CN206147293U - Controlling means of extensive array of show thing developments hanging device - Google Patents
Controlling means of extensive array of show thing developments hanging device Download PDFInfo
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- CN206147293U CN206147293U CN201621175696.2U CN201621175696U CN206147293U CN 206147293 U CN206147293 U CN 206147293U CN 201621175696 U CN201621175696 U CN 201621175696U CN 206147293 U CN206147293 U CN 206147293U
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- display material
- control
- suspension apparatus
- communication controller
- dynamic suspension
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Abstract
The utility model provides a controlling means of extensive array of show thing developments hanging device, demonstrate a plurality of show thing developments hanging device of thing motion, be used for controlling the control system of the dynamic hanging device action of a plurality of show things and sending the host computer of control command to control system including being used for control, adopt CAN bus agreement to carry out the communication between control system and a plurality of show thing developments hanging device. Control system includes master control communication controller, at least one communication controller and connects master control communication controller and this at least one communication controller's CAN bus, behind the control command that master control communication controller receiving host machine sent, send synchronization signal to through CAN bus conveying to each communication controller, each communication controller is the also control command that sends of receiving host machine simultaneously, and conveys received synchronization signal and control command extremely in the lump through the CAN bus show thing developments hanging device is with control the action of show thing developments hanging device.
Description
Technical field
This utility model is related to display and demonstration field, more particularly to a kind of control mode flexibly, it is reliable, system easily builds,
The control device of the display material dynamic suspension apparatus large scale array of easy to operate, easy care.When one group of display material dynamic suspention dress
Put by certain forms array arrangement together, jointly according to program or instruct mutually coordinated motion when, the device group of the array
Referred to as display material dynamic suspension apparatus array is also referred to as ball float matrix or bead matrix.
Background technology
Ball float matrix has begun to progressively be applied to displaying due to the bandwagon effect that its imposing manner is extensive, color is splendid
Exhibition.Computer controls motor positive and inverse drives display material to move vertically up and down, is capable of achieving word, straight line, curve, plane, song
The various sound state moulding such as face and 3D figures.So ball float matrix is made up of hundreds of motor, corresponding measure pair need to be taken
This substantial amounts of motor control effectively, and realizes modeling effect.
Multi-motor synchronous control problem many occasions in the industrial production have become a prominent difficult problem.In multiple stage electricity
In machine drive system, although can keep motor in synchrony exactly using traditional mechanical major axis, its shortcoming is increasingly notable,
Such as：The working condition of each motor influences each other, and there is serious coupling each other, by multiple strand chains such as chain, gear, axles
Contain accumulated error after connection mechanism, use range is also restrained, some occasions can not meet the needs of modern scientist.Using
It is a kind of effective solution that the mode of electricity controls the synchronization of many motors, and people have made substantial amounts of research to this respect.
At present, most ball float matrix all adopts center control, will such as realize hundreds of display material linkage
Effect, then need huge electrical control cubicles to support, and wire is numerous, system complex, also needs outfit professional and technical personnel to be operated, and
And wire laying mode, wire quality and construction quality can affect system stability, when 20 axles link, synchronous error has reached Millisecond.
System call interception and later maintenance also need to be carried out by professional Electrical Engineer.Therefore, the stability of central-control type ball float matrix
Not high enough, portability is restricted, and installation and operation and maintenance cost are high, be unfavorable for realizing it is multi-field, promote on a large scale.
In view of this, it is necessary to provide a kind of control mode flexibly, reliably, system is easily built, the exhibition of easy to operate, easy care
Show the control device of thing dynamic suspension apparatus large scale array, to solve the above problems.
Utility model content
The purpose of this utility model is that a kind of control mode of offer is flexible, reliable, and system is easily built, easy to operate, Yi Wei
The control device of the display material dynamic suspension apparatus large scale array of shield.
To realize above-mentioned utility model purpose, this utility model provides a kind of extensive battle array of display material dynamic suspension apparatus
The control device of row, which is included for controlling some display material dynamic suspension apparatus of display material motion, for controlling some institutes
The control system for stating display material dynamic suspension apparatus action and the host computer for sending control instruction to control system, the control
Communicated using CAN agreement between system and some display materials dynamic suspension apparatus, the control system includes master control
The CAN of communication controller, at least one communication controller and connection master control communication controller and at least one communication controller
Bus, after the master control communication controller receives the control instruction that host computer sends, sends synchronizing signal, and Jing CANs is passed
Each communication controller is delivered to, each communication controller also receives the control instruction that host computer sends simultaneously, and Jing CANs will be connect
The synchronizing signal for receiving and control instruction are sent to the display material dynamic suspension apparatus in the lump, to control the display material dynamic
Suspension apparatus action.
Used as further improvement of the utility model, control instruction is uploaded to the control by Ethernet by the host computer
ICP/IP protocol is adopted between system processed, and Ethernet and the control system.
As further improvement of the utility model, the communication controller be integrated with Ethernet interface, gateway module and
ICP/IP protocol is adopted between lock unit, and the communication controller and Ethernet.
Used as further improvement of the utility model, the communication controller receives host computer by the Ethernet interface
Control instruction is compiled as sending after CAN message by the control instruction for sending, the gateway module, with described by CAN control
Display material dynamic suspension apparatus action.
Used as further improvement of the utility model, each display material dynamic suspension apparatus are equipped with identification code, institute
State gateway module control instruction to be sent to corresponding display material dynamic suspension apparatus according to identification code.
As further improvement of the utility model, between the master control communication controller and at least one communication controller
Connected with Flos Chrysanthemi link type.
Used as further improvement of the utility model, some display material dynamic suspension apparatus are in CAN with chrysanthemum
Flower link type mounting.
Used as further improvement of the utility model, the display material dynamic suspension apparatus include integrated stepping servo mould
Group, the wire-arranging mechanism being connected with integrated stepping servo module and shade are in the integrated stepping servo module and the row
Shell on the outside of line mechanism, the wire-arranging mechanism include cable and are connected to the display material of cable terminal.
Used as further improvement of the utility model, the integrated stepping servo module includes that tactic control is driven
Dynamic device, encoder and motor, and the motor is near the setting of wire-arranging mechanism side.
Used as further improvement of the utility model, the display material dynamic suspension apparatus have five connecting wires, respectively
For positive and negative power line and two holding wires and a shielding line, five connecting wires are placed in same cable, and one end with
The integrated stepping servo module is connected, the other end is stretched out shell and is connected with power supply and CAN.
The beneficial effects of the utility model are：The control of display material dynamic suspension apparatus large scale array of the present utility model
Device be provided by master control communication controller, at least one communication controller and connection master control communication controller and this at least one
The CAN of individual communication controller, so as to master control communication controller is after the control instruction that host computer sends is received, sends synchronization
Simultaneously Jing CANs are sent to each communication controller to signal, while each communication controller is receiving the control instruction that host computer sends
Afterwards, received synchronizing signal and control instruction Jing CAN are sent to into each display material dynamic suspension apparatus in the lump, and then
The motion synchronicity of display material can not only be realized, moreover it is possible to which motor control is carried out to display material.
Description of the drawings
Fig. 1 is the structured flowchart of the control device of this utility model display material dynamic suspension apparatus large scale array.
Fig. 2 is the structural representation of display material dynamic suspension apparatus in Fig. 1.
Fig. 3 is the Synchronization Control mode of connection schematic diagram of display material dynamic suspension apparatus in Fig. 1.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage are clearer, below in conjunction with the accompanying drawings and it is embodied as
Example is described in detail to this utility model.
As shown in Figure 1 to Figure 3, be this utility model preferred embodiment display material dynamic suspension apparatus large scale array
Control device.The control device of the display material dynamic suspension apparatus large scale array includes：Move for controlling display material 22
Some display materials dynamic suspension apparatus 10, the control system for controlling some display material dynamic 10 actions of suspension apparatus
20 and send control instruction to control system 20 host computer 30.In the present embodiment, the control system 20 and some displayings
Communicated using CAN agreement between thing dynamic suspension apparatus 10.
In general, CAN only needs to a pair of twisted-pair feeders（Two holding wires）Can network consisting, its network topology
Formula is similar to appliance network：It is in parallel on the power line of piece two lines to mount multiple bulbs.Each display material dynamic 10 class of suspension apparatus
Like a bulb.CAN possesses many superior functionalitys：The real-time Transmission of feasible system data；Can be good at solving control
Communication contention problem during 20 integrated control of system processed；Communication protocol is simple, easy to implement；CAN Frames are short frame structure,
Bus time will not be taken long, it is ensured that the anti-interference of communication.
As shown in Fig. 2 the display material dynamic suspension apparatus 10 are included integrated stepping servo module 1, are walked with integrated
Enter wire-arranging mechanism 2 and shade that servo module 1 is connected on the outside of the integrated stepping servo module 1 with wire-arranging mechanism 2
Shell 3.The integrated stepping servo module 1 includes tactic motor 11, encoder 12 and control driver 13,
And the motor 11 is arranged near 2 side of wire-arranging mechanism.The display material dynamic suspension apparatus 10 have five connecting wires,
Respectively positive and negative power line and two holding wires and a shielding line, five connecting wires are placed in same cable 4, and
One end is connected with the integrated stepping servo module 1, the other end is stretched out shell 3 and is connected with power supply and CAN.
It is described control driver 13 control mode be position P, speed V and time T that motion can be set PVT synchronizations
Control mode.PVT synchronous control modes are：Control driver 13 receives a series of PVT point by CAN, each
PVT point is all made up of position P, speed V, time T, controls the interpolation between these points of driver 13, with the motion needed for obtaining
Track.As PVT patterns are already belonging to prior art, therefore it is not described in detail in this.
By setting a series of PVT points for display material dynamic suspension apparatus 10 so that motor 11 can be with for the moment
Carve T, with respective target velocity V, by or reach respective impact point P, during use, by input P/V/ continuously or discontinuously
T points, you can realize continuous PVT motions.For multi-shaft interlocked control mode, using PVT synchronous control modes, it is possible to achieve true
Just in real time, complicated and accurate trajectory planning；If coordinating lock unit, the dynamic suspension apparatus 10 of the display material of more than 60 it is same
Step error is less than 4us, and will not accumulate.
The wire-arranging mechanism 2 includes cable 21 and is connected to the display material 22 of 21 terminal of cable.The encoder 12 can be with
For absolute value formula encoder, or incremental encoder, to accurately control the length of the opening of cable 21, so as to position exhibition
Show the level height of thing 22.
3 shade of the shell is in the outside of the wire-arranging mechanism 2, and the bottom of the shell 3 offers through hole 31, described
Cable 21 is passed from through hole 31, so as to when driving display material 22 to move up and down, the through hole 31 can not only limit cable 21
It is subjected to displacement, it is ensured that stability when display material 22 moves up and down, and can avoids cable 21 that winding occurs.
As shown in Figures 1 and 3, the control system 20 includes master control communication controller 5, at least one communication controller 6
And the CAN of connection master control communication controller 5 and at least one communication controller 6.The host computer 30 is by control instruction
Transmitted by Ethernet, and pathway is uploaded between the control system 20, and Ethernet and the control system 20 by device 40
Using ICP/IP protocol.Specifically, between Ethernet and master control communication controller 5, between Ethernet and communication controller 6
Communicated using ICP/IP protocol, this is because ICP/IP protocol is greatly improved communication speed, alleviated the control system
System 20 transmits the limitation problem of baud rate using CAN.
Communicated using CAN between the master control communication controller 5 and the communication controller 6, and with Flos Chrysanthemi
Link type connects.Here CAN numbering is CAN0, is the main communication line of whole control system 20, synchronous signal transmission.
After the master control communication controller 5 receives the control instruction that host computer 30 sends, synchronizing signal is sent, and Jing CAN0 are sent to down
The each communication controller 6 for connecing.
The communication controller 6 carries high-performance arm processor, is adapted to the configuration requirement of all kinds of intelligent terminal.Each institute
State, the n communication controller 6 can control 100*
The motion of n display material dynamic suspension apparatus 10, realizes that thousand axles are even more multi-shaft interlocked.The n communication controller 6 just has n
Bar CAN, can number to which and be：CAN1, CAN2, CAN3 ... ..., CANn.
Each communication controller 6 also receives the control instruction that host computer 30 sends, and Jing CANs simultaneously（CAN1~CANn）
Synchronizing signal and control instruction are sent to into the display material dynamic suspension apparatus 10 in the lump, it is outstanding to control the display material dynamic
10 action of device for hoisting, realizes the Synchronization Control to all display materials dynamic suspension apparatus 10.
The master control communication controller 5 and the communication controller 6 are integrated with Ethernet interface, gateway module and synchronous
Device.First, the master control communication controller 5 receives host computer 30 by the Ethernet interface with the communication controller 6
The control instruction for sending；Then, the lock unit of the master control communication controller 5 sends synchronous letter according to the control instruction for receiving
Number；The lock unit of the communication controller 6 receives the synchronizing signal sent by the master control communication controller 5, meanwhile, it is described logical
The control instruction received by Ethernet interface is compiled as sending after CAN message by the gateway module of news controller 6；It is last by
CAN（CAN1~CANn）Received control instruction and synchronizing signal are sent in the lump to display material dynamic and is suspended in midair
Device 10, is synchronized with the movement with controlling the display material dynamic suspension apparatus 10.
The gateway module is used cooperatively with CAN type control driver 13, it is possible to use based on RS232 simple, intuitives
Instruction controlling the integrated stepping servo module 1 based on CAN, eliminate it is direct using CAN protocol when face one
It is serial difficult.
The display material dynamic suspension apparatus 10 are in CAN（CAN1~CANn）On with Flos Chrysanthemi link type mount, can be with profit
With limited CAN connection multiple stage display material dynamic suspension apparatus 10, share same service, and do not exist bus contention and
The problems such as obstruction.Each display material dynamic suspension apparatus 10 are equipped with identification code, and the gateway module will according to identification code
Control instruction is sent to corresponding display material dynamic suspension apparatus 10.The display material dynamic suspension apparatus 10 pass through the cable
Two holding wires in 4（CAN）Connect the communication controller 6, the cable 4 gives display material dynamic suspension apparatus 10 simultaneously
Power supply is provided, positive and negative power line is coupled with corresponding power supply terminal.
The host computer 30 can be PC, flat board or mobile phone, and which can select wired, nothing with the communication between control system 20
The various ways such as line or bluetooth are realized.The dynamic effect of ball float matrix realizes also very simple, only need to import 3D animation files
To in the handheld intelligent terminal devices such as mobile phone, flat board, program code is converted into, user only need to the letter in handheld intelligent terminal device
Under single-click is several, control instruction can be sent, ball float matrix is made according to the animation mode motion for setting.
The concrete control method of the control device of display material of the present utility model dynamic suspension apparatus large scale array is：On
Position machine 30 sends control instruction, is transmitted by Ethernet, and pathway is transmitted by device 40 to the master control Communication Control of control system 20
Device 5 and communication controller 6, master control communication controller 5 send synchronizing signal after control instruction is received, and Jing CAN0 are sent to down
The each communication controller 6 for connecing, each communication controller 6 also receive the control instruction that host computer 30 sends, and Jing gateway modules simultaneously
It is compiled as after CAN message by CAN（CAN1~CANn）Send, synchronizing signal and fortune are controlled signal by each communication controller 6（I.e.
Signal after control instruction compiling）The display material dynamic suspension apparatus 10 of its lower mounting are sent in the lump, then all display materials
22 carry out action according to the instruction that host computer 30 sends, and realize Three-Dimensional Dynamic effect.
In sum, the control device of display material dynamic suspension apparatus large scale array of the present utility model is provided by
Master control communication controller 5, at least one communication controller 6 and connection master control communication controller 5 and at least one Communication Control
The CAN of device 6, so as to master control communication controller 5 is after the control instruction that host computer 30 sends is received, can send synchronizing signal
And Jing CAN0 are sent to each communication controller 6, while each communication controller 6 also receives the control instruction that host computer 30 sends, and
Received synchronizing signal and control instruction Jing CAN1 ~ CANn are sent to into each display material dynamic suspension apparatus 10 in the lump, are entered
And the motion synchronicity of display material 22 can not only be realized, moreover it is possible to motor control is carried out to display material 22.
In addition, this utility model is placed in integrated stepping servo module 1 and wire-arranging mechanism 2 in a shell 3, one is formed
Individual control module so that ball float matrix is easily built, easy care；Control system 20 is provided by, user can pass through intelligent terminal
Directly control display material 22 is moved, simple to operate, and user need not understand and process the CAN function mode of numerous and complicated,
The high speed of CAN, long range, high anti-interference, network function, line easily can be fully enjoyed just succinct etc. superior
Performance, realizes flexible, reliable modularized distribution type Synchronization Control；User's control instruction is realized using ICP/IP protocol and is controlled
Communication between system 20, can effectively supply the not high enough limitation of CAN communication speed.
Above example is only unrestricted to illustrate the technical solution of the utility model, although with reference to preferred embodiment pair
This utility model has been described in detail, it will be understood by those within the art that, can be to technology of the present utility model
Scheme is modified or equivalent, without deviating from the spirit and scope of technical solutions of the utility model.
Claims (10)
1. the control device of a kind of display material dynamic suspension apparatus large scale array, including for controlling some of display material motion
Display material dynamic suspension apparatus, the control system for controlling some display material dynamic suspension apparatus actions and transmission control
The host computer of system instruction to control system, adopts CAN between the control system and some display materials dynamic suspension apparatus
Agreement is communicated, it is characterised in that：The control system includes master control communication controller, at least one communication controller and company
The CAN of master control communication controller and at least one communication controller is connect, the master control communication controller receives host computer
After the control instruction for sending, synchronizing signal is sent, and Jing CANs are sent to each communication controller, each communication controller is simultaneously
Also the control instruction that host computer sends is received, and received synchronizing signal and control instruction is transmitted by Jing CANs in the lump
To display material dynamic suspension apparatus, to control the display material dynamic suspension apparatus action.
2. the control device of display material according to claim 1 dynamic suspension apparatus large scale array, it is characterised in that：Institute
State host computer control instruction is uploaded between the control system, and Ethernet and the control system by Ethernet and adopt
ICP/IP protocol.
3. the control device of display material according to claim 2 dynamic suspension apparatus large scale array, it is characterised in that：Institute
State communication controller and be integrated between Ethernet interface, gateway module and lock unit, and the communication controller and Ethernet and adopt
Use ICP/IP protocol.
4. the control device of display material according to claim 3 dynamic suspension apparatus large scale array, it is characterised in that：Institute
State communication controller and the control instruction that sends of host computer is received by the Ethernet interface, the gateway module is by control instruction
Send after being compiled as CAN message, to control the display material dynamic suspension apparatus action by CAN.
5. the control device of display material according to claim 4 dynamic suspension apparatus large scale array, it is characterised in that：Often
Described in one, display material dynamic suspension apparatus are equipped with identification code, and the gateway module sends control instruction to right according to identification code
The display material dynamic suspension apparatus answered.
6. the control device of display material according to claim 1 dynamic suspension apparatus large scale array, it is characterised in that：Institute
State.
7. the control device of display material according to claim 1 dynamic suspension apparatus large scale array, it is characterised in that：If
The dry display material dynamic suspension apparatus are mounted with Flos Chrysanthemi link type in CAN.
8. the control device of display material according to claim 1 dynamic suspension apparatus large scale array, it is characterised in that：Institute
Stating display material dynamic suspension apparatus includes integrated stepping servo module, the winding displacement being connected with the integrated stepping servo module
The shell of mechanism and shade on the outside of the integrated stepping servo module with the wire-arranging mechanism, the wire-arranging mechanism include
Cable and it is connected to the display material of cable terminal.
9. the control device of display material according to claim 8 dynamic suspension apparatus large scale array, it is characterised in that：Institute
Stating integrated stepping servo module includes tactic control driver, encoder and motor, and the motor
Arrange near wire-arranging mechanism side.
10. the control device of display material according to claim 8 dynamic suspension apparatus large scale array, it is characterised in that：
The display material dynamic suspension apparatus have five connecting wires, respectively positive and negative power line and two holding wires and a shielding
Line, five connecting wires are placed in same cable, and one end is connected with the integrated stepping servo module, the other end is stretched
Go out shell to be connected with power supply and CAN.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621175696.2U CN206147293U (en) | 2016-11-03 | 2016-11-03 | Controlling means of extensive array of show thing developments hanging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621175696.2U CN206147293U (en) | 2016-11-03 | 2016-11-03 | Controlling means of extensive array of show thing developments hanging device |
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| Publication Number | Publication Date |
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| CN206147293U true CN206147293U (en) | 2017-05-03 |
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| CN201621175696.2U Active CN206147293U (en) | 2016-11-03 | 2016-11-03 | Controlling means of extensive array of show thing developments hanging device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108021042A (en) * | 2016-11-03 | 2018-05-11 | 上海优爱宝智能机器人科技股份有限公司 | The control device of display material dynamic suspension apparatus large scale array |
-
2016
- 2016-11-03 CN CN201621175696.2U patent/CN206147293U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108021042A (en) * | 2016-11-03 | 2018-05-11 | 上海优爱宝智能机器人科技股份有限公司 | The control device of display material dynamic suspension apparatus large scale array |
| CN108021042B (en) * | 2016-11-03 | 2024-01-19 | 上海优爱宝智能机器人科技股份有限公司 | Large-scale array control device for dynamic suspension device of display object |
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