WO2017133279A1 - 显示装置、裁判***及机器人 - Google Patents

显示装置、裁判***及机器人 Download PDF

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Publication number
WO2017133279A1
WO2017133279A1 PCT/CN2016/103713 CN2016103713W WO2017133279A1 WO 2017133279 A1 WO2017133279 A1 WO 2017133279A1 CN 2016103713 W CN2016103713 W CN 2016103713W WO 2017133279 A1 WO2017133279 A1 WO 2017133279A1
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WO
WIPO (PCT)
Prior art keywords
display device
bracket
robot
indicator light
circuit board
Prior art date
Application number
PCT/CN2016/103713
Other languages
English (en)
French (fr)
Inventor
赵鹏飞
苗向鹏
贝世猛
梁博
韩家斌
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Publication of WO2017133279A1 publication Critical patent/WO2017133279A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Definitions

  • the present invention relates to robot technology, and more particularly to a display device, a referee system, and a robot.
  • a display device is provided in the robot to clearly display the state information of the robot to be provided to the operator or other observer as important parameter information of the robot.
  • the energy reserve of the corresponding robot is indicated by the indicator light in the form of blood volume, so that both parties and the audience can know the progress of the game.
  • a robot generally includes a running mechanism, a launching system, and a referee system.
  • the walking mechanism is the main body of the robot for walking and steering.
  • the launching system is mounted at the upper end of the running gear for confrontation and combat.
  • the launching system includes a pan/tilt connected to the running gear and a weapon connected to the pan-tilt and rotatable with the connection point of the gimbal around the launching system and the traveling mechanism.
  • the referee system includes a sensor mounted on the running mechanism and a display device mounted on the rear of the upper end of the running mechanism. The sensor is configured to receive the signal of the attack and transmit the signal to the display device, and the display device displays according to the received signal.
  • the combat state of the robot adopts a vertically arranged long lamp post, and a display lamp for displaying the blood volume of the robot is respectively disposed on four sides of the lamp post, and the brightness of the lamp directly reflects the amount of blood left by the robot.
  • the weapon in the launching system of the robot will collide with the lamp post during the rotation of the following gimbal.
  • the object of the present invention is to provide a display device, a referee system and a robot for solving the prior art.
  • the present invention provides the following technical solutions:
  • a display device in a first aspect, includes: a bracket, a bottom end of the bracket is provided with a connecting member for connecting with a robot running mechanism; and the bracket is provided with an indicator light for displaying status information of the robot,
  • the indicator light is in the form of a strip of light, and the length direction of the indicator light forms a first angle with the extending direction of the bracket from the top end of the bracket to the bottom end of the bracket.
  • the display device further comprising a lamp holder; the lamp holder is disposed near a top end of the bracket, or the lamp holder is disposed at a top end of the bracket; the length of the lamp holder The direction is formed with a second angle with the extending direction of the bracket, and the indicator light is disposed on the lamp holder.
  • the indicator light comprises a first indicator light and a second indicator light, wherein the first indicator light and the second indicator light are strip-shaped, and the first indicator light and the second indicator light They are all arranged along the length of the lamp holder.
  • the lamp holder includes a top surface and a sloped side at a third angle to the top surface, the first indicator light is disposed on the top surface; the second indicator light Set on the oblique side.
  • the third included angle is greater than 90 degrees.
  • the lamp holders are formed with side end faces, and the two side faces are respectively provided with a first indicator lamp and a second indicator lamp for displaying the identification information of the robot.
  • the first indicator light and the second indicator light comprise: an identification light source circuit board and an LED light source disposed on the identification light source circuit board.
  • the side of the lamp holder facing away from the oblique side has a front side on which a display light for displaying preset information of the robot is disposed.
  • the display lamp comprises two, and the two display lamps are respectively located at two ends of the front side of the bracket.
  • the display lamp comprises: a display light source circuit board and a plurality of LED light sources disposed on the display light source circuit board.
  • the first indicator light comprises: a first light source circuit board and a plurality of LED light sources disposed on the first light source circuit board, wherein the plurality of LED light sources are arranged in at least a row.
  • the second indicator light comprises: a second light source circuit board and a plurality of LED light sources disposed on the second light source circuit board, the plurality of LED light sources being arranged in at least one column.
  • the second angle formed by the extending direction of the bracket and the longitudinal direction of the lamp holder is 90 degrees, and the length direction of the indicator light is consistent with the length direction of the lamp holder.
  • the lamp holder is fixedly disposed at the top end of the bracket, and the bracket is located at a midpoint of the length of the lamp holder.
  • the display device further includes a main control circuit board and a wireless communication module, the wireless communication module is connected to the main control circuit board, and the wireless communication module is configured to interact with the server.
  • the wireless communication module and the main control circuit board are both mounted on the bracket, and the wireless communication module is disposed above the main control circuit board.
  • the display device further comprising a display screen for displaying the robot parameters, the display screen being disposed on a bracket below the lamp holder.
  • the bracket is provided with a rotating shaft, and the display screen is pivotally connected to the bracket; or/and the bottom end of the display screen is provided with an interface for reading and writing data.
  • the display screen is provided with a bayonet on a side of the bracket, and the bracket is provided with a mating port for locking the display screen or disengaging the display screen. Locking parts.
  • a referee system comprising: a sensor and a display device as described above, the sensor being coupled to an indicator light in the display device.
  • a robot comprising: a running gear and a referee system as described above, the bottom end of the bracket of the display device in the referee system being mounted on the running mechanism.
  • a further improvement of the above robot further includes a camera mounted on the running mechanism.
  • the display device, the referee system and the robot provided by the present invention reduce the overall height of the display device by forming a first angle between the longitudinal direction of the indicator light of the strip-shaped lamp strip and the extending direction of the bracket, that is, So that the highest point of the display device is lower than the weapon in the robot launch system
  • the height avoids the weapon in the launching system of the robot colliding with the lamp post during the rotation of the gimbal, thereby improving the combat effectiveness of the robot.
  • the length of the indicator light is no longer limited by the space, and it is convenient to set the indicator light with higher resolution, so that the display device can more clearly display the state information of the robot.
  • FIG. 1 is a schematic structural diagram of a display device according to Embodiment 1-8 of the present invention.
  • Figure 2 is an exploded view of the display device of Figure 1;
  • Figure 3 is a front elevational view of the display device of Figure 1;
  • Figure 4 is a left side view of the display device of Figure 1;
  • Figure 5 is a plan view of the display device of Figure 1;
  • Figure 6 is a partial enlarged view of the position A in Figure 1;
  • FIG. 7 is a schematic diagram of a referee system according to Embodiment 9 of the present invention.
  • FIG. 8 is a schematic structural diagram of a robot according to Embodiment 10 of the present invention.
  • main control circuit board 131, main control circuit board; 133, first light source circuit board;
  • 155 a first identification light
  • 157 a second identification light
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; may be directly connected, or may be indirectly connected through an intermediate medium, may be the internal communication of two elements or the interaction of two elements, unless explicitly defined otherwise.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.
  • the embodiment provides a display device for displaying the working state of the robot, especially the combat state of the robot in confrontation.
  • 1 is a schematic view of a display device according to the present embodiment
  • FIG. 2 is an exploded view of the display device of FIG. 1
  • FIG. 3 is a front view of the display device of FIG.
  • FIG. 5 is a plan view of the display device of FIG. 1.
  • the display device of the embodiment includes a bracket 111.
  • the bottom end of the bracket 111 is provided with a connecting member for connecting with the robot running mechanism, and the bracket 111 is provided with a first working state for displaying the robot.
  • Indicator light is a strip-shaped strip of light, and a first angle is formed between the length direction of the indicator light and the extending direction of the bracket 111.
  • the specific structural shape of the bracket 111 is not limited, and it may be a single profile or a frame formed by connecting multiple profiles.
  • the mounting direction of the bracket 111 is not limited, and it may be disposed on the upper surface of the vertical traveling mechanism, or may be disposed at an angle to the upper surface of the running mechanism.
  • the material of the bracket 111 is not limited, and it may be steel, aluminum or other suitable materials.
  • the attachment of the bottom end of the bracket 111 which may be a detachable connector that cooperates with the running gear, such as a snap or a connector for fastener attachment.
  • the connector can also be other non-detachable connectors, such as pin connectors or weldments.
  • the indicator lights may be one, two or more. Also, one indicator light may include one light source, two light sources, or multiple light sources.
  • the light source can be an LED light source or other light source.
  • the indicator light can be mounted on the top end, the upper end or the lower end of the bracket 111.
  • the indicator light may be connected to one side of the two end faces of the strip lamp strip to the lamp holder 113, or the middle portion of the strip lamp strip may be connected to the lamp holder 113.
  • the first angle formed between the longitudinal direction of the indicator light of the strip-shaped lamp strip and the extending direction of the bracket 111 is not specifically limited.
  • the first angle may be any angle of 60 degrees, 90 degrees, 120 degrees, or the like. In this way, when the resolution of the indicator light is not lowered, the height between the highest point of the indicator light and the running mechanism can be significantly reduced.
  • the bracket 111 is rectangular, and the extending direction of the bracket is the length direction of the bracket 111.
  • the shape of the bracket is not limited to a rectangular shape, and may be other shapes, such as a circle, a square, etc., and the top end of the bracket 111 extends in a direction extending from the side of the bracket 111 near the indicator light to the bracket. 111 away from the other side of the indicator light.
  • the state information of the robot in this embodiment may refer to one or more of the blood volume, the enemy state, and the survival state information of the robot in the competition.
  • the state information of the robot may also be other working state information of the robot, such as power, signal receiving, signaling, or reading and writing status information. Based on this, the state information of the robot is not specifically limited in the present embodiment.
  • the indicator light for displaying the blood volume is darkened to display the decrease of the blood volume of the robot, and Show how much the robot's blood volume is reduced by the degree to which the indicator light is dimmed.
  • the display device of the embodiment by forming a first angle between the longitudinal direction of the indicator light of the strip light strip and the extending direction of the bracket 111, the overall height of the display device is reduced, that is, the display device is made The highest point is lower than the height of the weapon in the robot launching system, so that the weapon in the launching system of the robot will collide with the lamp post during the rotation of the gimbal, thereby improving the combat power of the robot.
  • the length of the indicator light is no longer limited by the space, and it is convenient to set the indicator light with higher resolution, so that the display device can more clearly display the state information of the robot.
  • the embodiment provides a display device for displaying the working state of the robot, especially the combat state of the robot in confrontation.
  • the display device of the present embodiment is based on the technical solution of the first embodiment, and a lamp holder 113 is provided on the holder 111. Wherein, the indicator light is mounted on the lamp holder 113. Further, the longitudinal direction of the lamp holder 113 forms a second angle with the extending direction of the bracket 111.
  • the lamp holder 113 may be disposed at a position near the top end of the bracket 111 or directly at the top end of the bracket 111.
  • the connection position of the lamp holder 113 and the bracket 111 may be any position in the longitudinal direction of the lamp holder 113.
  • the left end surface of the lamp holder 113 is connected to the top end, the left end, or the right end of the bracket 111.
  • it may also be the middle portion of the lamp holder 113, such as the center point being connected to the top end of the bracket 111.
  • the specific form of the lamp holder 113 is not limited in this embodiment, and it may be a box shape, a plate shape or other shapes.
  • the indicator light on the lamp holder 113 can be disposed at any position of the lamp holder 113, such as a top surface, a front side surface, a rear side surface, a left end surface, or a right end surface.
  • the second angle of the length direction of the lamp holder 113 and the extending direction of the bracket 111 may be selected within an arbitrary angle range, for example, 30 degrees, 45 degrees, 90 degrees, or the like.
  • the display device of the embodiment can facilitate the installation of the indicator lamp by mounting the lamp holder 113 on the bracket 111 and mounting the indicator lamp on the lamp holder 113, and can make the display device have better structural strength.
  • the embodiment provides a display device for displaying the working state of the robot, especially against The combat state of the robot.
  • the display device of this embodiment is based on the technical solution of Embodiment 2, and the indicator light is set as the first indicator light 151 and the second indicator light 153.
  • the first indicator light 151 and the second indicator light 153 are both strip-shaped, and the first indicator light 151 and the second indicator light 153 are both disposed along the length direction of the lamp holder 113.
  • the resolution of the display light 159 displaying the state information of the robot can be improved, enabling both parties and the audience to Obviously observe the state information of the robot, for example, the blood volume of the robot.
  • the lamp holder 113 may include a top surface and a sloped side, and a third angle is formed between the oblique side surface and the top surface.
  • the first indicator light 151 is disposed on the top surface
  • the second indicator light 153 is disposed on the oblique side surface.
  • the third angle between the oblique side surface and the top surface may be any angle greater than 90 degrees, for example, 100 degrees, 130 degrees, 150 degrees, and the like.
  • the third angle may be 120 degrees.
  • the state information of the robot and the viewer can be expanded.
  • the resolution and line of sight angles allow the parties and viewers in different positions in the match to see the state information of the robot very clearly.
  • the blood volume of the robot can be clearly seen from any position on the field.
  • the state information of the robot is blood volume
  • the amount of blood of the robot and the change of blood volume after the robot is attacked can be clearly observed at any position on the field.
  • the first indicator light 151 may also be an LED lamp having a plurality of point light sources, or an ordinary lamp having a plurality of point light sources, or an LED lamp capable of changing colors or the like.
  • the first indicator light 151 may include a first light source circuit board 133 and a plurality of LED light sources disposed on the first light source circuit board 133, and the LED light sources are arranged in one column, two columns or multiple columns.
  • a plurality of LED light sources disposed thereon can be controlled by controlling the first light source circuit board 133.
  • the second indicator light 153 may also be an LED lamp having a plurality of point light sources, or an ordinary lamp having a plurality of point light sources, or may be an LED lamp capable of changing colors or the like.
  • the second indicator light 153 may include a second light source circuit board and a plurality of LED light sources disposed on the second light source circuit board, and the LED light sources are arranged in one column, two columns or multiple columns.
  • a plurality of LED light sources disposed thereon can be controlled by controlling the first light source circuit board 133.
  • first indicator light 151 and the second indicator light 153 may include 14-25 LED light sources.
  • the first indicator light 151 and the second indicator light 153 may have 20 LED light sources, so that the first indicator light 151 and the second indicator light 153 may have better brightness, thereby enabling the opponents and the viewer to be more capable.
  • the structure of the display device can be made more compact.
  • the number of LED light sources and the number of columns can also be set according to actual needs, thereby improving the adaptability of the display device.
  • the display device has excellent resolution of the state information of the robot. And a line of sight that can observe the state information of the robot.
  • the embodiment provides a display device for displaying the working state of the robot, especially the combat state of the robot in confrontation.
  • the display device of this embodiment is based on the technical solutions provided in Embodiment 2 and Embodiment 3.
  • a side end surface is formed at both ends of the lamp holder 113, and is respectively disposed on the two side end faces.
  • the first indicator light 155 can be disposed on the left end surface of the lamp holder 113, and the second identification lamp 157 can be disposed on the right end surface of the lamp holder 113.
  • the first indicator light 155 and the second indicator light 157 may be an LED light or a normal light, and the light source may be a white light source or a light source having a color.
  • the identification information may also be one of the blood volume, the enemy and the enemy state, and the survival state information of the robot in the competition.
  • the identification information may also be other working status information of the robot, such as power, signal reception, signaling, or read and write status information.
  • the identification information is not specifically limited, but the identification information is preferably different from the state information of the robot.
  • the display device of the present embodiment displays the identification information of the robot by providing the third display lamp 159 and the fourth display lamp 159 on the lamp holder 113, thereby providing the robot with more working state information of the robot.
  • the blood volume of the robot is displayed by the first indicator light 151 and the second indicator light 153
  • the state of the enemy is displayed by the first indicator light 155 and the second indicator light 157.
  • first indicator light 155 and the second indicator light 157 each include an identification light source circuit board and an LED light source disposed on the identification light source circuit board.
  • the identification light source circuit board controls the brightness and/or color of the LED light source disposed on the circuit board that identifies the light source.
  • the red, blue or other color can be displayed by controlling the LED light source in the first identification light 155, and the LED light source in the second identification light 157 can be controlled.
  • a color different from that displayed by the LED light source in the first marker light 155 is displayed in blue, red or other colors, thereby identifying the own robot and the enemy robot in the confrontation of the plurality of robots.
  • the structure of the entire display device is made simpler and the occupation volume is smaller.
  • the embodiment provides a display device for displaying the working state of the robot, especially the combat state of the robot in confrontation.
  • the display device of the embodiment is based on the technical solutions provided in Embodiment 3 and Embodiment 4.
  • the lamp holder 113 has a front side on a side facing away from the oblique side, and the front side is provided with useful A display light 159 for displaying the robot preset information.
  • the display lamp 159 is disposed on the front side of the lamp holder 113.
  • the display lamp 159 can be an LED lamp or an ordinary incandescent lamp or the like.
  • the light source of the display lamp 159 may be a white light source or have The source of color.
  • the preset information may be one of a blood volume, an enemy state, and a survival state of the robot in the competition.
  • the preset information may also be other working states of the robot, such as power, signal reception, signaling, or read and write status.
  • the preset information is not specifically limited, but the preset information is preferably different from the state information and the identification information of the robot.
  • the state information of the robot is the blood volume of the robot
  • the identification information is the enemy state of the robot
  • the preset information may be a living state.
  • the specific display manner of the preset information may be performed by displaying the brightness of the brightness of the light 159 or the blinking frequency of the display light 159.
  • those skilled in the art may set according to conventional means in the prior art.
  • the display device can be provided with two display lamps 159 on the front side.
  • the two display lamps 159 are respectively disposed at both ends of the front side of the lamp holder 113.
  • the two display lamps 159 may be strip-shaped strips that are symmetrically disposed on both sides of the bracket 111.
  • the display lamps 159 by arranging the display lamps 159 on both sides of the bracket 111, the display lamps 159 can be seen very clearly on both sides of the bracket 111, thereby clearing the state of the preset information of the robot.
  • the display lamp 159 includes a display lamp 159 light source circuit board 135 and a plurality of LED light sources disposed on the display lamp 159 light source circuit board 135.
  • the LED light sources are arranged in one row, two columns or multiple columns. Thus, in actual operation, a plurality of LED light sources disposed thereon can be controlled by controlling the display lamp 159 light source circuit board 135.
  • the structure of the display device can be made more compact.
  • the number of LED light sources and the number of columns can also be set according to actual needs, thereby improving the adaptability of the display device.
  • the display lamp 159 uses five LED light sources, the display light 159 has sufficient brightness and observation clarity, so that the warring parties and the viewer can clearly recognize the preset of the robot. information.
  • the embodiment provides a display device for displaying the working state of the robot, especially against The combat state of the robot.
  • the display device of the present embodiment is formed by the longitudinal direction of the bracket 111 and the lamp holder 113 based on the technical solutions provided in the embodiment 2, the embodiment 3, the embodiment 4, and the embodiment 5.
  • the second angle is set to 90 degrees, that is, the bracket 111 and the lamp holder 113 are perpendicular.
  • the length direction of the indicator light is also set to coincide with the length direction of the lamp holder 113.
  • the bracket 111 can be made to have a very low height, thereby minimizing the possibility that the launching system may be associated with the bracket 111 and the lamp holder 113 and the indicator light. Collision to improve the combat effectiveness of the robot.
  • the display device can also have a suitable structure by the above arrangement, thereby improving the structural strength thereof.
  • any position in the longitudinal direction of the lamp holder 113 can be fixed to the bracket 111.
  • the midpoint of the lamp holder 113 is fixed to the top end of the bracket 111.
  • first light source circuit board 133, the second light source circuit board, the identification light source circuit board, and the display light 159 light source circuit board 135 may be separately disposed as in the above embodiment, or may be integrated to save Structural components that reduce the size and weight of the display unit.
  • the embodiment provides a display device for displaying the working state of the robot, especially the combat state of the robot in confrontation.
  • the display device of the embodiment is based on the technical solution provided by the foregoing embodiment, and provides a wireless communication module and a main control circuit board 131 electrically connected to the indicator.
  • the wireless communication module is electrically connected to the main control circuit board 131 for interacting with the server.
  • the main control circuit board 131 can be a chip or an integrated circuit, etc., which controls the opening and closing and brightness of the indicator light.
  • the main control board 131 can be placed at any position, such as on the running mechanism of the robot, or placed on the bracket 111 or the lamp holder 113. More specifically, in some preferred examples, the main control circuit board 131 is connected to the first light source circuit board 133, the second light source circuit board, the identification light source circuit board, and the display light 159 light source circuit board 135, thereby passing through the main control circuit board. 131 controls the working states of the first indicator light 151, the second indicator light 153, the first indicator light 155, the second indicator light 157, and the display light 159.
  • the wireless communication module sends one or more of the status information, the identification information, and the preset information of the robot to the server, and receives one or more of the venue information, the counterpart information, the teammate information, and other information from the server.
  • the wireless communication mode in the wireless communication module can be a wireless communication mode as known in the art, for example, providing wifi communication using the wifi circuit board 137 and Bluetooth communication using a Bluetooth circuit board.
  • the main control circuit board 131 is disposed on the bracket 111, and the wireless communication module is disposed above the main control circuit board 131.
  • the wifi circuit board 137 can be disposed above the main control circuit board 131.
  • the embodiment provides a display device for displaying the working state of the robot, especially the combat state of the robot in confrontation.
  • the display device of this embodiment is based on the technical solution provided by the above embodiment, and a display screen 171 is disposed on the bracket 111 below the lamp holder 113.
  • the display screen 171 is for displaying parameters of the robot, and an interface for reading and writing data is provided at the bottom end of the display screen 171.
  • the interface provided at the bottom of the display screen 171 is not required, and in other examples the interface may be placed in other locations or may not be provided.
  • the display screen 171 may be a single display screen 171 or a display screen 171 including a casing.
  • the display screen 171 is not specifically limited in this embodiment.
  • a display screen 171 of the prior art can be used by those skilled in the art.
  • the display screen 171 can be fixed to the bracket 111 or movably connected to the bracket 111.
  • a rotating shaft 1711 can be disposed on the bracket 111, and then the display screen 171 is pivotally connected to the rotating shaft 1711, so that the display screen 171 is rotatably connected to the bracket 111.
  • the rotating shaft 1711 is disposed in the extending direction of the vertical bracket 111.
  • the inverting direction of the display screen 171 is the same as the extending direction of the bracket 111, which is more convenient to use.
  • the display screen 171 can be fixed to the bracket 111. Anywhere.
  • the display screen 171 is fixed to the upper end of the stand 111 to facilitate viewing of information on the display screen 171 and modification of the information.
  • a bayonet may be provided on the side of the display screen 171 facing the bracket 111, and A locking member that cooperates with the bayonet for locking or disengaging the display screen 171 is disposed on the bracket 111.
  • the locking member may be an elastic hook body 1111 or a spring pin provided on the bracket 111.
  • the display device of the embodiment provides a matching snap structure on the display screen 171 and the bracket 111, so that the robot can lock the display screen 171 on the bracket 111 without swaying when confronting; In the non-combat state, the display screen 171 can be released to facilitate the rotation of the display screen 171 to enable the technician to more conveniently view and modify various parameters and information of the robot.
  • the above-mentioned buckle structure may also be a buckle structure of other prior art, and details are not described herein again.
  • FIG. 7 is a schematic diagram of a referee system provided by this embodiment.
  • the referee system of this embodiment includes a sensor 3 and a display device 1 as described above.
  • the sensor 3 is connected to an indicator light in the display device 1.
  • the sensor 3 is configured to receive the injury information received by the robot and transmit the damage information to an indicator light in the display device, and the indicator light adjusts the brightness according to the received information.
  • the sensor 3 can transmit the damage information to the first light source circuit board 133 and the second light source circuit board to control the brightness of the first indicator light 151 and the second indicator light 153.
  • the sensor 3 can also transmit damage information to the identification light source circuit board to control the color or brightness of the first identification light 155, the second identification light 157.
  • sensor 3 may also communicate damage information to display light source circuit board 135 to control the color, brightness, or blinking frequency of display light 159.
  • the sensor 3 can transmit the damage information to the main control circuit board 131 of the display device, thereby controlling the first indicator light 151 and the second indicator light through the main control circuit board 131. 153.
  • the display device 1 in the above embodiment is also applicable to the present embodiment. Therefore, the structure, principle, function, and effect achieved by the display device 1 in the above embodiments are the same as those of the above embodiment. Those skilled in the art can refer to the above embodiments.
  • the referee system of the present embodiment forms a first angle between the longitudinal direction of the indicator light of the strip light strip in the display device 1 and the mounting direction of the bracket 111, so that the highest point of the indicator light is lower than the robot launching
  • the height of the weapon in the system 7 enables the launching system 7 of the robot to rotate 360 degrees without interfering with the display device 1, thereby improving the combat power of the robot.
  • FIG. 8 is a schematic structural view of a robot provided in this embodiment.
  • the robot running mechanism 5 of the present embodiment and the referee system described above are considered.
  • the bottom end of the bracket 111 of the display device 1 in the referee system is mounted on the running gear 5.
  • the robot further includes a camera mounted on the running gear 5 for photographing the playing field.
  • the camera can be disposed on the running gear 5.
  • the running mechanism 5 is not specifically limited, and those skilled in the art can select and set the running mechanism 5 according to actual needs.
  • the running gear 5 may include a support frame and a wheel pair mounted below the support frame.
  • the launching system 7 includes a pan/tilt head disposed above the support frame and rotatably coupled to the support frame, and a weapon mounted on the pan/tilt head and rotatable with the gimbal.
  • the display device 1 is mounted behind the launch system 7.
  • the running gear 5 is also provided with a sensor 3 and a camera. The sensor 3 is used to receive an attack signal, etc., and the camera is used to photograph the scene environment.
  • the display device 1 in the above embodiment is also applicable to the present embodiment. Therefore, the structure, principle, function, and effect achieved by the display device 1 in the above embodiments are the same as those of the above embodiment. Those skilled in the art can refer to the above embodiments.
  • the first angle is formed between the longitudinal direction of the indicator light of the strip light strip in the display device 1 in the referee system and the mounting direction of the bracket 111, so that the highest point of the indicator light is low.
  • the height of the weapon in the robot launching system 7 enables the launching system 7 of the robot to rotate 360 degrees without interfering with the display device 1, thereby improving the combat power of the robot.

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Abstract

一种显示装置（1），包括支架（111），在支架的底端设置有用于与机器人行走机构连接的连接件；支架（111）上设置有用于显示机器人的状态信息的呈条状灯带的指示灯，且该指示灯的长度方向与支架从支架顶端到支架底端的延伸方向之间形成第一夹角。还包括一种裁判***，该***包括：传感器（3）及该显示装置，该传感器与该显示装置中的指示灯连接。还包括一种机器人，包括行走机构（5）以及该裁判***，该裁判***中的显示装置的支架其底端安装在行走机构上。这种显示装置、裁判***及机器人，降低了显示装置的高度，避免发射***中的武器碰撞到显示装置。

Description

显示装置、裁判***及机器人
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。
技术领域
本发明涉及机器人技术，尤其涉及一种显示装置、裁判***及机器人。
背景技术
机器人中设置有显示装置来清楚地显示机器人的状态信息，以作为机器人的重要参数信息提供给操纵者或者其它观测者。例如，在机器人对抗赛中，通过指示灯显示以血量的方式表示相应机器人的能量储备，以供双方及观众获知比赛进展。
在现有技术中，机器人一般包括：走行机构、发射***和裁判***。其中，走行机构为机器人的主体，用于行走和转向。发射***安装在走行机构的上端，用于进行对抗和战斗，该发射***包括与走行机构连接的云台和与云台连接且可跟随云台绕发射***和走行机构的连接点转动的武器。裁判***则包括安装在走行机构上的传感器和安装在走行机构上端后部的显示装置，传感器用于接收收受到攻击的信号并将该信号传递给显示装置，显示装置则根据接收到的信号显示机器人的战斗状态。其中，显示装置采用竖直设置的长条状灯柱，在灯柱的四个侧面分别设置有用来显示机器人血量的显示灯，通过该灯的明亮程度来直观反映机器人所剩血量多少。
但是，由于显示装置的高度受到灯柱长度限制，导致机器人的发射***中的武器在跟随云台转动过程中会碰撞到灯柱。
发明内容
本发明的目的提供一种显示装置、裁判***及机器人，用于解决现有技 术中显示装置与发射***干涉的技术问题。
为了解决上述技术问题，本发明提供了以下技术方案：
第一方面，提供一种显示装置，包括：支架，所述支架的底端设置有用于与机器人走行机构连接的连接件；所述支架上设置有用于显示机器人的状态信息的指示灯，所述指示灯呈条状灯带，且所述指示灯的长度方向与所述支架从支架顶端到支架底端的延伸方向之间形成第一夹角。
上述显示装置的进一步改进，所述显示装置还包括灯架；所述灯架设置在靠近所述支架的顶端位置，或者，所述灯架设置在所述支架的顶端；所述灯架的长度方向与所述支架的延伸方向形成有第二夹角，所述指示灯设置在所述灯架上。
上述显示装置的进一步改进，所述指示灯包括第一指示灯和第二指示灯，所述第一指示灯和第二指示灯均为条状，且所述第一指示灯和第二指示灯均沿所述灯架的长度方向设置。
上述显示装置的进一步改进，所述灯架包括顶面、以及与所述顶面呈第三夹角的斜侧面，所述第一指示灯设置在所述顶面上；所述第二指示灯设置在所述斜侧面上。
上述显示装置的进一步改进，所述第三夹角大于90度。
上述显示装置的进一步改进，所述灯架两端形成有侧端面，两个所述侧端面上分别设置有用于显示所述机器人的标识信息的第一标识灯和第二标识灯。
上述显示装置的进一步改进，所述第一标识灯和第二标识灯包括：标识灯光源电路板和设置在所述标识灯光源电路板上的LED光源。
上述显示装置的进一步改进，所述灯架背离所述斜侧面的一侧具有前侧面，所述前侧面上设置有用于显示所述机器人的预设信息的显示灯。
上述显示装置的进一步改进，所述显示灯包括两个，两个所述显示灯分别位于所述支架的前侧面的两端。
上述显示装置的进一步改进，所述显示灯包括：显示灯光源电路板和设置在所述显示灯光源电路板上的多个LED光源。
上述显示装置的进一步改进，所述第一指示灯包括：第一光源电路板和设置在所述第一光源电路板上的多个LED光源，所述多个LED光源排成至少 一列。
上述显示装置的进一步改进，所述第二指示灯包括：第二光源电路板和设置在所述第二光源电路板上的多个LED光源，所述多个LED光源排成至少一列。
上述显示装置的进一步改进，所述支架的延伸方向与所述灯架的长度方向形成的第二夹角为90度，且所述指示灯的长度方向与灯架的长度方向一致。
上述显示装置的进一步改进，所述灯架固定设置在所述支架顶端，且所述支架位于所述灯架的长度的中点处。
上述显示装置的进一步改进，所述显示装置还包括主控电路板和无线通信模块，所述无线通信模块与主控电路板连接，所述无线通信模块用于与服务器进行交互。
上述显示装置的进一步改进，所述无线通信模块和主控制电路板均安装在所述支架上，且所述无线通信模块设置在所述主控电路板上方。
上述显示装置的进一步改进，所述显示装置还包括用于显示所述机器人参数的显示屏，所述显示屏设置在所述灯架的下方的支架上。
上述显示装置的进一步改进，所述支架上设置有转轴，所述显示屏枢接在所述支架上；或/及，所述显示屏的底端设置有用于读写数据的接口。
上述显示装置的进一步改进，所述显示屏朝向所述支架一侧设置有卡口，所述支架上设置有与所述卡口相配合用于锁紧所述显示屏或者脱离所述显示屏的锁扣件。
第二方面，提供一种裁判***，包括：传感器及如上所述的显示装置，所述传感器与显示装置中的指示灯连接。
第三方面，提供一种机器人，包括：走行机构及如上所述的裁判***，所述裁判***中的显示装置的支架的底端安装在所述走行机构上。
上述机器人的进一步改进，还包括摄像头，所述摄像头安装在所述走行机构上。
本发明提供的显示装置、裁判***及机器人，通过使呈条状灯带的指示灯的长度方向与支架的延伸方向之间形成第一夹角，从而使得显示装置的整体高度得以降低，也即，使得显示装置的最高点低于机器人发射***中武器 的高度，避免机器人的发射***中的武器在跟随云台转动过程中会碰撞到灯柱，从而提高了机器人的战斗力。同时，指示灯的长度不再受到空间的限制，便于设置分辨率较高的指示灯，从而使得显示装置更加清楚地显示机器人的状态信息。
附图说明
图1为本发明实施例1-8提供的显示装置的结构示意图；
图2为图1的显示装置的***图；
图3为图1的显示装置的正视图；
图4为图1的显示装置的左视图；
图5为图1的显示装置的俯视图；
图6为图1中A位置的局部放大图；
图7为本发明实施例9提供的裁判***的示意图；
图8为本发明实施例10提供的机器人的结构示意图。
图中：1、显示装置；                    111、支架；
1111、弹性钩体；                       113、灯架；
131、主控电路板；                      133、第一光源电路板；
135、显示灯光源电路板；                137、wifi电路板；
151、第一指示灯；                      153、第二指示灯；
155、第一标识灯；                      157、第二标识灯；
159、显示灯；                          171、显示屏；
1711、转轴；                           3、传感器；
5、走行机构；                          7、发射***。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。
在本发明的描述中，需要理解的是，术语“长度”、“高度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方 位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
实施例1
本实施例提供一种显示装置，用于显示机器人的工作状态，尤其是对抗中的机器人的战斗状态。图1是本实施例提供的显示装置的结构示意图；图2是图1的显示装置的***图；图3是图1的显示装置的正视图；图4是图1的显示装置的左视图；图5是图1的显示装置的俯视图。
请参阅图1-5，本实施例的显示装置，包括支架111，在该支架111的底端设置有用于与机器人走行机构连接的连接件，在支架111上设置有用于显示机器人第一工作状态的指示灯。该指示灯为条状的灯带，并且，该指示灯的长度方向与支架111的延伸方向之间形成有第一夹角。
在本实施例中对支架111的具体结构形状不做限制，其可以是单一型材，也可以是由多型材连接而成的构架。另外，在本实施例中也不限制支架111的安装方向，其可以垂直走行机构的上表面进行设置，也可以是与走行机构的上表面呈一定角度设置。同时，在本实施例中对支架111的材质也不进行限制，其可以是钢材、铝材或者其他合适的材料。
在本实施例中也不对支架111底端的连接件进行限制，其可以是与走行机构相配合的可拆卸连接件，比如卡接件或者是供紧固件连接的连接件。当然，该连接件还可以是其他不可拆卸的连接件，比如销连接件或者是焊接件。
在本实施例中对指示灯可以是一个、两个或者多个。并且，一个指示灯可以包括一个光源、两个光源或者多个光源。光源可以是LED光源，也可以是其他光源。
在本实施例中指示灯可以安装在支架111的顶端、上端或者下端。当然，指示灯可以是将条状灯带的两侧端面的其中一侧与灯架113连接，也可以是将条状灯带的中间部分与灯架113连接。
同时，在本实施例中，呈条状灯带的指示灯的长度方向与支架111的延伸方向之间形成的第一夹角也不做具体限制。举例来说，第一夹角可以是60度、90度、120度等任意角度。这样，当指示灯的分辨率不降低的情况可以明显降低指示灯最高点与走行机构之间的高度。
具体的，在一些示例中，支架111为长方形，支架的延伸方向为支架111的长度方向。当然，在本发明中，支架的形状不局限于为长方形，也可以为其他形状，如圆形、正方形等，支架111的顶端到底的延伸方向为从支架111靠近指示灯的一侧延伸至支架111远离指示灯的另一侧的方向。
此外，还需要说明的是，本实施例中机器人的状态信息可以指机器人在对抗赛中的血量、敌我状态、生存状态信息中的一种或多种。当然，机器人的状态信息也可以是机器人的其他工作状态信息，比如电量、信号接收、信号发送或者读写状态信息等。基于此，在本实施例中对机器人的状态信息不作具体的限制。
具体来说，以机器人的状态信息为机器人血量为例，在机器人的对抗赛中，该机器人在受到攻击时，用于显示该血量的指示灯通过变暗来显示机器人血量的减少，并通过指示灯变暗的程度来显示机器人血量减少的多少。
本实施例的显示装置，通过使呈条状灯带的指示灯的长度方向与支架111的延伸方向之间形成第一夹角，从而使得显示装置的整体高度得以降低，也即，使得显示装置的最高点低于机器人发射***中武器的高度，避免机器人的发射***中的武器在跟随云台转动过程中会碰撞到灯柱，从而提高了机器人的战斗力。同时，指示灯的长度不再受到空间的限制，便于设置分辨率较高的指示灯，从而使得显示装置更加清楚地显示机器人的状态信息。
实施例2
本实施例提供一种显示装置，用于显示机器人的工作状态，尤其是对抗中的机器人的战斗状态。
本实施例的显示装置是在实施例1的技术方案的基础上，在支架111上设置灯架113。其中，指示灯安装在该灯架113上。并且，该灯架113的长度方向与支架111的延伸方向形成有第二夹角。
具体的，灯架113可以设置在支架111靠近顶端的位置，或者直接安装在支架111的顶端。灯架113与支架111的连接位置可以是灯架113长度方向上的任意位置。比如，灯架113的左端面与支架111的顶端、左端、或者右端连接。当然，也可以是灯架113的中间部分，比如中心点与支架111的顶端连接。
在本实施例中对灯架113的具体形式不进行限制，其可以是盒状、板状或者是其他形状。灯架113上的指示灯可以设置在灯架113的任意位置，比如，顶面、前侧面、后侧面、左端面或者右端面等。
灯架113的长度方向与支架111的延伸方向的第二夹角可以在任意角度范围内选择，比如，30度、45度、90度等。
本实施例的显示装置，通过在支架111上安装灯架113，并将指示灯安装在灯架113上可以更有利于指示灯的安装，而且可以使显示装置具有更好的结构强度。
实施例3
本实施例提供一种显示装置，用于显示机器人的工作状态，尤其是对抗 中的机器人的战斗状态。
如图1-5所示，本实施例的显示装置是在实施例2的技术方案的基础上，将指示灯设置为第一指示灯151和第二指示灯153。其中，第一指示灯151和第二指示灯153均为条状，且第一指示灯151和第二指示灯153均沿灯架113的长度方向设置。
在本实施例中，通过设置同时用于显示机器人的状态信息的第一指示灯151和第二指示灯153，可以提高显示机器人的状态信息的显示灯159的分辨率，使参赛双方和观众能够更加清晰的观察到机器人的状态信息，比如，机器人的血量。
进一步，从图2和图4中可以看出，灯架113可以包括顶面以及斜侧面，该斜侧面和顶面之间形成有一第三夹角。其中，第一指示灯151设置在顶面上，第二指示灯153设置在斜侧面上。具体的，斜侧面和顶面之间的第三夹角可以为大于90度的任意角度，比如，100度、130度、150度等。优选地，第三夹角可以为120度。
在本实施例的上述优选方案中，通过将第一指示灯151和第二指示灯153分别设置在具有第三夹角的两个安装面上，可以扩大交战双方以及观众观察机器人的状态信息的分辨率和视线角度，使得在对抗赛中处于不同位置的交战双方和观众均能够非常清晰地看见机器人的状态信息。比如，在对抗过程中，从赛场的任意位置均能清晰的看见机器人的血量。并且，申请人经过无数次的实际测试，发现当顶面和斜侧面之间的第三夹角为120度时，能够使指示灯具有最佳的观察效果，可以使得在赛场内的对抗双方和观众均能非常清晰的看见机器人的状态信息及其变化。比如，当机器人的状态信息为血量时，可以在赛场的任意位置清晰的观察到机器人血量的多少以及血量在该机器人受到攻击后的变化。
再进一步，第一指示灯151也可以是具有多个点光源的LED灯，或者是具有多个点光源的普通灯，又或者是能够变换颜色的LED灯等。
举例来说，第一指示灯151可以包括第一光源电路板133和设置在该第一光源电路板133上的多个LED光源，这些LED光源排成一列、两列或者多列。这样，在实际工作时，通过控制第一光源电路板133即可控制其上设置的多个LED光源。
当然，第二指示灯153也可以是具有多个点光源的LED灯，或者是具有多个点光源的普通灯，或者还可以是能够变换颜色的LED灯等。
例如，第二指示灯153可以包括第二光源电路板和设置在该第二光源电路板上的多个LED光源，这些LED光源排成一列、两列或者多列。这样，在实际工作时，通过控制第一光源电路板133即可控制其上设置的多个LED光源。
更进一步的，第一指示灯151、第二指示灯153可以包括14-25个LED光源。举例来说，第一指示灯151、第二指示灯153可以有20个LED光源，这样，第一指示灯151和第二指示灯153可以具有更好的亮度，从而使对抗双方和观众能够更好的看清楚机器人的状态信息。比如，能够清晰的观察到机器人在对抗中剩余的血量。
在本实施例的上述优选方案中，通过将第一指示灯151、第二指示灯153设置成包括光源电路板和设置在该光源电路板上的LED光源，可以使得显示装置的结构更紧凑，所占用的体积更小，也能够尽量减少对机器人竞技状态的影响。同时，LED光源的个数和列数也可以根据实际需要进行设置，从而提高了显示装置的适应性。并且，经过申请人的多次实地测试后发现，当第一显示灯159、第二显示灯159均使用20个LED光源并排列成一列时该显示装置具有优异的对机器人的状态信息的分辨率和能够观察到该机器人的状态信息的视线范围。
实施例4
本实施例提供一种显示装置，用于显示机器人的工作状态，尤其是对抗中的机器人的战斗状态。
请参阅图1-5，本实施例的显示装置是在实施例2、实施例3提供的技术方案的基础上，在灯架113的两端形成有侧端面，在两个侧端面上分别设置用于指示机器人标识信息的第一标识灯155和第二标识灯157。
具体的，从图2和图3可以看出，第一标识灯155可以设置在灯架113的左端面，第二标识灯157可以设置在灯架113的右端面。第一标识灯155、第二标识灯157可以是LED灯也可以是普通灯，光源可以是白光源或者是具有颜色的光源。
在本实施例中，标识信息也可以是机器人在对抗赛中的血量、敌我状态、生存状态信息中的一种。当然，标识信息还可以是机器人的其他工作状态信息，比如电量、信号接收、信号发送或者读写状态信息等。基于此，在本实施例中对标识信息不作具体的限制，但标识信息最好是与机器人的状态信息不相同。
本实施例的显示装置，通过在灯架113上设置第三显示灯159和第四显示灯159来显示机器人的标识信息，从而为机器人提供更多的机器人的工作状态信息。比如，通过第一指示灯151和第二指示灯153显示机器人的血量，而通过第一标识灯155和第二标识灯157显示敌我状态。
进一步，第一标识灯155和第二标识灯157均包括标识灯光源电路板和设置在该标识灯光源电路板上的LED光源。在工作时，标识灯光源电路板控制设置在标识灯光源电路板上的LED光源的亮度和/或颜色。
举例来说，当标识信息为机器人的敌我状态时，在对抗赛中，可以通过控制第一标识灯155中的LED光源显示红色、蓝色或者其他颜色，并控制第二标识灯157中的LED光源显示蓝色、红色或者其他与第一标识灯155中的LED光源所显示的颜色不同的颜色，从而在多个机器人进行对抗的对抗赛中辨识出己方机器人和敌方机器人。当然，还可以通过控制第一标识灯155中的LED光源点亮并控制第二标识灯157中的LED光源熄灭来显示己方和敌方机器人。
在本实施例的上述优选实施方案中，通过将LED光源设置在标识灯光源电路板，从而使得整个显示装置的结构更加简单，占用体积更小。
实施例5
本实施例提供一种显示装置，用于显示机器人的工作状态，尤其是对抗中的机器人的战斗状态。
请参阅图1-5，本实施例的显示装置是在实施例3、实施例4提供的技术方案的基础上，灯架113在背离斜侧面的一侧具有前侧面，该前侧面上设置有用于显示所述机器人预设信息的显示灯159。
具体的，显示灯159设置在灯架113的前侧面。该显示灯159可以是LED灯或者是普通白炽灯等。并且，显示灯159的光源可以是白光源或者是具有 颜色的光源。
在本实施例中，预设信息可以是机器人在对抗赛中的血量、敌我状态、生存状态中的一种。当然，预设信息也可以是机器人的其他工作状态，比如电量、信号接收、信号发送或者读写状态等。基于此，在本实施例中对预设信息不作具体的限制，但预设信息最好是与机器人的状态信息和标识信息不相同。
举例来说，当机器人的状态信息为机器人的血量时，标识信息为机器人的敌我状态，预设信息可以是生存状态。预设信息的具体显示方式可以通过显示灯159亮度的明暗或者显示灯159的闪烁频率，在实际设置时本领域技术人员可以根据现有技术中的常规手段进行设置。
进一步，该显示装置可以在前侧面设置两个显示灯159。这两个显示灯159分别设置在灯架113的前侧面的两端。具体来说，这两个显示灯159可以是对称设置在支架111的两侧的条状灯带。
本实施例的上述优选实施方式中，通过将显示灯159设置在支架111的两侧，可以使得支架111两侧均能非常清晰的看见该显示灯159，从而清楚机器人的预设信息的状态。
进一步，显示灯159包括显示灯159光源电路板135和设置在该显示灯159光源电路板135上的多个LED光源，这些LED光源排成一列、两列或者多列。这样，在实际工作时，通过控制显示灯159光源电路板135即可控制其上设置的多个LED光源。
在本实施例的上述优选方案中，通过将显示灯159设置成包括显示灯159光源电路板135和设置在该显示灯159光源电路板135上的LED光源，可以使得显示装置的结构更紧凑，所占用的体积更小，也能够尽量减少对机器人竞技状态的影响。同时，LED光源的个数和列数也可以根据实际需要进行设置，从而提高了显示装置的适应性。并且，经过申请人的多次实地测试后发现，当显示灯159使用五个LED光源时，显示灯159具有足够的亮度和观察清晰度，能够使交战双方和观众清晰的辨认出机器人的预设信息。
实施例6
本实施例提供一种显示装置，用于显示机器人的工作状态，尤其是对抗 中的机器人的战斗状态。
请参阅图1-5，本实施例的显示装置是在实施例2、实施例3、实施例4、实施例5提供的技术方案的基础上，将支架111与灯架113的长度方向形成的第二夹角设置为90度，也即，使支架111和灯架113垂直。同时，指示灯的长度方向与灯架113的长度方向也设置成一致的。
在本实施例中，通过将支架111、灯架113和指示灯做上述设置，可以使支架111具有非常低的高度，从而最大程度的降低发射***可能与支架111和灯架113以及指示灯的碰撞，提高机器人的战斗力。并且，通过上述设置还可以使显示装置具有一个合适的结构，从而提高其结构强度。
具体的，灯架113长度方向上的任意位置均可与支架111进行固定。但优选的，将灯架113的中点固定在支架111的顶端。通过上述设置，可以使灯架113和支架111形成非常稳定的结构，不仅可以进一步提高显示装置的稳定性，还可以降低对机器人的影响，从而提高机器人的战斗力。
此外，还需要说明的是，第一光源电路板133、第二光源电路板、标识灯光源电路板和显示灯159光源电路板135可以如上述实施例一样分开设置，也可以集成在一起从而节省结构部件，降低显示装置的体积和重量。
实施例7
本实施例提供一种显示装置，用于显示机器人的工作状态，尤其是对抗中的机器人的战斗状态。
请参阅图1-5，本实施例的显示装置是在上述实施例提供的技术方案的基础上，设置无线通信模块以及与指示灯电连接的主控电路板131。其中，无线通信模块与主控电路板131电连接，用于与服务器进行交互。
具体的，主控电路板131可以是芯片或者集成电路等，其控制指示灯的开闭及亮度。同时，主控电路板131可以设置在任意位置，比如将其设置在机器人的走行机构上，或者将其设置在支架111或者灯架113上。更具体的，在一些优选示例中，主控电路板131与第一光源电路板133、第二光源电路板、标识灯光源电路板、显示灯159光源电路板135连接，从而通过主控电路板131来控制第一指示灯151、第二指示灯153、第一标识灯155、第二标识灯157、显示灯159的工作状态。
无线通信模块将机器人的状态信息、标识信息以及预设信息等信息中的一种或者多种发送给服务器，并从服务器中接收场地信息、对方信息、队友信息以及其他信息中的一种或者多种。具体而言，无线通信模块中的无线通信模式可以为现有技术中已知的无线通信模式，例如，使用wifi电路板137提供wifi通信，使用蓝牙电路板提供蓝牙通信。
进一步，主控电路板131设置在支架111上，并且无线通信模块设置在主控电路板131的上方。举例来说，可以将wifi电路板137设置在主控电路板131的上方。通过上述设置，可以更好的固定主控电路板131和无线通信模块，而且主控电路板131和无线通信模块均位于灯架113的下方，减少了显示装置占用机器人走行机构的空间。并且，由于本实施例的显示装置的高度低于机器人发射***中武器的高度，因此，在战斗过程中，武器跟随云台旋转时主控电路板131和wifi电路板137也不会受到撞击，因而能够防止其在战斗的过程中被损坏，提高显示装置的使用寿命。
实施例8
本实施例提供一种显示装置，用于显示机器人的工作状态，尤其是对抗中的机器人的战斗状态。
请参阅图1-5，本实施例的显示装置是在上述实施例提供的技术方案的基础上，在灯架113下方的支架111上设置显示屏171。该显示屏171用于显示机器人的参数，并且在该显示屏171的底端设置有用于读写数据的接口。当然，显示屏171的底端设置的接口并不是必需的，在其他一些示例中可以将该接口设置在其他位置或者也可不设置。
具体的，显示屏171可以是单一的显示屏171也可以是包括有外壳的显示屏171，在本实施例中对显示屏171不作具体的限制。本领域技术人员可以使用现有技术中的显示屏171。
显示屏171可以固定在支架111上，或者，活动连接在支架111上的。举例来说，可以在支架111上设置一转轴1711，然后将显示屏171枢接在该转轴1711上，从而实现显示屏171可转动的连接在支架111上。优选的，转轴1711垂直支架111的延伸方向设置。这样，显示屏171的翻转方向与支架111的延伸方向相同，使用时更加方便。进一步，显示屏171可以固定在支架111 的任意位置。比如，显示屏171固定在支架111的上端，从而方便查看显示屏171上的信息以及对信息进行修改。
进一步，如图6所示(图6为图1中A位置的局部放大图)，为了避免显示屏171在走行机构移动过程中打开，可以在显示屏171朝向支架111一侧设置卡口，并在支架111上设置与该卡口相互配合用于锁紧或者脱离所述显示屏171的锁扣件。具体来说，锁扣件可以是设置在支架111上的弹性钩体1111或者弹簧销。在使用时，将弹性钩体1111卡紧在卡口内时即可实现显示屏171的锁紧，而将弹性钩体1111脱离卡口即可实现显示屏171的脱离(松开)，从而转动显示屏171以将显示屏171底端的接口转动到易于连接的位置。
本实施例的显示装置，通过在显示屏171和支架111上设置相互配合的卡扣结构，使得机器人在进行对抗时可以将该显示屏171锁紧在支架111上使其不发生晃动；而在非战斗状态时，可以松开显示屏171，以方便显示屏171的转动使技术人员能够更加方便的查看、修改机器人的各种参数和信息。当然，上述卡扣结构还可以是其他现有技术中的卡扣结构，在此不再赘述。
实施例9
本实施例提供一种裁判***，用于对机器人的对抗进行裁判。图7是本实施例提供的裁判***的示意图。
如图7所示，本实施例的裁判***包括：传感器3及如上所述的显示装置1。其中，传感器3与显示装置1中的指示灯连接。
具体的，传感器3用于接收机器人所受到的伤害信息并将该伤害信息传递给显示装置中的指示灯，指示灯根据接收到的信息调整亮度。举例来说，传感器3可以将伤害信息传递给第一光源电路板133、第二光源电路板从而控制第一指示灯151、第二指示灯153的亮度。当然，在一些示例中，传感器3也可以将伤害信息传递给标识灯光源电路板从而控制第一标识灯155、第二标识灯157的颜色或者亮度。另外，在其他一些示例中，传感器3还可以将伤害信息传递给显示灯光源电路板135从而控制显示灯159的颜色、亮度或者闪烁频率。进一步，传感器3可以将该伤害信息传递给显示装置的主控电路板131，从而通过主控电路板131控制第一指示灯151、第二指示灯 153、第一标识灯155、第二标识灯157、显示灯159以及wifi电路板137等的工作。
需要说明的是，上述实施例中的显示装置1也适用于本实施例。因此，上述实施例中显示装置1的结构、原理、功能以及所达到的效果均与上述实施例相同。本领域技术人员可参照上述实施例。
本实施例的裁判***，通过使显示装置1中的呈条状灯带的指示灯的长度方向与支架111的安装方向之间形成第一夹角，从而使得指示灯的最高点低于机器人发射***7中武器的高度，使得机器人的发射***7能够360度旋转而不会与显示装置1发生干涉，从而提高了机器人的战斗力。
实施例10
本实施例提供一种机器人。图8是本实施例提供的机器人的结构示意图。
如图8所示，本实施例的机器人走行机构5及想上所述的裁判***。其中，该裁判***中的显示装置1的支架111的底端安装在走行机构5上。
进一步，该机器人还包括安装在走行机构5上的摄像头，用于拍摄赛场。具体的，摄像头可以设置在走行机构5上。
在本实施例中走行机构5不做具体限制，本领域技术人员可以根据实际需要选择和设置该走行机构5。
例如，该走行机构5可以包括支撑架、安装在支撑架下方的轮对。发射***7包括设置在支撑架上方且与支撑架可转动连接的云台，以及安装在云台上且可跟随云台转动的武器。显示装置1则安装在发射***7的后方。在走行机构5上还设置有传感器3和摄像头，传感器3用来接收攻击信号等，摄像头用来拍摄现场环境等。
需要说明的是，上述实施例中的显示装置1也适用于本实施例。因此，上述实施例中显示装置1的结构、原理、功能以及所达到的效果均与上述实施例相同。本领域技术人员可参照上述实施例。
本实施例的机器人，通过使裁判***中的显示装置1中的呈条状灯带的指示灯的长度方向与支架111的安装方向之间形成第一夹角，从而使得指示灯的最高点低于机器人发射***7中武器的高度，使得机器人的发射***7能够360度旋转而不会与显示装置1发生干涉，从而提高了机器人的战斗力。
以上结合附图详细的描述了本发明的优选实施方式，但是本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行各种简单变型，这些简单变型均属于本发明的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。
此外，本发明的各种不同实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所公开的内容。

Claims (22)

  1. 一种显示装置，其特征在于，包括：支架，所述支架的底端设置有用于与机器人走行机构连接的连接件；所述支架上设置有用于显示机器人的状态信息的指示灯，所述指示灯呈条状灯带，并且所述指示灯的长度方向与所述支架从支架顶端到支架底端的延伸方向之间形成第一夹角。
  2. 根据权利要求1所述的显示装置，其特征在于，所述显示装置还包括灯架；
    所述灯架设置在靠近所述支架的顶端位置，或者，所述灯架设置在所述支架的顶端；所述灯架的长度方向与所述支架的延伸方向形成有第二夹角；所述指示灯设置在所述灯架上。
  3. 根据权利要求2所述的显示装置，其特征在于，所述指示灯包括第一指示灯和第二指示灯，所述第一指示灯和第二指示灯均为条状，且所述第一指示灯和第二指示灯均沿所述灯架的长度方向设置。
  4. 根据权利要求3所述的显示装置，其特征在于，所述灯架包括顶面、以及与所述顶面呈第三夹角的斜侧面，所述第一指示灯设置在所述顶面上；所述第二指示灯设置在所述斜侧面上。
  5. 根据权利要求4所述的显示装置，其特征在于，所述第三夹角大于90度。
  6. 根据权利要求4所述的显示装置，其特征在于，所述灯架两端形成有侧端面，两个所述侧端面上分别设置有用于显示所述机器人的标识信息的第一标识灯和第二标识灯。
  7. 根据权利要求6所述的显示装置，其特征在于，所述第一标识灯和第二标识灯包括：标识灯光源电路板和设置在所述标识灯光源电路板上的LED光源。
  8. 根据权利要求4述的显示装置，其特征在于，所述灯架背离所述斜侧面的一侧具有前侧面，所述前侧面上设置有用于显示所述机器人的预设信息的显示灯。
  9. 根据权利要求8所述的显示装置，其特征在于，所述显示灯包括两个，两个所述显示灯分别位于所述支架的前侧面的两端。
  10. 根据权利要求8所述的显示装置，其特征在于，所述显示灯包括： 显示灯光源电路板和设置在所述显示灯光源电路板上的多个LED光源。
  11. 根据权利要求3-10任一项所述的显示装置，其特征在于，所述第一指示灯包括：第一光源电路板133和设置在所述第一光源电路板133上的多个LED光源，所述多个LED光源排成至少一列。
  12. 根据权利要求3-10任一项所述的显示装置，其特征在于，所述第二指示灯包括：第二光源电路板和设置在所述第二光源电路板上的多个LED光源，所述多个LED光源排成至少一列。
  13. 根据权利要求2-10任一项所述的显示装置，其特征在于，所述支架的延伸方向与所述灯架的长度方向形成的第二夹角为90度，且所述指示灯的长度方向与灯架的长度方向一致。
  14. 根据权利要求13所述的显示装置，其特征在于，所述灯架固定设置在所述支架顶端，且所述支架位于所述灯架的长度的中点处。
  15. 根据权利要求1-10任一项所述的显示装置，其特征在于，
    所述显示装置还包括主控电路板和无线通信模块，所述无线通信模块与主控电路板连接，所述无线通信模块用于与服务器进行交互。
  16. 根据权利要求15所述的显示装置，其特征在于，所述无线通信模块和主控制电路板均安装在所述支架上，且所述无线通信模块设置在所述主控电路板上方。
  17. 根据权利要求的2-10任一项所述的显示装置，其特征在于，所述显示装置还包括用于显示所述机器人参数的显示屏，所述显示屏设置在所述灯架的下方的支架上。
  18. 根据权利要求17所述的显示装置，其特征在于，所述支架上设置有转轴，所述显示屏枢接在所述支架上；
    或/及，所述显示屏的底端设置有用于读写数据的接口。
  19. 根据权利要求18所述的显示装置，其特征在于，所述显示屏朝向所述支架一侧设置有卡口，所述支架上设置有与所述卡口相配合用于锁紧所述显示屏或者脱离所述显示屏的锁扣件。
  20. 一种裁判***，其特征在于，包括：传感器及权利要求1-19任一项所述的显示装置，所述传感器与显示装置中的指示灯连接。
  21. 一种机器人，其特征在于，包括：走行机构及权利要求20所述的裁 判***，所述裁判***中的显示装置的支架的底端安装在所述走行机构上。
  22. 根据权利要求21所述的机器人，其特征在于，还包括摄像头，所述摄像头安装在所述走行机构上。
PCT/CN2016/103713 2016-02-05 2016-10-28 显示装置、裁判***及机器人 WO2017133279A1 (zh)

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CN205394602U (zh) * 2016-02-05 2016-07-27 深圳市大疆创新科技有限公司 显示装置、裁判***及机器人
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