CN101837198A - Robot control system for shadow puppet performance - Google Patents
Robot control system for shadow puppet performance Download PDFInfo
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- CN101837198A CN101837198A CN201010152330A CN201010152330A CN101837198A CN 101837198 A CN101837198 A CN 101837198A CN 201010152330 A CN201010152330 A CN 201010152330A CN 201010152330 A CN201010152330 A CN 201010152330A CN 101837198 A CN101837198 A CN 101837198A
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Abstract
The invention relates to a robot control system for shadow puppet performance. The system comprises a shadow puppet motion control robot, a shadow puppet twinkle control robot and a projection actcurtain opening-closing control robot, wherein the shadow puppet motion control robot comprises a plurality of control rods which are connected with the movable parts of a shadow puppet in one-to-one correspondence, one end of each control rod is arranged on an eccentric wheel, and a program is utilized to control the rotation of the eccentric wheel so as to drive the shadow puppet to move; the shadow puppet twinkle control robot utilizes an arranged advancing mechanism which can move back and forth relative to a projection actcurtain to drive a support rod connected with the shadow puppet to rapidly and ceaselessly move back and forth under the control of the program so as to realize the twinkling effect; and the projection actcurtain opening-closing control robot utilizes a worm wheel vortex rod variable-speed gear controlled by the program to realize the opening and closing of the projection actcurtain. The robot control system for the shadow puppet performance disclosed by the invention changes the manual operated shadow puppet performance into shadow puppet performance controlled by robot program, ensures the shadow puppet performance to be more visualized and more vivid and can arbitrarily set the times of the performance.
Description
Technical field
The present invention relates to a kind of robot, in particular, relate to a kind of shadow puppet performance robot control system of operating shadow puppet performance.
Background technology
The figure for shadow-play art is that one of opera type of drama among the people the earliest appears in China, and is with a long history, of long standing and well established.But because the figure for shadow-play play generally all is manually-operated, so require high to performing artist's skill level.The performing artist controls three, four actor or actress' action except wanting energy one people, also wants dubbing in background music on the close fit field, takes into account aside, music for voices in a Chinese opera.Trained shadow puppet performance grounding in basic skills really up to the mark, the master worker instructs in words and by deeds except needs, needs more to study diligently, and accumulates a large amount of actual performance experiences, this shows, cultivate the performance talent, is a very very difficult thing.Also Just because of this, such acting style and communication channel obviously can't allow shadow show enter into the city, and even go to the world.In addition,, in the such large-scale propaganda of World Expo, need carry out repeatedly the performance of duplicate contents,, just seem very inconvenient if adopt manually-operated fully at some special occasions.
Summary of the invention
The present invention is directed to above-mentioned technical problem, a kind of shadow puppet performance robot control system is provided, the figure for shadow-play of manually-operated performance is changed into the shadow puppet performance of being controlled by the robot program, with the traditional performance form innovation is modern performance form, can increase the movable position and the joint of figure for shadow-play, makes its visualization and livelyization more, and by programme controlled shadow puppet performance, the performance number of times can be set arbitrarily, not be subjected to artificial factor, avoid taking place the mistake that manually-operated may occur.
For solving the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of robot control system of shadow puppet performance is characterized in that: comprise robot for controlling movement of shadow play, figure for shadow-play flicker control robot and projection curtain folding control robot.
Adopt technique scheme, can increase the action of shadow puppet performance, make shadow show story of a play or opera image and lively more, and realize robot program's control of performance overall process.
Further, described robot for controlling movement of shadow play comprises mobile device, described mobile device has been provided with the control circuit and the communicating circuit of micro-control machine integrated, and be provided with the control lever that some movable positions with figure for shadow-play connect one to one, one end of every control lever is fixed on the eccentric position of a gear, all gears are installed on the mobile device, and by its rotation of the motor-driven that is connected with control circuit.
Adopt technique scheme, figure for shadow-play can be along with mobile device move left and right in curtain.And can in moving process, control the position of figure for shadow-play requirement activity on one's body by some control levers.These control levers are that the rotation by the gear that is fixed on the one end realizes, and gear then drives by the motor that is connected with control circuit, communicating circuit receives the instruction of sending from the control computer, controls automatically thereby manually-operated performance is converted into robot.
Also have, be provided with the travelling gear transmission of intermeshing between the described gear, make the motion at mobilizable position of figure for shadow-play to control simpler with identical speed motion.
In addition, described gear is installed on the mobilizable pedestal that is provided with on the mobile device, and pedestal also is provided with a saltus step gear outward, and is connected with connecting rod between the pedestal, and connecting rod is fixed on the eccentric position of this gear.This eccentric stiffener makes each turning joint of figure for shadow-play when taking exercises, and can also realize jumping up and down, makes its activity more flexibly and true to nature.
Further again, described figure for shadow-play flicker is controlled robot and is comprised mobile device, described mobile device has been provided with the control circuit and the communicating circuit of micro-control machine integrated, and be provided with the some support bars that are connected with the different parts of figure for shadow-play, mobile device is provided with the propulsive mechanism that moves forward and backward with respect to the projection curtain, propulsive mechanism is by the motor-driven that is connected with control circuit, and an end of support bar is fixed on this propulsive mechanism.When do not stop fast under the control of this propulsive mechanism at software move forward and backward with respect to the projection curtain time, will produce figure for shadow-play and not stop the effect of glimmering.
Have again, described projection curtain folding control robot has comprised the control circuit and the communicating circuit of micro-control machine integrated, fixedly the bar of projection curtain is provided with rack-and-pinion, described rack-and-pinion is connected on the turbine worm speed change gear, and the turbine worm speed change gear is driven by the motor that is connected with control circuit.
Described mobile device is the dolly that Le Gao robot material is made.
Described robot is by happy high software control.
Description of drawings
Below by accompanying drawing technical solution of the present invention is done further detailed description:
Fig. 1 is the structural representation of the embodiment of the invention;
Fig. 2 is a robot for controlling movement of shadow play structural representation among Fig. 1;
Fig. 3 is a figure for shadow-play flicker control robot structural representation among Fig. 1;
Fig. 4 is a projection curtain folding control robot structured flowchart among Fig. 1.
The specific embodiment
Shown in Figure 1, shadow puppet performance robot control system provided by the present invention, comprise robot for controlling movement of shadow play 1, figure for shadow-play flicker control robot 2 and projection curtain folding control robot 3, projection curtain 4 is installed in the position, dead ahead of this robot control system.
Wherein, robot for controlling movement of shadow play shown in Figure 2 comprises the dolly 10 that moves along trapped orbit, and dolly 10 is to adopt Le Gao robot material to make, and by happy its motion of high software control.Be equipped with on the dolly 10 control circuit 11 and the communicating circuit 12 of micro-control machine integrated, dolly 10 is provided with the some control levers 13 that are used for operating each movable position of figure for shadow-play, and control lever 13 also is used for supporting figure for shadow-play.Every control lever 13 corresponding movable positions.One end of this control lever 13 is fixed on the eccentric position of gear 14, and all gears 14 are installed on the pedestal 15 that is provided with on the mobile device, and travelling gear 15 engaged transmission are set between the gear 14, and drives its rotation by the motor 16 that is connected with control circuit 11.Communicating circuit 12 is used for receiving the command signal of being sent by the control computer, finishes the control to the figure for shadow-play motion.In addition, realize the action of jumping up and down in order to make figure for shadow-play, on dolly 10, also be provided with the gear 17 of beating outside the pedestal 15, this is beated and couples together with connecting rod 18 between gear 17 and the pedestal 15, one end of connecting rod 18 is fixed on the pedestal 15, its other end is fixed on the eccentric position of the gear 17 of beating, like this, when the gear 17 of beating rotates under the driving of motor 16, connecting rod 18 drives pedestals 15 bobs, and then being fixed on gear 14 on the pedestal 15 and control lever 13 will bob, and the figure for shadow-play that control lever 13 1 ends connect has just been realized the action of jumping up and down.
Figure for shadow-play flicker control robot shown in Figure 3, comprise the dolly 20 that moves along trapped orbit, be equipped with on the dolly 20 control circuit 21 and the communicating circuit 22 of micro-control machine integrated, also be provided with the some support bars 23 that are connected with the different parts of figure for shadow-play on the dolly 20 and be used for supporting figure for shadow-play, dolly 20 is provided with the propulsive mechanism 24 that moves forward and backward with respect to projection curtain 4, propulsive mechanism 24 drives it by the motor 25 that is connected with control circuit 21 and moves forward and backward, one end of support bar 23 supports figure for shadow-play, and the other end is fixed on this propulsive mechanism 24.When doing when moving forward and backward motion at the appointed time with in the scope that this propulsive mechanism 24 does not stop under the control of happy high software fast with respect to projection curtain 4, human eye will see on projection curtain 4 that figure for shadow-play does not stop the visual effect of glimmering, and communicating circuit 22 promptly is to be used for receiving the instruction of sending in the control computer.
Projection curtain folding shown in Figure 4 control robot comprises control circuit 31 and communicating circuit 32, adopts 4 groups of turbine worm speed change gears 33 to control the rack-and-pinion 35 on the fixed bar that is installed in projection curtain 4 and then the folding of control curtain 4.Turbine worm speed change gear 33 is to drive its motion by the motor 34 that is connected with control circuit 31.Communicating circuit 32 is to be used for receiving the instruction that the control computer sends.
Machine among the present invention adopts happy high software to control per capita, and this software can be determined cooperation, the coordination between each figure for shadow-play role.Adopt racing current voice BMP5008 music micro-control machine, music is matched with the action of figure for shadow-play and coordinate.Increase the angle of lighting scene and the control of brightness simultaneously, a whole process is shown with regard to perfect by the shadow puppet performance that robot finishes.
Claims (9)
1. the robot control system of a shadow puppet performance is characterized in that: comprise robot for controlling movement of shadow play, figure for shadow-play flicker control robot and projection curtain folding control robot.
2. shadow puppet performance robot control system according to claim 1, it is characterized in that: described robot for controlling movement of shadow play comprises mobile device, described mobile device has been provided with the control circuit and the communicating circuit of micro-control machine integrated, and be provided with the control lever that some movable positions with figure for shadow-play connect one to one, one end of every control lever is fixed on the eccentric position of a gear, all gears are installed on the mobile device, and by its rotation of the motor-driven that is connected with control circuit.
3. shadow puppet performance robot control system according to claim 2 is characterized in that: be provided with the travelling gear transmission of intermeshing between the described gear.
4. shadow puppet performance robot control system according to claim 3, it is characterized in that: described gear is installed on the mobilizable pedestal that is provided with on the mobile device, pedestal also is provided with a saltus step gear outward, with be connected with connecting rod between the pedestal, connecting rod is fixed on the eccentric position of this saltus step gear.
5. shadow puppet performance robot control system according to claim 1, it is characterized in that: described figure for shadow-play flicker is controlled robot and is comprised mobile device, described mobile device has been provided with the control circuit and the communicating circuit of micro-control machine integrated, and be provided with the some support bars that are connected with the different parts of figure for shadow-play, mobile device is provided with the propulsive mechanism that moves forward and backward with respect to the projection curtain, propulsive mechanism is by the motor-driven that is connected with control circuit, and an end of support bar is fixed on the propulsive mechanism.
6. shadow puppet performance robot control system according to claim 1, it is characterized in that: comprised the control circuit and the communicating circuit of micro-control machine integrated, fixedly the bar of projection curtain is provided with rack-and-pinion, described rack-and-pinion is connected on the turbine worm speed change gear, and the turbine worm speed change gear is driven by the motor that is connected with control circuit.
7. according to claim 2 or 5 described shadow puppet performance robot control systems, it is characterized in that: described mobile device is the dolly that adopts Le Gao robot material to make.
8. according to arbitrary described shadow puppet performance robot control system in the claim 1 to 6, it is characterized in that: described robot is by happy high software control.
9. according to arbitrary described shadow puppet performance robot control system in the claim 7, it is characterized in that: described robot is by happy high software control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010152330A CN101837198A (en) | 2010-04-20 | 2010-04-20 | Robot control system for shadow puppet performance |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010152330A CN101837198A (en) | 2010-04-20 | 2010-04-20 | Robot control system for shadow puppet performance |
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| CN101837198A true CN101837198A (en) | 2010-09-22 |
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| CN201010152330A Pending CN101837198A (en) | 2010-04-20 | 2010-04-20 | Robot control system for shadow puppet performance |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145231A (en) * | 2011-04-18 | 2011-08-10 | 上海市师资培训中心实验基地附属中学 | Robot shadow puppet device and control system of stage facilities thereof |
| CN102580327A (en) * | 2012-03-27 | 2012-07-18 | 付少锋 | Method for editing and controlling shadow play performing of intelligent robot |
| CN102621997A (en) * | 2012-04-13 | 2012-08-01 | 清华大学 | Shadow puppet control robot |
| CN102626554A (en) * | 2012-03-27 | 2012-08-08 | 付少锋 | Mechanical shadow structure and movement angle and movement positioning control methods thereof |
| CN102631788A (en) * | 2012-04-18 | 2012-08-15 | 中国地质大学（武汉） | Shadow play entertainment toy based on singlechip control |
| WO2016082065A1 (en) * | 2014-11-24 | 2016-06-02 | 潘有程 | Portable circular-screen projection device |
| CN110456744A (en) * | 2019-07-26 | 2019-11-15 | 武汉虹捷信息技术有限公司 | A kind of automatic performance control method, equipment and the storage medium of figure for shadow-play |
-
2010
- 2010-04-20 CN CN201010152330A patent/CN101837198A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145231A (en) * | 2011-04-18 | 2011-08-10 | 上海市师资培训中心实验基地附属中学 | Robot shadow puppet device and control system of stage facilities thereof |
| CN102145231B (en) * | 2011-04-18 | 2013-03-20 | 上海市师资培训中心实验基地附属中学 | Robot shadow puppet device and control system of stage facilities thereof |
| CN102580327A (en) * | 2012-03-27 | 2012-07-18 | 付少锋 | Method for editing and controlling shadow play performing of intelligent robot |
| CN102626554A (en) * | 2012-03-27 | 2012-08-08 | 付少锋 | Mechanical shadow structure and movement angle and movement positioning control methods thereof |
| CN102580327B (en) * | 2012-03-27 | 2013-08-14 | 西安电子科技大学 | Method for editing and controlling shadow play performing of intelligent robot |
| CN102626554B (en) * | 2012-03-27 | 2014-08-13 | 西安电子科技大学 | Mechanical shadow structure and movement angle and movement positioning control methods thereof |
| CN102621997A (en) * | 2012-04-13 | 2012-08-01 | 清华大学 | Shadow puppet control robot |
| CN102621997B (en) * | 2012-04-13 | 2013-10-16 | 清华大学 | Shadow puppet control robot |
| CN102631788A (en) * | 2012-04-18 | 2012-08-15 | 中国地质大学（武汉） | Shadow play entertainment toy based on singlechip control |
| CN102631788B (en) * | 2012-04-18 | 2014-07-09 | 中国地质大学（武汉） | Shadow play entertainment toy based on singlechip control |
| WO2016082065A1 (en) * | 2014-11-24 | 2016-06-02 | 潘有程 | Portable circular-screen projection device |
| CN110456744A (en) * | 2019-07-26 | 2019-11-15 | 武汉虹捷信息技术有限公司 | A kind of automatic performance control method, equipment and the storage medium of figure for shadow-play |
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Application publication date: 20100922 |