CN109001912A - Robot stereo colour display device and its control method - Google Patents
Robot stereo colour display device and its control method Download PDFInfo
- Publication number
- CN109001912A CN109001912A CN201810769265.6A CN201810769265A CN109001912A CN 109001912 A CN109001912 A CN 109001912A CN 201810769265 A CN201810769265 A CN 201810769265A CN 109001912 A CN109001912 A CN 109001912A
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- lifting
- electromagnetic coil
- display unit
- display device
- controller
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B30/00—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images
-
- 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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- User Interface Of Digital Computer (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of robot stereo colour display device and its control methods, it includes shell, lifting display unit, positioning plate, pedestal and controller, the lifting display unit has multiple, it is arranged in rectangular in composition stereoscopic display interface in the shell, the controller is connected with the lifting display unit, for controlling the lifting display unit operation；Host computer inputs the three-D profile information and color information of a figure to the robot stereo colour display device, the controller carries out corresponding lift adjustment according to the display matrix that graphical three-dimensional profile information output signal controls the lifting display unit composition, realizes the stereoscopic display to the figure.Display device of the invention can real face such as three-dimensional display eyes ear, some expression moods are either used for interactive graphical symbol, accomplish that robot display screen shows that the graphical information that can not only be seen can also show the device of graphic entity and coherent color.
Description
Technical field
The present invention relates to a kind of 3 d display devices, specifically, being related to vertical on a kind of household or service humanoid robot
Body colour display device and its control method.
Background technique
With advances in technology with the continuous improvement of mankind's entirety living standard, demand of the mankind to automated machine and according to
Rely the machine higher and higher, robot is also not only run on the assembly line of industry manufacture, more and more robots are walked
Enter into the daily life of the mankind, requirement of the people to robot is also higher and higher.Such as Publication No.: CN207139820U's
Patent, it to further include battery that it discloses a kind of humanoid bodies being made of head, trunk, arm, leg and foot
Group, central processing unit, mobile communication module, touch sensing, camera, digital sound pick-up, display screen, speech horn, ultrasound
Wave sensor, standby switches, USB interface, differential driving wheel and universal wheel.It is used for using the display screen of one piece of plane
The 3D figure of planar graph either plane simulation is shown in display or human-computer interaction, is increasingly focusing on user's body
The today tested, this display screen can no longer meet demand of the mankind to robot display interaction, lack a kind of robot use at present
Stereoscopic display, some expression moods of the face such as eyes ear for showing robot either are used to interact
Graphical symbol, accomplish that robot display screen shows that the graphical information that can not only be seen can also show graphic entity and color
Device.
Be in the prior art Publication No. closest to background technique of the invention: the utility model of CN203547178U is special
Benefit, what is protected is a kind of control system of liftable stage, may be implemented to generate a three-dimensional stage, but this system
It can be only applied on the stage of large area, realize important actor lifting using structures such as gear, motor, steel wire retarders,
It can only be installed on level ground use simultaneously, either structure or control mode can not all be applied to household or service type
On the display screen of robot.
Therefore, lack this robot 3 d display device in the present invention in the prior art.
Summary of the invention
The problem of for background technique, the present invention provides a robot stereo colour display device and its controls
Method, its technical solution is as follows:
Robot stereo colour display device comprising shell, lifting display unit, positioning plate, pedestal and controller, institute
Shell is stated in top opening structure, is mounted on the base portion, the lifting display unit have it is multiple, in rectangular arrangement
It is set in the shell and forms stereoscopic display interface, the positioning plate is fixedly mounted in the shell, each lifting
Display unit and the positioning plate are to be slidably connected, and the controller is connected with the lifting display unit, for controlling
State lifting display unit operation；The display matrix top of the lifting display unit composition is covered with elastic transparent film, the bullet
Property hyaline membrane is fixedly connected with shell；It is characterized in that: each lifting display unit include: RGBLED module, upper tube, under
Pipe, spring, permanent magnet and electromagnetic coil；The positioning plate includes: mounting hole, sleeve；Each lifting display unit is right
Answer a mounting hole；The RGBLED module, the upper tube, the down tube and the permanent magnet are sequentially connected from top to bottom；Institute
It states sleeve to be set in outside the down tube, the spring and the permanent magnet, the sleeve upper end connects under the positioning plate
End, the sleeve lower end connect bottom in the shell；The spring is mounted between the permanent magnet and the positioning plate, institute
The top for stating spring is connected to the positioning plate lower end, and the lower part of the spring is connected to the upper end of the permanent magnet；Described
The electromagnetic coil is fixedly installed on bottom in sleeve, in the shell.
Preferably, the RGBLED module and the upper tube are located at the top of the positioning plate, and the outer diameter of the upper tube
Greater than the internal diameter of the mounting hole, the down tube passes through the mounting hole, the down tube and the mounting hole clearance fit.
Preferably, there are two the sliding rails for the protrusion being oppositely arranged for the down tube periphery, if being provided on each sliding rail
Do the conductive bar extended on sliding rail length direction, the conductive bar by conducting wire respectively with the control line and electricity of RGBLED module
Source line is correspondingly connected with, and above-mentioned conducting wire both passes through inside the upper tube and the down tube, and there are two opposite on the mounting hole circumference
The groove of setting, the groove are slidably connected with the sliding rail, realize the opposite sliding of the down tube and the mounting hole, described
Be provided with several conductive contact blocks in groove, each corresponding conductive bar of the conductive contact block, the down tube with
During the opposite sliding of the mounting hole, the corresponding conductive bar of the conductive contact block remains that contact is conductive
State, the conductive contact block are separately connected power supply and the controller by the conducting wire in the positioning plate.
Preferably, the electromagnetic coil has core structure, and it is single that the magnetic direction generated is parallel to the lifting display
One end of the direction of motion of member, the electromagnetic coil connects DC power supply DC2, and the other end of the electromagnetic coil is in series with switch
Metal-oxide-semiconductor, the pole D of the switch metal-oxide-semiconductor connect the electromagnetic coil, the pole the S ground connection of the switch metal-oxide-semiconductor, the switch metal-oxide-semiconductor
The pole G connect the controller, the controller is set in the mounting base.
Preferably, the compositions such as resistance, capacitor, inductance are also connected between the electromagnetic coil and the switch metal-oxide-semiconductor
Voltage-stabilizing device.
Preferably, the display matrix of the lifting display unit composition is 10 × 10~3000 × 3000.
A kind of control method of robot stereo colour display device, host computer is to the robot stereo colour display device
The three-D profile information and color information of a figure are inputted, the controller is according to graphical three-dimensional profile information output signal control
The display matrix for making the lifting display unit composition carries out corresponding lift adjustment, realizes the stereoscopic display to the figure, together
The color information control RGBLED module that Shi Suoshu controller is inputted according to host computer shows the color of figure corresponding portion, real
Existing stereo colour is shown.
Preferably, the controller is by adjusting the duty ratio of its PWM wave for being output to the switch metal-oxide-semiconductor to adjust stream
Electric current through the electromagnetic coil generates the power in magnetic field to control the electromagnetic coil and be powered；The electromagnetic coil is powered
The magnetic direction of generation and the magnetic field of permanent magnet are contrary, and mutually row is generated between the electromagnetic coil and the permanent magnet
The repulsion of reprimand is powered the power for generating magnetic field by controlling the electromagnetic coil to control the electromagnetic coil and the permanent magnetism
Mutually exclusive repulsion size is generated between body；By controlling the repulsion size between the electromagnetic coil and the permanent magnet,
Control repulsion compress the distance of the spring, thus control it is described lifting display unit lifting height, until repulsion with it is described
It goes up and down and stops when elastic force when spring is compressed is identical.
The invention has devised a kind of robot stereo colour display device and its control method, and by its
Applied to household or service in the display device of humanoid robot, make can real face such as three-dimensional display eyes ear, or
Person is that some expression moods are either used for interactive graphical symbol, and the human-computer interaction for improving robot is horizontal, accomplishes machine
People's display screen, which is shown, can not only see that graphical information can also show the device of graphic entity and coherent color, while using
The lifting display unit of adjustment height can be more life-like simulating stereo figure different height face details.
Detailed description of the invention
Attached drawing 1 is the overall structure figure of robot stereo colour display device；
Attached drawing 2 is installation and the control structure figure for going up and down display unit；
Attached drawing 3 is the structure chart of positioning plate；
Attached drawing 4 is positioning plate and the partial sectional view for going up and down display unit contact surface；
Attached drawing 5 is robot stereo colour display device matrix overall work schematic diagram；
Attached drawing 6 is robot stereo colour display device matrix imaging figure；
Description of symbols: 1, shell；2 lifting display units；201, RGBLED module；202, upper tube；203, down tube；
2031, sliding rail；2032, conductive bar；204, spring；205, permanent magnet；206 electromagnetic coils；3, positioning plate；301, mounting hole；
302, groove；3021, conductive contact block；303, sleeve；4, mounting base；5, controller；6, elastic transparent film；T, metal-oxide-semiconductor is switched；
Specific embodiment
A kind of robot stereo colour display device as shown in Figs. 1-3 comprising: shell 1, is determined lifting display unit 2
Position plate 3, pedestal 4 and controller 5, shell 1 are in top opening structure, are mounted on 4 top of pedestal, and lifting display unit 2 has more
It is a, it is arranged in rectangular in forming stereoscopic display interface in shell 1, positioning plate 3 is fixedly mounted in shell 1, Mei Gesheng
It drops display unit 2 and positioning plate 3 is to be slidably connected, controller 5 and lifting display unit 2 connect, for controlling its operation.
The display matrix top that lifting display unit 2 forms is covered with elastic transparent film 6, and elastic transparent film 6 and shell are solid
Fixed connection, is made, such as polypropylene, politef etc. of high molecular material, can prevent foreign matter from entering lifting display unit 2
Between.
Each lifting display unit 2 includes: RGBLED module 201, upper tube 202, down tube 203, sliding rail 2031；Conductive bar
2032, spring 204, permanent magnet 205, electromagnetic coil 206.
Positioning plate 3 includes: mounting hole 301, groove 302, sleeve 303, the corresponding installation of each lifting display unit 2
Hole 301.
RGBLED module 201, upper tube 202, down tube 203 and permanent magnet 205 are sequentially connected from top to bottom, RGBLED module
201 and upper tube 202 be located at the top of positioning plate 3, and the outer diameter of upper tube 202 is greater than the internal diameter of mounting hole 301, and down tube 203 passes through
Mounting hole 301.
Spring 204 is mounted between permanent magnet 205 and positioning plate 3, and the top of spring 204 is connected to 3 lower end of positioning plate, bullet
The lower part of spring 204 is connected to the upper end of permanent magnet 205, and sleeve 303 and positioning plate 3 are made of non-magnet material.
Sleeve 303 is set in outside down tube 203, spring 204 and permanent magnet 205,3 lower end of the upper end connected positioning plate,
Bottom in lower end connected with outer casing 1 is fixedly installed electromagnetic coil 206 on bottom in the inside and outside shell 1 of sleeve 303.
Electromagnetic coil 206 has core structure, and the magnetic direction generated is parallel to the movement side of lifting display unit 2
To one end of electromagnetic coil 206 connects DC power supply DC2, and the other end of electromagnetic coil 206 is in series with switch metal-oxide-semiconductor T, switch MOS
The pole D of pipe T connects electromagnetic coil 206, and the pole the S ground connection of switch metal-oxide-semiconductor T, the pole G of switch metal-oxide-semiconductor T connects controller 5, controller
5 are set in mounting base 4, and the magnetic direction of electromagnetic coil 206 generates when energization magnetic direction and permanent magnet 205 is opposite.Electricity
The voltage-stabilizing device of the compositions such as resistance, capacitor, inductance is also connected between magnetic coil 206 and switch metal-oxide-semiconductor T.
Down tube 203 as shown in Figure 4 and 301 clearance fit of mounting hole, there are two the protrusions being oppositely arranged for 203 periphery of down tube
Sliding rail 2031 is provided with several conductive bars 2032 extended on sliding rail length direction, conductive bar 2032 on each sliding rail 2031
It is correspondingly connected with respectively with the control line of RGBLED module 201 and power supply line by conducting wire, conducting wire passes through upper tube 202 and down tube 203
Inside, there are two the groove 302 being oppositely arranged on 301 circumference of mounting hole, groove 302 is slidably connected with sliding rail 2031, under realization
Pipe 203 and the opposite of mounting hole 301 are slided, and are provided with several conductive contact blocks 3021, each conductive contact block in groove 302
A 3021 corresponding conductive bars 2032, down tube 203 and mounting hole 301 are opposite slide during, conductive contact block 3021 with
Its corresponding conductive bar 2032 remains contact conduction state, and conductive contact block 3021 passes through the conducting wire difference in positioning plate 3
Connect power supply and controller 5.
As shown in Fig. 2,5-6, go up and down the control mode of display unit 2: controller 5 is output to switch MOS by adjusting it
The duty ratio of the PWM wave of pipe T flows through the electric current of electromagnetic coil 206 to adjust, and generates magnetic field to control electromagnetic coil 206 and be powered
Power.The magnetic direction and 205 magnetic direction of permanent magnet generated due to the energization of electromagnetic coil 206 is on the contrary, 206 He of electromagnetic coil
Mutually exclusive repulsion is generated between permanent magnet 205, is powered by control electromagnetic coil 206 and is generated the strong and weak to control of magnetic field
Mutually exclusive repulsion size is generated between electromagnetic coil 206 and permanent magnet 205；Pass through control electromagnetic coil 206 and permanent magnet
Repulsion size between 205, controls the distance of repulsion compressed spring 204, so that the height that lifting display unit 2 is gone up and down is controlled,
It goes up and down and stops when elastic force when repulsion is compressed with spring 204 is identical.
Colored display control mode: the control signal control RGBLED module 201 exported by controller 5 shows difference
Color.
Robot stereo colour display device working method are as follows: host computer is inputted to the robot stereo colour display device
The three-D profile information and color information of one figure, controller 5 are controlled according to graphical three-dimensional profile information output signal and are gone up and down
The display matrix that display unit 2 forms carries out corresponding lift adjustment, realizes the stereoscopic display to the figure, while controller 5
The color that figure corresponding portion is shown according to the color information control RGBLED module 201 of host computer input is realized three-dimensional color
Color is shown.
It above are only the preferred embodiment and institute's application technology principle of invention, anyone skilled in the art
In the technical scope disclosed by the present invention, the change or replacement embodiment being readily apparent that should all cover in protection of the invention
In range.
Claims (8)
1. robot stereo colour display device comprising shell (1), lifting display unit (2), positioning plate (3), pedestal (4)
With controller (5), the shell (1) is in top opening structure, is mounted on the pedestal (4) top, the lifting display unit
(2) have multiple, form stereoscopic display interface in rectangular be arranged in the shell (1), the positioning plate (3) is fixed
It is mounted in the shell (1), each lifting display unit (2) and the positioning plate (3) are to be slidably connected, the control
Device (5) processed and the lifting display unit (2) connection, for controlling lifting display unit (2) operation；The lifting display
The display matrix top of unit (2) composition is covered with elastic transparent film (6), the elastic transparent film (6) and shell (1) fixed company
It connects；It is characterized in that: each lifting display unit (2) includes: RGBLED module (201), upper tube (202), down tube
(203), spring (204), permanent magnet (205) and electromagnetic coil (206)；The positioning plate (3) includes: mounting hole (301), sleeve
(303)；Each lifting display unit (2) corresponds to a mounting hole (301)；The RGBLED module (201), it is described on
Pipe (202), the down tube (203) and the permanent magnet (205) are sequentially connected from top to bottom；The sleeve (303) is set in institute
It is external to state down tube (203), the spring (204) and the permanent magnet (205), sleeve (303) the upper end connection is described fixed
Position plate (3) lower end, sleeve (303) lower end connect the interior bottom of the shell (1)；The spring (204) be mounted on it is described forever
Between magnet (205) and the positioning plate (3), the top of the spring (204) is connected to the positioning plate (3) lower end, described
The lower part of spring (204) is connected to the upper end of the permanent magnet (205)；In the sleeve (303), the interior bottom of the shell (1)
The electromagnetic coil (206) are fixedly installed in portion.
2. robot stereo colour display device according to claim 1, it is characterised in that: the RGBLED module
(201) and the upper tube (202) is located at the top of the positioning plate (3), and the outer diameter of the upper tube (202) is greater than the installation
The internal diameter in hole (301), the down tube (203) pass through the mounting hole (301), the down tube (203) and the mounting hole (301)
Clearance fit.
3. robot stereo colour display device according to claim 2, it is characterised in that: down tube (203) periphery
There are two the sliding rail (2031) for the protrusion being oppositely arranged, it is provided on each sliding rail (2031) several in sliding rail length direction
The conductive bar (2032) of upper extension, the conductive bar (2032) by conducting wire respectively with the control line of RGBLED module (201) and
Power supply line is correspondingly connected with, and above-mentioned conducting wire both passes through the upper tube (202) and the down tube (203) is internal, the mounting hole (301)
There are two the groove (302) being oppositely arranged on circumference, the groove (302) is slidably connected with the sliding rail (2031), realizes institute
The opposite sliding of down tube (203) and the mounting hole (301) is stated, is provided with several conductive contact blocks in the groove (302)
(3021), the corresponding conductive bar (2032) of each conductive contact block (3021), the down tube (203) with it is described
During the opposite sliding of mounting hole (301), the corresponding conductive bar (2032) of the conductive contact block (3021) begins
It is kept in contact conduction state eventually, the conductive contact block (3021) is separately connected power supply by the conducting wire in the positioning plate (3)
With the controller (5).
4. robot stereo colour display device according to claim 3, it is characterised in that: the electromagnetic coil (206)
With core structure, the magnetic direction generated is parallel to the direction of motion of lifting display unit (2), the electromagnetic coil
(206) one end connects DC power supply DC2, and the other end of the electromagnetic coil (206) is in series with switch metal-oxide-semiconductor (T), described to open
The pole D for closing metal-oxide-semiconductor (T) connects the electromagnetic coil (206), the pole the S ground connection of switch metal-oxide-semiconductor (T), the switch metal-oxide-semiconductor
(T) the pole G connects the controller (5), and the controller (5) is set in the mounting base (4).
5. robot stereo colour display device according to claim 4, it is characterised in that: the electromagnetic coil (206)
(2) voltage-stabilizing device of the compositions such as resistance, capacitor, inductance is also connected between switch metal-oxide-semiconductor (T).
6. robot stereo colour display device according to claim 1-5, it is characterised in that: the lifting is aobvious
The display matrix for showing unit (2) composition is 10 × 10~3000 × 3000.
7. according to the control method of the described in any item robot stereo colour display devices of claim 4-6, it is characterized in that: on
Position machine inputs the three-D profile information and color information of a figure, the controller to the robot stereo colour display device
(5) it is carried out according to the display matrix of graphical three-dimensional profile information output signal control lifting display unit (2) composition corresponding
Lift adjustment, realize stereoscopic display to the figure, while the color information control that the controller (5) is inputted according to host computer
RGBLED module (201) processed shows the color of figure corresponding portion, realizes that stereo colour is shown.
8. the control method of robot stereo colour display device according to claim 7, it is characterized in that: the controller
(5) electromagnetic coil (206) are flowed through to adjust by adjusting the duty ratio of its PWM wave for being output to switch metal-oxide-semiconductor (T)
Electric current, thus control the electromagnetic coil (206) be powered generate magnetic field power；The electromagnetic coil (206), which is powered, to be generated
Magnetic direction and the permanent magnet (205) magnetic direction on the contrary, the electromagnetic coil (206) and the permanent magnet (205) it
Between generate mutually exclusive repulsion, being powered by controlling the electromagnetic coil (206) generates the strong and weak to described in control of magnetic field
Mutually exclusive repulsion size is generated between electromagnetic coil (206) and the permanent magnet (205)；By controlling the electromagnetic coil
(206) the repulsion size between the permanent magnet (205), control repulsion compresses the distance of the spring (204), to control
The height of lifting display unit (2) lifting, lifting when elastic force when repulsion is compressed with the spring (204) is identical
Stop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810769265.6A CN109001912B (en) | 2018-07-13 | 2018-07-13 | Robot stereo color display device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810769265.6A CN109001912B (en) | 2018-07-13 | 2018-07-13 | Robot stereo color display device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109001912A true CN109001912A (en) | 2018-12-14 |
| CN109001912B CN109001912B (en) | 2020-11-10 |
Family
ID=64599551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810769265.6A Active CN109001912B (en) | 2018-07-13 | 2018-07-13 | Robot stereo color display device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109001912B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110706611A (en) * | 2019-10-28 | 2020-01-17 | 广州粤靓计算机有限责任公司 | Stereoscopic display screen, display method of stereoscopic display screen and storage medium |
| WO2020147535A1 (en) * | 2019-01-18 | 2020-07-23 | 京东方科技集团股份有限公司 | Display panel, display device, three-dimensional display method, and three-dimensional display system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102184662A (en) * | 2011-05-23 | 2011-09-14 | 桂林理工大学 | Electromagnetic push-pull Braille touch screen |
| CN206097797U (en) * | 2016-10-08 | 2017-04-12 | 南京林业大学 | Magnetic current body display |
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2018
- 2018-07-13 CN CN201810769265.6A patent/CN109001912B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102184662A (en) * | 2011-05-23 | 2011-09-14 | 桂林理工大学 | Electromagnetic push-pull Braille touch screen |
| CN206097797U (en) * | 2016-10-08 | 2017-04-12 | 南京林业大学 | Magnetic current body display |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020147535A1 (en) * | 2019-01-18 | 2020-07-23 | 京东方科技集团股份有限公司 | Display panel, display device, three-dimensional display method, and three-dimensional display system |
| US11310482B2 (en) | 2019-01-18 | 2022-04-19 | Boe Technology Group Co., Ltd. | Display panel, display apparatus, three-dimensional display method and three-dimensional display system |
| CN110706611A (en) * | 2019-10-28 | 2020-01-17 | 广州粤靓计算机有限责任公司 | Stereoscopic display screen, display method of stereoscopic display screen and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109001912B (en) | 2020-11-10 |
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