CN117340931A - All-angle autonomous adjustable multimedia real object exhibition device - Google Patents

All-angle autonomous adjustable multimedia real object exhibition device Download PDF

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Publication number
CN117340931A
CN117340931A CN202311225656.9A CN202311225656A CN117340931A CN 117340931 A CN117340931 A CN 117340931A CN 202311225656 A CN202311225656 A CN 202311225656A CN 117340931 A CN117340931 A CN 117340931A
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China
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pin
capacitor
pins
gnd
respectively connected
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CN117340931B (en
Inventor
李迎玉
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Beijing Sanyueyu Culture Communication Co ltd
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Beijing Sanyueyu Culture Communication Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
    • A47F7/00—Show stands, hangers, or shelves, adapted for particular articles or materials
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Details Of Connecting Devices For Male And Female Coupling (AREA)
  • Electronic Switches (AREA)

Abstract

The invention belongs to the technical field of control systems, and particularly relates to an all-angle autonomous adjustable multimedia entity exhibition device. The invention provides a hardware foundation of a full-angle autonomous adjustable multimedia entity exhibition device. The invention comprises a gesture acquisition end part, a mechanical arm communication circuit, a mechanical arm power supply control circuit, a mechanical arm control end part, an electric reciprocating push rod control part, a cradle head communication circuit, a power input part and a 4G network communication part, and is characterized in that a control signal output port of the mechanical arm control end part is respectively connected with a control signal input port of the mechanical arm communication circuit, a control signal input port of the electric reciprocating push rod control part, a control signal input port of the cradle head communication circuit and a control signal input port of the mechanical arm power supply control circuit, and a communication port of the mechanical arm control end part is connected with a communication port of the 4G network communication part.

Description

All-angle autonomous adjustable multimedia real object exhibition device
Technical Field
The invention belongs to the technical field of control systems, and particularly relates to an all-angle autonomous adjustable multimedia entity exhibition device.
Background
At present, exhibition and display are needed in various industries, so that masses can know the articles in detail, and an intelligent exhibition device can influence the mood and the exhibition effect of an observer, so that the exhibition device is very important to the effect of exhibition and display. The real object exhibition device in the prior art can not realize remote real-time multi-angle observation of real exhibited objects generally, and based on the real object exhibition device, the invention further improves the real object exhibition device so as to improve the experience effect of remote participation exhibition of spectators.
Disclosure of Invention
The invention aims at the problems and provides a hardware foundation of the full-angle autonomous adjustable multimedia entity exhibition device.
In order to achieve the above purpose, the invention adopts the following technical scheme that the invention comprises a gesture acquisition end part, a mechanical arm communication circuit, a mechanical arm power supply control circuit, a mechanical arm control end part, an electric reciprocating push rod control part, a cradle head communication circuit, a power input part and a 4G network communication part, and is characterized in that a control signal output port of the mechanical arm control end part is respectively connected with a control signal input port of the mechanical arm communication circuit, a control signal input port of the electric reciprocating push rod control part, a control signal input port of the cradle head communication circuit and a control signal input port of the mechanical arm power supply control circuit, a communication port of the mechanical arm control end part is connected with a communication port of the 4G network communication part, and an electric energy output port of the power input part is respectively connected with a power port of the mechanical arm communication circuit, a power port of the mechanical arm power supply control circuit, a power port of the mechanical arm control end part, a power port of the electric reciprocating push rod control part, a power port of the cradle head communication circuit and a power port of the 4G network communication part.
As a preferable scheme, the gesture acquisition end part comprises JY901S chips U1, pins 2, 3, 4, 5, 8 and 11 of the U1 are respectively and correspondingly connected with +3. V, RXD, TXD, GND and +3.3V, the +3.3V is respectively connected with one end of NRST and one end of a capacitor C13 through a resistor R4, and the other end of the C13 is grounded;
pins 1, 2, 3 and 4 of the connector P1 are correspondingly connected with +3. V, TMS, TCK, GND respectively, and pins 1, 2 and 3 of the connector P2 are correspondingly connected with GND, PA10 and PA9 respectively;
+3.3V is connected with one end of the capacitor C1-C6 respectively, and the other end of the capacitor C1-C6 is connected with GND;
the 1 pin of the STM32F105RBT6 chip U2 is connected with +3.3V, the 3 pin of U2 is respectively connected with one end of a capacitor C7 and one end of a crystal oscillator Y1, the other end of C7 is respectively connected with one end of a capacitor C8, the other end of C8 is respectively connected with the other end of Y1 and 4 pins of U2, the 5 pin of U2 is respectively connected with one end of a capacitor C11 and one end of a crystal oscillator X1, the other end of C11 is respectively connected with one end of a capacitor C12, the other end of C12 is respectively connected with the other end of X1 and 6 pins of U2, the 7, 12, 13, 16, 17, 18, 19, 31, 32, 46-49 and 51-55 pins of U2 are respectively connected with NRST, GND, +3.3V, RXD, TXD, GND, +3.3V, GND, +3. V, TMS, GND, +3. V, TCK, COM3_TXD, COM3_RXD, Q560_SVR, GPRS_ON/OFF, the 60 pins of U2 are respectively connected with GND1, GND, and the 6 pins of U2 are respectively connected with GND, and +3V;
the 2 pins of the NA15-V2S12 module POW1 are respectively connected with one end of a fuse F1 and one end of a piezoresistor RV1, the other end of the F1 is connected with an L end, the other end of the RV1 is respectively connected with an N end and 3 pins of the POW1, 7 pins and 8 pins of the POW1 are connected with GND1, 4 pins of the POW1 are respectively connected with the V1 end, the anode of a diode D3 and the positive electrode of a power socket CH1 through a diode D2, the negative electrode of the CH1 is respectively connected with one end of the GND1 and one end of a magnetic bead L2, and the other end of the L2 is connected with GND; d3 cathode is connected with +12v through L1;
the 1 pin of the LM2576-5.0 chip U5 is respectively connected with +12V, one end of a capacitor C16 and one end of a capacitor C17, the other end of the capacitor C16 is respectively connected with the other end of the C17, the 3 pin of the U5, the 5 pin of the U5, the anode of a diode D4, one end of a capacitor C18, one end of a capacitor C19 and GND, the cathode of the D4 is respectively connected with the 2 pin of the U5 and one end of an inductor L3, and the other end of the L3 is respectively connected with the 4 pin of the U5, + V, C18 other end and the other end of the C19;
GND is respectively connected with one end of a capacitor C21 and one end of a capacitor C20, and the other ends of the capacitor C2 and the capacitor C20 are connected with +5V;
AMS1117-3.3 chip U4's 3 pin is connected +5V, and U4's 2, 4 pin link to each other with electric capacity C15 positive pole, VCC, electric capacity C14 one end respectively, and C14 other end links to each other with U4's 1 pin, ground, C15 negative pole respectively.
The base electrode of NPN triode Q1 is connected with one end of resistor R6 and one end of resistor R7 respectively, the other end of R6 is connected with GPRS_ON/OFF through LED1, the other end of R7 is connected with Q1 emitter and GND respectively, Q1 collector is connected with D1 anode of diode, 4 feet of SRD-12VDC-SL-C relay K1 respectively, D1 cathode is connected with 1 foot of + V, K1 respectively, 1 foot 3, 5 feet of K1 are connected with +12V, +12VGPRS correspondingly respectively;
1825057-1 switch SW1 has 1 pin COM3_RXD, SW1 has 2 pin COM3_TXD, SW1 has 3 pin connected with 1 pin J1 and resistor R3, SW1 has 4 pin connected with 1 pin J1 and resistor R2, J1 has 3 pin grounded, R2 has another end connected with 4 pin of Q560 module U3, R3 has another end connected with 5 pin U3, U3 has 1 pin +12VGPRS, U3 has 2, 3 pins GND, U3 has 6 pin grounded, U3 has 9 pin connected with Q560_SVR through resistor R5, U3 has 13 pin connected with Q560_RST through resistor R8, U3 has 14, 15 pins grounded;
the +12VGPRS is respectively connected with one end of a capacitor C9 and one end of a capacitor C10, and the other ends of the capacitor C9 and the capacitor C10 are connected with GND.
As another preferable scheme, the mechanical arm communication circuit comprises SP3485EN-L/TR chips U8, 1 pin PA3 of U8, 2 pin PA4 of U8, 3 pin PA4 of U8, 4 pin PA2 of U8, 5 pin 6 and 7 pin of U8 are respectively and correspondingly connected with +3.3V1, GND and RS485A, RS B, +3.3V is respectively connected with one end of a capacitor C22, one end of a capacitor C23 and +3.3V1 through an inductor L4, and the other ends of the capacitor C22 and the capacitor C23 are connected with GND;
ACT45B-510-2P-TL003 common mode filter L8, 3 pins RS485B of L8, 4 pins RS485A of L8, 2 pins of L8 are respectively connected with 2 pins of connector P3 and one end of magnetic bead L6 through fuse F3, the other pin of L6 is connected with 2 pins of connector CH4, 1 pin of CH4 is respectively connected with one end of resistor R9 and one end of fuse F4 through magnetic bead L10, the other end of R9 is connected with 1 pin of P3, and the other end of F4 is connected with 1 pin of L8.
As another preferable scheme, the power supply control circuit of the mechanical arm comprises an NPN triode Q2, wherein the emitter of the Q2 is connected with GND, the base of the Q2 is connected with PC0 through a resistor R10, the collector of the Q2 is connected with the control end of a relay K2, one end of the controlled end of the K2 is connected with +24V, and the other end of the controlled end of the K2 is connected with +24VOUT through a magnetic bead L11.
As another preferable scheme, the control end part of the mechanical arm comprises STM32F105RBT6 chips U9, pins 7, 8, 16, 17, 20 and 27-30 of the U9 are respectively and correspondingly connected with NRST, PC0, PA2, PA3, PA4, PB1, PB2, PB10 and PB11, pins 37, 38, 41-43, 46, 49 and 57 of the U9 are respectively and correspondingly connected with PC6, PC7, PA8, PA9, PA10 and TMS, TCK, PB5, and PA5 is sequentially connected with GND through a resistor R12 and a light-emitting diode E1.
As another preferable scheme, the control part of the electric reciprocating push rod comprises a HH63P relay K4 and a control signal output port of the HH63P relay K5, the control signal output ports of the K4 and the control signal output port of the control signal output ports of the HH63P relay K5 are connected with a connector CH5, a10 pin of the K4 is connected with a collector electrode of an NPN triode Q4, an emitter electrode of the Q4 is connected with GND, and a base electrode of the Q4 is connected with PB3 through a resistor R22; the 10 pin of K5 is connected with the collector of NPN triode Q5, the emitter of Q5 is connected with GND, and the base of Q5 is connected with PD2 through resistor R24.
As another preferable scheme, the cradle head communication circuit comprises SP3485EN-L/TR chips U11, 1 pin PA10 of U11, 2 pin PA8 of U11, 3 pin PA9 of U11, 8 pin PA5 of U11, 6 pin PA 7 of U11, 4 pin of L15 and 3 pin L15 of ACT45B-510-2P-TL003 common mode filter L15 respectively connected with +3.3V1, GND and ACT45B-510, +3.3V is connected with one end of C42 and one end of C43 respectively through an inductor L12, +3.3V1, and the other ends of C42 and C43 are connected with GND;
the pin 2 of L15 is connected with pin 2 of connector P5 and one end of magnetic bead L13 respectively through fuse F5, the other pin 2 of L13 is connected with connector CH7, the pin 1 of CH7 is connected with one end of resistor R21 and one end of fuse F6 respectively through magnetic bead L14, the other end of R21 is connected with pin 1 of P5, and the other end of F6 is connected with pin 1 of L15.
Secondly, the power input part comprises connectors CH3 and CH3, wherein the pins 2 of the connectors CH3 and CH3 are respectively connected with one end of a capacitor CY1, one end of a capacitor CY2 and a first end of a common-mode inductor L7 through a fuse F2, the other end of the capacitor CY1 is respectively connected with FE and J2, the other end of the capacitor CY2 is respectively connected with one end of a capacitor CY4 and the second end of the pin 1 and L7 of the capacitor CH3, and the other end of the capacitor CY4 is respectively connected with FE and J3; the third end of L7 is connected with +24V through a diode D5 and a magnetic bead L5 in sequence, and the fourth end of L7 is connected with GND through a magnetic bead L9;
1 pin of the K7805M module U6 is connected with +24V;
the 3 pin of U6 is connected with the Vin port of + V, AMS1117-3.3 module U7 respectively, and the Vout port of U7 is connected with +3.3V.
In addition, the 4G network communication part comprises NPN triodes Q3, the base electrodes of the Q3 are sequentially connected with PB5 through a resistor R18 and a light-emitting diode LED2, the emitter electrode of the Q3 is connected with GND, the collector electrode of the Q3 is connected with the 4 pin of an SRD-24VDC-SL-C relay K3, and the 1 pin of the K3 is connected with +24V; 5 pins of K3 +24VGPRS, 3 pins of K3 +24V;
1825057-1 switch SW 2's 1, 2 foot respectively with PB11, PB10 correspond to link to each other, SW 2's 4 foot respectively with connector J4's 1 foot, resistance R15 one end links to each other, SW 2's 3 foot respectively with J4's 2 foot, resistance R16 one end, R15 other end termination Q560 chip U10's 4 foot, R16 other end termination U10's 5 foot, U10's 9 foot passes through resistance R17 and connects PB1, U10's 13 foot passes through resistance R20 and connects PB2.
The invention has the beneficial effects that.
The electric reciprocating push rod control part can be used for adjusting the lifting and lowering of the camera to check targets in more detail.
The cradle head communication circuit can control the camera to check targets at multiple angles. The camera is installed above the cloud platform, and the cloud platform rotates the camera and follows the rotation, controls the multi-angle and looks over the target.
The gesture acquisition end part can acquire the hand action of a user and send gesture data to the cloud end, the 4G network communication part sends the gesture data of the cloud end to the mechanical arm control end part, and the mechanical arm control end part provides a mechanical arm communication circuit to control the mechanical arm to perform corresponding actions.
The user remotely controls the electric reciprocating push rod and the cradle head, and the displayed object is observed through the camera, and simultaneously the gesture sensor is held by the hand, so that the mechanical arm can make corresponding actions; the mechanical arm also does the same action through the change of the hand-held gesture sensor.
The user controls the electric reciprocating push rod and the cradle head through the remote terminal.
The displayed articles are always arranged on the mechanical arm, namely, when no person operates, the displayed articles are also arranged on the mechanical arm, and a user only controls the angle of the mechanical arm and does not control the mechanical arm to grasp the displayed articles.
The invention relates to a multimedia real object exhibition device with adjustable pictures, videos, sounds (camera bands) and multiple angles.
Drawings
The invention is further described below with reference to the drawings and the detailed description. The scope of the present invention is not limited to the following description.
Fig. 1 and 2 are schematic diagrams of the circuit of the attitude acquisition end portion of the present invention.
FIG. 3 is a schematic diagram of a communication circuit of a robot arm according to the present invention.
Fig. 4 is a schematic diagram of a power supply control circuit for a robot arm according to the present invention.
Fig. 5 is a schematic circuit diagram of a portion of the control end of the robot arm of the present invention.
Fig. 6 is a schematic circuit diagram of a control portion of the electric reciprocating push rod of the present invention.
Fig. 7 is a schematic diagram of a cradle head communication circuit according to the present invention.
Fig. 8 is a schematic circuit diagram of the power input portion of the present invention.
Fig. 9 is a schematic circuit diagram of a communication portion of the 4G network of the present invention.
Detailed Description
The invention comprises a gesture acquisition end part, a mechanical arm communication circuit, a mechanical arm power supply control circuit, a mechanical arm control end part, an electric reciprocating push rod control part, a cradle head communication circuit, a power input part and a 4G network communication part, wherein a control signal output port of the mechanical arm control end part is respectively connected with a control signal input port of the mechanical arm communication circuit, a control signal input port of the electric reciprocating push rod control part, a control signal input port of the cradle head communication circuit and a control signal input port of the mechanical arm power supply control circuit, a communication port of the mechanical arm control end part is connected with a communication port of the 4G network communication part, and an electric energy output port of the power input part is respectively connected with a power port of the mechanical arm communication circuit, a power port of the mechanical arm power supply control circuit, a power port of the mechanical arm control end part, a power port of the electric reciprocating push rod control part, a power port of the cradle head communication circuit and a power port of the 4G network communication part.
As shown in fig. 1 and 2, the gesture collection end part comprises JY901S chips U1, pins 2, 3, 4, 5, 8 and 11 of U1 are respectively and correspondingly connected with +3. V, RXD, TXD, GND and +3.3V, +3.3V is respectively connected with one end of NRST and one end of a capacitor C13 through a resistor R4, and the other end of C13 is grounded;
pins 1, 2, 3 and 4 of the connector P1 are correspondingly connected with +3. V, TMS, TCK, GND respectively, and pins 1, 2 and 3 of the connector P2 are correspondingly connected with GND, PA10 and PA9 respectively;
+3.3V is connected with one end of the capacitor C1-C6 respectively, and the other end of the capacitor C1-C6 is connected with GND;
the 1 pin of the STM32F105RBT6 chip U2 is connected with +3.3V, the 3 pin of U2 is respectively connected with one end of a capacitor C7 and one end of a crystal oscillator Y1, the other end of C7 is respectively connected with one end of a capacitor C8, the other end of C8 is respectively connected with the other end of Y1 and 4 pins of U2, the 5 pin of U2 is respectively connected with one end of a capacitor C11 and one end of a crystal oscillator X1, the other end of C11 is respectively connected with one end of a capacitor C12, the other end of C12 is respectively connected with the other end of X1 and 6 pins of U2, the 7, 12, 13, 16, 17, 18, 19, 31, 32, 46-49 and 51-55 pins of U2 are respectively connected with NRST, GND, +3.3V, RXD, TXD, GND, +3.3V, GND, +3. V, TMS, GND, +3. V, TCK, COM3_TXD, COM3_RXD, Q560_SVR, GPRS_ON/OFF, the 60 pins of U2 are respectively connected with GND1, GND, and the 6 pins of U2 are respectively connected with GND, and +3V;
the 2 pins of the NA15-V2S12 module POW1 are respectively connected with one end of a fuse F1 and one end of a piezoresistor RV1, the other end of the F1 is connected with an L end, the other end of the RV1 is respectively connected with an N end and 3 pins of the POW1, 7 pins and 8 pins of the POW1 are connected with GND1, and 4 pins of the POW1 are respectively connected with the V1 end, an anode of a diode D3 and a power socket CH1 through a diode D2;
CH1 is a direct current 12V input end, so that the device is convenient to use in mass production; the debugging is convenient to access, the speed is high, and the voltage is low and safe.
The anode is connected with the cathode of CH1, the cathode of CH1 is connected with GND1 and one end of magnetic bead L2 respectively, and the other end of L2 is connected with GND; d3 cathode is connected with +12v through L1;
GND1 is a front ground network without a magnetic ring, GND is a rear ground network with a magnetic ring, and the anti-interference effect is achieved.
The 1 pin of the LM2576-5.0 chip U5 is respectively connected with +12V, one end of a capacitor C16 and one end of a capacitor C17, the other end of the capacitor C16 is respectively connected with the other end of the C17, the 3 pin of the U5, the 5 pin of the U5, the anode of a diode D4, one end of a capacitor C18, one end of a capacitor C19 and GND, the cathode of the D4 is respectively connected with the 2 pin of the U5 and one end of an inductor L3, and the other end of the L3 is respectively connected with the 4 pin of the U5, + V, C18 other end and the other end of the C19;
GND is respectively connected with one end of a capacitor C21 and one end of a capacitor C20, and the other ends of the capacitor C2 and the capacitor C20 are connected with +5V;
AMS1117-3.3 chip U4's 3 pin is connected +5V, and U4's 2, 4 pin link to each other with electric capacity C15 positive pole, VCC, electric capacity C14 one end respectively, and C14 other end links to each other with U4's 1 pin, ground, C15 negative pole respectively.
The base electrode of NPN triode Q1 is connected with one end of resistor R6 and one end of resistor R7 respectively, the other end of R6 is connected with GPRS_ON/OFF through LED1, the other end of R7 is connected with Q1 emitter and GND respectively, Q1 collector is connected with D1 anode of diode, 4 feet of SRD-12VDC-SL-C relay K1 respectively, D1 cathode is connected with 1 foot of + V, K1 respectively, 1 foot 3, 5 feet of K1 are connected with +12V, +12VGPRS correspondingly respectively;
1825057-1 switch SW1 has 1 pin COM3_RXD, SW1 has 2 pin COM3_TXD, SW1 has 3 pin connected with 1 pin J1 and resistor R3, SW1 has 4 pin connected with 1 pin J1 and resistor R2, J1 has 3 pin grounded, R2 has another end connected with 4 pin of Q560 module U3, R3 has another end connected with 5 pin U3, U3 has 1 pin +12VGPRS, U3 has 2, 3 pins GND, U3 has 6 pin grounded, U3 has 9 pin connected with Q560_SVR through resistor R5, U3 has 13 pin connected with Q560_RST through resistor R8, U3 has 14, 15 pins grounded;
the +12VGPRS is respectively connected with one end of a capacitor C9 and one end of a capacitor C10, and the other ends of the capacitor C9 and the capacitor C10 are connected with GND.
The gesture sensor U1 sends gesture data to U2;
then the cloud server sends the cloud server through U3; and the cloud server sends the gesture data to U9 through U10, and the U9 controls the mechanical arm to make corresponding actions.
And acquiring data of a transverse angle, a pitching angle and a rolling angle through an attitude sensor U1.
The operator holds the attitude sensor U1 to change the angle, and the remote mechanical arm follows the change to change the same angle.
The data of the attitude sensor is sent to the U2, the U2 can be published to the Arian by using the MQTT protocol of the Arian through the U3, the U9 subscribes to the published information of the U2 through the U10, the data of the U2 and the U9 are synchronized, and the mechanical arm and the attitude sensor U1 can conveniently make corresponding actions. The IP address of the alicloud is fixed, facilitating the establishment of a connection between devices.
The gesture data are released to the Arian cloud, which is equivalent to virtually building a cloud gesture sensor in the cloud, wherein the current state value of the cloud gesture sensor is a U3 real-time uploading value.
U10 gathers high in the clouds attitude sensor's state value in real time to send attitude data to U9, U9 communicates with the robotic arm through U8, control robotic arm and make the action corresponding with attitude sensor.
And K1 is used for controlling the power supply of the 4G chip, and if the 4G chip is halted and the like, the power-off reset is carried out.
Q560_svr, q560_rst, com3_rxd, com3_txd are used to transmit data of the attitude sensor and necessary login information (e.g., triplet information) of the connection cloud server, respectively.
As shown in fig. 3, the mechanical arm communication circuit includes SP3485EN-L/TR chips U8, 1 pin PA3 of U8, 2 and 3 pins PA4 of U8, 4 pins PA2 of U8, 5, 6 and 7 pins of U8 are respectively connected with +3.3V1, GND and RS485A, RS B correspondingly, +3.3v is respectively connected with one end of a capacitor C22, one end of a capacitor C23 and +3.3V1 through an inductor L4, and the other ends of the capacitor C22 and the capacitor C23 are connected with GND;
ACT45B-510-2P-TL003 common mode filter L8, 3 pins RS485B of L8, 4 pins RS485A of L8, 2 pins of L8 are respectively connected with 2 pins of connector P3 and one end of magnetic bead L6 through fuse F3, the other pin of L6 is connected with 2 pins of connector CH4, 1 pin of CH4 is respectively connected with one end of resistor R9 and one end of fuse F4 through magnetic bead L10, the other end of R9 is connected with 1 pin of P3, and the other end of F4 is connected with 1 pin of L8.
The connector P3 is used for adding an anti-interference resistor 120 ohm resistor into the RS485 bus; and adding an anti-interference resistor when the measured bus resistance is 120 ohms or more.
U8 is 485 communication chip, through U8 and robotic arm control end part communication, robotic arm control end part control RM65 robotic arm work.
The mechanical arm communication circuit has the functions of lightning protection, interference resistance and surge resistance. D6-D10 are used for lightning protection, F3 and F4 are used for surge resistance, and L8 and C28 are used for interference resistance.
As shown in FIG. 4, the power supply control circuit of the mechanical arm comprises an NPN triode Q2, the emitter of the Q2 is connected with GND, the base of the Q2 is connected with PC0 through a resistor R10, the collector of the Q2 is connected with the control end of a relay K2, one end of the controlled end of the K2 is connected with +24V, and the other end of the controlled end of the K2 is connected with +24VOUT through a magnetic bead L11.
When the mechanical arm is in emergency, for example, the mechanical arm is blocked, dead or not responded (namely, communication fails, communication does not respond), Q2 receives a control signal controlled by a control end part of the mechanical arm through the PC0, the power supply of the mechanical arm is cut off and then the power supply is electrified again, whether the communication can be recovered or not is detected (whether the communication can be recovered or not is detected by the fact that the communication has a response again).
As shown in FIG. 5, the control end portion of the mechanical arm comprises STM32F105RBT6 chips U9, pins 7, 8, 16, 17, 20 and 27-30 of U9 are respectively and correspondingly connected with NRST, PC0, PA2, PA3, PA4, PB1, PB2, PB10 and PB11, pins 37, 38, 41-43, 46, 49 and 57 of U9 are respectively and correspondingly connected with PC6, PC7, PA8, PA9, PA10 and TMS, TCK, PB5, and PA5 is sequentially connected with GND through a resistor R12 and a light emitting diode E1.
And U9, acquiring a data value of the current gesture of the gesture sensor through the cloud server, and controlling the mechanical arm to perform corresponding actions.
As shown in fig. 6, the control part of the electric reciprocating push rod comprises a HH63P relay K4 and HH63P relays K5, control signal output ports of K4 and K5 are connected with a connector CH5, a10 pin of K4 is connected with a collector of an NPN triode Q4, an emitter of Q4 is connected with GND, and a base of Q4 is connected with PB3 through a resistor R22; the 10 pin of K5 is connected with the collector of NPN triode Q5, the emitter of Q5 is connected with GND, and the base of Q5 is connected with PD2 through resistor R24.
TJC-C1-24 electric reciprocating push rod can be adopted, the electric reciprocating push rod is arranged on the cradle head, and the camera is arranged on the electric reciprocating push rod.
Q4 and Q5 are used to control the forward and reverse rotation of the push rod motor.
As shown in fig. 7, the cradle head communication circuit includes SP3485EN-L/TR chips U11, 1 pin PA10 of U11, 2 pin PA8 of U11, 3 pin PA9 of U11, 8 pin PA5 of U11, 6 pin PA 7 of U11, 4 pin L15 of the common mode filter L15 of +3.3V1, GND, ACT45B-510-2P-TL003, 3 pin L15, respectively, +3.3v is connected to one end of a capacitor C42, one end of C43, +3.3V1, respectively, through an inductor L12, and the other ends of C42 and C43 are connected to GND;
+3.3V1 is 3.3V after passing through the magnetic ring, and the anti-interference effect is improved.
The pin 2 of L15 is connected with pin 2 of connector P5 and one end of magnetic bead L13 respectively through fuse F5, the other pin 2 of L13 is connected with connector CH7, the pin 1 of CH7 is connected with one end of resistor R21 and one end of fuse F6 respectively through magnetic bead L14, the other end of R21 is connected with pin 1 of P5, and the other end of F6 is connected with pin 1 of L15.
The connector P5 is used for selecting whether the anti-interference resistor of the RS485 bus is added to the RS485 network.
As shown in fig. 8, the power input part includes connectors CH3, and the pins 2 of the connectors CH3, CH3 are respectively connected to one end of a capacitor CY1, one end of a capacitor CY2, and a first end of a common-mode inductor L7 through a fuse F2, the other end of the capacitor CY1 is respectively connected to FE (FE is a ground line), and J2, the other end of the capacitor CY2 is respectively connected to one end of the capacitor CY4, the pins 1 of the connector CH3, and a second end of the connector L7, and the other end of the connector CY4 is respectively connected to FE and J3; the third end of L7 is connected with +24V through a diode D5 and a magnetic bead L5 in sequence, and the fourth end of L7 is connected with GND through a magnetic bead L9;
the 1 pin of the K7805M module U6 is connected with +24V, the 3 pin of the U6 is respectively connected with the Vin port of the + V, AMS1117-3.3 module U7, and the Vout port of the U7 is connected with +3.3V.
J2 and J3 are grounding screw holes.
CH3 is a DC 24V input port.
The power input section is used to provide the appropriate voltage to the various parts of the system. The power input part has an anti-interference function, is suitable for the motor of the robot arm and is used for coping with the oscillation of products loaded on a power supply line with the motor. TVS1 is used for overvoltage protection, CY1, CY2, CY4 are used for resisting differential mode interference, L7 is used for resisting common mode interference, and L5 and L9 are used for resisting transient glitch interference.
As shown in fig. 9, the 4G network communication part includes NPN triodes Q3, bases of Q3 are sequentially connected with PB5 through resistor R18 and light emitting diode LED2, emitter of Q3 is connected with GND, collector of Q3 is connected with 4 pin of SRD-24VDC-SL-C relay K3, and 1 pin of K3 is connected with +24v; 5 pins of K3 +24VGPRS, 3 pins of K3 +24V;
1825057-1 switch SW 2's 1, 2 foot respectively with PB11, PB10 correspond to link to each other, SW 2's 4 foot respectively with connector J4's 1 foot, resistance R15 one end links to each other, SW 2's 3 foot respectively with J4's 2 foot, resistance R16 one end, R15 other end termination Q560 chip U10's 4 foot, R16 other end termination U10's 5 foot, U10's 9 foot passes through resistance R17 and connects PB1, U10's 13 foot passes through resistance R20 and connects PB2.
Connector J4 is for commissioning.
Q3 is used to control the 4G module power.
PB11, PB10 are used for communicating with 4G module chip, and PB1, PB2 are used for the debugging and use.
The cloud model is sent to U9 through U10, and U9 sends the model to the mechanical arm through U8.
Through the high in the clouds, but remote control robotic arm's work carries out the change of angle.
The camera is arranged to shoot the mechanical arm, the camera carries out remote transmission on shooting information, the remote end carries out adjustment control on the gesture of the mechanical arm through shooting pictures, and the feeling of being in the scene is presented.
It should be understood that the foregoing detailed description of the present invention is provided for illustration only and is not limited to the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention may be modified or substituted for the same technical effects; as long as the use requirement is met, the invention is within the protection scope of the invention.

Claims (9)

1. The utility model provides a full-angle independently adjustable multimedia real object exhibition device, including gesture acquisition end portion, robotic arm communication circuit, robotic arm power supply control circuit, robotic arm control end portion, electronic reciprocal push rod control portion, cloud platform communication circuit, power input part and 4G network communication part, characterized in that the control signal output port of robotic arm control end portion links to each other with the control signal input port of robotic arm communication circuit, the control signal input port of electronic reciprocal push rod control portion, the control signal input port of cloud platform communication circuit, the control signal input port of robotic arm power supply control circuit, the communication port of robotic arm control end portion links to each other with the communication port of 4G network communication part, the electric energy output port of power input part links to each other with the power port of robotic arm communication circuit, the power port of robotic arm power supply control circuit, the power port of robotic arm control end portion, the power port of electronic reciprocal push rod control portion, the power port of cloud platform communication circuit, the power port of 4G network communication part links to each other.
2. The full-angle autonomous adjustable multimedia physical display device according to claim 1, wherein the gesture collection end part comprises JY901S chips U1, pins 2, 3, 4, 5, 8 and 11 of U1 are respectively connected with +3. V, RXD, TXD, GND and +3V correspondingly, +3.3V is respectively connected with one end of NRST and one end of capacitor C13 through a resistor R4, and the other end of C13 is grounded.
Pins 1, 2, 3 and 4 of the connector P1 are correspondingly connected with +3. V, TMS, TCK, GND respectively, and pins 1, 2 and 3 of the connector P2 are correspondingly connected with GND, PA10 and PA9 respectively;
+3.3V is connected with one end of the capacitor C1-C6 respectively, and the other end of the capacitor C1-C6 is connected with GND;
the 1 pin of the STM32F105RBT6 chip U2 is connected with +3.3V, the 3 pin of U2 is respectively connected with one end of a capacitor C7 and one end of a crystal oscillator Y1, the other end of C7 is respectively connected with one end of a capacitor C8, the other end of C8 is respectively connected with the other end of Y1 and 4 pins of U2, the 5 pin of U2 is respectively connected with one end of a capacitor C11 and one end of a crystal oscillator X1, the other end of C11 is respectively connected with one end of a capacitor C12, the other end of C12 is respectively connected with the other end of X1 and 6 pins of U2, the 7, 12, 13, 16, 17, 18, 19, 31, 32, 46-49 and 51-55 pins of U2 are respectively connected with NRST, GND, +3.3V, RXD, TXD, GND, +3.3V, GND, +3. V, TMS, GND, +3. V, TCK, COM3_TXD, COM3_RXD, Q560_SVR, GPRS_ON/OFF, the 60 pins of U2 are respectively connected with GND1, GND, and the 6 pins of U2 are respectively connected with GND, and +3V;
the 2 pins of the NA15-V2S12 module POW1 are respectively connected with one end of a fuse F1 and one end of a piezoresistor RV1, the other end of the F1 is connected with an L end, the other end of the RV1 is respectively connected with an N end and 3 pins of the POW1, 7 pins and 8 pins of the POW1 are connected with GND1, 4 pins of the POW1 are respectively connected with the V1 end, the anode of a diode D3 and the positive electrode of a power socket CH1 through a diode D2, the negative electrode of the CH1 is respectively connected with one end of the GND1 and one end of a magnetic bead L2, and the other end of the L2 is connected with GND; d3 cathode is connected with +12v through L1;
the 1 pin of the LM2576-5.0 chip U5 is respectively connected with +12V, one end of a capacitor C16 and one end of a capacitor C17, the other end of the capacitor C16 is respectively connected with the other end of the C17, the 3 pin of the U5, the 5 pin of the U5, the anode of a diode D4, one end of a capacitor C18, one end of a capacitor C19 and GND, the cathode of the D4 is respectively connected with the 2 pin of the U5 and one end of an inductor L3, and the other end of the L3 is respectively connected with the 4 pin of the U5, + V, C18 other end and the other end of the C19;
GND is respectively connected with one end of a capacitor C21 and one end of a capacitor C20, and the other ends of the capacitor C2 and the capacitor C20 are connected with +5V;
AMS1117-3.3 chip U4's 3 pin is connected +5V, and U4's 2, 4 pin link to each other with electric capacity C15 positive pole, VCC, electric capacity C14 one end respectively, and C14 other end links to each other with U4's 1 pin, ground, C15 negative pole respectively.
The base electrode of NPN triode Q1 is connected with one end of resistor R6 and one end of resistor R7 respectively, the other end of R6 is connected with GPRS_ON/OFF through LED1, the other end of R7 is connected with Q1 emitter and GND respectively, Q1 collector is connected with D1 anode of diode, 4 feet of SRD-12VDC-SL-C relay K1 respectively, D1 cathode is connected with 1 foot of + V, K1 respectively, 1 foot 3, 5 feet of K1 are connected with +12V, +12VGPRS correspondingly respectively;
1825057-1 switch SW1 has 1 pin COM3_RXD, SW1 has 2 pin COM3_TXD, SW1 has 3 pin connected with 1 pin J1 and resistor R3, SW1 has 4 pin connected with 1 pin J1 and resistor R2, J1 has 3 pin grounded, R2 has another end connected with 4 pin of Q560 module U3, R3 has another end connected with 5 pin U3, U3 has 1 pin +12VGPRS, U3 has 2, 3 pins GND, U3 has 6 pin grounded, U3 has 9 pin connected with Q560_SVR through resistor R5, U3 has 13 pin connected with Q560_RST through resistor R8, U3 has 14, 15 pins grounded;
the +12VGPRS is respectively connected with one end of a capacitor C9 and one end of a capacitor C10, and the other ends of the capacitor C9 and the capacitor C10 are connected with GND.
3. The full-angle autonomous adjustable multimedia physical display device according to claim 1, wherein the mechanical arm communication circuit comprises an SP3485EN-L/TR chip U8, a pin 1 of U8 is connected with PA3, pins 2 and 3 of U8 are connected with PA4, a pin 4 of U8 is connected with PA2, pins 8, 5, 6 and 7 of U8 are respectively and correspondingly connected with +3.3V1, GND and RS485A, RS485B, +3.3V is respectively connected with one end, one end and +3.3V1 of a capacitor C22 and the other end of C22 and C23 through an inductor L4;
ACT45B-510-2P-TL003 common mode filter L8, 3 pins RS485B of L8, 4 pins RS485A of L8, 2 pins of L8 are respectively connected with 2 pins of connector P3 and one end of magnetic bead L6 through fuse F3, the other pin of L6 is connected with 2 pins of connector CH4, 1 pin of CH4 is respectively connected with one end of resistor R9 and one end of fuse F4 through magnetic bead L10, the other end of R9 is connected with 1 pin of P3, and the other end of F4 is connected with 1 pin of L8.
4. The full-angle autonomous adjustable multimedia physical display device according to claim 1, wherein the power supply control circuit of the mechanical arm comprises an NPN triode Q2, an emitter of the Q2 is connected with GND, a base of the Q2 is connected with PC0 through a resistor R10, a collector of the Q2 is connected with a control end of a relay K2, one end of the controlled end of the K2 is connected with +24V, and the other end of the controlled end of the K2 is connected with +24VOUT through a magnetic bead L11.
5. The full-angle autonomous adjustable multimedia physical display device according to claim 1, wherein the control end part of the mechanical arm comprises an STM32F105RBT6 chip U9, pins 7, 8, 16, 17, 20, 27-30 of U9 are respectively connected with NRST, PC0, PA2, PA3, PA4, PB1, PB2, PB10 and PB11 correspondingly, pins 37, 38, 41-43, 46, 49 and 57 of U9 are respectively connected with PC6, PC7, PA8, PA9, PA10 and TMS, TCK, PB5 correspondingly, and PA5 is connected with GND sequentially through a resistor R12 and a light emitting diode E1.
6. The full-angle autonomous adjustable multimedia physical display device according to claim 1, wherein the electric reciprocating push rod control part comprises a HH63P relay K4 and a HH63P relay K5, control signal output ports of the K4 and the K5 are connected with a connector CH5, a10 pin of the K4 is connected with a collector of an NPN triode Q4, an emitter of the Q4 is connected with GND, and a base of the Q4 is connected with PB3 through a resistor R22; the 10 pin of K5 is connected with the collector of NPN triode Q5, the emitter of Q5 is connected with GND, and the base of Q5 is connected with PD2 through resistor R24.
7. The full-angle autonomous adjustable multimedia physical display device according to claim 1, wherein the cradle head communication circuit comprises an SP3485EN-L/TR chip U11, a pin 1 of U11 is connected with PA10, a pin 2 and a pin 3 of U11 are connected with PA8, a pin 4 of U11 is connected with PA9, a pin 8, a pin 5, a pin 6 and a pin 7 of U11 are respectively and correspondingly connected with +3.3V1, GND, a pin 4 of an ACT45B-510-2P-TL003 common mode filter L15 and a pin 3 of L15, and +3.3V is respectively connected with one end of a capacitor C42, one end of C43 and +3.3V1 through an inductor L12, and the other ends of C42 and C43 are connected with GND;
the pin 2 of L15 is connected with pin 2 of connector P5 and one end of magnetic bead L13 respectively through fuse F5, the other pin 2 of L13 is connected with connector CH7, the pin 1 of CH7 is connected with one end of resistor R21 and one end of fuse F6 respectively through magnetic bead L14, the other end of R21 is connected with pin 1 of P5, and the other end of F6 is connected with pin 1 of L15.
8. The full-angle autonomous adjustable multimedia physical display device according to claim 1, wherein the power input part comprises connectors CH3 and CH3, the 2 pins of the connectors CH3 and CH3 are respectively connected with one end of a capacitor CY1, one end of the capacitor CY2 and a first end of a common mode inductor L7 through fuses F2, the other end of the capacitor CY1 is respectively connected with FE and J2, the other end of the capacitor CY2 is respectively connected with one end of the capacitor CY4, the 1 pin of the connector CH3 and a second end of the common mode inductor L7, and the other end of the capacitor CY4 is respectively connected with FE and J3; the third end of L7 is connected with +24V through a diode D5 and a magnetic bead L5 in sequence, and the fourth end of L7 is connected with GND through a magnetic bead L9;
1 pin of the K7805M module U6 is connected with +24V;
the 3 pin of U6 is connected with the Vin port of + V, AMS1117-3.3 module U7 respectively, and the Vout port of U7 is connected with +3.3V.
9. The full-angle autonomous adjustable multimedia entity exhibition device according to claim 1, wherein the 4G network communication part comprises NPN triode Q3, base electrodes of Q3 are connected with PB5 through resistor R18, light emitting diode LED2, emitter electrode of Q3 is connected with GND, collector electrode of Q3 is connected with 4 pin of SRD-24VDC-SL-C relay K3, 1 pin of K3 is connected with +24v; 5 pins of K3 +24VGPRS, 3 pins of K3 +24V;1825057-1 switch SW 2's 1, 2 foot respectively with PB11, PB10 correspond to link to each other, SW 2's 4 foot respectively with connector J4's 1 foot, resistance R15 one end links to each other, SW 2's 3 foot respectively with J4's 2 foot, resistance R16 one end, R15 other end termination Q560 chip U10's 4 foot, R16 other end termination U10's 5 foot, U10's 9 foot passes through resistance R17 and connects PB1, U10's 13 foot passes through resistance R20 and connects PB2.
CN202311225656.9A 2023-09-21 2023-09-21 All-angle autonomous adjustable multimedia real object exhibition device Active CN117340931B (en)

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