CN104965454A - Control system of studio robot - Google Patents
Control system of studio robot Download PDFInfo
- Publication number
- CN104965454A CN104965454A CN201510360944.4A CN201510360944A CN104965454A CN 104965454 A CN104965454 A CN 104965454A CN 201510360944 A CN201510360944 A CN 201510360944A CN 104965454 A CN104965454 A CN 104965454A
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- CN
- China
- Prior art keywords
- control system
- controller
- manipulator
- switch
- control case
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention relates to a control system of a studio robot. A controller is connected with a switch in bidirectional communication. The switch is connected with a manipulator control box in bidirectional communication. An output end of an operation handle is connected with the input end of the manipulator control box. The output end of the manipulator control box is connected with an input end of a manipulator. A power supply is electrically connected with the controller, the switch, the manipulator control box, the operation handle and the manipulator. Through accurate positioning and accurate control of the intelligent control system, jitter defects in photography are eliminated, the problem is solved that photographer viewing angles and technology levels are uneven, thus the shooting view is perfect, frames are smooth and beautiful, and shooting is simple and practical. The control system is simple in structure, is convenient to use, is low in cost and has high shooting precision, and shooting effects cannot be affected by photographer personal technology factors.
Description
Technical field
The invention belongs to digital technology control field, particularly relate to a kind of control system of studio robot.
Background technology
Studio is when recording TV program, and adopt manually is made a video recording more.Traditional camera style is that video camera is to each corner of being busy with studio hall pickaback for photographer, and some studio hall is equipped with The Cloud Terrace now certainly, these plant equipment of rocking arm assistance photographer carries out performance recording, and effect is better than traditional photography mode.
But, no matter be that photographer photographs pickaback or sets up rocking arm photography, all there is some problem following: the jitter problem 1, occurred during photography, be photograph pickaback or rocking arm photography be all unavoidable, if jitter amplitude exceedes the ability of trembling that disappears of video camera self, will have an impact to photographic effects.2, because each technician's level is different, so camera angle and level are also uneven.3, every photography all need instructor in broadcasting one by one commander cameraman finish the work, but photographer can add some individual ideas unavoidably in performance recording process, causes overall photographic effects not reach expection object.4, the fluency control of people to the degree of accuracy of camera angle and picture is limited, and often performance recording just finds the Expected Results not reaching oneself after completing.
Summary of the invention
The object of the present invention is to provide a kind of control system of studio robot, be intended to solve above-mentioned technical matters.
The present invention realizes like this, a kind of control system of studio robot, this control system comprises controller, switch, manipulator control case, operating grip, mechanical arm and power supply, described controller connects described switch two-way communication, described switch connects the two-way communication of described manipulator control case, the output terminal of described operating grip connects the input end of described manipulator control case, the output terminal of described manipulator control case connects the input end of described mechanical arm, described power supply is electrically connected controller, switch, manipulator control case, operating grip and mechanical arm.
Further technical scheme of the present invention is: this control system also comprises display device, and the input end of described display device communicates to connect the output terminal of described controller, and described display device is electrically connected described power supply.
Further technical scheme of the present invention is: this control system also comprises monitor terminal, and the input end of described control monitoring client communicates to connect the output terminal of described controller, and described monitor terminal is electrically connected described power supply.
Further technical scheme of the present invention is: adopt serial communication mode to be connected between described display device with described controller.
Further technical scheme of the present invention is: described controller and described monitor terminal adopt serial communication.
Further technical scheme of the present invention is: described manipulator control case comprises several, and manipulator control case described in several is linked in sequence described switch respectively successively.
Further technical scheme of the present invention is: described operating grip comprises several, and operating grip described in several is linked in sequence each described manipulator control case respectively successively, the corresponding described manipulator control case of each described operating grip.
Further technical scheme of the present invention is: described manipulator control case comprises servo-driver, isolating switch, motion control processor and power supply adaptor, the output terminal of described motion control processor connects the input end of described servo-driver, one end of described isolating switch connects described servo-driver and motion control processor respectively, and the other end of described isolating switch is electrically connected described power supply adaptor.
Further technical scheme of the present invention is: adopt ethernet communication between described controller and described switch.
Further technical scheme of the present invention is: described controller adopts can editing controller; The LCDs of the touch that described display device adopts.
The invention has the beneficial effects as follows: by the accurate location of intelligent control system with control accurately, eliminate the shake defect occurred in photography, solve the problem of know clearly camera angle and the irregular polishing of level, make precision and the picture smoothness very of its camera angle, photograph simple and practical.This Control system architecture is simple, easy to use, with low cost, photographic quality is high, there is not the horizontal cause influence photographic effects of cameraman's individual skill.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the control system of the robot studio that the embodiment of the present invention provides.
Embodiment
Fig. 1 shows the control system of studio robot provided by the invention, this control system comprises controller, switch, manipulator control case, operating grip, mechanical arm and power supply, described controller connects described switch two-way communication, described switch connects the two-way communication of described manipulator control case, the output terminal of described operating grip connects the input end of described manipulator control case, the output terminal of described manipulator control case connects the input end of described mechanical arm, described power supply is electrically connected controller, switch, manipulator control case, operating grip and mechanical arm.By the accurate location of intelligent control system with control accurately, eliminate the shake defect occurred in photography, solve camera angle and the uneven problem of level of knowing clearly, make precision and the picture smoothness very of its camera angle, photograph simple and practical.This Control system architecture is simple, easy to use, with low cost, photographic quality is high, there is not the horizontal cause influence photographic effects of individual skill.
Manipulator control case, for receiving the input instruction of controller, and performing instruction by command to each servomotor of mechanical arm, receiving the operational order of operating grip.
Mechanical arm forms space six bar open chain mechanism by six rotating shafts, and terminal shaft is equipped with ring flange, can be directly used in the video camera installing various model; Six axles are all furnished with driven by servomotor, all have scrambler after each motor, and kinematic accuracy reaches positive and negative 0.06mm; Mechanical arm is equipped with emergency stop switch, uses for when fortuitous event or maintenance; Robot carries 24VDC, convenient other expansion equipments of connection; Frame measures plate, collection plate with serial ports, is equipped with independent lithium battery power supply in addition, play and preserve data effect.
This control system also comprises display device, and the input end of described display device communicates to connect the output terminal of described controller.User assigns action executing order by this window to robot, also can read current robot running status.Man-machine interface in display device assigns the window of instruction to robot as user, user can send to issue orders by it: 1, startup, Ji Ting robot.2, directly robot movement is commanded.3, cut off, connect the communication of miscellaneous equipment and robot.4, real-time supervisory-controlled robot state, abnormal alarm shows.5, adjust, choose the order of actual figure cover action.6, display device people current action implementation.
This control system also comprises monitor terminal, and the input end of described monitoring client communicates to connect the output terminal of described controller.Described monitor terminal adopts PC terminal monitoring; Because Studio is often away from video camera seat in the plane, and after achieving intelligent studio, video camera is unserviced, so robot has gone out exception, in Studio, staff is more difficult learns, PC monitoring client then can well address this problem, as occurred: robot blocks or video camera and body collide, and PC monitoring client then can inform Studio the very first time.
Serial communication mode is adopted to be connected between described display device with described controller.Adopt the distance that serial communication is simple, convenient, communicate.Communication mode connects also employing RS-232 communication or RS-422 communication or RS-485 communication etc.
Described controller and described monitor terminal adopt serial communication.Adopt the distance that serial communication is simple, convenient, communicate.
Described manipulator control case comprises several, and manipulator control case described in several is linked in sequence described switch respectively successively.
Described operating grip comprises several, and operating grip described in several is linked in sequence each described manipulator control case respectively successively, the corresponding described manipulator control case of each described operating grip.
Operating grip makes user edit robot photographing actions by operating grip, is preset to wanting the action set among system.Operating grip is used for action teaching, representational role, what also can realize performing in a radio or TV programme on-the-spot real time control machine device people's camera angle and shooting moves mode, operating grip is directly connected with manipulator control case, and only carry out Real Data Exchangs with control box, associate without any with other module, only do action teaching input function.
Described manipulator control case comprises servo-driver, isolating switch, motion control processor and power supply adaptor, the output terminal of described motion control processor connects the input end of described servo-driver, one end of described isolating switch connects described servo-driver and motion control processor respectively, and the other end of described isolating switch is electrically connected described power supply adaptor.
Ethernet communication is adopted between described controller and described switch.Controller and switch adopt netting twine to be connected, and switch and manipulator control case adopt netting twine to be connected, and adopt netting twine to connect the agreement making it connect general, not easily occur that intermittent data transmits.
Described controller adopts can editing controller; Described can editor control be that PLC can editing controller; The LCDs of the touch that described display device adopts.Programmable Logic Controller, as a main frame, for assigning the order that performs an action, read machine people state to manipulator control case, to robot write customer parameter, to make between each module the functions such as co-ordination.
Video camera is fixed on the ring flange of last axle, then video camera completes the photography of any attitude in robot work radius, the basic technical scheme of control can be sketched and be: if set up a three-axis reference in the radius of clean-up of mechanical arm, video camera walks all to need the servomotor of each axle to rotate with the velocity ratio of correspondence along any axial coordinate, robot is recorded along the motor speed ratio of each axle in coordinate system, now only need setting speed parameter and control time parameter, then can control robot movement accurately to any point in space.In certain mechanical arm actual motion, often the speed curves of every axle exponentially changes or logarithm change, the calculated amount of such program can be more complicated, be integrated in our underlying programs so the parameter of these nonlinearities change is made motor program bag by our employing, directly call for client.Not only be integrated with the main frame of motion control program in manipulator control case, be also equipped with No. six servo controller and primary powers in addition, driving device hand can be directly used in.
Programmable Logic Controller, as a main frame, for assigning the order performed an action, read machine people state to manipulator control case, to the parameter of robot write user setting, to make between each module the functions such as co-ordination.The advantages such as select Programmable Logic Controller to have reliability as main frame high, antijamming capability is strong, and plant maintenance upgrading is convenient.The Programmable Logic Controller that we select in addition has multiple PORT COM, and the efficient processing speed of 0.5us/p, brings great convenience to the connecting communication of modules.Carry out exchanges data by Ethernet between Programmable Logic Controller and manipulator control case, ensure that each effective IP address can match a manipulator control case, if opinion reads or writes all necessary effect IP address of data, realize batch and precisely control.Carry out communication by 485 interfaces between PC monitoring and Programmable Logic Controller, because 485 communications adopt electric current loop transmission mode, communication distance can reach hundred meters, meets the distance limit of studio to rack.Between man-machine interface and Programmable Logic Controller, communication then adopts serial communication to reach communication need.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the control system of a studio robot, it is characterized in that, this control system comprises controller, switch, manipulator control case, operating grip, mechanical arm and power supply, described controller connects described switch two-way communication, described switch connects the two-way communication of described manipulator control case, the output terminal of described operating grip connects the input end of described manipulator control case, the output terminal of described manipulator control case connects the input end of described mechanical arm, described power supply is electrically connected controller, switch, manipulator control case, operating grip and mechanical arm.
2. control system according to claim 1, is characterized in that, this control system also comprises display device, and the input end of described display device communicates to connect the output terminal of described controller, and described display device is electrically connected described power supply.
3. control system according to claim 2, is characterized in that, this control system also comprises monitor terminal, and the input end of described control monitoring client communicates to connect the output terminal of described controller, and described monitor terminal is electrically connected described power supply.
4. control system according to claim 3, is characterized in that, adopts serial communication mode to be connected between described display device with described controller.
5. control system according to claim 4, is characterized in that, described controller and described monitor terminal adopt serial communication.
6. the control system according to any one of claim 1-5, is characterized in that, described manipulator control case comprises several, and manipulator control case described in several is linked in sequence described switch respectively successively.
7. control system according to claim 6, it is characterized in that, described operating grip comprises several, and operating grip described in several is linked in sequence each described manipulator control case respectively successively, the corresponding described manipulator control case of each described operating grip.
8. control system according to claim 7, it is characterized in that, described manipulator control case comprises servo-driver, isolating switch, motion control processor and power supply adaptor, the output terminal of described motion control processor connects the input end of described servo-driver, one end of described isolating switch connects described servo-driver and motion control processor respectively, and the other end of described isolating switch is electrically connected described power supply adaptor.
9. control system according to claim 8, is characterized in that, adopts ethernet communication protocol between described controller and described switch.
10. control system according to claim 9, is characterized in that, described controller adopts can editing controller; The LCDs of the touch that described display device adopts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510360944.4A CN104965454A (en) | 2015-06-26 | 2015-06-26 | Control system of studio robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510360944.4A CN104965454A (en) | 2015-06-26 | 2015-06-26 | Control system of studio robot |
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| CN104965454A true CN104965454A (en) | 2015-10-07 |
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| CN201510360944.4A Pending CN104965454A (en) | 2015-06-26 | 2015-06-26 | Control system of studio robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106713502A (en) * | 2017-02-14 | 2017-05-24 | 扬州奚仲科技有限公司 | Remote control system of camera motion platform |
| CN113163274A (en) * | 2021-06-24 | 2021-07-23 | 深之蓝(天津)水下智能科技有限公司 | Underwater robot communication system |
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| JP4124682B2 (en) * | 2003-03-20 | 2008-07-23 | 日本放送協会 | Camera control device |
| US20080316368A1 (en) * | 2005-12-09 | 2008-12-25 | Kuka Roboter Gmbh | Method and Device For Moving a Camera Disposed on a Pan/Tilt Head Long a Given Trajectory |
| CN102122172A (en) * | 2010-12-31 | 2011-07-13 | 中国科学院计算技术研究所 | Image pickup system and control method thereof for machine motion control |
| US20110174563A1 (en) * | 2008-07-22 | 2011-07-21 | Stefan Riesner | Air cushion platform for carrying a manipulator arm and movable robot |
| CN104679003A (en) * | 2015-02-02 | 2015-06-03 | 东北大学 | Omnibearing-moving cradle head robot |
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2015
- 2015-06-26 CN CN201510360944.4A patent/CN104965454A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4124682B2 (en) * | 2003-03-20 | 2008-07-23 | 日本放送協会 | Camera control device |
| US20080316368A1 (en) * | 2005-12-09 | 2008-12-25 | Kuka Roboter Gmbh | Method and Device For Moving a Camera Disposed on a Pan/Tilt Head Long a Given Trajectory |
| US20110174563A1 (en) * | 2008-07-22 | 2011-07-21 | Stefan Riesner | Air cushion platform for carrying a manipulator arm and movable robot |
| CN102122172A (en) * | 2010-12-31 | 2011-07-13 | 中国科学院计算技术研究所 | Image pickup system and control method thereof for machine motion control |
| CN104679003A (en) * | 2015-02-02 | 2015-06-03 | 东北大学 | Omnibearing-moving cradle head robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106713502A (en) * | 2017-02-14 | 2017-05-24 | 扬州奚仲科技有限公司 | Remote control system of camera motion platform |
| CN106713502B (en) * | 2017-02-14 | 2020-05-05 | 扬州奚仲科技有限公司 | Remote control system for camera motion platform |
| CN113163274A (en) * | 2021-06-24 | 2021-07-23 | 深之蓝(天津)水下智能科技有限公司 | Underwater robot communication system |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Qu Xiangdong Inventor after: Qu Hao Inventor before: Qu Xiangdong |
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| CB03 | Change of inventor or designer information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151007 |
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| RJ01 | Rejection of invention patent application after publication |