Theater ultra-high-definition screen display system capable of being used in dynamic combination mode

Abstract

The invention provides a theater ultra-high-definition screen display system capable of being used in a dynamic combination mode. Each AGV is fixedly connected with a mounting support, and the mounting supports mount unit screens through sliding rail clamping grooves; in the whole screen mode, the multiple AGVs are sequentially and transversely spliced and locked, so that the multiple unit screens are combined into a whole large screen; in the grouping mode, the multiple AGVs are divided into multiple groups, and all the AGVs in the same group are sequentially and transversely spliced and locked, so that all the unit screens in the group are combined into an intra-group large screen; and in the independent mode, the unit screen mounted on each AGV respectively displays a corresponding video picture. According to the system, the unit screens can be mounted on the movable AGVs, and the multiple AGVs can work in a whole-screen mode, a grouping mode or an independent mode according to actual application scenes, so that the dynamic screen position change requirement can be met, and the stage performance effect is improved.

Description

Technical Field

[0001] This invention relates to the field of interdisciplinary technology of stage engineering and intelligent equipment, and in particular to a theater ultra-high-definition screen display system that can be dynamically combined. Background Technology

[0002] In theaters, studios, and other similar settings, screens are typically required to play video content. In these settings, screens are usually fixed in place, meaning their position cannot be adjusted once installed. However, different stage or broadcasting scenarios may require diverse screen position changes, and this fixed installation method cannot meet the needs of dynamic screen position changes, thus reducing the overall stage performance effect. Summary of the Invention

[0003] The purpose of this invention is to provide a theater ultra-high-definition screen display system that can be dynamically combined to meet the needs of dynamic screen position changes, thereby improving the stage performance effect.

[0004] This invention provides a dynamically combinable ultra-high-definition screen display system for theaters. The system includes: multiple AGVs (Automated Guided Vehicles), each AGV having a mounting bracket fixedly connected to it, and each mounting bracket having a unit screen mounted on it via a slide rail slot; the multiple AGVs operate in full-screen mode, group mode, or independent mode; wherein, in full-screen mode, the multiple AGVs are sequentially and horizontally spliced ​​and locked so that the unit screens mounted on the multiple AGVs are combined into a large overall screen; in group mode, the multiple AGVs are divided into multiple groups, and all AGVs within the same group are sequentially and horizontally spliced ​​and locked so that the unit screens mounted on all AGVs within that group are combined into a large screen within that group; in independent mode, the unit screen mounted on each AGV displays its corresponding video image.

[0005] Furthermore, each AGV includes: multiple omnidirectional wheels and retractable auxiliary support legs; the auxiliary support legs include: multiple auxiliary support wheels.

[0006] Furthermore, each AGV is equipped with an airbag at its bottom; the airbag is divided into multiple air chambers; each air chamber is equipped with a corresponding pressure sensor; for each pressure sensor of each AGV, the pressure sensor is used to: detect in real time the first pressure borne by the air chamber corresponding to the pressure sensor during the operation of the AGV; wherein, the first pressure comes from the weight of the AGV and the unit screen attached to the AGV; if the first pressure does not meet the preset pressure threshold, adjust the gas pressure in the air chamber according to the preset pressure threshold until the first pressure meets the preset pressure threshold; wherein, if the first pressure is greater than the preset pressure threshold, increase the gas pressure in the air chamber; if the first pressure is less than the preset pressure threshold, decrease the gas pressure in the air chamber.

[0007] Furthermore, each AGV is equipped with an attitude detection module; the attitude detection module includes at least one of the following: a gyroscope and an accelerometer; the attitude detection module is used to detect the tilt angle of the AGV body during the operation of the AGV, and when the tilt angle reaches a preset angle threshold, it triggers the extension of the auxiliary support legs to support the AGV.

[0008] Furthermore, the AGV trolleys that are horizontally spliced ​​and locked are laterally limited by guide rail rollers and longitudinally limited by electromagnetic adsorption.

[0009] Furthermore, each AGV has its own built-in lithium battery; multiple AGVs are interconnected through a preset interface to enable power sharing among them.

[0010] Furthermore, a designated AGV in the AGV set is used to receive the first control command, generate a formation command based on the first control command, and send the formation command to other AGVs in the AGV set so that the operating status of other AGVs is consistent with that of the designated AGV. If multiple AGVs are operating in full-screen mode, the AGV set includes all AGVs; if multiple AGVs are operating in group mode, the AGV set is all AGVs within the same group.

[0011] Furthermore, if multiple AGVs operate in independent mode, each AGV receives its corresponding second control command and adjusts its operating status accordingly.

[0012] Furthermore, the system also includes: a sound detection module; each AGV has a speaker mounted on its mounting bracket; the sound detection module is used to: when the sound of a designated actor is detected, identify the location information of the designated actor, and send the location information to the designated AGV corresponding to the location information, so that the actor's sound can be played through the speaker mounted on the designated AGV.

[0013] Furthermore, the system also includes a battery management module. In the initial state, each AGV is powered by mains power. The battery management module is used to detect the mains power supply status. When the mains power fails, it switches the power supply of each AGV from mains power to its corresponding lithium battery to power each AGV. When it receives an external power access signal, it switches the power supply of each AGV from lithium battery to external power to power each AGV.

[0014] This invention provides a dynamically combinable ultra-high-definition screen display system for theaters, comprising: multiple AGVs (Automated Guided Vehicles), each AGV having a fixed mounting bracket, and each mounting bracket having a unit screen mounted on it via a sliding rail slot; the multiple AGVs operate in full-screen mode, group mode, or independent mode; wherein, in full-screen mode, the multiple AGVs are sequentially and horizontally spliced ​​and locked, so that the unit screens mounted on each AGV are combined into a large overall screen; in group mode, the multiple AGVs are divided into multiple groups, and all AGVs within the same group are sequentially and horizontally spliced ​​and locked, so that the unit screens mounted on each AGV within that group are combined into a large screen within that group; in independent mode, each AGV's unit screen displays its corresponding video image. This system can mount unit screens on movable AGVs and, depending on the actual application scenario, can enable the multiple AGVs to operate in full-screen mode, group mode, or independent mode, thereby meeting the needs of dynamic screen position changes and improving the stage performance effect. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 A schematic diagram of a theater ultra-high-definition screen display system that can be dynamically combined and used, provided as an embodiment of the present invention; Figure 2 A schematic diagram of an auxiliary support leg provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of an auxiliary support leg in an extended state, provided as an embodiment of the present invention. Figure 4 A schematic diagram of an auxiliary support leg in a retracted state provided in an embodiment of the present invention; Figure 5(a) is a side view of an auxiliary support leg provided in an embodiment of the present invention; Figure 5(b) is a side view of another auxiliary support leg provided in an embodiment of the present invention; Figure 6(a) is a schematic diagram of the connection of multiple AGV vehicles provided in an embodiment of the present invention; Figure 6(b) is another schematic diagram of the connection of multiple AGV vehicles provided in an embodiment of the present invention; Figure 7(a) is a schematic diagram of the vehicle body of an AGV vehicle provided in an embodiment of the present invention; Figure 7(b) is a schematic diagram of the vehicle body of another AGV vehicle provided in an embodiment of the present invention; Figure 8(a) is a schematic diagram of a multi-vehicle connection mechanism provided in an embodiment of the present invention; Figure 8(b) is a schematic diagram of another multi-vehicle connection mechanism provided in an embodiment of the present invention; Figure 8(c) is a schematic diagram of another multi-vehicle connection mechanism provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of a simplified three-dimensional vehicle body model provided for an embodiment of the present invention. Detailed Implementation

[0017] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Currently, traditional theater large screen systems face the following technical bottlenecks: 1. Fixed installation: The screen position cannot be adjusted, which cannot adapt to the dynamic changes in the stage scene, and the installation cycle and personnel costs are relatively large; 2. Insufficient mobility: Existing mobile screens mostly rely on tracks or manual handling, which is not flexible and has low synchronization accuracy when multiple units are spliced ​​together; 3. System separation: The display unit, support mechanism, power supply and control system are independent of each other, resulting in complex wiring and high failure rate; 4. Weak emergency response capabilities: The lack of a reliable backup power supply solution makes the performance prone to interruption during power outages; 5. Limited functionality: The audio system is separated from the display structure, which affects the audio-visual synchronization effect and space utilization.

[0019] Based on this, embodiments of the present invention provide a theater ultra-high-definition screen display system that can be dynamically combined and used. This technology can be applied to scenarios where images need to be displayed through a screen.

[0020] To facilitate understanding of this embodiment, a dynamically combinable ultra-high-definition screen display system for theaters, as disclosed in this embodiment of the invention, will first be introduced, such as... Figure 1 As shown, the system includes: multiple AGV (Automated Guided Vehicle) trolleys 10, each AGV trolley 10 is fixedly connected to a mounting bracket 11, and a unit screen 12 is mounted on the mounting bracket 11 via a slide rail slot; the AGV trolley 10 is an intelligent equipment capable of unmanned transportation; the aforementioned mounting bracket 11 typically adopts an aluminum alloy truss structure (usually with a bending strength ≥300MPa), and is connected to the AGV trolley 10 by high-strength bolts (such as grade 8.8); rubber shock-absorbing pads (such as damping coefficient 0.3, etc.) are installed between the mounting bracket 11 and the unit screen 12 to reduce the impact of mechanical vibration on the display screen 12. A slide rail slot is typically designed on the back of the unit screen 12, which can support the disassembly or installation of the unit screen 12 within 10 minutes, enabling rapid disassembly and assembly of the unit screen 12 and meeting emergency maintenance needs; the aforementioned unit screen 12 can be a four-screen, eight-screen, etc., spliced ​​in the longitudinal direction, and the specific configuration can be set according to the actual application scenario, which is not limited here.

[0021] Multiple AGVs 10 operate in full-screen mode, group mode, or independent mode. In full-screen mode, multiple AGVs 10 are sequentially and horizontally spliced ​​and locked together so that the unit screens 12 mounted on each of the multiple AGVs 10 are combined into a large overall screen. In group mode, multiple AGVs 10 are divided into multiple groups, and all AGVs 10 within the same group are sequentially and horizontally spliced ​​and locked together so that the unit screens 12 mounted on each of the AGVs 10 within the group are combined into a large screen within the group. In independent mode, the unit screen 12 mounted on each AGV 10 displays its corresponding video screen.

[0022] In this embodiment, multiple AGVs 10 can operate in different working modes, namely full-screen mode, group mode, or independent mode. For example, in one embodiment, all AGVs 10 can be sequentially and horizontally spliced ​​and locked, i.e., operating in full-screen mode. This allows the unit screens 12 mounted on all AGVs 10 to be combined into a single large screen for displaying images. In another embodiment, all AGVs 10 can be divided into multiple groups, i.e., operating in group mode. The number of AGVs 10 in each group can be the same or different. All AGVs 10 in the same group are sequentially and horizontally spliced ​​and locked, allowing the unit screens 12 mounted on all AGVs 10 in that group to be combined into a single large screen for displaying images. For example, if all AGVs 10 are divided into two groups, the first large screen in the first group displays a sky image, and the second large screen in the second group displays a grassland image, etc. In another embodiment, each AGV trolley 10 can be controlled independently, and each displays the corresponding screen through the unit screen 12 it is mounted on.

[0023] The following are examples illustrating the relevant parameters of a single AGV vehicle and its attached unit screen: (1) Load parameters of the screen body 01. Total weight 1T: Display screen body (corresponding to the above-mentioned unit screen) 400kg; screen body bracket (corresponding to the above-mentioned mounting bracket) 300kg; control system, lithium battery and counterweight 300kg; 02. Screen dimensions: 2m wide, 7m high, 10cm thick; mounted on a screen support frame; the screen support frame has the same width and height as the screen body, and the depth does not exceed 1.5m; 03. The display screen and the AGV trolley share a power supply: the display screen has a power of 7.5 kW; and a single working time of 8 hours. (2) Key parameters of a single AGV vehicle 01. Stable movement and small footprint: Moves smoothly without tipping over; 02. Overall footprint and projection dimensions: width 2m (same width as the screen), depth ≤ 1.5m; 03. Movement speed: 0.5~1m / s; 04. AGV trolley, screen, and battery are designed separately; 05. The AGV trolley includes a suspension and stabilization mechanism; (3) Parameters for multiple AGV cart combinations 01. Combined use of 2-10 units: Multiple units can be precisely spliced ​​into a complete screen and then locked, and can be moved independently in groups, etc. EG: For example, a group of 6 units (numbered ABCDEF) Mode 1: Six units from A to F are linked together to form one screen, and the entire screen can be moved forward and backward and its orientation can be slightly adjusted left and right; Mode 2: Groups of three units (ABC) and three units (DEF) move independently in four directions or move away from each other at the same speed. Mode 3: Unlocked from Mode 1, 6 units move independently, and the 6 units form a 3+3 two-column tilted formation on the stage; The aforementioned theater ultra-high-definition screen display system, which can be dynamically combined, can mount unit screens on movable AGV carts. Depending on the actual application scenario, multiple AGV carts can operate in full-screen mode, group mode, or independent mode, thereby meeting the needs of dynamic screen position changes and improving the stage performance effect.

[0024] Furthermore, each AGV includes: multiple omnidirectional wheels and retractable auxiliary support legs; the auxiliary support legs include: multiple auxiliary support wheels. The number of omnidirectional wheels and auxiliary support wheels can be 4, 6, etc., depending on actual needs, and is not limited here; the omnidirectional wheels can be Mecanum wheels, which can realize 360° omnidirectional movement and precise positioning of the AGV, for example, the movement accuracy can reach ±5mm, etc.

[0025] like Figure 2 The diagram shows an auxiliary support leg, which is located at the bottom of the AGV trolley and is a double-rail auxiliary support leg. Figure 3 The diagram shown illustrates the extended state of the auxiliary support leg. Figure 4 The diagrams shown illustrate the retracted state of the auxiliary support legs. Figure 5(a) shows a side view of one type of auxiliary support leg, and Figure 5(b) shows a side view of another type. In the stationary state (where the screen is retracted), both the front and rear support legs are fully retracted, and the overall dimensions of the vehicle remain unchanged. In the moving state, the auxiliary support legs are fully extended, with the front support leg extending 430mm and the rear support leg extending 600mm. In the stationary state (where the screen is moved forward), the rear support leg remains fully extended, while the front support leg can retract to a suitable size to ensure it does not affect the lower side of the screen. Typically, the upper surface of the auxiliary support leg is 186mm above the ground, but this can be adjusted as needed.

[0026] Furthermore, each AGV is equipped with an airbag at its bottom; the airbag is divided into multiple air chambers; each air chamber is equipped with a corresponding pressure sensor; for each pressure sensor of each AGV, the pressure sensor is used to: detect in real time the first pressure borne by the air chamber corresponding to the pressure sensor during the operation of the AGV; wherein, the first pressure comes from the weight of the AGV and the unit screen attached to the AGV; if the first pressure does not meet the preset pressure threshold, adjust the gas pressure in the air chamber according to the preset pressure threshold until the first pressure meets the preset pressure threshold; wherein, if the first pressure is greater than the preset pressure threshold, increase the gas pressure in the air chamber; if the first pressure is less than the preset pressure threshold, decrease the gas pressure in the air chamber.

[0027] The aforementioned preset pressure threshold can be a specific pressure value or pressure range, which can be set according to actual needs and is not limited here. In actual implementation, an airbag can be installed at the bottom of the AGV body. This airbag can be divided into multiple air chambers, the number of which can be set according to actual needs. A pressure sensor is installed at the corresponding position of each air chamber. When the AGV moves on the stage, if the stage surface is uneven, the AGV will tilt in a certain direction when it moves to an uneven position. The weight of the AGV and the attached unit screen will also be more concentrated in that direction. The pressure sensor on the side of the AGV that is tilted lower will... The pressure sensor on the side of the AGV that is tilted higher will experience a lower initial pressure. The greater the tilt, the greater the initial pressure on the pressure sensor on the side with a lower tilt, and the smaller the initial pressure on the side with a higher tilt. For each pressure sensor, if the initial pressure detected by the sensor is higher than the preset pressure threshold, the gas pressure in the corresponding air chamber can be increased. Conversely, if the initial pressure is lower than the preset pressure threshold, the gas pressure in the corresponding air chamber can be decreased. This can counteract the vibration caused by uneven stage floor, maintain the stability of the AGV during movement, and ensure that the display screen of the unit screen is jitter-free.

[0028] When the AGV is not driven, that is, when the AGV's related drive functions stop running and the AGV is not in a moving state, it can be fixed to the preset track by the guide rail roller limit and pulley limit mechanism to form a static support structure and reduce energy consumption.

[0029] In this embodiment, the screen controller of the unit screen can receive video signals via an HDMI 2.1 fiber optic cable (with a built-in anti-interference shielding layer), supporting a maximum resolution of 8K@60Hz; the video signal can be a video signal captured by a camera or a video signal transmitted over a network.

[0030] The AGV's vehicle controller receives control signals via an RS485 bus. These control signals can be used for brightness adjustment, refresh rate setting, and other functions, enabling the linkage between screen parameters and vehicle movements.

[0031] Regarding the power supply line, in this embodiment, the power supply line of the screen (AC220V) and the drive power supply of the AGV trolley (DC48V) are integrated into the waterproof cable tray inside the mounting bracket, and only standardized interfaces (such as aviation plugs) are retained on the outside, realizing "formal integration" and "functional separation".

[0032] This system also includes an integrated power management module that combines power supply circuitry and control system, specifically including: Two-way DC / DC converter: Converts the 48V DC power of the AGV's lithium battery to the 220V AC power required by the screen (conversion efficiency ≥95%), and also supports reverse charging (such as replenishing the AGV battery when an external generator is connected). This embodiment can also achieve dynamic load balancing. Specifically, it can allocate power in real time according to the power consumption of the screen (7.5kW) and the power of the AGV motor (2kW), giving priority to ensuring the power supply of the screen.

[0033] This embodiment also has a control integration function, specifically including: Multi-protocol compatibility: The vehicle controller integrates Modbus and EtherCAT protocols, and can be connected to the central stage control system (such as QLab and GrandMA) to achieve global coordination of lighting, sound and screen; Fault self-diagnosis: The vehicle controller has a built-in fault detection algorithm, which can be implemented based on the BP (BackPropagation) neural network (a multi-layer feedforward neural network based on the error backpropagation algorithm). It can monitor the motor temperature, battery power and screen pixel abnormalities of the AGV in real time, and issue alarms through the HMI (Human Machine Interface).

[0034] Furthermore, each AGV is equipped with an attitude detection module; the attitude detection module includes at least one of the following: a gyroscope and an accelerometer; the attitude detection module is used to detect the tilt angle of the AGV body during the operation of the AGV, and when the tilt angle reaches a preset angle threshold, it triggers the extension of the auxiliary support legs to support the AGV.

[0035] A gyroscope is a sensor used to measure the rotation angle and angular velocity of an object. It is based on the principle of conservation of angular momentum, measuring the rotation angle and angular velocity by detecting the change in angular momentum as the object rotates. An accelerometer is a sensor used to measure the acceleration of an object. Acceleration is the rate of change of an object's velocity, including linear acceleration (such as gravitational acceleration) and angular acceleration (such as rotational acceleration). The aforementioned preset angle thresholds can be set according to actual needs. For example, the preset angle threshold for the AGV when going uphill can be set to 16.76°, and the preset angle threshold for the AGV when going downhill can be set to 24.07°. In actual implementation, the projection range of the support surface can be determined through finite element analysis based on the pre-built 3D model of the vehicle body to ensure that the static stability coefficient is ≥1.5. When the stage ground is flat, the overall center of gravity of the AGV and the attached unit screen needs to fall within the projection range of the support surface to ensure the stability of the unit screen. In practical applications, each AGV can be equipped with a gyroscope and / or acceleration sensor to monitor the posture of the vehicle body in real time. Specifically, the tilt angle of the AGV can be monitored. When the tilt angle exceeds the preset angle threshold, the auxiliary support legs can be automatically triggered to extend to support the AGV and maintain the stability of the vehicle body. The AGV can also be decelerated and braked to ensure the safe and stable operation of the vehicle body. Furthermore, the AGVs that are horizontally spliced ​​and locked are laterally limited by guide rail rollers and longitudinally limited by electromagnetic adsorption. Guide rail rollers, also known as linear guides, are mechanical components used to achieve linear motion. They typically consist of a series of rollers (or balls) and guide rails. The rollers roll on the guide rails, thus achieving smooth and precise linear motion. In practice, the laterally spliced ​​and locked AGVs can be connected using a dual method of "guide rail rollers + electromagnetic adsorption." The guide rail rollers provide lateral limitation, while the electromagnetic adsorption module (rated suction force ≥ 500N) provides longitudinal rigid locking, ensuring the overall structural stability (tensile strength ≥ 1000N / m) after multiple AGVs are spliced ​​together. For example, a single AGV has dimensions of 2000×1410×330mm (excluding mounting brackets), and the maximum screen size after multiple AGVs are horizontally spliced ​​can be expanded to 12m×1.41m×7.7m, covering an ultra-wide stage scene.

[0036] Figure 6(a) shows a connection diagram of multiple AGV vehicles, and Figure 6(b) shows another connection diagram of multiple AGV vehicles. Multiple AGV vehicles are connected horizontally in sequence so that the unit screens mounted on each AGV vehicle can be used in combination.

[0037] Figure 7(a) shows a schematic diagram of the body shape of one type of AGV, and Figure 7(b) shows a schematic diagram of the body shape of another type of AGV. The AGV includes four Mecanum wheels 70. The flat surface of the upper surface of the AGV can serve as a scaffolding installation platform 71. The AGV has an active connection mechanism 72 on one side and a passive connection mechanism 73 on the other side. The bottom of the AGV also has auxiliary support wheels 74. The key parameters of the body are as follows: 01. Size: Single AGV trolley: Length × Width × Height = 2000 × 1410 × 330 mm (excluding the height of the support on the trolley body, including the support is 1192 mm), the height of the display screen from the ground is 200 mm; Multiple AGV carts: Length × Width × Height = 12000 × 1410 × 7700 mm; 02. Wheel system: Four Mecanum wheels + four support wheels 03. Connection method: guide rail roller limit + pulley limit Figure 8(a) shows a schematic diagram of a multi-vehicle connection mechanism. The active connection mechanism of one AGV can be connected to the passive connection mechanism of another AGV. Figure 8(b) shows another schematic diagram of a multi-vehicle connection mechanism, and Figure 8(c) shows another schematic diagram of a multi-vehicle connection mechanism. After connection, the connection part shown in Figure 8(b) can be used as a screen body forward limiting mechanism, and the connection part shown in Figure 8(c) can be used as a vehicle body connection limiting mechanism.

[0038] Furthermore, each AGV has its own built-in lithium battery; multiple AGVs are interconnected through a preset interface to share power. This preset interface can be a high-voltage quick-connect interface with an IP67 protection rating. In this embodiment, the power supply mode can be either an independent power supply mode or a shared power supply mode. In the independent power supply mode, each AGV can have a built-in 48V / 20Ah lithium battery, and each lithium battery can independently power its corresponding unit panel (7.5kW) and vehicle motor (2kW). In the shared power supply mode, multiple AGVs are interconnected through a high-voltage quick-connect interface (IP67 protection rating), supporting centralized power distribution, similar to the "distributed power + centralized dispatch" mode of high-speed trains. In addition to independent power supply, each AGV can be connected through the preset interface, allowing other AGVs to be dispatched to share power with one or more AGVs.

[0039] Specifically, each AGV can be equipped with a lithium iron phosphate battery pack (5kWh, cycle life ≥2000 times), which switches between the main power supply (such as AC power) and the main power supply via a solid-state relay (SSR), with a switching time ≤10ms.

[0040] In the shared power supply mode, multiple AGV workshops can deploy a ring power supply bus, and the battery of any AGV can provide emergency power to the core screen of other AGVs.

[0041] Furthermore, a designated AGV in the AGV set is used to receive the first control command, generate a formation command based on the first control command, and send the formation command to other AGVs in the AGV set so that the operating status of other AGVs is consistent with that of the designated AGV. If multiple AGVs are operating in full-screen mode, the AGV set includes all AGVs; if multiple AGVs are operating in group mode, the AGV set is all AGVs within the same group.

[0042] In practical implementation, when multiple AGVs operate in full-screen mode, the AGV movement control logic can adopt a master-slave architecture. A designated AGV can be selected from all AGVs, which can be any one of them. This designated AGV acts as the master controller, and the other AGVs act as slaves. The designated AGV can receive a first control command, which can be based on a preset programming command, a command sent by the user via remote control, or a command sent by the user via a wireless terminal (supporting Wi-Fi 6 / Bluetooth 5.0). Based on this first control command, the designated AGV generates a formation command, which can include: movement path, speed synchronization (error ≤ 0.1m / s), and splicing angle. The formation command is sent to other slaves via the CAN bus (transmission rate 1Mbps) to calibrate the operating status of the other slaves and the designated AGV, ensuring that the other AGVs maintain the same movement state as the designated AGV.

[0043] If multiple AGVs operate in group mode, the AGVs within the same group form an AGV set. The movement control logic of the AGVs within each group can adopt a master-slave architecture. That is, for each group, a designated AGV can be selected from all the AGVs in that group. This designated AGV can be any one of the AGVs in that group. The designated AGV acts as the group controller, and the other AGVs act as slaves. The designated AGV can receive a first control command, generate a formation command based on the first control command, and send the formation command to the other slaves in the group via the CAN bus (transmission rate 1Mbps) to calibrate the running status of the other slaves and the designated AGV. This ensures that the other AGVs in the group maintain the same movement state as the designated AGV, that is, all AGVs within the same group maintain the same running state. AGVs in different groups can have different running states.

[0044] Furthermore, if multiple AGVs operate in independent mode, each AGV receives its corresponding second control command and adjusts its operating status accordingly. In practical implementation, when each AGV operates in independent mode—meaning each AGV is independently controlled and its attached unit screen displays independently—each AGV can receive its corresponding second control command. This second control command can be based on preset programming instructions, or it can be a command sent by the user via remote control, or it can be a command sent by the user via a wireless terminal (supporting Wi-Fi 6 / Bluetooth 5.0), etc. This allows for independent operation of each AGV. This independent mode is suitable for small stages or emergency evacuation scenarios.

[0045] For ease of understanding, a comparison table of functional modes is provided below, as shown in Table 1: Table 1

[0046] Furthermore, the system also includes: a sound detection module; each AGV has a speaker mounted on its mounting bracket; the sound detection module is used to: when the sound of a designated actor is detected, identify the location information of the designated actor, and send the location information to the designated AGV corresponding to the location information, so that the actor's sound can be played through the speaker mounted on the designated AGV.

[0047] In this embodiment, a speaker slot can be reserved on the rear side of the mounting bracket of each AGV. The size of the speaker slot can be set according to actual needs, such as 600×200×150mm. The speaker slot usually has a built-in shock-absorbing bracket and heat dissipation duct. The speaker can be fixed by a combination of quick-release buckles (tensile strength ≥200N) and magnetic attraction. This fixing method can support the installation and removal of the speaker within 5 seconds. For example, on a stage of theatrical performance, in order to ensure the performance effect, multiple speakers can be set up. The sound detection module can detect the voice of a designated actor in the performance. The designated actor can be one or more actors in the performance. When the voice of the designated actor is detected, the position information of the designated actor can be identified and located, and the position information is sent to the corresponding designated AGV. The actor's voice is then played through the speaker mounted on the designated AGV. This method better reproduces the voice of the designated actor. This method of corresponding the position information of the designated actor with the position of the speaker can realistically reproduce the scene.

[0048] This embodiment can also achieve the effect of audio and video synchronization. Since the processing of audio signals is simpler and the processing of video signals is more complex, there will be a time difference between audio signals and video signals. To correct this time difference, the audio signal can be transmitted through an AES3 digital audio cable and time-code aligned with the video signal through the same controller (error ≤ 1ms). In addition, this system can achieve linkage adjustment between audio power and screen power consumption to avoid power overload (such as automatically reducing audio output power when the screen is bright). When the total power cannot meet the requirements of sound and picture at the same time, the video picture display on the screen is prioritized and the power supply to the sound is reduced.

[0049] Furthermore, the system also includes a battery management module. In the initial state, each AGV is powered by mains power. The battery management module is used to detect the mains power supply status. When the mains power fails, it switches the power supply of each AGV from mains power to its corresponding lithium battery to power each AGV. When it receives an external power access signal, it switches the power supply of each AGV from lithium battery to external power to power each AGV.

[0050] The aforementioned battery management module can also be called a Battery Management System (BMS). In the initial state, each AGV is usually powered by AC mains power, which can also be called the main power supply. When the battery management module detects a power outage, it can switch the power supply of each AGV from AC mains to its corresponding lithium battery. That is, each AGV is connected to its corresponding lithium battery to ensure normal power supply for each AGV. The battery management module usually enters emergency mode, which shuts off power to non-core functions (such as AGV movement) according to the pre-set power priority, and prioritizes the display of video screens on the unit screen (usually with a battery life of ≥1 hour).

[0051] To ensure a continuous and normal power supply for each AGV, an external power source can be provided for each AGV. This external power source can be a diesel generator, etc. After each AGV is powered by a lithium battery, the external power source can be turned on, and the power supply of each AGV can be switched from the lithium battery to the external power source. The external power source can be quickly connected through the ISO 7637-2 standard interface to provide continuous power to each AGV.

[0052] The system has been improved in the following aspects: Multi-degree-of-freedom AGV grouping technology: Supports any combination of 2-10 AGVs, and achieves a rigid-flexible connection through "mechanical locking + electromagnetic adsorption", which ensures splicing accuracy (error ≤2mm) and allows small relative displacement (±5mm) to absorb stage vibration. The unique "3+3 tilt formation mode" creates a dynamic stage visual effect through the independent steering mechanism of the AGV (steering angle ±45°).

[0053] Anti-rollover stability optimization: Center of gravity calculation: Based on the three-dimensional model of the vehicle body (center of gravity coordinates 896,0,2002), the projection range of the support surface can be determined through finite element analysis to ensure that the static stability coefficient is ≥1.5; For example, such as Figure 9 The diagram shows a simplified 3D model of a vehicle body. The center of the screen is G1 (50,0,6000), the center of gravity of the vehicle is G2 (1100,0,200), the center of gravity of the fixed support is G3 (1100,0,600), the center of gravity of the additional support is G4 (800,0,6450), the overall center of gravity is G (896,0,2002), the front wheel overturning point is (0,0,0), and the rear wheel overturning point is (1500,0,0).

[0054] 01. Center of gravity position: (896,0,2002), the gravity projection is located within the overall projection support surface of the vehicle body, so it is statically stable.

[0055] 02. Stability: Maximum braking acceleration: a≤4.39m / s²; Maximum acceleration: a≤2.95m / s²; 03. Inclination angle: Uphill angle ≤ 16.76°; Downhill angle ≤ 24.07° 04. External Force Application: The point of application of external forces is the highest point on the screen (0, 0, 12000); Overturning around the front wheel, the direction of the external force is in the positive x direction: F≤1829.3N; Overturning around the rear wheel, the direction of the external force is in the positive x direction: F≤1233.2N; 05. Ground bearing capacity: Force on a single front wheel: 4935N; Force on a single rear wheel: 7327.5N; Ground pressure: P≥732.75kPa; 3. Dynamic compensation: Equipped with a gyroscope and accelerometer, it monitors the vehicle's attitude in real time. When the tilt angle exceeds the threshold (16.76° uphill, 24.07° downhill), it automatically triggers the outriggers to extend or decelerates and brakes.

[0056] 4. Integrated cable concealment design: All power and signal cables are embedded in the aluminum alloy profile inside the bracket (IP54 protection rating), with only waterproof interfaces remaining on the outside; flexible PCB boards are used to replace some cables, reducing the number of connectors and improving reliability.

[0057] 5. Tiered emergency power supply strategy: Level 1 Emergency: Each AGV is powered independently by its battery to ensure basic display functions; Level 2 Emergency: Multiple batteries are connected in parallel, and the battery life is extended to 3 hours through the intelligent power distribution cabinet (which supports SOC balancing); Level 3 emergency response: Connect to an external mobile power supply vehicle to ensure uninterrupted power supply.

[0058] The above-mentioned hierarchical power supply strategy can be understood as follows: on the basis of ensuring the first-level emergency power supply, the function of the second-level emergency power supply can be realized, and this embodiment can also realize the third-level emergency power supply.

[0059] 6. Modular AGV support system, supporting multiple units to be freely combined and independently controlled; 7. Highly integrated design of display, power supply, control and audio functions; 8. A redundancy scheme combining split-type emergency power supplies and shared power supply; 9. An anti-tipping mechanism based on mechanical optimization ensures stability in complex scenarios.

[0060] This system can bring the following beneficial effects: 1. Enhanced stage effects: Supports multi-mode screen transformation, enhancing visual impact; 2. System reliability: Through anti-tipping design and emergency power supply redundancy, the failure rate is reduced by 60%; 3. Optimized operation and maintenance costs: Modular structure improves maintenance efficiency by 50%, and cable integration reduces consumable consumption; This system specifically relates to a mobile large-screen display system based on modular AGVs (Automated Guided Vehicles), integrating ultra-high-definition LED display, multi-mode grouping control, integrated power supply, and emergency backup functions. It is suitable for dynamic display needs in theaters, studios, exhibition halls, and other similar settings. Through the autonomous movement and assembly capabilities of the AGVs, the system enables rapid layout and reconstruction of the large screen. Combined with anti-tipping stability design, multi-source power redundancy, and integrated back-screen audio, it significantly enhances the flexibility and safety of stage effects.

[0061] This solution combines unit screens and AGV carts, offering robustness and support for various steering wheels. The unit screens can be moved with the AGV carts, from off-site to on-site, meeting emergency needs. They are also easy to disassemble, facilitating performances in other scenarios. Furthermore, they can be moved to designated locations on-site, such as figure-eight screens, used as auxiliary screens, or combined with multiple secondary screens.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A theater ultra-high-definition screen display system that can be dynamically combined and used, characterized in that, The system includes: multiple AGV trolleys, each of which is fixedly connected to a mounting bracket, and the mounting bracket is equipped with a unit screen via a slide rail slot; The multiple AGVs operate in full-screen mode, group mode, or independent mode. In full-screen mode, the multiple AGVs are sequentially and horizontally spliced ​​and locked together, so that the unit screens mounted on the multiple AGVs are combined into a large overall screen. In group mode, the multiple AGVs are divided into multiple groups, and all AGVs in the same group are sequentially and horizontally spliced ​​and locked together, so that the unit screens mounted on all AGVs in the group are combined into a large screen within the group. In independent mode, the unit screen mounted on each AGV displays its corresponding video screen.

2. The system according to claim 1, characterized in that, Each of the AGV trolleys includes: multiple omnidirectional wheels and retractable auxiliary support legs; the auxiliary support legs include: multiple auxiliary support wheels.

3. The system according to claim 1, characterized in that, Each of the AGVs is equipped with an airbag at its bottom; the airbag is divided into multiple air chambers; each air chamber is equipped with a corresponding pressure sensor; for each pressure sensor of each AGV, the pressure sensor is used for: During the operation of the AGV, the first pressure on the air chamber corresponding to the pressure sensor is detected in real time; wherein, the first pressure comes from the weight of the AGV and the unit screen attached to the AGV; If the first pressure does not meet the preset pressure threshold, the gas pressure in the gas chamber is adjusted according to the preset pressure threshold until the first pressure meets the preset pressure threshold; wherein, if the first pressure is greater than the preset pressure threshold, the gas pressure in the gas chamber is increased; if the first pressure is less than the preset pressure threshold, the gas pressure in the gas chamber is decreased.

4. The system according to claim 2, characterized in that, Each AGV is equipped with an attitude detection module; the attitude detection module includes at least one of the following: a gyroscope and an accelerometer. The attitude detection module is used to detect the tilt angle of the AGV during its operation. When the tilt angle reaches a preset angle threshold, the auxiliary support leg is triggered to extend to support the AGV.

5. The system according to claim 1, characterized in that, The AGV trolleys that are horizontally spliced ​​and locked are limited laterally by guide rail rollers and longitudinally by electromagnetic adsorption.

6. The system according to claim 1, characterized in that, Each AGV is equipped with its own lithium battery; multiple AGVs are interconnected through a preset interface to enable power sharing among them.

7. The system according to claim 1, characterized in that, A designated AGV in the AGV set is used to receive a first control command, generate a formation command based on the first control command, and send the formation command to other AGVs in the AGV set so that the other AGVs have the same operating status as the designated AGV. Wherein, if multiple AGVs are operating in full-screen mode, the AGV set includes all of the AGVs; if multiple AGVs are operating in group mode, the AGV set is all AGVs within the same group.

8. The system according to claim 1, characterized in that, If multiple AGVs operate in independent mode, each AGV receives its corresponding second control command and adjusts its operating status according to the second control command.

9. The system according to claim 1, characterized in that, The system further includes: a sound detection module; each AGV trolley has a speaker mounted on its mounting bracket; the sound detection module is used for: When the voice of a designated actor is detected, the location information of the designated actor is identified and sent to the designated AGV trolley corresponding to the location information, so that the actor's voice can be played through the speaker mounted on the designated AGV trolley.

10. The system according to claim 1, characterized in that, The system also includes a battery management module. In the initial state, each AGV is powered by AC mains power. The battery management module is used to detect the power supply status of the mains power. When the mains power is cut off, the power supply of each AGV is switched from the mains power to its corresponding lithium battery so as to supply power to each AGV through its corresponding lithium battery. Upon receiving an external power supply access signal, the power supply for each AGV is switched from the lithium battery to the external power supply, so as to supply power to each AGV through the external power supply.

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