have the date and time label.
The CPU module of AS400 control station has various LED self diagnosis indicator lamps, the state of indicating CPU by these indicator lamps.The RAM memory that the central controller module has 4-20M comes memory system data and user program, has battery to come the reserve storage, and the replacing of battery does not influence the operate as normal of central controller.
The main composition of AS-400 control station central controller of the present invention:
1 frame (6ES7 400-17A01-OAAO);
1 power module (6ES7405-OKA01-OAAO);
1 CPU (CPU 6ES7416-2XF02-OABO);
1 ethernet communication module (6ES 7443-1GX1-OXEO);
4 485 communication modules (6ES7 963-3AA00-OAAO);
The major function of AS-400 central controller: the AS-400 central controller of field control station is the control centre of robot control system(RCS), CFC, and control computings such as SFC are just here carried out.It is connected with the active station or the engineer station of system by EPA at a high speed, is connected with ET200 distributed I/O station by the PROFIBUS-DP fieldbus.Its major function is: the digital quantity or the analog quantity information that come are gathered in each ET200M distributed I/O station be sent to system's active station or engineer station after treatment, make system's active station or engineer can view the duty and the various technological parameter of system's all devices, can handle, carry out simultaneously various control instructions and parameter setting instruction from system's active station or engineer station; The more important thing is that central controller can be finished the automatic control of various closed loops in system's operating process and the automatic interlock control of various electrical equipments.
The main feature of AS-400 central controller: have automatic fault and detect and Presentation Function; All modules such as the power module of AS-400 central control station, CPU (CPU) and EPA ruton news module all have the automatic fault measuring ability, and demonstrate its malfunction intuitively by the LED on the panel; CPU (CPU) strength reason ability; The time that central processing module (CPU) is handled every two-value instruction is exceedingly fast, and bit manipulation, word operation, fixed point add etc. and only to need 0.1us, and floating addition also has only 0.6us.
Each AS-400 central controller has enough I/O Signal Processing abilities: maximum can reach 32768 digital quantity I/O passages and 2048 analog quantity I/O passages.
The master control platform of above-mentioned Siemens Programmable Logic Controller S7-400PLCDE as master control equipment is set up a DB database.
In the DB database, deposit work call instruction data segment with consolidation form.
The director data segment limit comprises the action invocation instruction for the 59a of robot, 59b, 59c; The music data section of calling for sound reinforcement system 30 and the instruction of audio data segment; The operation lighting instruction that calls for lighting system 40; Instruction for the image and the video film of optical projection system 20.
Instruction format comprises: the program number of instruction sequence number, instruction calls object, allocating object program in the database, running time, action feedback system etc.
After above-mentioned control system 10 starts, promptly can in database, take out various segments of instruction data by the instruction sequence number, control robot and various multimedia running according to the content in the segments of instruction data again.
Those of ordinary skill in the art will be appreciated that, above embodiment is used for illustrating the present invention, and be not to be used as limitation of the invention, as long as in connotation scope of the present invention, all will drop in the scope of claims of the present invention variation, the modification of the above embodiment.
Claims (10)
1. a robot theater is characterized in that, comprising:
The performance stage of robot, comprise that the simulation performer carries out the robot of art action and the stage of suitable robot items on the program, described robot comprises anthropomorphic robot and universal industrial robot, the stage of described robot items on the program disposes and is applicable to the guide rail that the universal industrial robot moves and is applicable to the platform that the anthropomorphic robot moves, and also disposes lifting orchestra and stage truss;
Optical projection system, comprise two projectors that are connected in series, screen and players, wherein said player is as the playback equipment of signal source, described two projectors project to screen on the performance stage that places described robot with the vision signal of this player plays, the video that sets off by contrast as stage;
Sound reinforcement system, the audio process that comprises audio player, the audio signal of described audio player plays is handled, the audio signal of described audio process is carried out the amplifirer of power amplification and the loudspeaker that the audio signal that amplifirer amplifies is broadcasted, described loudspeaker comprises several full-range speaker passages and several ultralow frequency loudspeaker channel;
Lighting system, comprise and follow the tracks of performance of described robot and action, several cat scanner lamps with the size of coming the conversion hot spot according to the emotional change of the story of a play or opera, color, pattern, comprise that also the requirement according to performance changes several computer colour changing lights of coloured light, also comprise as several signal lamps of backlight processing, also comprise by the imaging lamp of cutting hot spot emphasis performance sidelight effect and several aerosol producers that also comprise the modeling effect of strengthening the photoreceptor light beam;
Control system, it is the optical projection system of the above-mentioned robot theater of control, sound reinforcement system, the control appliance of the performance stage running of lighting system and robot, the computer that comprises a master control equipment, the computer that also is aided with an auxiliary control appliance, be equipped with total system equipment simultaneously with this master control equipment configuration, comprise the PROFIBUS fieldbus, the netting twine bridge, the PROFIBUS communication card of robot, the serial communication card of robot, formed an industrial control system, this control system connects described optical projection system by PROFIBUS fieldbus and Communications Interface Unit, sound reinforcement system, the control appliance at the scene of the performance stage of lighting system and robot and actuating equipment.
2. robot theater as claimed in claim 1 is characterized in that:
In described lifting orchestra, be equipped with several imitative instrument playing persons' robot.In described lifting orchestra, the conductor robot is arranged, also have several imitative instrument playing persons' robot, the described conductor employing anthropomorphic robot of robot, moved by described platform, described imitative instrument playing person's machine need not move per capita, adopts the original place lifting moving.
3. robot theater as claimed in claim 1 is characterized in that:
Described guide rail has 3, every guide rail adopts dual track system, the center line of double track is at a distance of 400mm, the overall width of every guide rail is 500mm, guide pass 244mm above ground level, the total length of every guide rail is 15 meters, three guide rails are parallel to each other, and parallel with the performance stage mouth of described robot, number inward from proscenium arch, be respectively guide rail No. 1, No. 2 guide rails, No. 3 guide rails, wherein a guide rail is from 3.2 meters of proscenium arches, No. 1, No. 2 center line of guide rail are at a distance of 1.2 meters, and 2, No. 3 center line of guide rail are at a distance of 1.5 meters, and No. 3 center line of guide rail has 1.59 meters at a distance of the video screen of stage.
4. robot theater as claimed in claim 1 is characterized in that:
Described mobile platform end face 283mm above ground level.
5. robot theater as claimed in claim 1 is characterized in that:
Described two projectors that are connected in series, with resolution ratio is that two passage, resolution ratio were respectively 1024 * 768 video signal source about video signal source of 2048 * 768 generated, then by two projector's projections that are connected in series, edge image merges automatically, becomes a secondary perfectly picture.
6. robot theater as claimed in claim 1 is characterized in that:
Described screen is the soft curtain of 3 meters * 10 meters high-gain grey metal.
7. robot theater as claimed in claim 1 is characterized in that:
On described each loudspeaker channel, dispose the urgency signal switch respectively, make described loudspeaker when the input of urgent broadcast signal is arranged, switch to dumb sound.
8. robot theater as claimed in claim 1 is characterized in that:
Described master control equipment adopts the S7-400PLC computer, and described auxiliary control appliance adopts the S7-300PLC computer, and main application is the AS400 controller in the described master control equipment
9. robot theater as claimed in claim 8 is characterized in that:
The main composition of described AS-400 control station central controller: 1 frame; 1 power module; 1 CPU; 1 ethernet communication module; 4 485 communication modules.
10. robot theater as claimed in claim 1 is characterized in that:
The master control platform of described master control equipment is set up a DB database, deposits work call instruction data segment with consolidation form in the DB database, and the director data segment limit comprises the action invocation instruction for described robot; The music data section of calling for described sound reinforcement system and the instruction of audio data segment; The operation lighting instruction that calls for described lighting system; Instruction for the image and the video film of described optical projection system.
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| CNA2006101171968A CN101164648A (en) | 2006-10-17 | 2006-10-17 | Robot theater |
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| CNA2006101171968A CN101164648A (en) | 2006-10-17 | 2006-10-17 | Robot theater |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101800872A (en) * | 2010-02-12 | 2010-08-11 | 周雅概 | Equipment based on DMX protocol control projector and system |
| CN101819729B (en) * | 2009-02-27 | 2013-04-03 | 上海复旦上科多媒体有限公司 | Novel rotary screen display system |
| WO2015074410A1 (en) * | 2013-11-22 | 2015-05-28 | 嘉兴市德宝威微电子有限公司 | Robot system and simultaneous performance control method thereof |
| CN105031945A (en) * | 2015-08-11 | 2015-11-11 | 浙江大丰实业股份有限公司 | Stage sound-light coordinated operation system based on wireless driving |
| CN107040761A (en) * | 2017-04-26 | 2017-08-11 | 江苏新和网络科技发展有限公司 | A kind of command centre's control system applied to public security bureau |
| CN108544464A (en) * | 2018-04-24 | 2018-09-18 | 陈磊 | A kind of hidden intelligent article place system based on supermarket shopping and robot |
| CN109208951A (en) * | 2018-08-02 | 2019-01-15 | 海宁哈工联新投资合伙企业(有限合伙) | A kind of rotating theater system and its control method for robot performance |
| WO2019242098A1 (en) * | 2018-06-22 | 2019-12-26 | 欧阳院红 | Apparatus for stage performance |
| CN112203098A (en) * | 2020-09-22 | 2021-01-08 | 广东启迪图卫科技股份有限公司 | Mobile terminal image compression method based on edge feature fusion and super-resolution |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101819729B (en) * | 2009-02-27 | 2013-04-03 | 上海复旦上科多媒体有限公司 | Novel rotary screen display system |
| CN101800872A (en) * | 2010-02-12 | 2010-08-11 | 周雅概 | Equipment based on DMX protocol control projector and system |
| WO2015074410A1 (en) * | 2013-11-22 | 2015-05-28 | 嘉兴市德宝威微电子有限公司 | Robot system and simultaneous performance control method thereof |
| CN105031945A (en) * | 2015-08-11 | 2015-11-11 | 浙江大丰实业股份有限公司 | Stage sound-light coordinated operation system based on wireless driving |
| CN107040761A (en) * | 2017-04-26 | 2017-08-11 | 江苏新和网络科技发展有限公司 | A kind of command centre's control system applied to public security bureau |
| CN108544464A (en) * | 2018-04-24 | 2018-09-18 | 陈磊 | A kind of hidden intelligent article place system based on supermarket shopping and robot |
| WO2019242098A1 (en) * | 2018-06-22 | 2019-12-26 | 欧阳院红 | Apparatus for stage performance |
| CN109208951A (en) * | 2018-08-02 | 2019-01-15 | 海宁哈工联新投资合伙企业(有限合伙) | A kind of rotating theater system and its control method for robot performance |
| CN112203098A (en) * | 2020-09-22 | 2021-01-08 | 广东启迪图卫科技股份有限公司 | Mobile terminal image compression method based on edge feature fusion and super-resolution |
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