CN104120898B - The control method of packaged type revolving stage - Google Patents
The control method of packaged type revolving stage Download PDFInfo
- Publication number
- CN104120898B CN104120898B CN201410385189.0A CN201410385189A CN104120898B CN 104120898 B CN104120898 B CN 104120898B CN 201410385189 A CN201410385189 A CN 201410385189A CN 104120898 B CN104120898 B CN 104120898B
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- mobile platform
- stage
- packaged type
- type revolving
- magnetic stripe
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Abstract
The present invention provides the control method of a kind of packaged type revolving stage, its step includes initializing mobile platform, the direction of the wherein centrage that the direct of travel of the omni-directional wheel of mobile platform is adjusted to frame body with mobile platform is consistent, records the mobile platform reading from attached encoder；Stage conversion planning, master control borad according to the routing instruction received, controls the walking path of mobile platform, finally realizes stage and convert in conjunction with the information of encoder collection；For controlling the change of above-mentioned packaged type revolving stage and building, convenient to operation.
Description
Technical field
The invention belongs to robot control field, be specifically related to the control method of a kind of packaged type revolving stage.
Background technology
Traditional stage has picture-frame stage, extended position stage and lift stage etc., the scene of these stages
Arranging more fixing, the conversion of scenery is more complicated, and therefore tradition stage is merely able to carry for performing art performer
For fixing performance space.
Summary of the invention
It is contemplated that overcome prior art defect, it is provided that a kind of packaged type revolving stage, compare tradition dance
It is more time saving and energy saving to build for platform, and change space is bigger, performs strong adaptability, and this revolving stage can
With 360 ° of rotations, stage area, and the default anglec of rotation can be reserved according to customer demand, it is achieved Complete customization
Stage move, rotate effect.The present invention also provides for the control method of a kind of packaged type revolving stage, uses
In controlling the change of above-mentioned packaged type revolving stage and building, convenient to operation.
For achieving the above object, the technical scheme of a kind of packaged type revolving stage that the present invention provides is:
A kind of packaged type revolving stage, including mobile platform and stage, described stage passes through bindiny mechanism
Being arranged on described mobile platform, described mobile platform includes frame body, is arranged in frame body
Roller driving device and master control borad, described roller driving device includes motor, is connected with described motor
The reductor connect and the omni-directional wheel being connected with described reductor, described motor is provided with encoder.
Preferred as such scheme, described bindiny mechanism includes the post being arranged in described frame body
Shape projection, being arranged at the groove below described stage, described column-like projection block is rotatable with described groove
Ground coordinates.
Preferred as such scheme, described frame body is additionally provided with magnetic stripe sensor and RFID sensing
Device, described RFID sensor is arranged on the centre position of frame body, and described magnetic stripe sensor is with skeleton
The axis for axis symmetry of body is arranged.
Preferred as such scheme, the frame body of described mobile platform is provided with radio receiving transmitting module,
Described radio receiving transmitting module electrically connects with the master control borad of described mobile platform.
Preferred as such scheme, described stage is circular, and described mobile platform is multiple, uniform
Be distributed on the excircle of arena stage.
Owing to using technique scheme, a kind of Mobile rotary stage of present invention offer and prior art phase
Ratio has the advantage that
1, the present invention provide a kind of Mobile rotary stage build more time saving and energy saving, change space more
Greatly, perform strong adaptability, this revolving stage can towards any direction translation or along curve movement, can be with 360 °
Rotate, stage area, and the default anglec of rotation can be reserved according to customer demand, it is achieved the stage of Complete customization
Mobile, rotation effect.
2, use the column-like projection block in frame body and the fit depressions below stage to constitute bindiny mechanism, protect
Demonstrate,proved stage can and frame body between rotate against.
3, magnetic stripe sensor and RFID sensor it are provided with so that mobile platform can be at set magnetic stripe track
Upper walking.
4, it is provided with radio receiving transmitting module, can communicate wirelessly with external equipment thus determine that stage converts
Instruction.
5, multiple mobile platforms support an arena stage so that stage supports more steady, and stage converts more
Various.
The present invention also provides for the control method of a kind of packaged type revolving stage, comprises the following steps:
Initialize mobile platform, the direct of travel of the omni-directional wheel of mobile platform is adjusted to the bone with mobile platform
The direction of a wherein centrage of frame body is consistent, from the reading of attached encoder on record mobile platform；
Stage conversion planning, master control borad is according to the routing instruction received, the information gathered in conjunction with encoder
Control the walking path of mobile platform, finally realize stage conversion.
Preferred as such scheme, described mobile platform comprises multiple, compiles each mobile platform
Number, stage conversion planning the step in, consider each mobile platform location and unify
Plan the walking path of each mobile platform, finally jointly completed stage conversion by multiple mobile platforms, often
One mobile platform all can share its position with other mobile platforms during completing respective walking path
Information.
Preferred as such scheme, described mobile platform is additionally provided with radio receiving transmitting module, described
Radio receiving transmitting module electrically connects with master control borad；In initializing mobile platform the step for, by described multiple
The initialization direction of mobile platform is adjusted to consistent；In stage conversion planning the step for, by wireless receipts
Again routing instruction is sent in master control borad after sending out the instruction of module RX path.
Preferred as such scheme, described mobile platform is provided with magnetic stripe sensor and RFID sensor,
Being equipped with magnetic stripe road on walking path, described magnetic stripe road is provided with RFID beacon, and described movement is put down
Platform is matched with magnetic stripe by magnetic stripe sensor and carries out path walking, and described mobile platform is sensed by RFID
Device perception RFID beacon demarcate mobile platform more specific location information, described initialization mobile platform this
In step, by described multiple mobile platforms according to self position adjustment to the direction facilitating action.
Owing to using technique scheme, the control method of a kind of packaged type revolving stage that the present invention provides
Compared with prior art have the advantage that
1, for controlling the change of above-mentioned packaged type revolving stage and building, convenient to operation.
2, multiple mobile platform collaborative works are set up a platform, thus realize stage effect, make stage change various
Change.
3, wirelessly Mobile rotary stage is manipulated, it is to avoid pilot steering so that control
Mode is more flexible.
4, Mobile rotary stage by self magnetic stripe sensor and RFID sensor perception magnetic stripe road and
RFID beacon, it is possible to be fixed independent navigation and the location in path, thus need not manual intervention
In the case of complete building of stage.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The structural representation of a kind of packaged type revolving stage that Fig. 1 provides for the present invention；
The partial sectional view of a kind of packaged type revolving stage that Fig. 2 provides for the present invention；
Fig. 3 is the upward view of mobile platform；
Fig. 4 is the axonometric chart of Fig. 3；
Fig. 5 is that the control of single mobile platform connects block diagram；
Fig. 6 is that the control of packaged type revolving stage connects block diagram；
Fig. 7 is that the system that packaged type revolving stage realizes automatically controlling constitutes schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing of the present invention, technical scheme is clearly and completely described,
Obviously, described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on
Embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
Every other embodiment, broadly fall into the scope of protection of the invention.
As shown in figures 1 to 6, the present invention provides a kind of packaged type revolving stage, including 4 mobile platforms 1
And 1 arena stage 2,4 described mobile platforms are evenly distributed on the excircle of arena stage, institute
The stage 2 stated is arranged on described mobile platform 1 by bindiny mechanism 3, and described mobile platform 1 wraps
Including frame body 101, the roller driving device being arranged in frame body and master control borad, described roller drives
Device includes reductor 103 that motor 102 is connected with described motor and is connected with described reductor
Mecanum wheel 104, described motor is provided with encoder；Described bindiny mechanism includes being arranged at described
Frame body 101 on column-like projection block 301, be arranged at the groove 302 below described stage, described
Column-like projection block rotatably coordinates with described groove；4 magnetic stripe sensings it are additionally provided with in described frame body
Device 4 and RFID sensor 5, described RFID sensor is arranged on the centre position of frame body, described
4 magnetic stripe sensors arrange with the axis for axis symmetry of frame body two-by-two.
It is more time saving and energy saving that a kind of Mobile rotary stage that the present invention provides is built, and change space is bigger,
Performance strong adaptability, this revolving stage can towards any direction translation or along curve movement, can be with 360 ° of rotations
Turn, stage area, and the default anglec of rotation can be reserved according to customer demand, it is achieved the stage of Complete customization moves
Dynamic, rotation effect；Use the column-like projection block in frame body to constitute with the fit depressions below stage to be connected
Mechanism, it is ensured that stage can and frame body between rotate against；It is provided with magnetic stripe sensor and RFID
Sensor so that mobile platform can be walked on set magnetic stripe track.
As it is shown in figure 5, further, the frame body of described mobile platform is provided with radio receiving transmitting module,
Described radio receiving transmitting module electrically connects with the master control borad of described mobile platform.By this radio receiving transmitting module
Can communicate wirelessly with external equipment thus determine stage transformation directive, described radio receiving transmitting module
It can be any one communication modes in Zighee, 2.4G and wifi.
Illustrating that the present invention also provides for one with the embodiment of the packaged type revolving stage in Fig. 1 and Fig. 6 can
The control method of Mobile rotary stage, comprises the following steps:
Initialize mobile platform, 4 mobile platforms are numbered, by the omni-directional wheel of 4 mobile platforms
The direction of the wherein centrage that direct of travel is adjusted to the frame body of the mobile platform with self is consistent,
Each mobile platform record is now from the reading of attached encoder；
Stage conversion planning, considers each mobile platform location and carrys out each shifting of unified planning
The walking path of moving platform, is finally completed stage conversion, each mobile platform jointly by multiple mobile platforms
All its positional information, Mei Geyi can be shared with other mobile platforms during completing respective walking path
The routing instruction that moving platform master control borad receives according to self, the information in conjunction with encoder collection controls certainly
The walking path of body mobile platform, finally realizes stage conversion.
Described Mobile rotary stage can be used Non-follow control and automatically control two ways, manually control
The method of system is to be additionally provided with radio receiving transmitting module, described radio receiving transmitting module on described mobile platform
Electrically connect with master control borad；In initializing mobile platform the step for, at the beginning of described multiple mobile platforms
Beginningization direction is adjusted to consistent；In stage conversion planning the step for, first passed through wireless parties by host computer
Formula is sent routing instruction and is received by the radio receiving transmitting module of self to each mobile platform, each mobile platform
Again routing instruction is sent in master control borad after routing instruction.Use wireless mode Non-follow control Mobile rotary
Stage, it is to avoid pilot steering so that control mode is more flexible.
The method automatically controlled is, described mobile platform is provided with magnetic stripe sensor and RFID sensor, OK
Walking upper berth, path and be provided with magnetic stripe road, described magnetic stripe road is provided with RFID beacon, as it is shown in fig. 7,7
For the magnetic stripe road laid, 8 is the RFID beacon arranged on magnetic stripe road, and described mobile platform passes through magnetic
Bar sensor matches with magnetic stripe road along the path walking worked out, and includes that the straight line of any direction is put down here
Move, curvilinear translation and rotate in place or rotate etc. around certain radius, this depends on the concrete of magnetic stripe road
Laying condition, described mobile platform demarcates the tool of mobile platform by RFID sensor perception RFID beacon
Body position information, next step is by linear motion to determine mobile platform according to the information of now RFID beacon
Or circular motion or rotate in place action, if running into annular magnetic stripe road, then moves in described initialization
In the step for of moving platform, described multiple mobile platforms are rotated to convenience according to the position adjustment of self
Direction.This Mobile rotary stage passes through to automatically control independent navigation and the location that can be fixed path,
Thus in the case of need not manual intervention, complete building of stage.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited to
This, any those familiar with the art, in the technical scope that the invention discloses, can readily occur in
Change or replacement, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention should
It is as the criterion with described scope of the claims.
Claims (4)
1. a control method for packaged type revolving stage, described packaged type revolving stage include mobile platform and
Stage, described stage is arranged on described mobile platform by bindiny mechanism, described mobile platform bag
Including frame body, the roller driving device being arranged in frame body and master control borad, described roller drives dress
Put and include the reductor that motor is connected with described motor and the omni-directional wheel being connected with described reductor,
Described motor is provided with encoder, it is characterised in that comprise the following steps:
Initialize mobile platform, the direct of travel of the omni-directional wheel of mobile platform is adjusted to the skeleton with mobile platform originally
The direction of a wherein centrage of body is consistent, records the mobile platform reading from attached encoder；
Stage conversion planning, master control borad is controlled according to the routing instruction received, the information in conjunction with encoder collection
The walking path of mobile platform processed, finally realizes stage conversion.
The control method of packaged type revolving stage the most according to claim 1, it is characterised in that described
Mobile platform comprises multiple, is numbered each mobile platform, stage conversion planning the step in,
Consider each mobile platform location and carry out the walking path of each mobile platform of unified planning,
Finally jointly being completed stage conversion by multiple mobile platforms, each mobile platform completes respective walking road
All its positional information can be shared with other mobile platforms during footpath.
The control method of packaged type revolving stage the most according to claim 2, it is characterised in that described
Being additionally provided with radio receiving transmitting module on mobile platform, described radio receiving transmitting module electrically connects with master control borad；?
In the step for of initialization mobile platform, the initialization direction of described multiple mobile platforms is adjusted to consistent；
In stage conversion planning the step for, again by routing instruction after being instructed by radio receiving transmitting module RX path
It is sent in master control borad.
The control method of packaged type revolving stage the most according to claim 2, it is characterised in that described
Mobile platform is provided with magnetic stripe sensor and RFID sensor, and walking path is equipped with magnetic stripe road, described
Magnetic stripe road be provided with RFID beacon, described mobile platform by magnetic stripe sensor match with magnetic stripe into
Walking in walking along the street footpath, described mobile platform demarcates mobile platform by RFID sensor perception RFID beacon
More specific location information, described initialization mobile platform the step in, by described multiple mobile platforms
Position adjustment according to self is to the direction facilitating action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410385189.0A CN104120898B (en) | 2014-08-06 | 2014-08-06 | The control method of packaged type revolving stage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410385189.0A CN104120898B (en) | 2014-08-06 | 2014-08-06 | The control method of packaged type revolving stage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104120898A CN104120898A (en) | 2014-10-29 |
| CN104120898B true CN104120898B (en) | 2016-08-17 |
Family
ID=51766514
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410385189.0A Expired - Fee Related CN104120898B (en) | 2014-08-06 | 2014-08-06 | The control method of packaged type revolving stage |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104594666B (en) * | 2014-12-25 | 2017-01-04 | 浙江大丰实业股份有限公司 | Stage performance planar free movement car turntable |
| CN106121288B (en) * | 2016-07-04 | 2018-08-10 | 浙江工业大学义乌科学技术研究院有限公司 | Intelligence navigation stage and control method |
| CN106155115B (en) * | 2016-07-04 | 2019-01-15 | 浙江工业大学义乌科学技术研究院有限公司 | The fitup and control method that can precisely navigate |
| CN106088686B (en) * | 2016-07-04 | 2018-05-22 | 浙江工业大学义乌科学技术研究院有限公司 | Performing art stage and control method |
| CN106401218B (en) * | 2016-08-28 | 2018-09-11 | 浙江大丰实业股份有限公司 | Removable performing art stage and control method |
| CN106285068B (en) * | 2016-08-28 | 2018-09-11 | 浙江大丰实业股份有限公司 | Fitup and control method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1176636A (en) * | 1997-09-11 | 1999-03-23 | Hitachi Zosen Corp | Slide wagon |
| CN2921185Y (en) * | 2006-04-08 | 2007-07-11 | 聂小勇 | Railless movable stage |
| CN2937354Y (en) * | 2006-08-09 | 2007-08-22 | 倪湘凝 | Movable stage |
| RU2013141527A (en) * | 2011-02-11 | 2015-03-20 | Герман ФРУМ | DEVICE AND SYSTEM FOR ROTARY ATTACHING OF SCENE DEVICES |
| CN202899664U (en) * | 2012-11-26 | 2013-04-24 | 浙江大丰实业有限公司 | Universal car platform |
| CN204001861U (en) * | 2014-08-06 | 2014-12-10 | 武汉汉迪机器人科技有限公司 | Packaged type revolving stage |
-
2014
- 2014-08-06 CN CN201410385189.0A patent/CN104120898B/en not_active Expired - Fee Related
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| CN104120898A (en) | 2014-10-29 |
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Granted publication date: 20160817 Termination date: 20190806 |