CN109089211B - Dual-mode light-following light source driving control mechanism - Google Patents
Dual-mode light-following light source driving control mechanism Download PDFInfo
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- CN109089211B CN109089211B CN201811019794.0A CN201811019794A CN109089211B CN 109089211 B CN109089211 B CN 109089211B CN 201811019794 A CN201811019794 A CN 201811019794A CN 109089211 B CN109089211 B CN 109089211B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention relates to a dual-mode light-following source drive control mechanism, comprising: the positioning tag is arranged on an actor body on the stage and used for establishing ultra-wideband wireless communication link connection, namely UWB wireless communication link connection, with the ultra-wideband positioning base station; the ultra-wideband positioning base station is arranged in the stage control room and is used for receiving the position information from the positioning tag; the positioning identification equipment is arranged in a stage control room, is connected with the ultra-wideband positioning base station, and is used for determining the current position of an actor configuring the positioning tag based on the current position of the ultra-wideband positioning base station and the position information from the positioning tag and outputting the current position as a first detection position; and the image acquisition equipment is used for carrying out high-definition image shooting on the stage environment so as to obtain and output a corresponding stage environment image. By the invention, the light following measurement of the light following source can be optimized.
Description
Technical Field
The invention relates to the field of light tracing light sources, in particular to a dual-mode light tracing light source driving control mechanism.
Background
The placement position and the height of the stage follow spot lamp. If two table lamps are used, one table frame is used when entering the field at one side of the stage. The other rack is used for light supplement right at the stage. If a third follow spot lamp and a second follow spot lamp are arranged in parallel, the distance between the third follow spot lamp and the second follow spot lamp is increased to occupy one corner of the scene, and no building is arranged in front of the lamps. The height of the lamp holder is more than 2.5 meters, and the lamp holder does not directly irradiate human eyes. The field operation support is preferably arranged on a table, but the stability is ensured, and the follow spot lamp rotates left and right without being scratched.
After the follow spot lamp is closed, the follow spot lamp can be reused after cooling for at least 15 minutes; if the lamp is turned on again immediately after being turned off, the light source is likely to be not on, and the bulb is likely to be burnt out; if the bulb needs to be replaced, the operation is carried out after the machine is cooled. The middle glass of the bulb is not touched by hands. The installation is to be secure. The ventilation opening of the lamp body needs to be unblocked so as not to influence heat dissipation.
Disclosure of Invention
In order to solve the technical problem that the current light following mode of the light following source is single, the invention provides a dual-mode light following source driving control mechanism, which is used for acquiring the body contour of a main corner of a stage performance in advance, and accurately acquiring the current position of the main corner on the stage based on a customized image processing mechanism so as to drive a stage lamp to perform automatic light following; the method comprises the steps of judging the position deviation condition of image acquisition equipment based on pixel level analysis results of a plurality of continuous acquired images on a time axis, and performing corresponding position correction by adopting a direct current permanent magnet motor, so that the quality of output data of the image acquisition equipment is improved; on the basis of block processing, feature enhancement operation is only carried out on blocks with more edge pixels, and data volume of image processing is reduced.
According to an aspect of the present invention, there is provided a dual mode light following source drive control mechanism, the mechanism comprising:
the positioning tag is arranged on an actor body on the stage and used for establishing ultra-wideband wireless communication link connection, namely UWB wireless communication link connection, with the ultra-wideband positioning base station;
the ultra-wideband positioning base station is arranged in the stage control room and is used for receiving the position information from the positioning tag;
the positioning identification equipment is arranged in a stage control room, is connected with the ultra-wideband positioning base station, and is used for determining the current position of an actor configuring the positioning tag based on the current position of the ultra-wideband positioning base station and the position information from the positioning tag and outputting the current position as a first detection position;
the image acquisition equipment is used for carrying out high-definition image shooting on the stage environment so as to obtain and output a corresponding stage environment image;
the position detection device is connected with the image acquisition device and used for receiving a plurality of continuous stage environment images on a time axis and executing the following processing aiming at each stage environment image: identifying a marker corresponding to a preset marker pattern in the stage environment image based on the preset marker pattern to segment a corresponding marker sub-image, and determining a coordinate value of the centroid of the marker sub-image in the stage environment image to be output as a marker position corresponding to the stage environment image;
the position analysis equipment is connected with the position detection equipment and is used for receiving each marker position corresponding to each stage environment image, determining whether a marker position different from a preset marker position exists in each marker position, sending a dislocation detection signal when determining that the marker position exists, and sending a non-dislocation detection signal when determining that the marker position does not exist;
the dislocation direction analysis equipment is connected with the position analysis equipment and used for determining whether the positions of the markers on a time axis are distributed in an increasing or descending manner when the dislocation detection signals are received, sending a signal for moving left or right when the positions of the markers are distributed in an increasing or descending manner in the horizontal direction, and sending a signal for moving down or up when the positions of the markers are distributed in an increasing or descending manner in the vertical direction;
the direct current permanent magnet motor is respectively connected with the image acquisition equipment and the dislocation direction analysis equipment, and is used for controlling the image acquisition equipment to move to the right when receiving the leftward movement signal and controlling the image acquisition equipment to move to the left when receiving the rightward movement signal;
the contour searching device is connected with the image acquiring device and used for receiving the stage environment image, performing uniform blocking processing on the stage environment image to obtain each image block, and executing the following operations on each image block: detecting whether each point in the image blocks is an edge point or not, counting the number of the edge points in the image blocks, when the number of the edge points is larger than or equal to a preset number threshold value, marking the image blocks as contour blocks, and when the number of the edge points is smaller than the preset number threshold value, marking the image blocks as non-contour blocks;
the directional processing device is connected with the contour searching device and used for receiving each contour block and each non-contour block and executing the following operations for each contour block: measuring the contrast of the contour blocks, determining a high-frequency distribution frequency band in the contour blocks based on the contrast to serve as a target frequency band of the contour blocks, executing high-pass filtering processing based on the target frequency band on the contour blocks to obtain corresponding high-pass filtering blocks, further subtracting the high-pass filtering blocks from the contour blocks pixel by pixel to obtain and output corresponding low-pass filtering blocks, performing feature enhancement processing on the high-pass filtering blocks to obtain and output corresponding feature enhancement blocks, and further adding the feature enhancement blocks and the low-pass filtering blocks pixel by pixel to obtain local enhancement blocks corresponding to the contour blocks;
the image recovery device is connected with the directional processing device and is used for receiving each non-contour block and each local reinforced block corresponding to each contour block respectively, integrating each non-contour block with each local reinforced block to obtain a block integrated image and outputting the block integrated image;
the image positioning device is connected with the image restoring device and used for receiving the blocking integrated image, detecting an image block corresponding to the actor configuring the positioning label in the blocking integrated image based on the preset body shape characteristics of the actor configuring the positioning label, determining the current position of the actor configuring the positioning label based on the position of the image block in the blocking integrated image and outputting the current position as a second detection position;
and the DSP processing chip is respectively connected with the positioning identification equipment and the image positioning equipment, and is used for receiving the first detection position and the second detection position and sending a corresponding driving control signal to the light following driving equipment of the stage based on the first detection position under the condition that the first detection position is consistent with the second detection position.
More specifically, in the dual-mode light-following light source drive control mechanism: and the stage light following driving device drives the stage light following source to irradiate illuminating light onto the actor configuring the positioning label when receiving the corresponding driving control signal.
More specifically, the dual-mode light-following-light-source drive control mechanism further includes:
the FLASH storage chip is respectively connected with the position detection equipment and the position analysis equipment and is used for storing the preset marker pattern and the preset marker position;
wherein the preset marker position is represented by a horizontal coordinate value and a vertical coordinate value.
More specifically, in the dual-mode light-following light source drive control mechanism:
the direct current permanent magnet motor is also used for controlling the image acquisition equipment to move upwards when receiving the downward movement signal;
and the direct current permanent magnet motor is also used for controlling the image acquisition equipment to move downwards when receiving the upward movement signal.
More specifically, in the dual-mode light-following light source drive control mechanism: the dislocation direction analysis equipment is also used for sending out a disordered moving signal when the positions of the markers on the time axis are determined not to be distributed in an increasing or descending manner.
More specifically, in the dual-mode light-following light source drive control mechanism: the direct current permanent magnet motor is further used for stopping the movement control of the image acquisition equipment when the disordered movement signal is received.
More specifically, in the dual-mode light-following light source drive control mechanism: and the direct current permanent magnet motor is also connected with the position analysis equipment and used for stopping the movement control of the image acquisition equipment when the position loss detection signal is received.
More specifically, in the dual-mode light-following light source drive control mechanism: in the image restoration apparatus, the size of the block-integrated image coincides with the size of the stage environment image.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a light tracking light source of a dual-mode light tracking light source drive control mechanism according to an embodiment of the present invention.
Detailed Description
Embodiments of the dual mode light-following source drive control mechanism of the present invention will be described in detail below with reference to the accompanying drawings.
The shadow of the follow spot lamp can not be seen on the stage with bright stars or the romantic wedding ceremony. The starting power of the follow spot lamp is higher than the normal working power. Therefore, the power supply needs to separately select a cable with the square of more than 2.5 to find a site electrician and directly connect the site electrician out of the electric well. The power supply is prevented from being tripped in an overload mode, and more seriously, the fire hazard can be caused by the fact that the wire liability is too large.
In order to overcome the defects, the invention builds a dual-mode light-following source driving control mechanism, and can effectively solve the corresponding technical problem.
Fig. 1 is a schematic structural diagram of a light tracking light source of a dual-mode light tracking light source drive control mechanism according to an embodiment of the present invention.
The dual-mode light-following light source driving control mechanism shown according to the embodiment of the invention comprises:
the positioning tag is arranged on an actor body on the stage and used for establishing ultra-wideband wireless communication link connection, namely UWB wireless communication link connection, with the ultra-wideband positioning base station;
the ultra-wideband positioning base station is arranged in the stage control room and is used for receiving the position information from the positioning tag;
the positioning identification equipment is arranged in a stage control room, is connected with the ultra-wideband positioning base station, and is used for determining the current position of an actor configuring the positioning tag based on the current position of the ultra-wideband positioning base station and the position information from the positioning tag and outputting the current position as a first detection position;
the image acquisition equipment is used for carrying out high-definition image shooting on the stage environment so as to obtain and output a corresponding stage environment image;
the position detection device is connected with the image acquisition device and used for receiving a plurality of continuous stage environment images on a time axis and executing the following processing aiming at each stage environment image: identifying a marker corresponding to a preset marker pattern in the stage environment image based on the preset marker pattern to segment a corresponding marker sub-image, and determining a coordinate value of the centroid of the marker sub-image in the stage environment image to be output as a marker position corresponding to the stage environment image;
the position analysis equipment is connected with the position detection equipment and is used for receiving each marker position corresponding to each stage environment image, determining whether a marker position different from a preset marker position exists in each marker position, sending a dislocation detection signal when determining that the marker position exists, and sending a non-dislocation detection signal when determining that the marker position does not exist;
the dislocation direction analysis equipment is connected with the position analysis equipment and used for determining whether the positions of the markers on a time axis are distributed in an increasing or descending manner when the dislocation detection signals are received, sending a signal for moving left or right when the positions of the markers are distributed in an increasing or descending manner in the horizontal direction, and sending a signal for moving down or up when the positions of the markers are distributed in an increasing or descending manner in the vertical direction;
the direct current permanent magnet motor is respectively connected with the image acquisition equipment and the dislocation direction analysis equipment, and is used for controlling the image acquisition equipment to move to the right when receiving the leftward movement signal and controlling the image acquisition equipment to move to the left when receiving the rightward movement signal;
the contour searching device is connected with the image acquiring device and used for receiving the stage environment image, performing uniform blocking processing on the stage environment image to obtain each image block, and executing the following operations on each image block: detecting whether each point in the image blocks is an edge point or not, counting the number of the edge points in the image blocks, when the number of the edge points is larger than or equal to a preset number threshold value, marking the image blocks as contour blocks, and when the number of the edge points is smaller than the preset number threshold value, marking the image blocks as non-contour blocks;
the directional processing device is connected with the contour searching device and used for receiving each contour block and each non-contour block and executing the following operations for each contour block: measuring the contrast of the contour blocks, determining a high-frequency distribution frequency band in the contour blocks based on the contrast to serve as a target frequency band of the contour blocks, executing high-pass filtering processing based on the target frequency band on the contour blocks to obtain corresponding high-pass filtering blocks, further subtracting the high-pass filtering blocks from the contour blocks pixel by pixel to obtain and output corresponding low-pass filtering blocks, performing feature enhancement processing on the high-pass filtering blocks to obtain and output corresponding feature enhancement blocks, and further adding the feature enhancement blocks and the low-pass filtering blocks pixel by pixel to obtain local enhancement blocks corresponding to the contour blocks;
the image recovery device is connected with the directional processing device and is used for receiving each non-contour block and each local reinforced block corresponding to each contour block respectively, integrating each non-contour block with each local reinforced block to obtain a block integrated image and outputting the block integrated image;
the image positioning device is connected with the image restoring device and used for receiving the blocking integrated image, detecting an image block corresponding to the actor configuring the positioning label in the blocking integrated image based on the preset body shape characteristics of the actor configuring the positioning label, determining the current position of the actor configuring the positioning label based on the position of the image block in the blocking integrated image and outputting the current position as a second detection position;
and the DSP processing chip is respectively connected with the positioning identification equipment and the image positioning equipment, and is used for receiving the first detection position and the second detection position and sending a corresponding driving control signal to the light following driving equipment of the stage based on the first detection position under the condition that the first detection position is consistent with the second detection position.
Next, a specific configuration of the dual-mode light-following-light-source drive control mechanism according to the present invention will be further described.
In the dual-mode light-following light source drive control mechanism: and the stage light following driving device drives the stage light following source to irradiate illuminating light onto the actor configuring the positioning label when receiving the corresponding driving control signal.
In the dual-mode light-following source drive control mechanism, the dual-mode light-following source drive control mechanism further includes:
the FLASH storage chip is respectively connected with the position detection equipment and the position analysis equipment and is used for storing the preset marker pattern and the preset marker position;
wherein the preset marker position is represented by a horizontal coordinate value and a vertical coordinate value.
In the dual-mode light-following light source drive control mechanism:
the direct current permanent magnet motor is also used for controlling the image acquisition equipment to move upwards when receiving the downward movement signal;
and the direct current permanent magnet motor is also used for controlling the image acquisition equipment to move downwards when receiving the upward movement signal.
In the dual-mode light-following light source drive control mechanism: the dislocation direction analysis equipment is also used for sending out a disordered moving signal when the positions of the markers on the time axis are determined not to be distributed in an increasing or descending manner.
In the dual-mode light-following light source drive control mechanism: the direct current permanent magnet motor is further used for stopping the movement control of the image acquisition equipment when the disordered movement signal is received.
In the dual-mode light-following light source drive control mechanism: and the direct current permanent magnet motor is also connected with the position analysis equipment and used for stopping the movement control of the image acquisition equipment when the position loss detection signal is received.
And in the dual-mode light-following light source drive control mechanism: in the image restoration apparatus, the size of the block-integrated image coincides with the size of the stage environment image.
In addition, FLASH memory chips are nonvolatile memories, and blocks of memory cells called blocks can be erased and reprogrammed. The write operation of any FLASH device can only be performed in empty or erased cells, so in most cases, the erase must be performed before the write operation can be performed. While it is simple for a NAND device to perform an erase operation, NOR requires that all bits in the target block be written to 0 before an erase can be performed.
Since erasing NOR devices is performed in blocks of 64-128 KB, the time for performing a write/erase operation is 5s, whereas erasing NAND devices is performed in blocks of 8-32 KB, which requires only 4ms at most to perform the same operation.
The difference in block size when performing erasures further increases the performance gap between NOR and NADN, and statistics show that for a given set of write operations (especially when updating small files), more erase operations must be performed in NOR-based cells.
By adopting the dual-mode light-following light source driving control mechanism, aiming at the technical problem that the light-following mode is rough and simple in the prior art, the shape outline of the main corner of the stage performance is obtained in advance, and the current position of the main corner on the stage is accurately obtained based on a customized image processing mechanism so as to drive the stage lamp to perform automatic light following; the method comprises the steps of judging the position deviation condition of image acquisition equipment based on pixel level analysis results of a plurality of continuous acquired images on a time axis, and performing corresponding position correction by adopting a direct current permanent magnet motor, so that the quality of output data of the image acquisition equipment is improved; on the basis of block processing, feature enhancement operation is only carried out on blocks with more edge pixels, and the data volume of image processing is reduced, so that the technical problem is solved.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (8)
1. A dual mode light following source drive control mechanism comprising:
the positioning tag is arranged on an actor body on the stage and used for establishing ultra-wideband wireless communication link connection, namely UWB wireless communication link connection, with the ultra-wideband positioning base station;
the ultra-wideband positioning base station is arranged in the stage control room and is used for receiving the position information from the positioning tag;
the positioning identification equipment is arranged in a stage control room, is connected with the ultra-wideband positioning base station, and is used for determining the current position of an actor configuring the positioning tag based on the current position of the ultra-wideband positioning base station and the position information from the positioning tag and outputting the current position as a first detection position;
the image acquisition equipment is used for carrying out high-definition image shooting on the stage environment so as to obtain and output a corresponding stage environment image;
the position detection device is connected with the image acquisition device and used for receiving a plurality of continuous stage environment images on a time axis and executing the following processing aiming at each stage environment image: identifying a marker corresponding to a preset marker pattern in the stage environment image based on the preset marker pattern to segment a corresponding marker sub-image, and determining a coordinate value of the centroid of the marker sub-image in the stage environment image to be output as a marker position corresponding to the stage environment image;
the position analysis equipment is connected with the position detection equipment and is used for receiving each marker position corresponding to each stage environment image, determining whether a marker position different from a preset marker position exists in each marker position, sending a dislocation detection signal when determining that the marker position exists, and sending a non-dislocation detection signal when determining that the marker position does not exist;
the dislocation direction analysis equipment is connected with the position analysis equipment and used for determining whether the positions of the markers on a time axis are distributed in an increasing or descending manner when the dislocation detection signals are received, sending a signal for moving left or right when the positions of the markers are distributed in an increasing or descending manner in the horizontal direction, and sending a signal for moving down or up when the positions of the markers are distributed in an increasing or descending manner in the vertical direction;
the direct current permanent magnet motor is respectively connected with the image acquisition equipment and the dislocation direction analysis equipment, and is used for controlling the image acquisition equipment to move to the right when receiving the leftward movement signal and controlling the image acquisition equipment to move to the left when receiving the rightward movement signal;
the contour searching device is connected with the image acquiring device and used for receiving the stage environment image, performing uniform blocking processing on the stage environment image to obtain each image block, and executing the following operations on each image block: detecting whether each point in the image blocks is an edge point or not, counting the number of the edge points in the image blocks, when the number of the edge points is larger than or equal to a preset number threshold value, marking the image blocks as contour blocks, and when the number of the edge points is smaller than the preset number threshold value, marking the image blocks as non-contour blocks;
the directional processing device is connected with the contour searching device and used for receiving each contour block and each non-contour block and executing the following operations for each contour block: measuring the contrast of the contour blocks, determining a high-frequency distribution frequency band in the contour blocks based on the contrast to serve as a target frequency band of the contour blocks, executing high-pass filtering processing based on the target frequency band on the contour blocks to obtain corresponding high-pass filtering blocks, further subtracting the high-pass filtering blocks from the contour blocks pixel by pixel to obtain and output corresponding low-pass filtering blocks, performing feature enhancement processing on the high-pass filtering blocks to obtain and output corresponding feature enhancement blocks, and further adding the feature enhancement blocks and the low-pass filtering blocks pixel by pixel to obtain local enhancement blocks corresponding to the contour blocks;
the image recovery device is connected with the directional processing device and is used for receiving each non-contour block and each local reinforced block corresponding to each contour block respectively, integrating each non-contour block with each local reinforced block to obtain a block integrated image and outputting the block integrated image;
the image positioning device is connected with the image restoring device and used for receiving the blocking integrated image, detecting an image block corresponding to the actor configuring the positioning label in the blocking integrated image based on the preset body shape characteristics of the actor configuring the positioning label, determining the current position of the actor configuring the positioning label based on the position of the image block in the blocking integrated image and outputting the current position as a second detection position;
and the DSP processing chip is respectively connected with the positioning identification equipment and the image positioning equipment, and is used for receiving the first detection position and the second detection position and sending a corresponding driving control signal to the light following driving equipment of the stage based on the first detection position under the condition that the first detection position is consistent with the second detection position.
2. The dual-mode light-following source drive control mechanism according to claim 1, wherein:
and the stage light following driving device drives the stage light following source to irradiate illuminating light onto the actor configuring the positioning label when receiving the corresponding driving control signal.
3. The dual mode light tracking source drive control mechanism of claim 2, further comprising:
the FLASH storage chip is respectively connected with the position detection equipment and the position analysis equipment and is used for storing the preset marker pattern and the preset marker position;
wherein the preset marker position is represented by a horizontal coordinate value and a vertical coordinate value.
4. A dual mode light tracking light source drive control mechanism as claimed in claim 3, wherein:
the direct current permanent magnet motor is also used for controlling the image acquisition equipment to move upwards when receiving the downward movement signal;
and the direct current permanent magnet motor is also used for controlling the image acquisition equipment to move downwards when receiving the upward movement signal.
5. The dual-mode light-following source drive control mechanism according to claim 4, wherein:
the dislocation direction analysis equipment is also used for sending out a disordered moving signal when the positions of the markers on the time axis are determined not to be distributed in an increasing or descending manner.
6. The dual-mode light-following source drive control mechanism according to claim 5, wherein:
the direct current permanent magnet motor is further used for stopping the movement control of the image acquisition equipment when the disordered movement signal is received.
7. The dual-mode light-following source drive control mechanism according to claim 6, wherein:
and the direct current permanent magnet motor is also connected with the position analysis equipment and used for stopping the movement control of the image acquisition equipment when the position loss detection signal is received.
8. The dual-mode light-following source drive control mechanism according to claim 7, wherein:
in the image restoration apparatus, the size of the block-integrated image coincides with the size of the stage environment image.
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| CN109951932B (en) * | 2019-01-25 | 2021-03-19 | 杭州子午舞台设计有限公司 | Stage intelligence follow spot lamp system based on pressure is judged |
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| CN110908408B (en) * | 2019-12-09 | 2023-06-16 | 浙江大丰实业股份有限公司 | High follow-up automatic light following system capable of being positioned rapidly |
| CN113759987A (en) * | 2020-06-03 | 2021-12-07 | 广州市浩洋电子股份有限公司 | Follow spot lamp automatic control system and follow spot lamp automatic control method |
| EP4163757A4 (en) | 2020-06-03 | 2023-11-29 | Guangzhou Haoyang Electronic Co., Ltd. | Automatic control system for follow spotlight, and automatic control method for follow spotlight |
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