CN111687862A - Shadow puppet robot with high adaptability and control method thereof - Google Patents
Shadow puppet robot with high adaptability and control method thereof Download PDFInfo
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- CN111687862A CN111687862A CN202010576307.1A CN202010576307A CN111687862A CN 111687862 A CN111687862 A CN 111687862A CN 202010576307 A CN202010576307 A CN 202010576307A CN 111687862 A CN111687862 A CN 111687862A
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- 238000000605 extraction Methods 0.000 claims description 18
- 238000007619 statistical method Methods 0.000 claims description 8
- 238000009499 grossing Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J19/00—Puppet, marionette, or shadow shows or theatres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J19/00—Puppet, marionette, or shadow shows or theatres
- A63J2019/003—Shadow shows
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Abstract
The invention discloses a shadow play robot with high adaptability and a control method thereof, belonging to the field of shadow play robots.
Description
Technical Field
The invention relates to the field of shadow puppet robots, in particular to a shadow puppet robot with high adaptability and a control method thereof.
Background
The Chinese culture has a long source, the traditional culture is rarely shown in life, the market of audiences and performances is gradually reduced due to the impact of modern movie and television arts, the traditional artists expressing shadow plays are also gradually reduced, the shadow plays face the danger of extinction, and rescue and protection are urgently needed. The shadow play, as an important traditional culture in China, has high artistic value in China and even the world, and people want to retain and carry forward the traditional culture and perfectly combine the traditional culture with modern science and technology;
at present, a robot device which can adapt to various shadow plays is lacked, and the shadow plays can be copied by video analysis and simulation.
Disclosure of Invention
The present invention provides a shadow puppet robot with high adaptability and a control method thereof to solve the above problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a highly adaptable figure of shadow puppet robot comprising: the multifunctional shadow puppet comprises a moving vehicle body, a moving platform and multi-angle mechanical arms, wherein a hydraulic telescopic rod is fixedly installed in the middle of the upper portion of the moving vehicle body, the upper end of the hydraulic telescopic rod is fixedly connected with the middle of the lower surface of the moving platform, three groups of multi-angle mechanical arms are fixedly installed above the moving platform from left to right, a light sensor is fixed below the bottom of the moving vehicle body, and the multi-angle mechanical arms are sequentially used for controlling a shadow puppet model arm/weapon, a shadow puppet model trunk and a shadow puppet model arm/;
the multi-angle mechanical arm comprises a bottom mounting platform, a wire wheel encoder, a coupler, a linkage shaft sleeve, a control rod, a moving shaft sleeve, a connecting shaft sleeve and a small motor, wherein three groups of bottom mounting platforms are fixedly mounted above the moving platform, the small motor is fixedly mounted at the central position inside the bottom mounting platform, the upper end of a main shaft of the small motor is fixedly connected with the lower end of the coupler, the upper end of the coupler is fixedly connected with the lower end of the linkage shaft, the linkage shaft sleeve is fixedly mounted above the middle part of the bottom mounting platform, the linkage shaft is movably sleeved inside the linkage shaft sleeve, the upper end of the linkage shaft is fixedly connected with one end of another group of couplers, the other end of the coupler is fixedly connected with one end of the control rod, the other end of the control rod is fixedly connected with a, four groups of moving shaft sleeves are fixedly arranged on the upper surfaces of the front side, the rear side, the left side and the right side of the bottom mounting platform, one end of a moving shaft is movably sleeved in the moving shaft sleeves, the other end of the moving shaft is movably connected with the front side, the rear side, the left side and the right side of a connecting shaft sleeve, the connecting shaft sleeve is fixedly arranged below the middle part of a linkage shaft sleeve, and the wire wheel encoder is fixedly connected with one end of the moving shaft through a.
Preferably, the control rod is connected with the shadow play model in two connection modes, namely, in the first connection mode, the control rod is connected with arms/weapons of the shadow play model, at the moment, the control rod is fixedly connected with the arms/weapons of the shadow play model and movably connected with the trunk of the shadow play model, in the second connection mode, the control rod is connected with the trunk of the shadow play model, and at the moment, the control rod is fixedly connected with the trunk of the shadow play model.
Preferably, the joint of the linkage shaft sleeve and the bottom mounting platform is connected by a telescopic corrugated pipe, and the joint of the movable shaft sleeve and the bottom mounting platform is also connected by a telescopic corrugated pipe.
A control method of a high-adaptability shadow puppet robot is used for the high-adaptability shadow puppet robot and comprises the following steps:
s1, deriving the recorded shadow play images, developing the video files planned and shot according to the dubbing time axis, setting 20-30 frames of video images as 1 image unit on the dubbing time axis, and extracting 1 frame of images;
s2, selecting image extraction points according to the shadow puppet model, wherein in the process of demonstrating the shadow puppet model, the arms and the trunk are in rotating connection, so that the fingers of the arms of the shadow puppet model are used as two image extraction points, then selecting the central point of the trunk of the shadow puppet model and the head of the shadow puppet model as the other two image extraction points, and performing image extraction point positioning statistical analysis according to the image extracted in the S1;
s3, according to the line drawing counted in S2, track smoothing is carried out on the line drawing, then the curve with the smooth track is segmented and intercepted, and the smooth track picture of the central point of the trunk of the shadow puppet model is divided into large-amplitude deflection and small-amplitude deflection;
and S4, transcoding the data obtained after the segmentation and the interception in the S3, and inputting the transcoded data into a shadow puppet robot with high adaptability.
Preferably, in the image extraction point positioning analysis in S2, for the positions of the trunk and the head of the shadow puppet model, since the shadow puppet model is displayed in a two-dimensional plane during the presentation, the moving amounts in the XY axis direction in the shadow puppet model are separately statistically analyzed during the arrangement, and then the dubbing time axis is used as the X axis, and the moving amounts are used as the Y axis for chart statistical analysis; the arm/weapon part of the shadow puppet model moves along with the body and rotates around the body along with the stirring of a performer, so when analyzing an image extraction point of the arm part, the moving amount of the body on an XY axis is eliminated, the arm/weapon part is analyzed, the rotating angle of the arm/weapon part around the body is calculated, and then chart analysis is carried out by taking a dubbing time axis as an X axis and taking the rotating angle as a Y axis.
Preferably, the division criteria of the large-amplitude deflection and the small-amplitude deflection in S3 are as follows: if y1And y2The amplitude of the phase difference is less than or equal to 5cm, the deflection is small, and if y is less than or equal to 5cm, the deflection is small1And y2The difference between the two is larger than 5cm, and the deflection is large.
Compared with the prior art, the invention provides the shadow puppet robot with high adaptability and the control method thereof, and the shadow puppet robot has the following beneficial effects:
1. according to the method, a statistical method for bidimensionalizing the shadow play is adopted, the motion is converted into horizontal and vertical motion, so that the horizontal motion is restored through the left-right movement of the vehicle body, the bottom of the vehicle body is provided with a light sensor for identifying a moving track, the vertical motion is restored through moving a hydraulic telescopic rod arranged on the vehicle body, the motion of a shadow play model is controlled through combining the two motion, and the rotation angle of an arm of the shadow play model is controlled through a multi-angle mechanical arm, so that the motion of the arm/weapon of the shadow play is controlled.
2. The movable trolley adopts the movable trolley body to drive the movable platform to move left and right, the body and the arms are driven to move through the multi-angle mechanical arm above the movable platform, the coupling is driven to rotate through the pneumatic small motor, the linkage shaft is driven to rotate, the other group of couplings are driven to rotate, the control rod is driven to rotate, the connecting wire rope is driven by the wire wheel encoder to drive the movable shaft to move in the movable shaft sleeve, and therefore the linkage shaft sleeve is driven to move in four directions, namely left, right, front and back.
Drawings
FIG. 1 is a front view of an embodiment of a high-adaptability figure robot according to the present invention;
FIG. 2 is a perspective view of an embodiment of a high-adaptability figure robot according to the present invention;
FIG. 3 is a perspective exploded view of an embodiment of a high-adaptability figure robot according to the present invention;
fig. 4 is a disassembled structure diagram of a shadow puppet robot with high adaptability according to an embodiment of the present invention.
Reference numerals:
101 moving vehicle body, 102 moving platform, 103 multi-angle mechanical arm, 104 hydraulic telescopic rod, 105 light sensor, 106 bottom mounting platform, 107 line wheel encoder, 108 coupler, 109 linkage shaft, 110 linkage shaft sleeve, 111 control rod, 112 moving shaft, 113 moving shaft sleeve, 114 connecting shaft sleeve and 115 small motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1:
a control method of a high-adaptability shadow puppet robot is used for the high-adaptability shadow puppet robot and comprises the following steps:
s1, deriving the recorded shadow play images, developing the video files planned and shot according to the dubbing time axis, setting 20-30 frames of video images as 1 image unit on the dubbing time axis, and extracting 1 frame of images;
s2, selecting image extraction points according to the shadow puppet model, wherein in the process of demonstrating the shadow puppet model, the arms and the trunk are in rotating connection, so that the fingers of the arms of the shadow puppet model are used as two image extraction points, then selecting the central point of the trunk of the shadow puppet model and the head of the shadow puppet model as the other two image extraction points, and performing image extraction point positioning statistical analysis according to the image extracted in the S1;
s3, according to the line drawing counted in S2, track smoothing is carried out on the line drawing, then the curve with the smooth track is segmented and intercepted, and the smooth track picture of the central point of the trunk of the shadow puppet model is divided into large-amplitude deflection and small-amplitude deflection;
and S4, transcoding the data obtained after the segmentation and the interception in the S3, and inputting the transcoded data into a shadow puppet robot with high adaptability.
Further, in the image extraction point positioning analysis in S2, preferably, for the positions of the trunk and the head of the shadow puppet model, since the shadow puppet model is displayed in a two-dimensional plane during the presentation, the moving amounts in the XY axis direction in the shadow puppet model are separately statistically analyzed during the arrangement, and then the dubbing time axis is used as the X axis, and the moving amounts are used as the Y axis for chart statistical analysis; the arm/weapon part of the shadow puppet model moves along with the body and rotates around the body along with the stirring of a performer, so when analyzing an image extraction point of the arm part, the moving amount of the body on an XY axis is eliminated, the arm/weapon part is analyzed, the rotating angle of the arm/weapon part around the body is calculated, and then chart analysis is carried out by taking a dubbing time axis as an X axis and taking the rotating angle as a Y axis.
Further, it is preferable that the division criteria of the large-amplitude deflection and the small-amplitude deflection in S3 are: if y1And y2The amplitude of the phase difference is less than or equal to 5cm, the deflection is small, and if y is less than or equal to 5cm, the deflection is small1And y2The difference between the two is larger than 5cm, and the deflection is large.
In the invention, a statistical method for bidimensionalizing the shadow play is adopted, the motion is converted into horizontal and vertical motion, so that the horizontal motion is restored by the left and right movement of the vehicle body, a light sensor 105 is arranged at the bottom of the vehicle body to identify a moving track, the vertical motion is restored by moving a hydraulic telescopic rod 104 arranged on the vehicle body 101, the motion of the shadow play model is controlled by combining the two motion, and the rotation angle of the arm of the shadow play model is controlled by a multi-angle mechanical arm 103, so that the motion of the shadow play arm/weapon is controlled.
Example 2: the difference is based on example 1;
referring to fig. 1 to 4, a highly adaptable shadow puppet robot includes: the robot comprises a moving vehicle body 101, a moving platform 102 and a multi-angle mechanical arm 103, wherein a hydraulic telescopic rod 104 is fixedly installed in the middle of the upper portion of the moving vehicle body 101, the upper end of the hydraulic telescopic rod 104 is fixedly connected with the middle of the lower surface of the moving platform 102, three groups of multi-angle mechanical arms 103 are fixedly installed above the moving platform 102 from left to right, a light sensor 105 is fixed below the bottom of the moving vehicle body 101, and the multi-angle mechanical arm 103 is sequentially used for controlling a shadow cast model arm/weapon, a shadow cast model trunk and a shadow cast model arm/;
the multi-angle mechanical arm 103 comprises a bottom mounting platform 106, a reel encoder 107, a coupler 108, a linkage shaft 109, a linkage shaft sleeve 110, a control rod 111, a moving shaft 112, a moving shaft sleeve 113, a connecting shaft sleeve 114 and a small motor 115, wherein three groups of bottom mounting platforms 106 are fixedly mounted above the moving platform 102, the small motor 115 is fixedly mounted at the central position inside the bottom mounting platform 106, the upper end of a main shaft of the small motor 115 is fixedly connected with the lower end of the coupler 108, the upper end of the coupler 108 is fixedly connected with the lower end of the linkage shaft 109, the linkage shaft sleeve 110 is fixedly mounted above the middle part of the bottom mounting platform 106, the linkage shaft 109 is movably sleeved inside the linkage shaft sleeve 110, the upper end of the linkage shaft 109 is fixedly connected with one end of the other group of coupler 109, the other end of the coupler 109 is fixedly connected with one end of the control rod 111, the other, four sets of moving shaft sleeves 113 are fixedly mounted on the upper surfaces of the front, rear, left and right sides of the bottom mounting platform 106, one end of a moving shaft 112 is movably sleeved in the moving shaft sleeves 113, the other end of the moving shaft 112 is movably connected with a connecting shaft sleeve 114, the front, rear, left and right sides of the connecting shaft sleeve 114 are fixedly mounted below the middle of the linkage shaft sleeve 110, and the line wheel encoder 107 is fixedly connected with one end of the moving shaft 112 through a connecting line rope.
When the control rod 111 is connected with the shadow play model, the following two connection modes are provided, namely, the first connection mode is that the control rod 111 is connected with arms/weapons of the shadow play model, at the moment, the control rod 111 is fixedly connected with the arms/weapons of the shadow play model and movably connected with the trunk of the shadow play model, and the second connection mode is that the control rod 111 is connected with the trunk of the shadow play model, at the moment, the control rod 111 is fixedly connected with the trunk of the shadow play model.
The joint of the linkage shaft sleeve 110 and the bottom mounting platform 106 is connected by a telescopic corrugated pipe, and the joint of the movable shaft sleeve 113 and the bottom mounting platform 106 is also connected by a telescopic corrugated pipe.
The invention adopts the moving vehicle body 101 to drive the moving platform 102 to move left and right, the multi-angle mechanical arm 103 above the moving platform 102 drives the body and the arms to move, the pneumatic small motor 115 drives the coupling 108 to rotate, the linkage shaft 109 to rotate, the other coupling 108 to rotate and the control rod 111 to rotate, and the connecting wire rope is driven by the wire wheel encoder 107 to drive the moving shaft 112 to move on the moving shaft sleeve 110, so that the linkage shaft sleeve 110 is driven to move in four directions, namely left, right, front and back.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. A highly adaptable figure of shadow puppet robot comprising: the robot comprises a moving vehicle body (101), a moving platform (102) and multi-angle mechanical arms (103), and is characterized in that a hydraulic telescopic rod (104) is fixedly installed in the middle of the upper portion of the moving vehicle body (101), the upper end of the hydraulic telescopic rod (104) is fixedly connected with the middle of the lower surface of the moving platform (102), three groups of multi-angle mechanical arms (103) are fixedly installed on the upper portion of the moving platform (102) from left to right, a light sensor (105) is fixed below the bottom of the moving vehicle body (101), and the multi-angle mechanical arms (103) are sequentially used for controlling a shadow puppet model arm/weapon, a shadow puppet model trunk and a shadow puppet model arm;
the multi-angle mechanical arm (103) comprises a bottom mounting platform (106), a reel encoder (107), a coupler (108), a linkage shaft (109), a linkage shaft sleeve (110), an operating rod (111), a moving shaft (112), a moving shaft sleeve (113), a connecting shaft sleeve (114) and a small motor (115), wherein three groups of bottom mounting platforms (106) are fixedly mounted above the moving platform (102), the small motor (115) is fixedly mounted at the inner center position of the bottom mounting platform (106), the upper end of a main shaft of the small motor (115) is fixedly connected with the lower end of the coupler (108), the upper end of the coupler (108) is fixedly connected with the lower end of the linkage shaft (109), the linkage shaft sleeve (110) is fixedly mounted above the middle part of the bottom mounting platform (106), the linkage shaft (109) is movably sleeved inside the linkage shaft sleeve (110), and the upper end of the linkage shaft (109) is fixedly connected with one end of another group of the coupler (, the other end of the coupler (109) is fixedly connected with one end of a control rod (111), the other end of the control rod (111) is fixedly connected with a shadow model, the inner parts of the front, back, left and right sides of the bottom mounting platform (106) are fixedly provided with the wire wheel encoders (107), the upper surfaces of the front, back, left and right sides of the bottom mounting platform (106) are fixedly provided with four groups of movable shaft sleeves (113), one end of the movable shaft (112) is movably sleeved in the movable shaft sleeves (113), the other end of the movable shaft (112) is movably connected with the front, back, left and right sides of the connecting shaft sleeves (114), the connecting shaft sleeves (114) are fixedly arranged below the middle part of the linkage shaft sleeve (110), and the wire wheel encoders (107) are fixedly connected with one end of the movable shaft.
2. A highly adaptable shadow puppet robot according to claim 1, characterized in that: the control rod (111) is connected with the shadow play model in two connection modes, namely, the control rod (111) is connected with an arm/weapon of the shadow play model in the first connection mode, the control rod (111) is fixedly connected with the arm/weapon of the shadow play model and movably connected with a trunk of the shadow play model at the moment, the control rod (111) is connected with the trunk of the shadow play model in the second connection mode, and the control rod (111) is fixedly connected with the trunk of the shadow play model at the moment.
3. A highly adaptable shadow puppet robot according to claim 1, characterized in that: the linkage shaft sleeve (110) is connected with the bottom mounting platform (106) through a telescopic corrugated pipe, and the movable shaft sleeve (113) is connected with the bottom mounting platform (106) through the telescopic corrugated pipe.
4. A control method of a shadow puppet robot with high adaptability is characterized in that: a shadow puppet robot with high adaptability comprises the following steps:
s1, deriving the recorded shadow play images, developing the video files planned and shot according to the dubbing time axis, setting 20-30 frames of video images as 1 image unit on the dubbing time axis, and extracting 1 frame of images;
s2, selecting image extraction points according to the shadow puppet model, wherein in the process of demonstrating the shadow puppet model, the arms and the trunk are in rotating connection, so that the fingers of the arms of the shadow puppet model are used as two image extraction points, then selecting the central point of the trunk of the shadow puppet model and the head of the shadow puppet model as the other two image extraction points, and performing image extraction point positioning statistical analysis according to the image extracted in the S1;
s3, according to the line drawing counted in S2, track smoothing is carried out on the line drawing, then the curve with the smooth track is segmented and intercepted, and the smooth track picture of the central point of the trunk of the shadow puppet model is divided into large-amplitude deflection and small-amplitude deflection;
and S4, transcoding the data obtained after the segmentation and the interception in the S3, and inputting the transcoded data into a shadow puppet robot with high adaptability.
5. The method for controlling a high-adaptability shadow puppet robot according to claim 4, wherein: in the image extraction point positioning analysis in S2, for the trunk and head positions of the shadow puppet model, because the shadow puppet model is displayed in a two-dimensional plane in the presentation process, the moving amounts in the XY axis direction in the layout process are separately statistically analyzed, and then the dubbing time axis is used as the X axis, and the moving amounts are used as the Y axis for chart statistical analysis; the arm/weapon part of the shadow puppet model moves along with the body and rotates around the body along with the stirring of a performer, so when analyzing an image extraction point of the arm part, the moving amount of the body on an XY axis is eliminated, the arm/weapon part is analyzed, the rotating angle of the arm/weapon part around the body is calculated, and then chart analysis is carried out by taking a dubbing time axis as an X axis and taking the rotating angle as a Y axis.
6. The method for controlling a high-adaptability shadow puppet robot according to claim 4, wherein: the division standard of the large-amplitude deflection and the small-amplitude deflection in the step S3 is as follows: if y1And y2The amplitude of the phase difference is less than or equal to 5cm, the deflection is small, and if y is less than or equal to 5cm, the deflection is small1And y2The difference between the two is larger than 5cm, and the deflection is large.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010576307.1A CN111687862A (en) | 2020-06-22 | 2020-06-22 | Shadow puppet robot with high adaptability and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010576307.1A CN111687862A (en) | 2020-06-22 | 2020-06-22 | Shadow puppet robot with high adaptability and control method thereof |
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| CN111687862A true CN111687862A (en) | 2020-09-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112274950A (en) * | 2020-10-19 | 2021-01-29 | 中国科学技术馆 | A puppet show demonstration device based on a robotic arm and a pneumatic system |
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2020
- 2020-06-22 CN CN202010576307.1A patent/CN111687862A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112274950A (en) * | 2020-10-19 | 2021-01-29 | 中国科学技术馆 | A puppet show demonstration device based on a robotic arm and a pneumatic system |
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Application publication date: 20200922 |
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