Dragon dance exhibit

Abstract

The invention discloses a dragon dance exhibit, which relates to the field of science popularization exhibit, and comprises a body assembly, an action control mechanism and a guide part, according to the dragon dance exhibit, the output shaft of the servo motor drives the take-up and pay-off roller to rotate, the rotating take-up and pay-off roller drives the dragon head part, the trunk part and the dragon tail part to move through the rope, and then the servo motor is controlled through the servo controller, so that the dragon dance exhibit is controlled to move in a snakelike mode through the servo motors on the two sides of the bottom of the mounting frame; the integral action of the dragon dancing exhibit is smoother, the control difficulty of the dragon dancing exhibit is reduced, and a mechanical technology which is slender in body shape and has multi-joint coordinated movement, such as a dragon and a snake, is displayed for the public by utilizing a mode of combining an automatic control technology and a traditional dragon dancing performance.

Description

Technical Field

[0001] This invention relates to the technology of science popularization exhibits, specifically to a dragon dance exhibit. Background Technology

[0002] Science exhibits are products that showcase science and popularize scientific knowledge. They are scientific and vivid, and can present scientific knowledge in a lively and engaging way. Dragon dancing is a traditional folk cultural activity of the Han Chinese people that originated in China. During important traditional festivals, people use dragon dancing to pray for peace and a good harvest, which has become an important folk culture of the Han Chinese people throughout the country. In Chinese mythology, the dragon has a slender, snake-like body, and its body moves like a snake when it flies. Dragon dance exhibits are a type of science exhibit that focuses on dragon dancing.

[0003] Currently, there is research on snake-shaped robots in the field of robotics, but no research on dragon-shaped robots. Generally, the body structure of snake-shaped robots is designed as a multi-joint structure, and each joint has two mutually perpendicular degrees of freedom, horizontal and vertical, to achieve two-dimensional rotation of the joint. When designing dragon dance science exhibits, the dragon's body needs to be placed more than 3 meters above the ground. If the dragon's body is designed as a snake-shaped robot joint structure, the hoisting problem of the entire exhibit needs to be considered. Moreover, if a snake-shaped robot joint structure is used, the overall motion control of the dragon dance exhibit is easily affected by the inertia of the main body, resulting in an unsmooth overall movement of the dragon dance exhibit, increasing the control difficulty of the dragon dance exhibit. Therefore, this paper proposes a dragon dance exhibit that adopts a snake joint structure, which has high control precision and smooth movement. Summary of the Invention

[0004] The purpose of this invention is to provide a dragon dance exhibit to solve the problem that the movements of snake robots in the prior art are affected by inertia, causing the overall movements of the robot to be easily deformed.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a dragon dance exhibit, comprising:

[0006] A body assembly, which is composed of multiple rotatably connected segments, including a dragon head, a dragon tail, and multiple torso segments, the surfaces of which are covered with skin;

[0007] A motion control mechanism for controlling the movement of the body assembly includes a mounting frame, a motor mount connected to the mounting frame, and a servo motor connected to the motor mount. A take-up and release roller is connected to the output shaft of the servo motor, a rope is wound and connected to the take-up and release roller, and a connecting sleeve fitted on the torso is connected to the rope.

[0008] The guide unit, used to guide the motion control mechanism to drive the body components to move, includes a camera connected to the head, a servo controller connected to the servo motor, and a ball that serves as an index target for the camera.

[0009] Preferably, a connector is provided between adjacent segments and the segments are hinged together by the connector, and the rotation direction of the connectors at both ends of the segments is perpendicular.

[0010] Preferably, the connecting member is a hinge shaft.

[0011] Preferably, the mounting bracket is connected to a plurality of crossbars that are equally spaced.

[0012] Preferably, the servo motors on the mounting frame are arranged in multiple groups, with two servo motors in each group, and they are located on both sides of the mounting frame. The ropes on the two servo motors in each group are connected to the same connecting sleeve in a V-shape, and the faucet is connected to two groups of servo motors.

[0013] Preferably, the mounting bracket is also connected to an electrical control box, which contains a PLC controller, a communication module and a relay, and is electrically connected to the camera and the servo controller.

[0014] Preferably, the PLC controller is equipped with an image recognition and tracking algorithm.

[0015] Preferably, the camera is located at the front end of the head.

[0016] Compared with the prior art, the present invention provides a dragon dance exhibit that uses the output shaft of a servo motor to drive the take-up and release rollers to rotate. The rotating take-up and release rollers use ropes to drive the dragon head, body, and tail to move. Then, the servo controller controls the servo motors so that the servo motors on both sides of the bottom of the mounting frame can control the dragon dance exhibit to move in a serpentine manner, making the overall movement of the dragon dance exhibit smoother and reducing the control difficulty of the dragon dance exhibit. This allows the public to be shown mechanical technology similar to that of dragons and snakes, which have slender bodies and multi-joint coordinated movements, by combining automatic control technology with traditional dragon dance performances.

[0017] This invention has two working modes: a performance mode and an interactive mode. In the performance mode, the exhibits are controlled by a servo controller using a preset program to drive servo motors to perform preset action patterns. In the interactive mode, when the user holds the wooden handle of the embroidered ball and places it in front of the dragon head, a camera captures the image in front of the dragon head in real time. Through image recognition and image tracking technology, the servo controller coordinates the movements of each servo motor, making the dragon dance exhibit chase the embroidered ball. This allows for interaction between the artwork and the public, enhancing the display effect. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention;

[0020] Figure 2 This is a side view structural diagram provided in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the front view structure provided in an embodiment of the present invention;

[0022] Figure 4 This is a cross-sectional structural diagram provided for an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the faucet structure provided in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the torso segment connection structure provided in an embodiment of the present invention;

[0025] Figure 7 This is a cross-sectional view of the electrical control box provided in an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Body assembly; 2. Motion control mechanism; 101. Dragon head; 102. Torso; 103. Dragon tail; 201. Camera; 202. Mounting bracket; 203. Servo motor; 204. Take-up and release rollers; 205. Rope; 206. Connecting sleeve; 207. Servo controller; 41. Crossbar; 42. Motor mount; 43. Skin; 44. Connector; 45. Embroidery ball; 46. Electrical control box; 47. PLC controller; 48. Communication module; 49. Relay. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0029] As attached Figure 1 To be continued Figure 7 As shown:

[0030] Example:

[0031] This invention provides a dragon dance exhibit, comprising:

[0032] The body assembly 1 is composed of multiple rotatably connected segments, including a dragon head 101, a dragon tail 103, and multiple torso sections 102. Connectors 44 are provided between adjacent segments, that is, the dragon head 101 and the torso section 102, adjacent torso sections 102, and torso section 102 and the dragon tail 103 are all hinged by connectors 44, and the rotation direction of the connectors 44 at both ends of the segments is set vertically, that is, the rotation direction of the connectors 44 at both ends of each torso section 102 is vertical. The connectors 44 can be hinge shafts, and the surfaces of the multiple torso section 102 segments are covered with skins 43.

[0033] The motion control mechanism 2, used to control the movement of the body component 1, includes a mounting frame 202, a motor base 42 connected to the mounting frame 202, and a servo motor 203 connected to the motor base 42. The mounting frame 202 serves as a basic frame and can be connected to the roof via expansion bolts or other connectors. A take-up roller 204 is connected to the output shaft of the servo motor 203. A rope 205 is wound and connected to the take-up roller 204. A connecting sleeve 206 fitted on the torso 102 is connected to the rope 205.

[0034] The guide section, used to guide the motion control mechanism 2 to drive the body assembly 1 to move, includes a camera 201 connected to the head 101, a servo controller 207 connected to the servo motor 203, and a ball 45 used as an index target for the camera 201.

[0035] As can be seen from the above, the dragon head 101, the dragon tail 103, and multiple body segments 102 can rotate relative to each other, thus simulating the structural conditions for the robot's serpentine movement. A skin 43 is fitted onto the surface, making the robot's overall appearance more closely resemble a dragon. When the serpentine robot needs to move, the servo motor 203 rotates in place of the take-up and release roller 204 according to the action of the servo controller 207. The rotating take-up and release roller 204 drives the rope 205 to take up and release, causing the length of the rope 205 between the take-up and release roller 204 and the connecting sleeve 206 to increase or decrease, thereby controlling the movement of the rope... The rope 205 and connecting sleeve 206 drive different segments to move up and down. At the same time, the user can use the embroidered ball 45 as the guide end of the dragon dance. The camera 201 on the dragon head 101 captures the position of the embroidered ball 45. According to the different positions of the embroidered ball 45, the servo motors 203 on each segment control the take-up and release rollers 204 to perform different actions, thereby adjusting the working length of the rope 205 between different segments and the servo motors 203, realizing the overall posture change of the dragon dance. When the servo motors 203 move in a continuous manner, the posture change of the dragon dance can form a continuous movement.

[0036] The mounting frame 202 is connected to a plurality of equally spaced crossbars 41. The crossbars 41 can act inside the mounting frame 202, which can increase the lateral bending resistance of the mounting frame 202 and prevent the mounting frame 202 from bending due to the force exerted during the dragon dance.

[0037] The servo motors 203 on the mounting bracket 202 are arranged in multiple groups, with two servo motors 203 in each group, and they are located on both sides of the mounting bracket 202. The ropes 205 on the two servo motors 203 in each group are connected to the same connecting sleeve 206 in a V-shape. The faucet 101 is connected to two groups of servo motors 203.

[0038] Since each segment is fitted with a connecting sleeve 206 that connects to two ropes 205, when the take-up and release rollers 204 corresponding to the two ropes 205 wind up the ropes 205, the segment rises under the traction of the ropes 205. When the take-up and release rollers 204 corresponding to the two ropes 205 lower the ropes 205, the segment descends under the action of gravity. Moreover, when the take-up and release lengths of the two ropes 205 on the same segment are inconsistent, the connecting sleeve 206 corresponding to the segment will rotate, causing the segment to rotate. This allows for more complex movements between multiple segments, and the movement is more natural. From a spatial perspective, the various segments of the dragon dance can meander and move in three-dimensional space.

[0039] The mounting bracket 202 is also connected to an electrical control box 46. The electrical control box 46 is internally connected to a PLC controller 47, a communication module 48, and a relay 49. The electrical control box 46 is electrically connected to the camera 201 and the servo controller 207. The PLC controller 47 is equipped with an image recognition and tracking algorithm. The operator can move the embroidered ball 45 and change its position. The camera 201 captures the image of the embroidered ball 45. After the image recognition and tracking algorithm built into the PLC controller 47 processes the image of the embroidered ball 45, it determines the position of the embroidered ball 45. Then, the PLC controller 47 generates motion control commands based on the position of the embroidered ball 45 and transmits the motion control commands to each servo motor 203, so that each servo motor 203 rotates according to the motion control commands, realizing the release and retraction of the ropes 205 on each segment, thereby realizing the lifelike dancing of the dragon. In order to facilitate the camera 201 to accurately track the embroidered ball 45, the camera 201 is located at the front end of the dragon head 101.

[0040] Image recognition and tracking algorithms can employ existing, relatively mature target tracking algorithms, specifically:

[0041] Image acquisition and preprocessing: The video stream is continuously acquired by the camera 201 to obtain real-time frame images of the hydrangea 45. Gaussian blurring is performed on each frame to reduce image noise and detail interference. The image is converted from BGR color space to HSV color space to facilitate target recognition based on color features.

[0042] Based on the color characteristics of the target object, namely Hydrangea 45, set the HSV threshold range, create a color mask, perform morphological operations on the mask to eliminate noise points and fill holes, find the contour of connected regions in the mask, filter out the largest contour as the potential target, calculate the minimum circumcircle of the target, and determine its center position and size.

[0043] Calculate the offset between the target center point and the image center point, normalize the offset, convert it into a ratio value relative to the image size, and generate control signals based on the normalized offset. Horizontal offset is converted into gimbal horizontal rotation speed command, and vertical offset is converted into gimbal vertical rotation speed command.

[0044] The generated control commands are sent to the PLC controller 47. The PLC controller 47 adjusts the orientation of the camera 201 according to the commands, and the servo motor 203 corresponding to the head 101 moves to adjust the orientation of the head 101 so that the head is aligned with the embroidered ball 45. It rotates horizontally (translates) to reduce the horizontal offset and rotates vertically (tilts) to reduce the vertical offset. If the embroidered ball 45 is not detected, the PLC controller 47 operates in another way, sending the preset motion commands built into the PLC controller 47 to each servo motor 203, so that each servo motor 203 follows the preset motion commands and performs the preset motion.

[0045] The present invention provides a dragon dance exhibit in which the output shaft of the servo motor 203 drives the take-up and release roller 204 to rotate. The rotating take-up and release roller 204 uses the rope 205 to drive the head 101, body 102 and tail 103 to move. Then, the servo controller 207 controls the servo motor 203 so that the servo motors 203 on both sides of the bottom of the mounting frame 202 can control the dragon dance exhibit to move in a serpentine manner, making the overall movement of the dragon dance exhibit smoother and reducing the control difficulty of the dragon dance exhibit. In order to use automatic control technology combined with traditional dragon dance performance, the public can be shown mechanical technology similar to dragons and snakes with slender bodies and multi-joint coordinated movements.

[0046] This invention has two working modes. One is a performance mode: the exhibit is driven by the servo motor 203 controlled by the servo controller 207 using a preset program to perform a pre-set action pattern. The other is an interactive mode: when the user holds the wooden handle of the embroidered ball and places the embroidered ball 45 in front of the dragon head 101, the camera 201 captures the image in front of the dragon head 101 in real time. Through image recognition and image tracking technology, the servo controller 207 controls the various servo motors 203 to coordinate their movements, making the dragon dance exhibit chase the embroidered ball 45. This allows for interaction between the artwork and the public, improving the display effect.

[0047] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A dragon display, characterized in that, include: The body assembly (1) is composed of multiple rotatably connected segments, the segments including a dragon head (101), a dragon tail (103) and multiple torso (102), and the surface of the multiple torso (102) segments is covered with skin (43). The motion control mechanism (2) is used to control the movement of the body assembly (1), including a mounting frame (202), a motor mount (42) connected to the mounting frame (202), and a servo motor (203) connected to the motor mount (42). A take-up roller (204) is connected to the output shaft of the servo motor (203), and a rope (205) is wound around the take-up roller (204). A connecting sleeve (206) fitted on the torso (102) is connected to the rope (205). The guide section, used to guide the motion control mechanism (2) to drive the body assembly (1) to move, includes a camera (201) connected to the head (101), a servo controller (207) connected to the servo motor (203), and a ball (45) used as an index target for the camera (201).

2. The dragon dance exhibit according to claim 1, characterized in that, A connector (44) is provided between adjacent segments and is hinged through the connector (44), and the rotation direction of the connector (44) at both ends of the segment is set perpendicularly.

3. A dragon dance exhibit according to claim 2, characterized in that, The connector (44) is a hinge shaft.

4. The dragon display of claim 1, wherein, The mounting bracket (202) is connected to a plurality of equally spaced crossbars (41).

5. The dragon display of claim 1, wherein, The servo motors (203) on the mounting bracket (202) are arranged in multiple groups. Each group has two servo motors (203) and they are located on both sides of the mounting bracket (202). The ropes (205) on the two servo motors (203) in each group are connected to the same connecting sleeve (206) in a V-shape. The faucet (101) is connected to two groups of servo motors (203).

6. The dragon display of claim 1, wherein, The mounting bracket (202) is also connected to an electrical control box (46), which contains a PLC controller (47), a communication module (48), and a relay (49). The electrical control box (46) is electrically connected to the camera (201) and the servo controller (207).

7. The dragon display of claim 6, wherein, The PLC controller (47) is equipped with an image recognition and tracking algorithm.

8. The dragon display of claim 1, wherein, The camera (201) is located at the front end of the head (101).

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